WO2017126768A1 - Appareil de commande à distance et système permettant de commander à distance un robot mobile, et procédé d'exécution du système - Google Patents

Appareil de commande à distance et système permettant de commander à distance un robot mobile, et procédé d'exécution du système Download PDF

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Publication number
WO2017126768A1
WO2017126768A1 PCT/KR2016/010214 KR2016010214W WO2017126768A1 WO 2017126768 A1 WO2017126768 A1 WO 2017126768A1 KR 2016010214 W KR2016010214 W KR 2016010214W WO 2017126768 A1 WO2017126768 A1 WO 2017126768A1
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WIPO (PCT)
Prior art keywords
mobile robot
user
message
response message
communication
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PCT/KR2016/010214
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English (en)
Korean (ko)
Inventor
신경철
박성주
최영일
문병권
정명교
Original Assignee
(주)유진로봇
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority claimed from KR1020160109293A external-priority patent/KR101844744B1/ko
Application filed by (주)유진로봇 filed Critical (주)유진로봇
Publication of WO2017126768A1 publication Critical patent/WO2017126768A1/fr

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/02—Reservations, e.g. for tickets, services or events
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]

Definitions

  • the present invention relates to a remote control device for remotely controlling a mobile robot, and more particularly, to a remote control device and a method for remotely controlling a mobile robot in consideration of a network connection state, and a remote control system.
  • the cleaning robot refers to a device that automatically cleans an area to be cleaned by inhaling foreign substances such as dust from the floor while driving itself in the area to be cleaned without a user's operation.
  • the cleaning robot is configured to perform a cleaning operation while driving a predetermined cleaning path according to a built-in program.
  • the position of the cleaning robot, its mileage, and obstacles A large number of sensors are used to detect the back.
  • the user's device is connected through the cleaning robot and the network to check the progress and results of the cleaning robot's autonomous driving and cleaning operation, and according to the situation, the user can remotely control the operation with the cleaning robot.
  • Techniques for remote control systems have been developed that can be implemented.
  • the present invention is to solve the above problems in the prior art, by using a control device for controlling a mobile robot, using a pre-stored data or temporarily storing the request and response according to the determination condition according to the network environment
  • a control device for controlling a mobile robot using a pre-stored data or temporarily storing the request and response according to the determination condition according to the network environment
  • the user is subjected to as little as possible the influence of the communication performance according to the network environment.
  • a remote control apparatus for remotely controlling a mobile robot that operates according to a request of a user comprising: a transceiver configured to transmit a user message related to the mobile robot or to receive a response message from the mobile robot according to the user message; Based on the time at which the user message is transmitted or the response message is received, the connection manager and the connection manager determine whether the current network connection state is in real time.
  • First control for providing first data responsive to the And a processor configured to generate a second control signal for providing a signal and second data received from the mobile robot in response to the user's request.
  • the mobile robot is a cleaning robot, the operation may be cleaning and running.
  • the connection manager is based on the current time of receiving or transmitting the user message and the response message based on whether the current network connection state is a state capable of communication in real time, the current network connection state is real-time It is determined whether the communication mode is the first communication mode or the second communication mode in which communication is not possible in real time, and the first data is received from the mobile robot when the first communication mode is stored in advance.
  • the response message, and the second data may be a response message received from the mobile robot when the first communication mode.
  • the apparatus may further include a storage configured to store data including a user message related to the operation of the mobile robot and a response message from the mobile robot according to the user message.
  • the storage may further include a cache.
  • the cache may further include a first cache for sorting and storing the user message according to the network connection state and a second cache for storing a response message responded by the mobile robot according to the user message.
  • connection manager presets the control signal generated by the processor when receiving a disconnect event from the socket (socket) when the socket (socket) for network communication of the mobile robot is not connected to the network
  • at least one of the case may be set to the second communication mode.
  • the processor may receive a response message from the mobile robot according to the user message from the transmission and reception unit and store it in the second cache.
  • the processor when the current network connection state is not possible to communicate in real time, sorts and stores the user message in the first cache, when the current network connection state can communicate in real time
  • the response message prestored in the second cache may be called.
  • the data can be transmitted and received in real time with the mobile robot.
  • the apparatus may further include a user interface for receiving the user message and an output unit for outputting the response message to the user interface.
  • the user message and the response message includes a timestamp including a time when the user message and the response message are generated, a first identifier for distinguishing according to a user's command type, and a generation order of the user message and the response message. It may include a sequence number indicating, a second identifier for distinguishing the user message and the response message, and at least one of parameters according to the first identifier and the second identifier.
  • a remote control device for remotely controlling a mobile robot and a mobile robot operating at the request of a user, the user associated with the mobile robot Transmitting and receiving unit for transmitting a message, receiving a response message from the mobile robot according to the user message, the current network connection state based on the time to send the user message or the response message communication in real time
  • the connection manager for determining whether or not it is possible and the first control signal for providing the first data stored in advance and in response to the user's request and received from the mobile robot in response to the user's request
  • a second control scene for providing a responsive second data
  • a control device for remotely controlling the mobile robot including a control device for remotely controlling the mobile robot including a processor for generating a call.
  • the mobile robot is a cleaning robot, further comprising a first cache for sorting and storing the user message according to the network connection state and a second cache for storing a response message responded by the cleaning robot according to the user message.
  • the processor may include, when the current network connection state is capable of communication in real time, depending on whether the current network connection state is capable of communication in real time based on the current time of receiving or transmitting the data. Receiving a response message from the cleaning robot according to the user message from the transmitting and receiving unit and storing the response message in the second cache, and when the communication is not possible in real time according to the network connection state, the user message is transmitted to the first cache.
  • the point in time to communicate in real time may further include wherein loading the stored response messages in advance to the second cache.
  • the cleaning robot when the network connection state can be communicated in real time receives the control signal generated from the control device, and cleaning and driving in accordance with the control signal, according to the user message
  • a response signal including a response message responsive to cleaning and driving may be transmitted.
  • a remote control method for communicating with a mobile robot operating according to a user's command the remote communication method for communicating with a mobile robot operating according to a user's command, Transmitting a related user message or receiving a response message from the mobile robot according to the user message; communicating the current network connection status in real time based on a time when the user message is transmitted or the response message is received; The first control signal and the first control signal for providing the first data stored in advance in response to a user's request in accordance with the step of determining whether or not the possible state and the network state can communicate in real time. Received and responding to the user's request Generating a second control signal for providing the second data.
  • the mobile robot is a cleaning robot, the operation may further comprise the cleaning and running.
  • the current network connection state is a state capable of communication in real time based on a current time of receiving or transmitting the data
  • the current network connection state is a first communication mode capable of communication in real time
  • the method may further include determining whether the communication mode is a second communication mode in which communication is not possible, and determining whether the communication mode is the second communication mode comprises: a socket for network communication of the mobile robot;
  • the second communication mode is a case in which at least one of the case that the control signal generated by the processor can not be transmitted and received with the mobile robot more than a predetermined number of times. Can be set to
  • the method may further include arranging and storing the user message according to the network connection state and storing a response message responded by the mobile robot according to the user message.
  • the method may further include transmitting and receiving the data in real time with the mobile robot in the first communication mode, and storing the response message may be stored when the first communication mode is used. Sorting and storing the message may be stored in the second communication mode, and the response message stored in advance in the first communication mode may be called.
  • control device uses the previously stored data or temporarily stores the request and response, thereby enabling seamless remote control to the user even when communication is not possible in real time.
  • FIG. 1 is a diagram illustrating a remote communication system for remotely controlling a mobile robot according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a case of a first communication mode according to an embodiment of the present invention.
  • FIG. 3 is a diagram illustrating a case of a second communication mode according to an embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a case where a mode is converted to a first communication mode after a second communication mode according to an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a remote communication method according to a network connection state according to an embodiment of the present invention.
  • the remote control apparatus of the present invention is a remote control apparatus for remotely controlling a mobile robot that operates according to a request of a user, and transmits a user message related to the mobile robot or a response message from the mobile robot according to the user message.
  • a transmission / reception unit for receiving a message, a connection manager for determining whether a current network connection state is in a state capable of communication in real time based on a time for transmitting the user message or receiving the response message, according to the determination of the connection manager.
  • a processor configured to generate a first control signal stored in advance to provide first data in response to a user's request and a second control signal received from the mobile robot to provide second data in response to the user's request. It may include.
  • the remote control system of the present invention transmits and receives a mobile robot and a user message related to the mobile robot, a transceiver for receiving a response message from the mobile robot according to the user message, and transmits the user message or sends the response message.
  • the connection manager determines whether the current network connection state is in a state capable of real-time communication on the basis of the received time, and in order to provide first data that is stored in advance and responds to a user's request according to the determination of the connection manager.
  • a processor configured to generate a first control signal and a second control signal for providing second data received from the mobile robot in response to the user's request.
  • the remote control method of the present invention transmits a user message related to the mobile robot or sends a response message from the mobile robot according to the user message.
  • Receiving determining whether the current network connection state is a state capable of real-time communication on the basis of the time to send the user message or the response message and the state that the network state can communicate in real time
  • the first control signal is stored in advance to provide first data in response to the user's request, and the second control signal for providing second data received from the mobile robot in response to the user's request. It may include the step of generating.
  • the remote communication method of the present invention may provide a storage medium having a computer-readable program recorded thereon for execution by a computer.
  • the mobile robot may be a robot implemented as a cleaning robot that moves and operates itself according to a user's command, and performs an operation related to cleaning and driving.
  • the control device is a terminal device that can be used by a user as a user terminal receiving user commands related to remote cleaning or remote driving through a remote service system, and includes a mobile communication module, a mobile phone, a smartphone, and a laptop computer.
  • Digital broadcasting terminal, PDA (Personal Digital Assistants), PMP (Portable Multimedia Player), navigation, netbooks, tablets, etc. can be provided in various forms, in the present embodiment mixed with "user terminal" do.
  • the mobile robot 2 may be exemplified as, for example, a cleaning robot, a hospital service robot, a logistics service robot, a military robot, or an industrial robot, and there is no limitation on the type of robot.
  • the cleaning robot which is a representative mobile robot, will be described.
  • the mobile robot 2 is equipped with a sensor unit for detecting a surrounding situation, a driving unit for moving, and an embedded processor to grasp the surrounding situation of the mobile robot 2 and determine an appropriate operation according to the autonomous operation. . That is, the user's voice or other command may be recognized to determine the user's request, and the corresponding operation may be performed.
  • the mobile robot 2 is connected to the control device 1 via a network, and may receive a remote control from the control device 1 to perform a specific operation. At this time, the mobile robot 2 transmits the situation information detected through the sensor unit to the control device 1 and receives a remote control command signal for the determined operation based on the situation information monitored by the control device 1. This can be done.
  • the mobile robot 2 may switch the control mode from the automatic control mode using its own processor to the networked control mode that can be remotely controlled according to the user's request.
  • the mobile robot 2 is interconnected with the control device 1 through wired / wireless networks including the Internet, and secures or authenticates a space such as a home or office by using a gateway or an access point providing high-speed Internet access. Can be provided.
  • a router and an external server may be used.
  • the router is a network device that connects to an Internet line coming into the house and transmits it as a wireless signal, thereby allowing a plurality of software devices to share one Internet line and to simultaneously access the Internet.
  • the router is an access point (AP), and performs wireless communication in a wireless communication enabled area of a certain distance, thereby connecting the service robot 2 to the network.
  • AP access point
  • the server according to an embodiment of the present invention is located between the control device 1 for providing the information and the mobile robot 2 is located in place of the information requested by the user and delivers it to the user, and also provided by the user
  • a relay server or proxy server that delivers the information to the mobile robot 2 and temporarily stores the information so that when the user requests the information again, the information is quickly delivered to the user without re-connection. It can be prepared as.
  • the server is operated by a company providing a mobile robot 2, and is connected to a plurality of mobile robots 2 through a network, and the mobile robot 2 includes a plurality of mobile robots ( 2) You can save IP address, serial number, ID and password. Therefore, when the user inputs the ID and password through the control device 1, the mobile robot 2 can find the IP address of the mobile robot 2 corresponding to the ID and password, and can connect with the robot having the address. have.
  • a program for remotely controlling the mobile robot 2 may be installed in each of the mobile robot and the remote control device.
  • the control device 1 connects to the mobile robot 2 via a network in accordance with an operation defined by an installed program, and displays a screen for controlling the mobile robot 2 in the user interface unit 100 of the control device 1. After outputting), the mobile robot can be controlled by receiving a user's instruction and transmitting the user's instruction to the mobile robot.
  • the mobile robot 2 and the control device 1 may be initially connected to a server to obtain identification information of the other party and location information on the other party's network, and then form a mutual connection separately from the server.
  • a relay server having a fixed network address on the network is required.
  • the control device 1 connects to the relay server device to obtain necessary information about itself.
  • the mobile robot 2 and the control device 1 exchange a large amount of information such as real time video and audio information. If the mobile robot 2 and the control device 1 are plural, high performance server devices and large network bandwidths are required if all the information is exchanged through the relay server device, which leads to an increase in cost.
  • the mobile robot 2 and the control device 1 are initially connected to the relay server device to obtain the partner's identification information and the information on the partner's network, and then form an interconnection layer separately from the relay server device.
  • Two devices a Session Traversal Utilities for NAT (STUN) server, a signal processing device (1) and a service robot (2), for peer to peer connection to obtain location information on its own network separately from the relay server device.
  • An ICE frame network that performs communication and coordination through an ICE (Interactive Connectivity Establishment) protocol can be used to find a network connection path.
  • FIG. 1 is a diagram illustrating a remote communication system for remotely controlling a mobile robot according to an embodiment of the present invention.
  • a telecommunications system includes a control device 1 and a cleaning robot 2 for remotely controlling a mobile robot (hereinafter referred to as a “cleaning robot”).
  • the control device 1 includes a user interface unit 100, a processor 200, a storage unit (not shown), a transceiver unit 400, an output unit 500, and a connection manager ( 600).
  • the user interface unit 100 receives a user message.
  • the user interface unit 100 displays a map related to the driving area of the cleaning robot 2 and receives a user message related to the operation of the cleaning robot 2, thereby receiving the input unit 110 and the display.
  • the apparatus may further include a unit 120, and receive a message for a user command for controlling the cleaning robot 2, and display various information of the cleaning robot 2.
  • the input unit 110 is for receiving a command of a user such as a touch, and may be illustrated as, for example, a graphical user interface (GUI) for touch input, or a touch panel including software for touch input.
  • GUI graphical user interface
  • the touch panel may be implemented in a form of a layer structure with the display unit 120.
  • the input unit 110 may not only form a touch panel but also various buttons, switches, pedals, keyboards, mice, track-balls, various levers, handles, or sticks for user input. It can be implemented in the form of a hardware device such as a stick).
  • the display unit 120 provides the map received from the cleaning robot 2 to the user through a visual screen.
  • the display 120 may provide the user with the information in an auditory form through the speaker.
  • the display unit 120 may generally include a liquid crystal touch panel and a driving unit for driving the touch panel, but is not limited thereto.
  • the display 120 may display a map or information according to a signal from the processor 200 on the screen.
  • the storage unit (not shown) stores data including a user message, which is a user command related to the operation of the cleaning robot 2, and a response message responded by the cleaning robot 2 according to the user message.
  • a storage unit (not shown) according to an embodiment of the present invention is a cache, and the storage unit further includes a first cache 310 and a second cache 320.
  • the first cache 310 is a storage unit for sorting and storing user messages
  • the second cache 320 is a storage unit for storing a response message responded by the cleaning robot 2 according to the user message. More specifically, the first cache 310 and the second cache 320 is provided with a space for storing each message.
  • the first cache 310 and the second cache 320 are provided with spaces divided into robot status information, cleaning schedule information, map information, cleaning concentration area information, cleaning avoidance area information, location information, and the like.
  • a message may include a version indicating a change history of a message format, a size value of a message, a timestamp containing a time when a message is generated, a first identifier for distinguishing a user's command type, and a sequence of generating a message. sequence), a second identifier for distinguishing a request and a response message, and a structure including parameters according to the first identifier and the second identifier.
  • the first cache 310 stores the input user message in a sorted form according to at least one of the structures described above. .
  • the second cache 320 is a storage unit that stores data that can be retrieved by the processor 200 when the network connection state is not possible in real time, and stores a response message when communication is possible in real time. .
  • the processor 200 is received from the cleaning robot 2 and a first control signal for providing first data that is stored in advance according to a network connection state used for communicating with the cleaning robot 2 and responds to a user's request. Generate a second control signal for providing second data in response to the request.
  • the first data is a response message received from the cleaning robot 2 and stored in advance when the current network state is the second communication mode capable of communicating in real time
  • the second data is the cleaning robot when the first data is in the first communication mode.
  • This is a response message received in real time from (2).
  • the first control signal is a signal generated in the second communication mode when communication is not possible in real time
  • the second control signal is a signal generated in the first communication mode when communication is possible in real time.
  • the second data may include a cleaning schedule list, map information generated from the cleaning robot 2, and area information on which the cleaning robot 2 has completed its operation.
  • the processor 200 sorts and stores the data according to the structure included in the message as described above.
  • the connection manager 600 determines whether the current network connection state can communicate in real time according to whether the current network connection state can communicate in real time based on a time for transmitting a user message or receiving a response message. It is determined whether the communication mode or the second communication mode in which communication is not possible in real time.
  • the connection manager 600 determines the first communication mode if the current network connection state is possible in real time, and determines the second communication mode if the current network connection state is not possible in real time.
  • the connection manager 600 is generated when the socket for network communication of the cleaning robot 20 is not connected to the network, when receiving a disconnect event from the socket, and from the processor 200.
  • the current network connection state is a second communication mode in which communication is not possible in real time.
  • the predetermined number of times refers to a case in which a message cannot be transmitted or received more than a predetermined number set by a user.
  • the transceiver 400 transmits a control signal including a user message generated from the processor 200 to the cleaning robot 2 through the network. , Receives a signal including a response message from the cleaning robot (2).
  • the transceiver 400 may include various communication modules, such as a wireless Internet module, a short-range communication module, a mobile communication module.
  • various communication modules such as a wireless Internet module, a short-range communication module, a mobile communication module.
  • the wireless Internet module can be connected externally according to communication protocols such as Wireless LAN (WLAN), Wi-Fi, Wireless broadband, Wimax (World Interoperability for Microwave Access), and High Speed Downlink Packet Access (HSDPA).
  • WLAN Wireless LAN
  • Wi-Fi Wireless fidelity
  • Wireless broadband Wireless broadband
  • Wimax Worldwide Interoperability for Microwave Access
  • HSDPA High Speed Downlink Packet Access
  • the short-range communication module is connected to external devices located in close proximity according to near field communication schemes such as Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, etc. It means a module for performing communication.
  • RFID Radio Frequency Identification
  • IrDA Infrared Data Association
  • UWB Ultra Wideband
  • ZigBee ZigBee
  • the mobile communication module refers to a module that performs communication by accessing a mobile communication network according to various mobile communication standards such as 3rd generation (3G), 3rd generation partnership project (3GPP), long term evolution (LTE), and the like.
  • 3G 3rd generation
  • 3GPP 3rd generation partnership project
  • LTE long term evolution
  • the present invention is not limited thereto. If communication with the cleaning robot 2 is possible, the transceiver 400 may employ a communication module of another type in addition to the above.
  • the output unit 500 outputs the response message that the cleaning robot 2 received from the transceiver 400 to the user interface unit 100.
  • the cleaning robot 2 receives a control signal generated from the control device 1 when the network connection state is a first communication mode capable of communicating in real time, and cleans according to the control signal.
  • the vehicle generates a response signal including a response message responsive to cleaning and driving according to a user message, and transmits the response signal to the controller 1.
  • the cleaning robot 2 responds to a remote control signal from the control device 1, performs an operation according to the above, and generates a map for the space in which the robot is running, through an external router, to control the control.
  • the cleaning robot 2 may include a network adapter for connecting to a wired or wireless router.
  • the network adapter operates in a client mode that connects to an existing wireless router.
  • the network adapter may have a soft AP or an infrastructure mode, which is a role of the wireless router. Therefore, when a specific button is pressed on the cleaning robot 2, the cleaning robot 2 performs a role of a router, and the control device 1 connects to a router of the cleaning robot 2 to perform communication. At this time, the control device 1 transmits the existing router information to which the cleaning robot 2 should be connected, that is, SSID, security protocol, security algorithm, and key information to the cleaning robot 2, and the cleaning robot 2 After receiving the information, you can stop the role of the router and connect to the existing router based on the received information.
  • FIG. 2 is a diagram illustrating a case of a first communication mode according to an embodiment of the present invention.
  • the input unit 110 transmits the user message to the processor 200.
  • the connection manager 600 transmits a result of determining whether the current network connection state is in a state capable of real time communication or a state in which communication is not possible to the processor 200.
  • the processor 200 transmits / receives data including a user message and a response message to the cleaning robot 2 in real time when the result received from the connection manager 600 is a first communication mode in which communication is possible. At this time, when the response message is received from the cleaning robot 2 in the first communication mode, the processor 200 stores the received response message in the second cache 320. More specifically, the second cache 320 classifies the second identifier included in the response message, and stores at least one parameter included in the message in an information space corresponding to the response message in the second cache 320. Save it in consideration.
  • the processor 200 receiving the response message from the transceiver 400 and completing the storage in the second cache 320 transmits the response message to the output unit 500.
  • the output unit 500 outputs the received response message to the display unit 120, so that the user checks the response information from the cleaning robot 2 through the screen of the display unit 120.
  • FIG. 3 is a diagram illustrating a case of a second communication mode according to an embodiment of the present invention.
  • the input unit 110 transmits the user message to the processor 200.
  • the connection manager 600 transmits a result of determining whether the current network connection state is in a state capable of real time communication or a state in which communication is not possible to the processor 200.
  • the processor 200 aligns and stores the user message in the first cache 310 and stores the first message that occurred earlier from the present time.
  • the response message prestored in the second cache 320 is called.
  • the processor 200 calls a response message according to a user message stored in the first cache 310
  • the processor 200 calls a response message including a first identifier and a second identifier corresponding to the user message. come.
  • the retrieved response message may be output to the display unit 120 through the output unit 500 to confirm data to be acquired by the user.
  • the processor 200 may not store a user message regarding an action of requesting real-time processing among user messages according to a user's request in the first cache.
  • the message related to the forward, backward, and rotational motions of the cleaning robot 2 may be stored in the first cache by excluding a user's manual manipulation.
  • FIG. 4 is a diagram illustrating a case where a mode is converted to a first communication mode after a second communication mode according to an embodiment of the present invention.
  • the connection manager 600 determines that the current network connection state is in a first communication mode in which communication is possible in real time due to a good network connection state again in the second communication mode in which communication is impossible in real time
  • the first cache ( The user message stored in the 310 is transmitted to the cleaning robot 2 through the transceiver 400.
  • the transceiver 400 receives the response message according to the user message from the cleaning robot 2 and returns the reply message to the information space corresponding to the inside of the second cache 320 in the reply message. By considering and storing at least one parameter, data previously stored in the second cache 320 is updated.
  • the processor 200 transmits the returned response message to the user interface unit 100 to the output unit 500.
  • the second cache 320 is provided with separate information spaces according to a first identifier for distinguishing an instruction type among the components constituting the data.
  • the input user message is transferred from the user interface unit 100 to the processor 200.
  • the processor 200 transmits a user message to the transceiver 400, and the transceiver 400 transmits the user message to the cleaning robot 2 through a network.
  • the cleaning robot 2 generates a response message according to the user message and transmits the response message to the control device 1 again, and when the processor 200 of the control device 1 receives the response message through the transceiver 400, 2
  • the cache 320 retrieves a second identifier called "Cleaning Schedule List” and stores the "Cleaning Schedule List” included in the response message in the corresponding space.
  • the processor 200 when a user inputs a user message requesting a "cleaning schedule list" to the control device 1, the processor 200 accordingly inputs the input user message to the first cache 310.
  • the processor 200 stores the input user message in the first cache 310, retrieves data corresponding to the user message from the second cache 320, and outputs a corresponding response message through the display 120. Displayed on the screen, the user confirms the displayed response message.
  • FIG. 5 is a flowchart illustrating a remote communication method according to a network connection state according to an embodiment of the present invention.
  • the remote communication method described later describes in detail a method of controlling from a system for remotely controlling the cleaning robot 2.
  • the user inputs a user message to the user interface unit 100 to request data related to driving and cleaning operations of the cleaning robot 2 to be acquired (S100).
  • the connection manager 600 determines whether or not the current network connection state is available for communication in real time based on a current time of receiving or transmitting a user message or response message. It is determined whether the state is a first communication mode capable of communicating in real time or a second communication mode in which communication is not possible in real time (S200). At this time, the connection manager 600 determines that the current network connection state is the first communication mode if communication is possible in real time, and the socket for network communication of the cleaning robot 20 is not connected to the network. , At least one of receiving a disconnect event from the socket and failing to transmit / receive a control signal generated from the processor 200 with the cleaning robot 2 more than a predetermined number of times. It determines with the 2nd communication mode which communication is not possible.
  • the predetermined number of times refers to a case in which a message cannot be transmitted or received more than a predetermined number set by a user.
  • the transceiver 400 cleans a control signal including a user message generated from the processor 200 through the network. It transmits to the robot 2 (S201).
  • the transmission / reception unit 4000 receives a signal including a response message from the cleaning robot 2 (S202).
  • the processor 200 stores the received response message in the second cache (S203). More specifically, the second cache 320 classifies the second identifier included in the response message, and stores at least one parameter included in the message in an information space corresponding to the response message in the second cache 320. Save it in consideration.
  • the processor 200 receiving the response message from the transceiver 400 and completing the storage in the second cache 320 transmits the response message to the output unit 500.
  • the output unit 500 outputs the received response message to the display unit 120, and the user checks the information responded from the cleaning robot 2 through the screen of the display unit 120 (S300).
  • the user message may be aligned and stored in the first cache 310 (S210), and the second message may be generated at a previous time from the current time.
  • a response message prestored in the second cache 320 is called.
  • the processor 200 calls a response message according to a user message stored in the first cache 310, the processor 200 searches for a response message including a first identifier and a second identifier corresponding to the user message. To be called (S220)
  • the imported response message is output to the display unit 120 through the output unit 500, and the user confirms the response message.
  • the processor 200 transmits to the cleaning robot 2 through the transceiver 400 to request a response message.
  • the processor 200 deletes the user message stored in the first cache.
  • the processor 200 stores the response message in an information space corresponding to the inside of the second cache 320 in consideration of at least one parameter included in the returned response message, thereby allowing the second cache 320 to be stored. Update the data previously stored in.
  • the map displayed on the screen of the remote control device is preferably a map based on map data generated by the cleaning robot.
  • the cleaning robot may store map data for the corresponding area, which is already stored, or may generate map data generated in real time by recognizing the moving path while the mobile robot starts driving regardless of the stored map data.
  • the user message related to cleaning the user-designated area stored in the first cache 310 is converted from the second communication mode to the first communication mode, and transmitted from the mobile robot 2 as it is transmitted to the mobile robot 2.
  • the processor 200 may analyze the received response message. For example, the processor 200 may analyze whether the cleaning area performed by the mobile robot 2 according to the user command is correct for the designated area selected by the user.
  • the user compares the designated area selected by the control device with the cleaning area performed by the mobile robot 2, and if it is determined that the comparison is similar, the response message received from the mobile robot 2 is determined by the user.
  • the display unit may be controlled to display on the screen.
  • the processor 200 may determine the similarity by using a positional relationship between the outline line or the feature points forming the outline recognized in each map representing the designated area and the cleaning area.
  • the processor 200 matches at least some of the feature points extracted from each map, adjusts some of the matched feature points to the same size by adjusting the scale, and then compares similarities between the corresponding feature points.
  • the distance may be used to determine similarity between maps.
  • the similarity distance may be obtained by using a method such as Euclidean distance, Cosine distance, Mahalanobis's distance, Manhattan distance, and the like. Can be determined.
  • the notification message may be displayed on the display unit so that the user can designate the designated area together with the cleaning area cleaned by the mobile robot 2.
  • the present invention is not necessarily limited to these embodiments. In other words, within the scope of the present invention, all of the components may be selectively operated in combination with one or more.
  • all of the components may be implemented in one independent hardware, each or some of the components of the components are selectively combined to perform some or all of the functions combined in one or a plurality of hardware It may be implemented as a computer program having a.
  • such a computer program is stored in a computer readable medium such as a USB memory, a CD disk, a flash memory, and the like, and is read and executed by a computer, thereby implementing embodiments of the present invention.
  • the recording medium of the computer program may include a magnetic recording medium, an optical recording medium, a carrier wave medium, and the like.

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Abstract

L'invention concerne un appareil de commande permettant de commander un robot mobile à distance, l'appareil de commande qui commande un robot mobile à distance se déplaçant en fonction des demandes d'un utilisateur, ledit appareil comprenant : un émetteur permettant de transmettre un message d'utilisateur associé au robot mobile et de recevoir un message de réponse du robot mobile en réponse au message de l'utilisateur ; un gestionnaire de connexion permettant de déterminer si l'état de connexion du réseau actuel permet une communication en temps réel d'après le temps de transmission d'un message d'utilisateur ou de réception d'un message de réponse ; et un processeur permettant de générer, en fonction de la détermination du gestionnaire de connexion, un premier signal de commande permettant de fournir un premier élément de données précédemment stocké en réponse à une demande d'utilisateur, ainsi qu'un second signal de commande permettant de fournir un second élément de données reçu du robot mobile en réponse à la demande de l'utilisateur.
PCT/KR2016/010214 2016-01-20 2016-09-09 Appareil de commande à distance et système permettant de commander à distance un robot mobile, et procédé d'exécution du système WO2017126768A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR20160007244 2016-01-20
KR10-2016-0007244 2016-01-20
KR1020160109293A KR101844744B1 (ko) 2016-01-20 2016-08-26 이동로봇을 원격으로 제어하는 원격 제어 장치 및 시스템과 그의 수행방법
KR10-2016-0109293 2016-08-26

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JP2004363956A (ja) * 2003-06-04 2004-12-24 Nippon Telegraph & Telephone West Corp 遠隔制御システムおよび遠隔制御ロボット
KR20060027726A (ko) * 2004-09-23 2006-03-28 엘지전자 주식회사 로봇 청소기를 이용한 원격 감시시스템 및 방법
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CN113660419A (zh) * 2021-08-12 2021-11-16 北京智芯原动科技有限公司 一种停车场远程调试系统

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