KR20130055127A - Providing system of mass collaboration space for robot development platform using communication network - Google Patents

Abstract

PURPOSE: A system for providing a group cooperation space of a robot development platform using a communication network is provided to supply the group cooperation space of the robot to an online virtual space, thereby preventing duplicate development of a robot component. CONSTITUTION: A cooperation development space operation system(10) provides a cooperation development space based on an open source web and manages projects of the cooperation development space. The cooperation development space operation system stores outcomes. A virtual robot town operation system(20) provides a virtual robot town. A client system(30) enables professional robot developers to connect to the virtual robot town and the cooperation development space through a communication network and makes the outcomes of a cooperative task. [Reference numerals] (100) Cooperation development solution server; (110) Project management unit; (120) Issue management unit; (130) Shape management system connection unit; (140) Source code comparing unit; (200) Mutual connection management unit; (210) Account information sharing unit; (220) 3D board connection unit; (30) Client system; (300) Cooperation result shared server; (310) Storage management unit; (320) History tracking unit; (400) Cooperation file server; (500) Framework management server; (600) Design workshop server; (700) Experience space server; (800) Competition space server

Description

PROVIDING SYSTEM OF MASS COLLABORATION SPACE FOR ROBOT DEVELOPMENT PLATFORM USING COMMUNICATION NETWORK}

The present invention relates to a collective cooperation space providing system, and more specifically, to construct a 3D online virtual robot town accessible on a communication network as a client system, designing, operating, and verifying the hardware and software of the robot in such a virtual space, Provides a collaborative development space that can be used as a development platform for contents and contents, reducing the cost of technology development of robots and contents, and avoiding the overlapping development of similar robot parts while sharing ongoing projects and results, and opening, sharing, and collaborating The present invention relates to a system for providing a collective collaboration space for a robot development platform using a communication network that enables the pursuit of liberalization of robot technology.

The robot industry is expected to form a huge market reaching the size of the automobile industry in the future, and advanced countries such as Japan are concentrating their capabilities on the industrialization of robots. In addition, domestic companies are also launching more than 100 prototypes, including cleaning robots, and research institutes and schools are making robots that can show off their robot technologies such as Hubo and EveR.

In recent years, research and development of service robots that have been extended to all industrial fields such as home, medical, defense, and agricultural use have been actively applied to industrial robots used for work in a manufacturing environment. However, these service robots are representative products of convergence technology consisting of more than 10,000 components and hundreds of robot technologies, and the participation of some companies does not adequately respond to the demands of various industrial fields, and technology development is difficult. Therefore, the need for technology sharing and collective collaboration is increasing more than any other industry.

In addition, since service robots have diverse uses throughout the industry, it is important to gather ideas from more consumers, so the need for a new system that enables consumers to become prosumers and open up the market is greater than any other field.

The problem to be solved by the present invention is to build a 3D online virtual robot town that can be connected on a communication network as a client system to design and operate the hardware and software of the robot in such a virtual space, and to use it as a platform for developing robots and contents. By providing a collaborative development space, we can reduce the cost of technological development of robots and contents, avoid overlapping development of similar robot parts while sharing ongoing projects and their outcomes, and open robot technology through openness, sharing and collaboration. It is to provide a system for providing a collective collaboration space for a robot development platform using a communication network that can be pursued.

The collective cooperation space providing system of the robot development platform using a communication network for solving the above problems,

A collaborative development space operating system that provides an open source web-based collaborative development space, manages projects made in such a collaborative development space, and stores the results so that professional robot developers can access each client network through a communication network; A virtual robot town operating system that provides a virtual robot town which is a space where a plurality of participants can connect to their client systems on a communication network to design and experience robots according to their scenarios and implement the results of collaboration work; And a client system for accessing the collaborative development space and the virtual robot town through a communication network.

At this time, the collaboration development space operating system,

A collaborative development solution server providing a collaborative development solution for creating and managing a project performed by a professional robot developer by a client system connected on a communication network; An interoperation management server for interoperating and storing the user's activity made in the virtual robot town with each other so as to be managed in a collaborative development space; And a collaboration result sharing server for storing the project result generated by the collaboration development solution and managing the execution history of the project.

The collaboration development solution server,

Project management unit for creating a project or managing a project in progress; An issue management unit managing issues generated during the project; A configuration management system interworking unit interworking with the configuration management system to manage a project in which several users collaborate; And it characterized in that it comprises a source code comparison unit for comparing the source code generated by the execution of the project.

In addition, the mutual interworking management server,

The user's smooth access and use between the collaborative development space operating system and the virtual robot town operating system are managed so that the user's activities through the virtual robot town can be stored and managed in the collaborative development space based on Redmine. An account information sharing unit for sharing the account information of the user so as to be possible; And a 3D bulletin board connection unit for connecting the 3D bulletin board provided in the virtual robot town to a wiki and a forum page, and allowing the collaborative sharing file to be connected to a repository or HTTP accessible directory service.

The collaboration result sharing server, the storage management unit for storing the collaboration results generated while the project is carried out in the collaboration file server; And it includes a history tracking unit that manages to easily track the results of collaboration activities such as work history, work, news according to the progress of the project.

The virtual robot town operating system includes a framework management server for providing a multi-user 3D virtual space by activating the virtual robot town after authenticating a client system connected through a communication network;

The framework management server,

A multi-user virtual space server forming a server-client structure of the virtual robot town and transmitting and displaying a 3D virtual space to a client system when the virtual robot town is executed; Robot-related information providing server for providing information related to the robot, such as announcements, news, collaboration knowledge to the client through the bulletin board provided in the virtual robot town; And a wiki server for forming a community between clients accessing the virtual robot town.

At this time, the virtual robot town is composed of a plurality of spaces to move the character selected by the user, each space is provided with an external information connection object and an external tool connection object to link the 3D environment of the virtual robot town to external tools. It is preferably configured to.

In addition, the virtual robot town operating system further comprises a design studio server for providing a design studio for designing a robot or scenario by a user connected to the client system on the communication network to activate the authoring tool;

The design studio server,

A virtual space that forms a virtual space that abstracts a physical physical space and a virtual robot operating in the virtual space, and forms a robot simulation platform in which the virtual robot operates by data generated through the virtual environment consisting of the virtual space and the virtual robot. Robot authoring tools; And graphic-based robot programming tool for organizing the work of intelligent robots, by dragging and dropping the required blocks with the mouse on the user interface and connecting them with links to easily implement the robot's work in the form of blocks based on graphics. Characterized in that it comprises a scenario authoring unit.

At this time, the virtual robot authoring tool, the robot editor for arranging the components of the robot for the user to design the robot on the block diagram; And a motion editor for generating a motion by setting an angle for each time at the joint by using the motor selected by the robot editor.

The scenario authoring unit may include: a task view that generates a scenario by arranging a plurality of command blocks as a main view of a graphical program production tool and connecting the same; And a block generator for generating a plurality of instruction blocks in which instructions to be executed in the corresponding block are set. The block generator generates simple command blocks indicated by an icon through a block view, and externally written files such as task, wave, posture, and gesture files simply generate command blocks through a set path. .

In addition, the virtual robot authoring tool is composed of an EDRS authoring unit which is a simulation software;

The EDRS authoring unit,

A robot editor capable of constructing a robot by dragging and dropping a robot library, installing a sensor at a desired position, and setting parameters to apply to a simulation; An environment editor for creating an environment by drag-and-drop environment libraries; A flowchart writing unit comprising a flowchart language for easily controlling and programming sensors and actuators by a control block and a state block for testing a robot; And a simulator for combining the robot and the environment created by the robot editor and the environment editor, and checking the state of the object during the simulation.

In addition, the virtual robot authoring tool provides an operation program including a sensor, a driver, and a navigation that a user or developer uses to develop a robot and robot contents in a component form, and the operation program of such a component form is integrated into the integrated development tool. OPRoS authoring unit that can create robot contents by combining them, and create unit scenario for content creation of EveR robot, or synthesize new motion or facial expression by synthesizing same motion or facial expression by motion arbitration algorithm It is preferably configured to include the EveR content authoring unit which enables the creation.

In addition, the virtual robot town operating system further includes an experience space server that provides an exhibition experience place to drive and experience a creative robot designed by a robot or prosumer made in a company or research institute;

The experience space server,

A humanoid robot experience unit for experiencing a humanoid robot model in a 3D virtual environment; Horse robot experience section to experience the horse robot model in the 3D virtual environment; iRobi experience unit to experience the iRobi robot model in a 3D virtual environment; And a SEROPI experience unit that experiences the SEROPI robot model in a 3D virtual environment.

In addition, the virtual robot town operating system further comprises a Gyeongjin space server that provides a competition venue to compete for the results of the project completed in the cooperative development space or the performance of the robot designed in the design studio;

The contest space server,

A competition replay unit for replaying a competition in the past while being connected to an external tool by interlocking 3D objects; A virtual robot contest sample unit that allows the user to directly experience the example of the virtual robot contest by moving inside the competition venue; And a robot war game performance unit that competes with humanoid robots of other teams while the user directly adjusts humanoid robots and the like in a virtual space.

The present invention provides a collaborative development space of a robot in an online virtual space that can be accessed from anywhere through a communication network to prevent similar redundancy development of robot parts, and the effect of pursuing the liberalization of technology through openness, sharing and collaboration. There is.

In addition, the present invention forms a virtual robot town including a design workshop, an experience space, and a competition space that can induce voluntary participation of numerous prosumers based on the participation, sharing, opening, and collaboration of robots on an online virtual space. By inducing the participation of users such as various prosumers and by applying the data generated by the participation of multiple users to the robot development and content creation process, there is an effect that can enrich the content and process.

1 is a block diagram of a collective cooperation space providing system of the robot development platform using a communication network according to the present invention.
Figure 2 is a block diagram of a virtual robot town operating system according to the present invention.
Figure 3 is an illustration of an administrator screen for using the virtual robot town collaboration space service according to the present invention.
Figure 4 is an example screen showing the registration of a new project to cooperate in accordance with the present invention.
Figure 5 is an example screen to the web content of the results of the collaboration activity performed in the project according to the present invention.
Figure 6 is an example screen showing sharing the collaboration output in accordance with the present invention.
7 is an exemplary screen showing that the character is expressed in the virtual robot town in accordance with the present invention.
8 is an exemplary screen showing a detailed description of the robot displayed in the virtual robot town in accordance with the present invention.
9 is an exemplary screen showing a bulletin board displayed in a virtual robot town according to the present invention.
10 is an exemplary screen showing that entered the design studio according to the present invention.
11 is an exemplary screen showing a description of a design workshop according to the present invention.
Figure 12 is an exemplary screen showing that the entry into the exhibition experience in accordance with the present invention.
13 is an exemplary screen showing a description of an exhibition experience room according to the present invention.
14 is an exemplary screen showing that entered the competition venue in accordance with the present invention.
Figure 15 is an exemplary screen showing a description of the competition venue according to the present invention.
Figure 16 is an exemplary screen showing an overview of the linkage structure and service with external tools according to the present invention.
17 is a block diagram showing the flow of services made in the design studio according to the present invention.
18 is a block diagram showing the flow of services made in the exhibition experience hall in accordance with the present invention.
19 is a block diagram showing the flow of services made in the competition venue in accordance with the present invention.
20 is an exemplary screen showing an execution state of a virtual robot authoring tool according to the present invention.
21 is an exemplary screen showing an execution state of a graphic-based scenario authoring tool according to the present invention.
22 is an exemplary screen showing that the robot editor of the virtual robot authoring tool according to the present invention has been executed.
23 is an exemplary screen showing that the environment editor of the virtual robot authoring tool according to the present invention has been executed.
24 is an exemplary screen showing that the OPRoS authoring unit according to the present invention is executed.
25 is an exemplary screen showing that the EveR content authoring unit according to the present invention has been executed.
26 is an exemplary screen showing that the humanoid robot experience unit according to the present invention is executed.
27 is an exemplary screen showing the competition venue implemented in 3D according to the present invention.

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

1 is a block diagram of a collective cooperation space providing system of the robot development platform using a communication network according to the present invention, Figure 2 is a block diagram of a virtual robot town operating system according to the present invention.

1 and 2, a system for providing a collective collaboration space of a robot development platform using a communication network according to the present invention is based on an open source web so that robot developers can access the client system on a communication network and perform each project. The collaborative development space operating system 10 provides a collaborative development space, manages projects in the collaborative development space, and stores the results, and a number of participants access the robot according to their scenario by accessing them on a communication network with their client systems. The virtual robot town operating system 20 which provides a virtual robot town which is a space where the result of the collaborative work can be implemented while designing and experiencing the client system 30 is connected to the collaborative development space and the virtual robot town through a communication network. It is configured to include. At this time, the collaboration development space and the virtual robot town form a collective collaboration space provided by the present invention.

The collaborative development space operating system 10 is a collaborative development solution server 100 that provides a collaborative development solution for creating and managing a project performed by a professional robot developer on a communication network by the client system 30, and the virtual Interoperability management server 200 for interoperating and storing the user's activities made in the robot town in the collaboration development space and interoperating with each other, and saves the project results generated by the collaboration development solution and performing the project It is configured to include a collaboration result sharing server 300 for managing the history.

At this time, the collaborative development space is a space for a robot professional developer or a robot prosumer. The collaborative development space can be used to cooperatively develop robots using source management, issue management, and collaborative documentation tools. In addition to the horizontal and vertical structure, the characteristics of the robot can be considered to reflect the consideration of the field.

To this end, the collaborative development space can be managed as a single integrated robot project of the sub-projects for the robot component set according to each field as well as a user interface that can be efficiently delivered, sequential, parallel In order to improve interoperability between projects that are run in combination or in combination, it should be easy to search, and the stable management of the results in different forms in each project and the collaboration tools according to the proficiency of the users participating in the project It is also configured to allow selective selection of functions.

Accordingly, the collaborative development solution server 100 is a project management unit 110 for creating a project or managing a project in progress, an issue management unit 120 for managing an issue that occurs during the project, and several users in collaboration It comprises a configuration management system interlocking unit 130 to interlock with the configuration management system to manage the project in progress, and a source code comparison unit 140 for comparing the source code generated by the execution of the project.

The collaborative development solution server 100 utilizes Redmine which is capable of supporting and managing multiple projects as an off-source web-based project management and bug tracking tool, thereby managing all projects by one Redmine instance. You can set different permissions for each project for each user. In addition, each project can be set to be public or private, and each project can be configured in the form of modules (eg, wiki, repository, issue tracking,…). However, the collaborative development solution server may of course adopt a solution other than Redmine as an off-source web-based project management and bug tracking tool.

The project management unit 110 projects a project in progress to a client terminal of a user such as a robot professional developer connected to the collaborative development space operating system 10 through a communication network or provides a screen for creating a new project. It is configured to easily grasp the progress of the.

Accordingly, as shown in FIG. 3, when the user selects a project from the manager menu displayed on the client system 30 of the user connected on the communication network to use the virtual robot town cooperative space service, the corresponding user is shown in FIG. 4. The new project can be registered by displaying the name and contents of the project in progress or selecting a new project and entering and saving the requested project name and contents.

In addition, by selecting the module to be activated such as task management, time tracking, news, document, file, location, repository, bulletin board, etc. to be performed in the selected project, it is possible to perform the relevant work to facilitate project execution in the collaborative development space. Make it possible.

The issue management unit 120 is configured to enable a user-designated issue type and state management of issues to enable flexible issue management. As a result, it is possible to identify issues related to the project, as well as allow designated users to manage and update issues.

The configuration management system interworking unit 130 manages all actions related to the change history of all the components generated from the development stage to the final stage of the project in which several users such as a plurality of robots are developed in collaboration. In order to be able to execute, it is possible to link with configuration management systems such as svn and cvs.

The mutual interworking management server 200 is the user of the interaction between the collaboration development space operating system and the virtual robot town operating system so that the user's activities through the virtual robot town can be stored and managed in the collaborative development space based on Redmine The account information sharing unit 210 for sharing the user's account information to enable smooth access and use, and the 3D bulletin board provided in the virtual robot town connected to the wiki and forum page, the collaborative shared file is accessible to the repository or HTTP It is configured to include a 3D bulletin board connection unit 220 to connect to the directory service. At this time. Of course, it can be configured to access the existing Redmine web-based user interface (UI) by user selection.

The collaboration result sharing server 300 is a storage management unit 310 for storing the collaboration results generated while the project is carried out in the collaboration file server 400, and collaborative activity results such as work history, daily work, news according to the progress of the project It is configured to include a history tracking unit 320 to manage to easily track.

At this time, the collaboration result sharing server 300 is built on the pre-built robot portal and wiki system to share the collaboration knowledge generated as a result of the group collaboration, as shown in Figure 5 Web content for each collaboration activity It can be configured to be accessible through a web-based, as well as to share through management tools such as bulletin board provided through the virtual robot town.

In addition, as shown in Figure 6, the storage management unit 310 is configured to store the results of the project in a sortable file name, registration date, size, D / L, MD5 encryption items.

In addition, the tracer 320 is configured such that the results stored in this manner are interoperated with six configuration management systems such as Subversion, Darcs, Mercurical, CVS, Bazaar, and Git, in connection with the selected configuration management system and issue management. It is configured to track and manage the history.

As shown in FIG. 2, the virtual robot town operating system 20 provides a multi-user 3D virtual space by activating the virtual robot town after authenticating a client system connected through a communication network. Management server 500, a design studio server 600 that prosumer activates a number of authoring tools to design creative robots or scenarios, and experience driving and experiencing creative robots designed by robots or prosumers made by companies or research institutes It comprises a space server 700 and a competition space server 800 to compete for the performance verification of the robot designed in the design workshop or the result of the project completed in the collaborative development space.

At this time, the framework management server 500 forms a server-client structure of the virtual robot town, and when the virtual robot town is executed, the multi-user virtual space server 510 for transmitting and displaying the 3D virtual space to the client system 30 and the like. The robot-related information providing server 520 for providing information related to the robot, such as announcements, news, and collaboration knowledge, to the client through a bulletin board provided in the virtual robot town, and a community between the clients accessing the virtual robot town. It is configured to include a Wiki server (530) to form.

The framework management server 510 connects to the virtual robot town to log in, selects a character to a user who sets up a server and a channel, and manipulates the selected character to enter the virtual robot town.

In this case, as shown in FIG. 7, the virtual robot town to which the selected character enters is located in the center, an exhibition experience hall on the left side, a competition hall on the right side, and a design studio on the front side. However, without being limited to the layout of the square and the building can be configured to achieve a variety of structures of course.

In addition, in the square of the virtual robot town is configured to display a number of robots already familiar, such as a cafe, UROBO, aro and sub-boy robot, and when selecting the robot, as shown in FIG. It is preferably configured to confirm the description.

This can increase the interest of the robot while checking the detailed information of the known familiar robots, as shown in Figure 9 by selecting a plurality of bulletin boards provided in the square of the virtual robot town of the external web page Searching the contents can facilitate access to general data related to robots as well as professional data.

The framework management server 500 provides a suitable virtual space that changes as the character of the client moves within the virtual robot town. For example, when the client's character accesses the design studio and executes the EDRS authoring unit, the framework manages the EDRS. When the robot model and the program file .irs file is read from the design studio server and provided to the user, when the EveR content authoring unit is executed, the .sce file which is the Ever content file is provided, and when the robot editor is executed It is configured to provide editing tools and authoring tools to connected users by providing robot model and .rm file which is its driving model.

In addition, when the client accesses the experience space in the virtual robot town and executes five robots, the experience space server calculates the collision and dynamics of the object using the physics engine 770 PhysX, and the calculated result is networked. It is preferably configured to send to the client system using the RakNet library, which is a library. At this time, the client periodically receives the user's input and transmits the position of the object to the experience space server, and redraws and displays the object position through the result received from the experience space server. In addition, when an event such as a user change, reset, chat, user addition, or deletion occurs in the experience space, the experience space server retransmits the result to all clients that are connected to display the same screen.

The robot-related information providing server 520 and the Wiki server 530, as shown in Figure 9 in the form of sales knowledge, robot development news, robot information center, town announcements, etc. in various places in the virtual robot town It is configured to implement community with outside while interworking with existing board.

The design workshop server 600 is composed of three panels and one robot, as shown in Figure 10, to click on a robot to provide a design workshop to display a description of each panel as shown in Figure 11 It is composed.

To this end, the design studio server 600 is activated in the client system 30 of the user connected through a communication network and can be directly executed by each user EDRS authoring unit 620, OPRoS authoring unit 630, EveR It includes various virtual robot authoring tools 610 such as a content authoring unit 640 and a scenario authoring unit 650 based on graphics. However, since the above-described virtual robot authoring tool 610 and the scenario authoring unit 650 are merely examples, various authoring tools are not limited to such authoring tools and may be configured to be executed in the client system 30 through a communication network. Of course.

Referring to FIG. 11, the first screen on the left shows that the robot can be configured with EDRS by executing the EDRS robot authoring tool 620 provided by the EDRS, and the second screen shows the EverR content authoring tool 640. In this case, the content used in EveR can be added or modified to be applied to EveR, and the third screen indicates that the robot can be configured by executing the OPRoS authoring tool 630.

Detailed configuration and actual implementation of each of the virtual robot authoring tool and scenario authoring unit will be described later.

The experience space server 700 is composed of five panels and a robot as shown in FIG. 12, and clicking on a robot like the design studio displays an explanation of each panel as shown in FIG. 13. It is configured to provide an experience hall.

To this end, the experience space server 700 is activated in the client system 30 of the user connected through a communication network humanoid experience unit 710 to enable each user to directly move the various robots already manufactured, and The horse robot experience part 720, the iRobi experience part 730, SEROPI experience part 740, and EveR experience part 750 is comprised. However, since the experience section of each robot described above is merely an example, the number of robots that can be experienced may increase as various types of robots are not limited to the experience section of the specific robot.

Referring to FIG. 13, the first screen from the left side can be experienced to adjust tinyWave, a robotic robot of robolife, and the second and third screens show the dog robot and seropi of the Korea Institute of Industrial Technology. Explain that you can experience the adjustment. In addition, although the detailed description is not shown in the drawing, referring to FIG. 12, the fourth screen from the left allows you to experience iRobiQ of Eugene Robot Co., and the fifth screen shows robots using industrial robot arms and small motors of various companies. Experience the arm and explain that you can sleep.

The contested space server 800 is composed of three panels and a robot as shown in FIG. 14, and clicks on the robots as shown in the design workshop or exhibition hall to describe each panel as shown in FIG. 15. It is configured to provide a contesting competition venue.

To this end, the contest space server 800 is a contest replay unit 810 that allows a user connected through a communication network to reproduce the actual state of the conventional contest, and the user operates the client system to operate the robot It includes a virtual robot competition sample unit 820 that can be moved and tested, and a robot war game performance unit 830 that allows the player to experience a real game with another team.

Referring to FIG. 15, the first screen from the left indicates that the preliminary competition of the virtual robot competition 2010 can be viewed, and the second screen shows the virtual robot competition sample competition while moving the robot through automatic program and keyboard control. A third screen shows that a humanoid match game using two tinyWaves can be played.

At this time, the virtual robot town is composed of an external space, a square and three internal spaces, and each space is composed of an external information connection (bulletin board, homepage) object and an external tool connection (tools provided in each space) object. desirable. Accordingly, referring to FIG. 16, when attempting to connect external information or an external tool in each space provided in the virtual robot town (call exLauncher), external tool execution management, linked file upload / download management, or collaboration space Through the connection of the application program and the interworking file, call the application program only, perform the web-based function or call the web-based service, the 3D environment of the virtual robot town can be linked to the external tools.

Next, with reference to Figures 17 to 19, the design of the robot directly in the design workshop, experience while operating the robot directly designed in the exhibition experience, and describes the process of testing the performance of the robot to compete with other users in the competition venue do.

Figure 17 is a block diagram showing the flow of services made in the design studio according to the present invention, Figure 18 is a block diagram showing the flow of services made in the exhibition experience according to the present invention, Figure 19 is in the competition venue in accordance with the present invention It is a block diagram which shows the flow of a service made.

Referring to FIG. 17, when a user clicks a moving point of an avatar, which is a character of a client system user, in a square of a virtual robot town, moves to a design studio and clicks a gate of a design studio, the screen is switched to an interior space of a building of the design studio. After moving to, three panels and one robot are displayed, and after selecting a specific panel and clicking the linking object, the authoring tool set to work with the corresponding panel is called and activated.

In FIG. 17, an EDRS program is called as a representative virtual robot authoring tool, and the virtual robot is designed using the activated EDRS authoring tool. However, the client system user may call and activate another authoring tool. Of course. After saving the relevant file and exiting the EDRS authoring tool, the interworking object is terminated and it returns to the design studio again to end the virtual robot's authoring.

Similarly, referring to FIG. 18, when a moving point of an avatar, a character of a user of a client system in a virtual robot town, is clicked to move to an exhibition experience site, and a gate of the exhibition experience place is clicked, the screen is switched to change the screen. Five panels and one robot are displayed by moving to the building's interior space. After selecting a specific panel and clicking the linking object, the robotic lab-based experience program, which is set to work with the panel, is activated.

In addition, the robot can experience the movement and manipulation of the robot using the active experience program, and in particular, by experiencing the movement of the robot according to a scenario designed by the user in the design studio, the error or lack of the design can be directly confirmed. Will be. In this way, after each robot experiences using the experience program and ends the experience program, the interlocking object ends and the robot returns to the exhibition experience area to end the experience of the robot.

In addition, referring to Figure 19, click the moving point of the avatar, the character of the client system user in the virtual robot town square to move to the competition venue, click the gate of the competition venue, the screen is switched to the building of the competition venue After moving to the inner space, three panels and one robot are displayed, and after selecting a specific panel and clicking the linking object, the sample virtual competition, which is a sample of the virtual robot competition set up to work with the corresponding panel, is activated, or Virtual contest competition data is activated.

In addition, the user can test the robot's competition performance designed by the user by the activated virtual competition example program, or play the virtual competition competition data and view the results of the past competition to establish the development direction of the robot. do.

As described above, if the sample is performed or the program is ended after viewing the past competition data, the linking object ends and the robot is returned to the competition venue again.

Next, referring to Figures 20 to 25, it will be described to design the robot in the design studio by activating the various authoring tools.

The design studio server 600 constitutes a virtual space that abstracts the actual physical space and a virtual robot operating in the virtual space, and the virtual robot is generated by data generated through the virtual environment consisting of the virtual space and the virtual robot. And a virtual robot authoring tool 610 to form a working robot simulation platform. The robot simulation platform stores robot elements and environments in a library way, and enables robots to be quickly and easily configured and to simulate various types of robots, sensors, and actuators.

Accordingly, as shown in FIG. 20, the virtual robot authoring tool 610 is a production tool that can easily manufacture a robot in a virtual 3D space and make a robot's movement. It becomes possible.

In addition, the virtual robot authoring tool 610 provided in the design studio is configured to provide a block diagram-based development environment for easy use by not only professional developers but also non-experts and general developers, a plurality of boxes, motors, cylinders, etc. Simply by bringing the components of the robot and interconnecting them by a link, the robot can be made and formed to improve the convenience of robot design.

To this end, the virtual robot authoring tool 610 generates a motion by setting a time angle at a joint using a robot editor for designing an appearance by arranging components of the robot and a motor selected by the robot editor. It is preferably configured to include a motion editor.

In this case, the robot editor is a block diagram, an object view, and a property view so that the user visually checks the work performed in each process according to the manufacturing process of the design in designing the robot based on the block diagram. It is desirable to be configured to provide an output view and a 3D view.

Accordingly, the user can click on blocks marked with icons to create spheres, boxes, cylinders and motors through the block view. The menus and toolbars allow you to save files created with the Virtual Robot Authoring Tool, or load new ones for editing.

In addition, an object view is provided as a main view of the virtual robot authoring tool, an object selected in the block view is generated, and the objects generated in this way are selected and arranged, and multi-selection movement is also possible. The robot is then constructed by inserting joints that connect the objects.

In addition, properties of the object may be set and modified in the property view, and the property of the object set as described above is displayed on the screen when the object created in the object view is selected so that the user can check the property.

Finally, the output view informs the user of the success of the robot when the file is saved in the output view, and checks the appearance of the object and the robot created in the object view through the 3D view window and connects the joint. As you move, you can check the robot's movement.

In addition, the motion editor (Motion Editor) is to set the movement of the robot created in the robot editor, the motion of the robot while selecting the motor generated in the robot editor to adjust the angle that can move in each joint by time It is configured to generate.

In addition, the scenario authoring unit 650 provided in the design studio is a graphic-based robot programming production tool for configuring the work of the intelligent robot, it is configured so that the general public can easily write a robot application than an expert.

That is, the scenario authoring unit 650 is configured to simply make the work of the robot not in a complex text-based programming language but in a graphic block structure as shown in FIG. 21. Therefore, by dragging and dropping the necessary blocks (functions) with the mouse on the user interface (UI) and connecting them with a link to implement the robot's work, the robot's work can be configured with only a little learning.

To this end, the scenario authoring unit 650 may be activated and then load or save a new file from a menu and a toolbar, select blocks, add blocks, modify blocks, and link links between blocks. After checking the error, it is possible to easily create a scenario for the robot's movement.

Accordingly, the scenario authoring unit 650 is a main view of the graphical program production tool, a task view for generating a scenario by arranging a plurality of command blocks and connecting them with a link, and a command to be performed in the block. It is configured to include a block generator for generating a plurality of instruction blocks is set.

The task view is configured to select and arrange blocks, insert a link connecting the arranged blocks, and set the order in which the blocks in which the commands are set operate.

In addition, the block generator generates simple command blocks indicated by an icon through a block view, and externally written files such as task, wave, posture, and gesture files simply generate command blocks through a set path. It is composed. At this time. The posture file is a motion file that instructs the robot to take an initial posture or a specific posture, and the posture file can control the posture of the robot.

These command blocks can be created in various ways such as Start block, End block, Delay block, And block, Write block, If block, TTS block, Task block, Write block, Posture block, Gesture block, WayPoint block. Another command block for generating a scenario for driving the robot can be generated and used to generate the scenario on a graphic basis.

In addition, the virtual robot authoring tool 610 may be composed of a program having a robot editor and a motion editor as described above, but by providing a variety of environments and robots to the user designing the robot can easily and quickly develop an intelligent robot It is preferably composed of EDRS authoring unit 620 which is a simulation software.

As shown in FIG. 2, the EDRS authoring unit 620 includes a robot editor 621, an environment editor 622, a flowchart creator 623, and a simulator 624.

The robot editor 621 can create a robot library in a drag & drop method, so that even a beginner can easily and conveniently configure a robot, and is configured to reproduce various robots according to a user. In addition, it is configured so that various sensors can be installed at a user's desired location, and parameters can be applied to the simulation.

Accordingly, as shown in FIG. 22, the robot editor 621 not only provides a humanoid, a mobile robot, a dog-type robot, etc., but also a user developed using a library development tool provided as a plugin. A library of robots that can additionally register the library, a sensor library that provides 28 kinds of sensors that can be attached by the user using a sensor positioning tool on the surface or inside of the robot, and the free rotation and position adjustment when the sensor is placed And a sensor placement tool that allows the user to properly place the sensor in a desired position.

At this time, the robot editor 621 can also preview the library to be able to preview the appearance after the installation of the robot and sensor library to be used, can check the properties of the robot and sensor objects, by the sensor arrangement tool Arranged sensors can be configured to change their properties according to the characteristics of each sensor, and provides a variety of views of the x, y, z plane to easily configure the robot and the environment.

The environment editor 622 can create an environment library by drag & drop method, so that even beginners can easily and conveniently configure the environment, and can be configured to reproduce various environments according to the user.

Accordingly, as shown in FIG. 23, the environment editor 622 includes a basic environment and various elements included in the environment as a library, and uses a library development tool provided by a user as a plugin. Environment library to register additionally developed library, environment layout tool that makes it easy to place objects to compose environment using configuration tool, and to configure floor and wall in user's desired form It includes an environment creation tool that is provided to enable you to quickly and easily configure different types of floors, walls, and doors.

In this case, the environment editor 622 may also preview the environment library to be used, and provide various views that allow the user to configure the environment in three dimensions by simultaneously providing a free view, a front view, and a floor plan to configure the environment. In addition, it is possible to set values of environmental parameters such as temperature, humidity, barometric pressure, and geomagnetic field, and it is configured to provide a property change model for input to a specific sensor, which is composed of a human body sensor, a sound source, a light source, and a heat source.

In addition, the flowchart writing unit 623 is a flowchart language that allows the beginners who are not familiar with the programming language to easily test the robot by using the control block and the state block so that even a beginner can easily test the robot. Flowchart Language).

In this case, by providing a dedicated editor for the C / C + + language, it can be configured to automatically interoperate with the simulator and can be simulated, with a control library and an example project to enable programming in various languages such as MFC, JAVA, Python It may be configured to provide.

In addition, the simulator 624 is configured to simulate a combination of the robot and the environment created in the robot editor and the environment editor. At this time, it is possible to simulate through various forms of control and to check the state of the object during the simulation.

In addition, the virtual robot authoring tool 610 provides all the motion programs, for example, sensors, drivers, navigation, etc. in a component format so that users or developers can easily develop robots and robot contents, and provide them based on them. It can be composed of OPRoS authoring unit 630 that makes it easy to create a desired robot content using a development tool.

In this case, the OPRoS authoring unit 630 may operate only by changing a component of software associated with a related hardware module without changing the entire software (S / W) even if the manufacturer changes another hardware (H / W) module. By providing various components necessary for the production and operation of the robot, it enables the user to support the development of various services by spending more time on content creation than the robot production.

To this end, the OPRoS authoring unit 630 as shown in FIG. 24 provides a content editor, a block component editor, and the like so that a user can easily develop robot content, and is developed using the content editor and the block component editor. It is configured to directly verify the operation of the content developed by the user by simulating the operation of the content.

In addition, the EveR content authoring unit 640 is configured to create a unit scenario for producing the content of the EveR robot or to synthesize a same motion or facial expression by a motion arbitration algorithm to create a new motion or facial expression. .

In this case, the EveR content authoring unit 640 can be applied to various fields such as social, theatre, introduction, song, and musical that can be used as a humanoid robot or a service robot, and can be used for various types of humanoid robots by adding program data. It becomes possible.

Accordingly, as illustrated in FIG. 25, the EveR content authoring unit 640 may generate and add a TTS voice editing unit 641 to generate and add a voice, and generate and add data forming an expression of EveR. An expression editor 642, a gesture editor 643 for generating and adding data forming EveR movements, and a song editor 644 for creating and adding songs as a performance performed by EveR. In addition, the scenario final editor 645 may be configured to set a start time and an end time of the voice, facial expression, motion, and the like to form one completed scenario.

In addition, the experience space server 700 is configured to provide an experience space for displaying and experiencing creative robots designed by users such as prosumers, and for this purpose, a user for experiencing various robots as shown in FIG. 26. It is configured to provide a three-dimensional interface capable of screen and remote operation.

In this case, the experiential space server 700 is composed of a server client structure using a RakNet network library that provides reliable UDP and a high level network structure to Windows, Linux, and Unix platforms through a free network API. As such, a client system user accessing the virtual robot town operating system 20 through the RakNet network library can experience robots operating in the experiential space server 700. To this end, the experience space server 700 transmits and displays the position information of the robot selected to experience the moment the client system accesses the client system 30.

The experience space server 700 not only experiences a humanoid robot model in the humanoid robot experience unit 710, but also experiences a horse robot model in the dog robot experience unit 720 and in the iRobi experience unit 730. Experience the iRobi robot model, experience the SEROPI robot model in the SEROPI experience unit 740, experience the EveR robot in the EveR experience unit 750, and operate the robot directly. You can check it.

To this end, an operation key is provided for instructing motion while moving each robot, and the user uses the operation key to play a biped robot soccer using a ball existing in 3D space as shown in FIG. 26. Of course, you can also experience the movement of each joint using a number of industrial robot arm model.

In addition, the EveR experience unit 750 is configured to remotely apply the content generated using the EveR authoring unit to the actual Eva (EveR) and to see the movement of the EVA accordingly.

To this end, the EveR experience unit 750 relays a real robot EveR located at a remote location, a camcorder for capturing the video and audio of the real robot EveR, and an EveR transmitted to the client system by relaying the video and audio generated by the camcorder. It consists of a control unit that performs the robot control command.

At this time, the EveR experience space implemented by the EveR experience unit is classified into three types according to the role of the participant, the spectator, and the operator. The experienced person can create content offline, upload the produced content to the server, and then access the experience space system to give actual orders or to execute the content he / she created as a conversation person. do. In addition, the spectator can access the server to watch the experience of the commander, and the operator to test the content uploaded by the experiencer to determine whether there is no difficulty in driving the robot, and to allow access to the experiencer or spectator It acts as a subject to monitor whether there is no abnormality during robot operation.

In addition, unlike the existing offline competitions, the competition space server 800 is free to form a team, there is no limitation of the space used parts, accordingly, sharing the robot design code with various teams, high price difficult to contact in real space It is configured to provide a virtual space, which is a virtual space that can solve the problems of parts use, test space design, etc., and it is possible to create a unique intelligent robot not yet implemented in reality.

To this end, the contest space server 800 is connected to the external tool by the interlocking of the 3D object, as shown in Figure 27, the contest replay unit 810 that can replay past contests, and the contest venue The robot robot sample part 820, which allows the user to directly experience the example of the virtual robot contest, and the humanoid robot of the other team while controlling the humanoid robot in the virtual space, and the robot designed by the user himself It is configured to include a robot war game performance unit 830 to check the performance.

As such, by providing a collaborative development space of the robot in the online virtual space, it is possible to prevent similar duplicate development of the robot parts and to pursue the liberalization of technology through openness, sharing and collaboration. In addition, it will be possible to implement Wikinomics, a new way, by inducing voluntary participation of netizens, a prosumer based on robot participation, sharing, opening and collaboration, and applying it to the robot development and content creation process.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

10-Cooperative Development Space Operation System 20-Virtual Robot Town Operation System
30-client system
100-Collaboration Development Solution Server 110-Project Management Department
120-Issue management unit 130-Configuration management system interlocking unit
140-source code comparison
200-Interoperable Management Server 210-Account Information Sharing Unit
220-3D board connection
300-Collaboration Result Sharing Server 310-Storage Management Department
320-Traceability 400-Collaboration file server
500-Framework Management Server 510-Multi-User Virtual Space Server
520-Robot related information server 530-Wiki server
600-Design Workshop Server 610-Virtual Robot Authoring Tool
620-EDRS Author 630-OPRoS Author
640-EveR Content Author 650-Scenario Author
700-Experience Space Server 710-Humanoid Experience
720-Horse Robot Experience 730-iRobi Experience
740-SEROPI Experience 750-EveR Experience
770-Physics Engine Drive
800-Gyeongju Space Server 810-Competition Replay
820-Virtual Robot Contest Sample Part 830-Robot War Game Execution Part

Claims (20)

A collaborative development space operating system that provides an open source web-based collaborative development space, manages projects made in such a collaborative development space, and stores the results so that professional robot developers can access each client network through a communication network;
A virtual robot town operating system that provides a virtual robot town which is a space where a plurality of participants can connect to their client systems on a communication network to design and experience robots according to their scenarios and implement the results of collaboration work; And
A system for providing a collective collaboration space for a robot development platform using a communication network comprising a client system for accessing the collaboration development space and a virtual robot town through a communication network. The method of claim 1,
The collaborative development space operating system,
A collaborative development solution server providing a collaborative development solution for creating and managing a project performed by a professional robot developer by a client system connected on a communication network;
An interoperation management server for interoperating and storing the user's activity made in the virtual robot town with each other so as to be managed in a cooperative development space; And
A system for providing a collective collaboration space for a robot development platform using a communication network, comprising a collaboration result sharing server configured to store a project result generated by the collaboration development solution and manage execution history of a corresponding project. The method of claim 2,
The collaboration development solution server,
Project management unit for creating a project or managing a project in progress;
An issue management unit managing issues generated during the project;
A configuration management system interworking unit interworking with the configuration management system to manage a project in which several users collaborate; And
Group cooperation space providing system of the robot development platform using a communication network, characterized in that it comprises a source code comparison unit for comparing the source code generated by the execution of the project. The method of claim 3,
The collaborative development solution server is an off-source web-based project management and bug tracking tool that provides a collective collaboration space for a robot development platform using a communication network, which is equipped with a redmine solution capable of supporting and managing multiple projects. system. 5. The method of claim 4,
The mutual interlocking management server,
The user's smooth access and use between the collaborative development space operating system and the virtual robot town operating system are managed so that the user's activities through the virtual robot town can be stored and managed in the collaborative development space based on Redmine. An account information sharing unit for sharing the account information of the user so as to be possible; And
The 3D bulletin board provided in the virtual robot town is connected to a wiki and a forum page, and the collaborative sharing file includes a 3D bulletin board connection unit configured to connect to a repository or HTTP accessible directory service. Platform collaboration space provision system. The method of claim 5,
The collaboration result sharing server,
Repository management unit for storing the collaborative results generated while the project is carried out to the collaborative file server; And
Group collaboration space providing system of the robot development platform using a communication network, characterized in that it comprises a history tracking unit for managing the tracking of the results of the progress of the project, such as work history, daily work, news to easily track. The method according to claim 6,
The history tracking unit is configured to service the stored collaboration results with six configuration management systems such as Subversion, Darcs, Mercurical, CVS, Bazaar, and Git, and traces and manages the history by linking the selected configuration management system and issue management. Group collaboration space providing system of the robot development platform using a communication network, characterized in that configured to be. 8. The method according to any one of claims 1 to 7,
The virtual robot town operating system includes a framework management server for providing a multi-user 3D virtual space by activating the virtual robot town after authenticating a client system connected through a communication network;
The framework management server,
A multi-user virtual space server forming a server-client structure of the virtual robot town and transmitting and displaying a 3D virtual space to a client system when the virtual robot town is executed;
Robot-related information providing server for providing information related to the robot, such as announcements, news, collaboration knowledge to the client through the bulletin board provided in the virtual robot town; And
A system for providing a collective collaboration space for a robot development platform using a communication network, comprising a Wiki server for forming a community between clients accessing the virtual robot town. 9. The method of claim 8,
The virtual robot town is composed of a plurality of spaces in which a character selected by the user moves, and each space is provided with an external information connection object and an external tool connection object so as to link the 3D environment of the virtual robot town to external tools. Collective collaboration space providing system of the robot development platform using a communication network, characterized in that. 10. The method of claim 9,
The virtual robot town operating system further includes a design studio server that provides a design studio for designing a robot or a scenario by activating an authoring tool by a user connected to a client system on a communication network;
The design studio server,
A virtual space that forms a virtual space that abstracts a physical physical space and a virtual robot operating in the virtual space, and forms a robot simulation platform in which the virtual robot operates by data generated through the virtual environment consisting of the virtual space and the virtual robot. Robot authoring tools; And
As a graphic-based robot programming tool for organizing intelligent robot tasks, users can simply implement the robot's tasks in the form of blocks based on graphics by dragging and dropping the necessary blocks with the mouse on the user interface. A system for providing a collective collaboration space for a robot development platform using a communication network, comprising a scenario authoring unit. The method of claim 10,
The virtual robot authoring tool,
A robot editor that arranges components of the robot so that a user designs the robot on a block diagram; And
A collective collaboration space providing system for a robot development platform using a communication network, characterized in that it comprises a motion editor for generating a motion by setting the angle by time at the joint using the motor selected in the robot editor. The method of claim 11,
The scenario authoring unit,
A task view for creating a scenario by arranging and linking a plurality of command blocks as a main view of a graphical program production tool; And
A block generation unit generating a plurality of instruction blocks in which instructions to be executed in the corresponding block are set;
The block generator generates simple command blocks indicated by an icon through a block view, and externally written files such as task, wave, posture, and gesture files simply generate command blocks through a set path. Group collaboration space providing system of the robot development platform using a communication network. The method of claim 11,
The virtual robot authoring tool is composed of an EDRS authoring unit which is simulation software;
The EDRS authoring unit,
A robot editor capable of constructing a robot by dragging and dropping a robot library, installing a sensor at a desired position, and setting parameters to apply to a simulation;
An environment editor for creating an environment by drag-and-drop environment libraries;
A flowchart writing unit comprising a flowchart language for easily controlling and programming sensors and actuators by a control block and a state block for testing a robot; And
A system for providing a collective collaboration space for a robot development platform using a communication network comprising a simulator for simulating a combination of a robot and an environment created by the robot editor and an environment editor, and checking a state of an object during a simulation. The method of claim 13,
The environment editor,
An environment library that not only includes a basic environment and various elements included in the environment as a library, but also additionally registers a library developed by a user using a library development tool provided as a plugin;
An environment deployment tool that makes it possible to conveniently place objects for constructing an environment using a configuration tool; And
Development of a robot using a communication network comprising an environment generating tool provided to configure floors and walls in a desired shape so that users can easily and quickly configure various types of floors, walls, and doors. Platform collaboration space provision system. The method of claim 11,
The virtual robot authoring tool provides a motion program including a sensor, a driver, and a navigation that a user or a developer uses to develop a robot and robot contents in a component form, and combines the motion program of such a component type by an integrated development tool. Collective collaboration space providing system of the robot development platform using a communication network, characterized in that it comprises an OPRoS authoring unit that can create a robot content. The method of claim 11,
The virtual robot authoring tool includes a EveR content authoring unit which allows a user to create a unit scenario for the production of the content of the EveR robot, or to synthesize a same motion or facial expression by a motion arbitration algorithm to create a new motion or facial expression. Group collaboration space providing system of the robot development platform using a communication network characterized in that the configuration. 17. The method of claim 16,
The EveR content authoring unit,
A TTS voice editing unit for generating and adding voices;
An expression editor for generating and adding data forming the expression of EveR;
A gesture editing unit for generating and adding data forming the movement of EveR;
Song editing unit that can create and add a song as a performance performed by EveR; And
Providing a collective collaboration space for a robot development platform using a communication network comprising a scenario final editing unit configured to set a start time and an end time such as voice, facial expression, and movement to form a completed scenario system. The method of claim 10,
The virtual robot town operation system further includes an experiential space server that provides an exhibition hall for driving and driving a creative robot designed by a robot or a prosumer made by a company or a research institute;
The experience space server,
A humanoid robot experience unit for experiencing a humanoid robot model in a 3D virtual environment;
Horse robot experience section to experience the horse robot model in the 3D virtual environment;
iRobi experience unit to experience the iRobi robot model in a 3D virtual environment; And
A system for providing a collective collaboration space for a robot development platform using a communication network comprising a SEROPI experience unit that experiences a SEROPI robot model in a 3D virtual environment. 19. The method of claim 18,
The experiential space server comprises an EveR experience unit that directly experiences the EveR robot and operates the client system and directly checks the image of each robot moving according to the result;
The EveR experience part,
A real robot EveR located remotely;
A camcorder for capturing video and audio of the actual robot EveR; And
And a control unit which relays the video and audio generated by the camcorder and performs a robot control command of EveR transmitted to a client system. 19. The method of claim 18,
The virtual robot town operation system further includes a Gyeongjin space server that provides a contest site for the competition of the result of the project completed in the cooperative development space or the performance of the robot designed in the design studio;
The contest space server,
A competition replay unit for replaying a competition in the past while being connected to an external tool by interlocking 3D objects;
A virtual robot contest sample unit that allows the user to directly experience the example of the virtual robot contest by moving inside the competition venue; And
A system for providing a collective collaboration space for a robot development platform using a communication network comprising a robot war game performance unit configured to compete with humanoid robots of other teams while the user directly controls a humanoid robot in a virtual space.

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