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WO2010071384A2 - Standardization system and method for robot fabrication and robot service implementation system - Google Patents

Standardization system and method for robot fabrication and robot service implementation system Download PDF

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Publication number
WO2010071384A2
WO2010071384A2 PCT/KR2009/007626 KR2009007626W WO2010071384A2 WO 2010071384 A2 WO2010071384 A2 WO 2010071384A2 KR 2009007626 W KR2009007626 W KR 2009007626W WO 2010071384 A2 WO2010071384 A2 WO 2010071384A2
Authority
WO
WIPO (PCT)
Prior art keywords
robot
information
constitution
service
constitution information
Prior art date
Application number
PCT/KR2009/007626
Other languages
French (fr)
Other versions
WO2010071384A3 (en
Inventor
Hyung-Ryul Kim
Hyun-Chul Jeong
Seong-Ju Park
Kyung-Chul Shin
Original Assignee
Yujin Robot Co., Ltd.
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.)
Filing date
Publication date
Priority claimed from KR1020080130156A external-priority patent/KR101038309B1/en
Priority claimed from KR1020080136182A external-priority patent/KR101040702B1/en
Application filed by Yujin Robot Co., Ltd. filed Critical Yujin Robot Co., Ltd.
Publication of WO2010071384A2 publication Critical patent/WO2010071384A2/en
Publication of WO2010071384A3 publication Critical patent/WO2010071384A3/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41805—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by assembly
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31044—Assembly of modular products, variant configurability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/31—From computer integrated manufacturing till monitoring
    • G05B2219/31384—Produce construction sequence, make parts, store, assemble equipment, ship
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45083—Manipulators, robot
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the present invention relates to a standardization system and method for robot fabrication and a robot service implementation system.
  • the present invention relates to a standardization system and method for robot fabrication that permit a robot developer to electronically provide information of a developed robot (hereinafter, referred to as “robot constitution information”) to others and permit robot manufacturers or distributors to download the robot constitution information to a platform of a desired robot to fabricate the robot or update functions of the robot with ease.
  • robot constitution information information of a developed robot
  • the present invention also relates to a robot service implementation system that allows a user to author content of a desired service by selecting a figure provided from the implementation system and converts the selected figure into a service markup language, which in turn is analyzed by a robot executor to reconstruct the service markup language into a robot instruction set, wherein the robot instruction set is scheduled to be transmitted to a robot virtual machine at a time desired by the user according to external variation around the robot and a result of a user request operation, and is finally transmitted to a robot drive unit via electrical signals corresponding to engine control statements which actually operate a robot using compiled robot code.
  • a robot has three functions: sensing an external circumstance in response to a certain condition input by a user, determining a subsequent operation based on information of the sensed circumstance and the input condition, and performing the operation according to a determination result.
  • an operating program is generally installed in such a robot corresponding to the kind of robot, which comprises a control statement coded to allow the robot to determine and perform a suitable operation depending on the sensed external circumstance.
  • the robot is operated in accordance with the operating program installed therein.
  • the control statement is coded by an expert during manufacture of the robot and users can only perform simple control of the robot by changing an input condition to the robot that is operated by the operation program installed therein.
  • the conventional system has a problem in that it does not allow a user to author and use content of a desired service for the robot.
  • An objective of the present invention is to provide a standardization system and method for robot fabrication, which can permit a robot developer to electronically provide information of a developed robot, that is, robot constitution information, to others and permit manufacturers or distributors to download the robot constitution information to a platform of a desired robot to fabricate the desired robot or update functions of the robot with ease.
  • Another objective of the present invention is to provide a robot service implementation system that allows a user to author content of a desired service by easily selecting a figure provided from the implementation system even without any knowledge of complicated control statement and converts the selected figure into a service markup language, which in turn is converted into a robot instruction set, wherein the robot instruction set is scheduled to be carried out at any time desired by the user and is transmitted to a robot virtual machine, which converts the robot instruction set into engines via a robot code to actually operate the robot.
  • a standardization system for robot fabrication includes: a robot developer terminal allowing robot constitution information corresponding to a developed robot to be uploaded according to manipulation of a robot developer; a robot constitution information management server establishing and managing a database (DB) of the robot constitution information uploaded from the robot developer terminal and issuing identification information corresponding to the robot constitution information stored in the DB to allow the robot constitution information to be downloaded based on the identification information; a robot production server including a robot information installer electronically connected to the robot constitution information management server to download the robot constitution information based on the identification information; and a robot including a robot information interface connected to the robot information installer to allow a user to confirm the robot constitution information and select desired robot constitution information for download, and a robot platform storing the desired robot constitution information downloaded through the robot information interface and allowing the robot to be operated according to the robot constitution information.
  • DB database
  • the robot constitution information may include: profile information as data for fabrication of the robot; dimension information as data for an external appearance and unit shape of the robot; kinematic information as a mechanics model for controlling the robot; device information as data for sensors, output units and devices constituting the robot; and interface information for use of software for the robot.
  • the robot constitution information may be coded based on Extensible Markup Language (XML).
  • XML Extensible Markup Language
  • the robot constitution information management server may include: a storage storing the robot constitution information in association with the identification information; an analysis module analyzing and classifying the robot constitution information stored in the storage; an allocation module issuing the identification information to the robot constitution information classified by the analysis module; a search module searching for robot constitution information requested through the robot information interface from the storage and supplying the retrieved robot constitution information and identification information corresponding to the retrieved robot constitution information; and a transmission module transmitting the retrieved robot constitution information along with the corresponding identification information to the robot platform so as be confirmed on the robot information interface.
  • the identification information may include different pieces of identification information issued to different pieces of robot constitution information so as to allow the different pieces of robot constitution information to be classified according to the corresponding pieces of identification information and may have a predetermined format.
  • the predetermined format is composed of a combination of preset numbers indicating a fabrication date, shape and utility of the robot and a sequential serial number.
  • the robot information installer may include a storage storing the robot constitution information in association with the corresponding identification information downloaded from the robot constitution information management server; and a transmission module electronically connected to the robot constitution information management server to download and store the robot constitution information and the identification information in the storage in response to a request from a robot manufacturer and connected to the robot platform via a wired or wireless network to transmit the robot constitution information, requested based on the identification information through the robot information interface, to the robot platform.
  • the robot information installer may further include a registration module registering the robot constitution information with the robot constitution information management server.
  • the robot platform may include a storage storing the robot constitution information in association with the corresponding identification information downloaded together through the robot information interface; a communication module linked to the robot information interface to search for and download the robot constitution information; and an upgrade module recognizing variation of the robot constitution information and upgrading the robot constitution information.
  • the robot information interface may allow the robot constitution information to be confirmed by a user and may provide the robot constitution information after combing or parsing the robot constitution information.
  • a standardization method for robot fabrication includes: registering information of a robot fabricated by a robot manufacturer as a plurality of pieces of robot constitution information; issuing identification information to each of the pieces of robot constitution information; downloading, by a robot platform, the issued identification information and the robot constitution information corresponding to the issued identification information; and using the downloaded robot constitution information.
  • the registered robot constitution information may include software information for driving the robot and hardware information of the robot.
  • the use of the downloaded robot constitution information may include confirming and downloading, by the robot manufacturer, the robot constitution information of the robot; and upgrading the robot constitution information using the downloaded robot constitution information.
  • a robot service implementation system includes: a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, converting and outputting the selected figure into a robot service markup language, and converting and outputting the robot service markup language into a robot instruction set; a robot executor establishing a state-based service implementation architecture using the robot instruction set input from the robot service user interface, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
  • a robot service implementation system includes: a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, and converting and outputting the selected figure into a robot service markup language; a robot executor converting the robot service markup language input from the robot service user interface into a robot instruction set, establishing a state-based service implementation architecture using the robot instruction set, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
  • the standardization system and method for robot fabrication provide various effects including the following effects.
  • a robot constitution information management server receives and classifies robot constitution information registered by a robot developer and issues identification information corresponding to each piece of the classified robot constitution information to provide inherent identification information to a respective robot fabricated by a robot manufacturer.
  • robots with similar constitution information can be classified from each other by the identification information inherent to the respective robots, and the respective pieces of identification information are classified corresponding to the constitution information of the robots to allow easy recognition of utilities of the robots.
  • the identification information provides information of the kind of device compatible with a target component of the robot, thereby facilitating development of a robot service customized to the characteristics of the robot.
  • system and method according to the embodiments can be applied to any kind of robot with different shapes and can provide compatible standards to robots having different utilities and shapes.
  • system and method according to the embodiments enable integration of respective robot services through comparison with a conventional robot service, thereby providing profit creation effects.
  • the robot service implementation system provides various effects including the following effects.
  • the robot service implementation system enables a user (author of service content) to implement a function of a complicated robot at any time even when the user does not know a principle of implementing and controlling the robot.
  • the robot service implementation system allows the user to easily author the content, which can be implemented by various robots, through a coherent interface without learning individual methods of authoring service content for the respective robots, so that the authored service content can be reused at low costs by similar types of robots.
  • the robot service implementation system minimizes variation for application of the authored service content to various types of robots with different structures to thereby increase a list of robots capable of supporting the robot service authoring environments at relatively low costs.
  • the robot service implementation system can support not only XML with excellent readability but also any existing programming language with which users are familiar, while providing a main function of constructing and scheduling a service with respect to an authoring user interface that can provide a low level instruction set for implementing a robot service to thereby provide the service to the users.
  • Fig. 1 is a diagram of a standardization system for robot fabrication in accordance with one embodiment of the present invention
  • Fig. 2 is a block diagram of robot constitution information in accordance with one embodiment of the present invention.
  • Fig. 3 is a block diagram of a robot constitution information management server in accordance with one embodiment of the present invention.
  • Fig. 4 is a block diagram of a robot information installer in accordance with one embodiment of the present invention.
  • Fig. 5 is a block diagram of a robot platform in accordance with one embodiment of the present invention.
  • Fig. 6 is a flowchart of a standardization method for robot fabrication in accordance with one embodiment of the present invention.
  • Fig. 7 shows XML schema of robot constitution information in accordance with one embodiment of the present invention.
  • Fig. 8 shows a configuration of an interface in accordance with one embodiment of the present invention.
  • Fig. 9 is a block diagram of a robot having a service authoring function in accordance with one embodiment of the present invention.
  • Fig. 10 is a view of an instruction set in accordance with one embodiment of the present invention.
  • Figs. 11 and 12 are class diagrams of a robot executer in accordance with one embodiment of the present invention.
  • Fig. 13 is a view illustrating a procedure of embodying a desired service that can be obtained by combining a finite status machinery model and a sequential implementation flow model.
  • Fig. 1 is a diagram of a standardization system for robot fabrication in accordance with one embodiment of the present invention.
  • a standardization system for robot fabrication includes: a robot developer terminal 100 which allows robot constitution information corresponding to a developed robot to be uploaded according to manipulation of a robot developer; a robot constitution information management server 300 which establishes and manages a database (DB) of the robot constitution information of the robot uploaded from the robot developer terminal and issues identification information corresponding to the robot constitution information stored in the DB to allow the robot constitution information to be downloaded based on the identification information; a robot production server 500 which includes a robot information installer 510 electronically connected to the robot constitution information management server 300 to download the robot constitution information based on the identification information; a robot information interface 610 connected to the robot information installer 510 to allow a user to confirm the robot constitution information and select desired robot constitution information for download; and a robot 600 including a robot platform 620 which stores the desired robot constitution information downloaded through the robot information interface 610 and allows the robot to be operated according to the robot constitution information.
  • DB database
  • the robot constitution information is composed of: profile information 201 as data for fabrication of the robot; dimension information 202 as data for an external appearance and unit shape of the robot; kinematic information 203 as data for a mechanics model for controlling the robot; device information 204 as data for sensors, output units and devices constituting the robot; and interface information 205 for use of software for the robot.
  • the robot constitution information is authored based on Extensible Markup Language (XML) for the purpose of interlink between the respective pieces of robot constitution information and operation thereof. That is, as shown in Fig. 2, XML constitution information is the same as the robot constitution information and is composed of at least one selected from profile information “Profile” that states collected profile information of the robot; dimension information “DimensionInfo” that states the information of the appearance of the robot as module-shape information; kinematic information “KinematicsInfo” that states information as the mechanics model of the robot; device information “DeviceInfo” that states information as the sensors and the output units of the robot; and interface information “InterfaceInfo” that is information for the use of software functions of the robot and expressed as separate schema.
  • Profile profile information
  • DissionInfo that states the information of the appearance of the robot as module-shape information
  • kinematic information that states information as the mechanics model of the robot
  • device information “DeviceInfo” that states information as the sensors and the output units of the robot
  • FIG. 7 shows XML schema of robot constitution information in accordance with one embodiment
  • the XML constitution information is connected to the uppermost element “RMConfig” of a robot standard model.
  • Fig. 8 shows a configuration of an interface in accordance with one embodiment of the invention.
  • the robot constitution information management server 300 includes: a storage 301 storing the robot constitution information in association with the identification information; an analysis module 302 analyzing and classifying the robot constitution information stored in the storage 301; an allocation module 303 issuing the identification information to the robot constitution information classified by the analysis module 302; a search module 304 searching for robot constitution information requested through the robot information interface 610 from the storage 301 and supplying the retrieved robot constitution information and the identification information corresponding to the retrieved robot constitution information; and a transmission module 305 transmitting the retrieved robot constitution information along with the corresponding identification information to the robot platform 620 so as to be confirmed on the robot information interface 610.
  • the identification information includes different pieces of identification information issued to different pieces of robot constitution information so as to allow the different pieces of robot constitution information to be classified according to the corresponding pieces of identification information and may have a predetermined format.
  • the predetermined format is composed of a combination of preset numbers indicating a fabrication date, shape and utility of the robot and a sequential serial number.
  • the robot information installer 510 includes a storage 511 storing the robot constitution information in association with the corresponding identification information downloaded therewith from the robot constitution information management server 300; a transmission module 512 electronically connected to the robot constitution information management server 300 to download and store the robot constitution information and the identification information in the storage 511 in response to a request from a robot manufacturer and connected to the robot platform 620 via a wired or wireless network to transmit the robot constitution information, requested based on the identification information through the robot information interface 610, to the robot platform 620; and a registration module 513 registering the robot constitution information with the robot constitution information management server 300.
  • the robot platform 620 includes a storage 621 storing the robot constitution information in association with the corresponding identification information downloaded together through the robot information interface 610; a communication module 622 linked to the robot information interface 610 to search for and download the robot constitution information; and an upgrade module 623 recognizing change in the robot constitution information and upgrading the robot constitution information.
  • the robot information interface 610 allows the robot constitution information to be confirmed by a user and provides the robot constitution information after combing or parsing the robot constitution information.
  • a standardization method of robot fabrication includes: registering information of a robot fabricated by a robot manufacturer as a plurality of pieces of robot constitution information in S601; issuing identification information to each of the pieces of robot constitution information in S602; downloading, by a robot platform, the issued identification information and the robot constitution information corresponding to the issued identification information in S603; and using the downloaded robot constitution information in S604.
  • the robot developer electronically connects the robot constitution information management server 300 through the robot information installer 510 provided to a developer’s terminal and registers constitution information of the robot developed by the robot developer in the robot constitution information management server 300 by uploading the robot constitution information thereto.
  • the robot constitution information uploaded to the robot constitution information management server 300 by the robot developer includes software information for driving the robot and hardware information of the robot.
  • any robot developer or robot distributer can select and download the robot constitution information based on the identification information when using the robot constitution information registered in the robot constitution information management server 300.
  • the robot developer uploads hardware information and software information of the developed robot to the robot constitution information management server 300, which in turn classifies the robot constitution information by issuing identification information to the uploaded robot constitution information, thereby allowing other users to easily search for and download desired robot constitution information.
  • the other robot developers or robot distributers demanding the robot constitution information electronically connect to the robot constitution information management server 300 through the robot production server 500 where the robot information installer 510 is mounted, and download the robot constitution information together with the corresponding identification information using the robot information installer 510 in S603.
  • the other robot developers or robot distributers downloading the robot constitution information using the robot information installer 510 transmit the downloaded robot constitution information to the robot platform 620 connected to the robot information installer 510 via the wired or wireless network to store the downloaded robot constitution information in the robot platform 620, so that the function or performance of the robot is upgraded by the robot constitution information stored in the robot platform 620.
  • the robot developers or robot distributers select and download the desired robot constitution information based on the identification information through the robot information interface 610 provided to the robot or the user interface.
  • the robot service implementation system includes: a robot service user interface 10 providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, converting and outputting the selected figure into a robot service markup language, and converting and outputting the robot service markup language into a robot instruction set; a robot executor 20 establishing a state-based service implementation architecture using the robot instruction set input from the robot service user interface 10, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine 30 transmitting the operation request information input from the robot executor 20 to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor 20.
  • the robot service user interface 10 further includes a robot instruction set generation module 11 that interprets the robot service markup language to generate the robot instruction set.
  • the robot executor 20 selects a corresponding robot instruction from the robot instruction set based on analysis of the robot service markup language to store information for implementing a service in a memory and to perform scheduling of the information.
  • the robot executor 20 converts an implementation result in the robot and an event generated at an unspecified time point from the robot into coherent data and stores the coherent data in the memory for maintenance, correction, search and transmission.
  • the robot executor 20 is connected to the robot virtual machine 130 via an XML-based interface and allows request information “Request” requesting a certain operation of the robot, response information “Response” informing of a result in response to the request information, and the event generated at the unspecified time point from the robot to be transmitted or received through the XML-based interface.
  • the robot virtual machine 30 further includes a robot code module 31, which is coupled thereto in the form of a dynamic library.
  • the robot code module 31 calls an application programming interface (API) of the robot, receives information from the robot engine or middleware and outputs the received information to the robot virtual machine 30.
  • API application programming interface
  • the robot service user interface 10 allows a robot of a user to provide a desired service to the user at any time.
  • the robot service user interface 10 provides a service item in the form of a figure, allows the user to request a desired service by selecting the provided figure, and converts the selected figure into a robot service markup language, and converts the robot service markup language into a robot instruction set (RIS) as shown in Fig. 10.
  • RIS robot instruction set
  • the XML-based markup language of the robot service user interface 10 enables application of programming languages convenient for a variety of users.
  • the robot instruction set (RIS) converted into the XML-based markup language is output to the robot executor 20, which in turn establishes and sends a state-based service implementation architecture using the robot instruction set to the engine or middleware of the robot to allow the robot to operate according to the state-based service implementation architecture. That is, the robot executor 20 sends operation request information “Request” to request the operation of the robot to the robot virtual machine 30, which in turn converts the request information input from the robot executor 20 into a robot code and sends the converted robot code to the engine or middleware of the robot.
  • the engine or middleware of the robot allows the robot to be operated according to the request information “Request” and sends response information “Response” corresponding to the request information “Request” to the robot virtual machine 30, which in turn receives the response information “Response” and sends it to the robot executor 20.
  • the robot executor 20 processes an event generated at a certain time from the robot in addition to the request information and the response information. Namely, the robot executor 20 receives the event from the robot through the engine or middleware of the robot to monitor an operating state of the robot, converts a service state of the robot, and decides an instruction time point for a subsequent function of the robot.
  • the robot executor 20 supports variables to reconstruct the response information and the event sent through the robot virtual machine 30.
  • the robot executor 20 reads out information corresponding to the response information from a response table “Response Table” using a response handler “Response Handler” and monitors whether the robot normally operates according to the request.
  • the robot executor 20 allows various kinds of robots to operate independently through abstraction of various types of variables in an independent execution unit to be used in all components within a service content authoring environment regardless of content by application of the various types of variables to a single abstract data set.
  • the robot virtual machine 30 converts the instruction into a robot code.
  • the converted robot code is dependent on the kind of robot and expansion and repair will be carried out only with respect to this part, the expansion and repair can be easily carried out.
  • the robot executor 20 allows merits of a flexible and rapid finite state machine and procedural thinking of a user to be applied to a service by instinctively assuming the state of the robot and regulating a target operation of the robot through combination of the finite state machine and a method capable of expressing the procedural thinking. Namely, assuming there are three finite states State 1, State 2, State 3 as shown in Fig, 13, occurrence of an event causes transition from the first finite state “State 1” to the second finite state “State 2”, and reoccurrence of an event causes transition from the second finite state “State 2” to the third finite state “State 3”.
  • the second finite state “State 2” causes a procedural action “Procedural Action A” to allow the robot to be operated according to a preset condition.
  • the robot service user interface 10 is installed in a terminal such as a PC or the like, and the robot executor 20 and the robot virtual machine 30 are installed in the robot.
  • the conversion of robot service-authoring request information of a user into the robot instruction set is described as being carried out in the robot service user interface 10, a module for this conversion may be installed inside the robot along with the robot executor 20.
  • the robot service user interface 10 may be installed in the robot and allows a user to input the robot service authoring request information using an input menu item provided in the form of a figure through an input unit provided to the robot. Then, the robot service user interface 10 allows the robot to be operated according to the robot service authoring request information input by the user, so that the user can control the robot in a desired way at any time without additional knowledge about the robot.

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Abstract

A standardization system and method for robot fabrication and a robot service implementation system are disclosed. In the standardization system and method, robot constitution information of a robot is provided for electronic download to a robot platform so that a robot manufacturer or distributer can easily fabricate a desired robot or upgrade a function of the robot. The robot service implementation system allows a user to select a figure after authoring content of a service and converts the selected figure into a service markup language, which in turn is converted into a robot instruction set such that the robot instruction set is scheduled to be carried out at any time and is transmitted to a robot virtual machine where the robot instruction set is converted into engines via a robot code to actually operate the robot.

Description

STANDARDIZATION SYSTEM AND METHOD FOR ROBOT FABRICATION AND ROBOT SERVICE IMPLEMENTATION SYSTEM
The present invention relates to a standardization system and method for robot fabrication and a robot service implementation system.
More particularly, the present invention relates to a standardization system and method for robot fabrication that permit a robot developer to electronically provide information of a developed robot (hereinafter, referred to as “robot constitution information”) to others and permit robot manufacturers or distributors to download the robot constitution information to a platform of a desired robot to fabricate the robot or update functions of the robot with ease.
The present invention also relates to a robot service implementation system that allows a user to author content of a desired service by selecting a figure provided from the implementation system and converts the selected figure into a service markup language, which in turn is analyzed by a robot executor to reconstruct the service markup language into a robot instruction set, wherein the robot instruction set is scheduled to be transmitted to a robot virtual machine at a time desired by the user according to external variation around the robot and a result of a user request operation, and is finally transmitted to a robot drive unit via electrical signals corresponding to engine control statements which actually operate a robot using compiled robot code.
Conventionally, development of robot services has been carried out for a specified robot.
More specifically, similar or different robot services have been developed and provided according to the kind, construction and utility of robots.
Further, systems for developing and fabricating robots have also been customized according to desired robots.
Recently, robots with various constructions and utilities have been developed to provide various fields of services.
Conventionally, a robot developer designs a robot and robot manufacturers produce the developed robot. Thus, a conventional robot fabrication system is not suitable for mass production, and change of standards for a certain component of the robot requires development of a new robot.
This is because robot services are provided under restriction of a specified robot, and thus there is a need for development of services which can be performed by unspecified robots, rather than the services which can be performed only by the specified robot.
Generally, a robot has three functions: sensing an external circumstance in response to a certain condition input by a user, determining a subsequent operation based on information of the sensed circumstance and the input condition, and performing the operation according to a determination result.
In a pre-shipment procedure, an operating program is generally installed in such a robot corresponding to the kind of robot, which comprises a control statement coded to allow the robot to determine and perform a suitable operation depending on the sensed external circumstance. Thus, the robot is operated in accordance with the operating program installed therein.
The control statement is coded by an expert during manufacture of the robot and users can only perform simple control of the robot by changing an input condition to the robot that is operated by the operation program installed therein.
As such, the conventional system has a problem in that it does not allow a user to author and use content of a desired service for the robot.
Therefore, there is a need for a standardization system and method for robot fabrication that can manage development and production of a robot and clarify robot constitution information to allow robot manufacturers to easily manufacture the robot, thereby enabling mass production of the robot. Further, there is a need for a robot service implementation system that allows users to author and use content of a desired service for a robot.
An objective of the present invention is to provide a standardization system and method for robot fabrication, which can permit a robot developer to electronically provide information of a developed robot, that is, robot constitution information, to others and permit manufacturers or distributors to download the robot constitution information to a platform of a desired robot to fabricate the desired robot or update functions of the robot with ease.
Another objective of the present invention is to provide a robot service implementation system that allows a user to author content of a desired service by easily selecting a figure provided from the implementation system even without any knowledge of complicated control statement and converts the selected figure into a service markup language, which in turn is converted into a robot instruction set, wherein the robot instruction set is scheduled to be carried out at any time desired by the user and is transmitted to a robot virtual machine, which converts the robot instruction set into engines via a robot code to actually operate the robot.
In accordance with one aspect, a standardization system for robot fabrication includes: a robot developer terminal allowing robot constitution information corresponding to a developed robot to be uploaded according to manipulation of a robot developer; a robot constitution information management server establishing and managing a database (DB) of the robot constitution information uploaded from the robot developer terminal and issuing identification information corresponding to the robot constitution information stored in the DB to allow the robot constitution information to be downloaded based on the identification information; a robot production server including a robot information installer electronically connected to the robot constitution information management server to download the robot constitution information based on the identification information; and a robot including a robot information interface connected to the robot information installer to allow a user to confirm the robot constitution information and select desired robot constitution information for download, and a robot platform storing the desired robot constitution information downloaded through the robot information interface and allowing the robot to be operated according to the robot constitution information.
The robot constitution information may include: profile information as data for fabrication of the robot; dimension information as data for an external appearance and unit shape of the robot; kinematic information as a mechanics model for controlling the robot; device information as data for sensors, output units and devices constituting the robot; and interface information for use of software for the robot.
The robot constitution information may be coded based on Extensible Markup Language (XML).
The robot constitution information management server may include: a storage storing the robot constitution information in association with the identification information; an analysis module analyzing and classifying the robot constitution information stored in the storage; an allocation module issuing the identification information to the robot constitution information classified by the analysis module; a search module searching for robot constitution information requested through the robot information interface from the storage and supplying the retrieved robot constitution information and identification information corresponding to the retrieved robot constitution information; and a transmission module transmitting the retrieved robot constitution information along with the corresponding identification information to the robot platform so as be confirmed on the robot information interface.
The identification information may include different pieces of identification information issued to different pieces of robot constitution information so as to allow the different pieces of robot constitution information to be classified according to the corresponding pieces of identification information and may have a predetermined format. Here, the predetermined format is composed of a combination of preset numbers indicating a fabrication date, shape and utility of the robot and a sequential serial number.
The robot information installer may include a storage storing the robot constitution information in association with the corresponding identification information downloaded from the robot constitution information management server; and a transmission module electronically connected to the robot constitution information management server to download and store the robot constitution information and the identification information in the storage in response to a request from a robot manufacturer and connected to the robot platform via a wired or wireless network to transmit the robot constitution information, requested based on the identification information through the robot information interface, to the robot platform.
The robot information installer may further include a registration module registering the robot constitution information with the robot constitution information management server.
The robot platform may include a storage storing the robot constitution information in association with the corresponding identification information downloaded together through the robot information interface; a communication module linked to the robot information interface to search for and download the robot constitution information; and an upgrade module recognizing variation of the robot constitution information and upgrading the robot constitution information.
The robot information interface may allow the robot constitution information to be confirmed by a user and may provide the robot constitution information after combing or parsing the robot constitution information.
In accordance with another aspect, a standardization method for robot fabrication includes: registering information of a robot fabricated by a robot manufacturer as a plurality of pieces of robot constitution information; issuing identification information to each of the pieces of robot constitution information; downloading, by a robot platform, the issued identification information and the robot constitution information corresponding to the issued identification information; and using the downloaded robot constitution information.
The registered robot constitution information may include software information for driving the robot and hardware information of the robot.
The use of the downloaded robot constitution information may include confirming and downloading, by the robot manufacturer, the robot constitution information of the robot; and upgrading the robot constitution information using the downloaded robot constitution information.
In accordance with a further aspect, a robot service implementation system includes: a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, converting and outputting the selected figure into a robot service markup language, and converting and outputting the robot service markup language into a robot instruction set; a robot executor establishing a state-based service implementation architecture using the robot instruction set input from the robot service user interface, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
In accordance with still another aspect, a robot service implementation system includes: a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, and converting and outputting the selected figure into a robot service markup language; a robot executor converting the robot service markup language input from the robot service user interface into a robot instruction set, establishing a state-based service implementation architecture using the robot instruction set, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
According to embodiments of the invention, the standardization system and method for robot fabrication provide various effects including the following effects.
A robot constitution information management server receives and classifies robot constitution information registered by a robot developer and issues identification information corresponding to each piece of the classified robot constitution information to provide inherent identification information to a respective robot fabricated by a robot manufacturer.
Thus, robots with similar constitution information can be classified from each other by the identification information inherent to the respective robots, and the respective pieces of identification information are classified corresponding to the constitution information of the robots to allow easy recognition of utilities of the robots.
Further, when there is a need to change the constitution of the robot, the identification information provides information of the kind of device compatible with a target component of the robot, thereby facilitating development of a robot service customized to the characteristics of the robot.
Further, the system and method according to the embodiments can be applied to any kind of robot with different shapes and can provide compatible standards to robots having different utilities and shapes.
Further, the system and method according to the embodiments enable integration of respective robot services through comparison with a conventional robot service, thereby providing profit creation effects.
Additionally, the robot service implementation system according to embodiments provides various effects including the following effects.
According to the embodiments, the robot service implementation system enables a user (author of service content) to implement a function of a complicated robot at any time even when the user does not know a principle of implementing and controlling the robot.
Additionally, when a user learns a method of authoring content of a service, the robot service implementation system allows the user to easily author the content, which can be implemented by various robots, through a coherent interface without learning individual methods of authoring service content for the respective robots, so that the authored service content can be reused at low costs by similar types of robots.
Further, in development and maintenance of robot service authoring environments, the robot service implementation system minimizes variation for application of the authored service content to various types of robots with different structures to thereby increase a list of robots capable of supporting the robot service authoring environments at relatively low costs.
Moreover, the robot service implementation system can support not only XML with excellent readability but also any existing programming language with which users are familiar, while providing a main function of constructing and scheduling a service with respect to an authoring user interface that can provide a low level instruction set for implementing a robot service to thereby provide the service to the users.
The above and other aspects, features and advantages of the invention will be more clearly understood from the detailed description taken in conjunction with the accompanying drawings, in which:
Fig. 1 is a diagram of a standardization system for robot fabrication in accordance with one embodiment of the present invention;
Fig. 2 is a block diagram of robot constitution information in accordance with one embodiment of the present invention;
Fig. 3 is a block diagram of a robot constitution information management server in accordance with one embodiment of the present invention;
Fig. 4 is a block diagram of a robot information installer in accordance with one embodiment of the present invention;
Fig. 5 is a block diagram of a robot platform in accordance with one embodiment of the present invention;
Fig. 6 is a flowchart of a standardization method for robot fabrication in accordance with one embodiment of the present invention;
Fig. 7 shows XML schema of robot constitution information in accordance with one embodiment of the present invention;
Fig. 8 shows a configuration of an interface in accordance with one embodiment of the present invention;
Fig. 9 is a block diagram of a robot having a service authoring function in accordance with one embodiment of the present invention;
Fig. 10 is a view of an instruction set in accordance with one embodiment of the present invention;
Figs. 11 and 12 are class diagrams of a robot executer in accordance with one embodiment of the present invention; and
Fig. 13 is a view illustrating a procedure of embodying a desired service that can be obtained by combining a finite status machinery model and a sequential implementation flow model.
Embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Fig. 1 is a diagram of a standardization system for robot fabrication in accordance with one embodiment of the present invention.
Referring to Fig. 1, a standardization system for robot fabrication includes: a robot developer terminal 100 which allows robot constitution information corresponding to a developed robot to be uploaded according to manipulation of a robot developer; a robot constitution information management server 300 which establishes and manages a database (DB) of the robot constitution information of the robot uploaded from the robot developer terminal and issues identification information corresponding to the robot constitution information stored in the DB to allow the robot constitution information to be downloaded based on the identification information; a robot production server 500 which includes a robot information installer 510 electronically connected to the robot constitution information management server 300 to download the robot constitution information based on the identification information; a robot information interface 610 connected to the robot information installer 510 to allow a user to confirm the robot constitution information and select desired robot constitution information for download; and a robot 600 including a robot platform 620 which stores the desired robot constitution information downloaded through the robot information interface 610 and allows the robot to be operated according to the robot constitution information.
Referring to Fig. 2, the robot constitution information is composed of: profile information 201 as data for fabrication of the robot; dimension information 202 as data for an external appearance and unit shape of the robot; kinematic information 203 as data for a mechanics model for controlling the robot; device information 204 as data for sensors, output units and devices constituting the robot; and interface information 205 for use of software for the robot.
The robot constitution information is authored based on Extensible Markup Language (XML) for the purpose of interlink between the respective pieces of robot constitution information and operation thereof. That is, as shown in Fig. 2, XML constitution information is the same as the robot constitution information and is composed of at least one selected from profile information “Profile” that states collected profile information of the robot; dimension information “DimensionInfo” that states the information of the appearance of the robot as module-shape information; kinematic information “KinematicsInfo” that states information as the mechanics model of the robot; device information “DeviceInfo” that states information as the sensors and the output units of the robot; and interface information “InterfaceInfo” that is information for the use of software functions of the robot and expressed as separate schema. From Fig. 7, which shows XML schema of robot constitution information in accordance with one embodiment, it can be seen that the XML constitution information is connected to the uppermost element “RMConfig” of a robot standard model. Fig. 8 shows a configuration of an interface in accordance with one embodiment of the invention.
Referring to Fig. 3, the robot constitution information management server 300 includes: a storage 301 storing the robot constitution information in association with the identification information; an analysis module 302 analyzing and classifying the robot constitution information stored in the storage 301; an allocation module 303 issuing the identification information to the robot constitution information classified by the analysis module 302; a search module 304 searching for robot constitution information requested through the robot information interface 610 from the storage 301 and supplying the retrieved robot constitution information and the identification information corresponding to the retrieved robot constitution information; and a transmission module 305 transmitting the retrieved robot constitution information along with the corresponding identification information to the robot platform 620 so as to be confirmed on the robot information interface 610.
The identification information includes different pieces of identification information issued to different pieces of robot constitution information so as to allow the different pieces of robot constitution information to be classified according to the corresponding pieces of identification information and may have a predetermined format. Here, the predetermined format is composed of a combination of preset numbers indicating a fabrication date, shape and utility of the robot and a sequential serial number.
Referring to Fig. 4, the robot information installer 510 includes a storage 511 storing the robot constitution information in association with the corresponding identification information downloaded therewith from the robot constitution information management server 300; a transmission module 512 electronically connected to the robot constitution information management server 300 to download and store the robot constitution information and the identification information in the storage 511 in response to a request from a robot manufacturer and connected to the robot platform 620 via a wired or wireless network to transmit the robot constitution information, requested based on the identification information through the robot information interface 610, to the robot platform 620; and a registration module 513 registering the robot constitution information with the robot constitution information management server 300.
Referring to Fig. 5, the robot platform 620 includes a storage 621 storing the robot constitution information in association with the corresponding identification information downloaded together through the robot information interface 610; a communication module 622 linked to the robot information interface 610 to search for and download the robot constitution information; and an upgrade module 623 recognizing change in the robot constitution information and upgrading the robot constitution information.
The robot information interface 610 allows the robot constitution information to be confirmed by a user and provides the robot constitution information after combing or parsing the robot constitution information.
Next, a standardization method of the system constructed as above will be described.
Referring to Fig. 6, a standardization method of robot fabrication according to one embodiment of the invention includes: registering information of a robot fabricated by a robot manufacturer as a plurality of pieces of robot constitution information in S601; issuing identification information to each of the pieces of robot constitution information in S602; downloading, by a robot platform, the issued identification information and the robot constitution information corresponding to the issued identification information in S603; and using the downloaded robot constitution information in S604.
In the registering operation in S601, the robot developer electronically connects the robot constitution information management server 300 through the robot information installer 510 provided to a developer’s terminal and registers constitution information of the robot developed by the robot developer in the robot constitution information management server 300 by uploading the robot constitution information thereto.
Here, the robot constitution information uploaded to the robot constitution information management server 300 by the robot developer includes software information for driving the robot and hardware information of the robot.
Then, the robot constitution information uploaded to the robot constitution information management server 300 is analyzed by the analysis module 302 and the identification information is issued to the analyzed robot constitution information by the allocation module 303 in S602. Thus, any robot developer or robot distributer can select and download the robot constitution information based on the identification information when using the robot constitution information registered in the robot constitution information management server 300.
In other words, whenever the robot developer develops a robot, the robot developer uploads hardware information and software information of the developed robot to the robot constitution information management server 300, which in turn classifies the robot constitution information by issuing identification information to the uploaded robot constitution information, thereby allowing other users to easily search for and download desired robot constitution information.
Then, the other robot developers or robot distributers demanding the robot constitution information electronically connect to the robot constitution information management server 300 through the robot production server 500 where the robot information installer 510 is mounted, and download the robot constitution information together with the corresponding identification information using the robot information installer 510 in S603.
The other robot developers or robot distributers downloading the robot constitution information using the robot information installer 510 transmit the downloaded robot constitution information to the robot platform 620 connected to the robot information installer 510 via the wired or wireless network to store the downloaded robot constitution information in the robot platform 620, so that the function or performance of the robot is upgraded by the robot constitution information stored in the robot platform 620. Here, the robot developers or robot distributers select and download the desired robot constitution information based on the identification information through the robot information interface 610 provided to the robot or the user interface.
Next, a robot service implementation system in accordance with one embodiment of the invention will be described.
Referring to Fig. 9, the robot service implementation system according to this embodiment includes: a robot service user interface 10 providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, converting and outputting the selected figure into a robot service markup language, and converting and outputting the robot service markup language into a robot instruction set; a robot executor 20 establishing a state-based service implementation architecture using the robot instruction set input from the robot service user interface 10, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and a robot virtual machine 30 transmitting the operation request information input from the robot executor 20 to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor 20.
The robot service user interface 10 further includes a robot instruction set generation module 11 that interprets the robot service markup language to generate the robot instruction set.
The robot executor 20 selects a corresponding robot instruction from the robot instruction set based on analysis of the robot service markup language to store information for implementing a service in a memory and to perform scheduling of the information.
The robot executor 20 converts an implementation result in the robot and an event generated at an unspecified time point from the robot into coherent data and stores the coherent data in the memory for maintenance, correction, search and transmission.
The robot executor 20 is connected to the robot virtual machine 130 via an XML-based interface and allows request information “Request” requesting a certain operation of the robot, response information “Response” informing of a result in response to the request information, and the event generated at the unspecified time point from the robot to be transmitted or received through the XML-based interface.
The robot virtual machine 30 further includes a robot code module 31, which is coupled thereto in the form of a dynamic library. The robot code module 31 calls an application programming interface (API) of the robot, receives information from the robot engine or middleware and outputs the received information to the robot virtual machine 30.
Next, operation of the robot service implementation system according to this embodiment will be described.
The robot service user interface 10 allows a robot of a user to provide a desired service to the user at any time. In other words, the robot service user interface 10 provides a service item in the form of a figure, allows the user to request a desired service by selecting the provided figure, and converts the selected figure into a robot service markup language, and converts the robot service markup language into a robot instruction set (RIS) as shown in Fig. 10.
The XML-based markup language of the robot service user interface 10 enables application of programming languages convenient for a variety of users.
The robot instruction set (RIS) converted into the XML-based markup language is output to the robot executor 20, which in turn establishes and sends a state-based service implementation architecture using the robot instruction set to the engine or middleware of the robot to allow the robot to operate according to the state-based service implementation architecture. That is, the robot executor 20 sends operation request information “Request” to request the operation of the robot to the robot virtual machine 30, which in turn converts the request information input from the robot executor 20 into a robot code and sends the converted robot code to the engine or middleware of the robot. Then, the engine or middleware of the robot allows the robot to be operated according to the request information “Request” and sends response information “Response” corresponding to the request information “Request” to the robot virtual machine 30, which in turn receives the response information “Response” and sends it to the robot executor 20.
The robot executor 20 processes an event generated at a certain time from the robot in addition to the request information and the response information. Namely, the robot executor 20 receives the event from the robot through the engine or middleware of the robot to monitor an operating state of the robot, converts a service state of the robot, and decides an instruction time point for a subsequent function of the robot.
Referring to Fig. 11, the robot executor 20 supports variables to reconstruct the response information and the event sent through the robot virtual machine 30. In other words, when receiving the response information through the robot virtual machine 30, the robot executor 20 reads out information corresponding to the response information from a response table “Response Table” using a response handler “Response Handler” and monitors whether the robot normally operates according to the request.
Referring to Fig. 12, the robot executor 20 allows various kinds of robots to operate independently through abstraction of various types of variables in an independent execution unit to be used in all components within a service content authoring environment regardless of content by application of the various types of variables to a single abstract data set.
In order to transmit the instruction input from the robot executor 20 to the engine or middleware of the robot, the robot virtual machine 30 converts the instruction into a robot code. Here, since only the converted robot code is dependent on the kind of robot and expansion and repair will be carried out only with respect to this part, the expansion and repair can be easily carried out.
Finally, referring to Fig. 13, the robot executor 20 allows merits of a flexible and rapid finite state machine and procedural thinking of a user to be applied to a service by instinctively assuming the state of the robot and regulating a target operation of the robot through combination of the finite state machine and a method capable of expressing the procedural thinking. Namely, assuming there are three finite states State 1, State 2, State 3 as shown in Fig, 13, occurrence of an event causes transition from the first finite state “State 1” to the second finite state “State 2”, and reoccurrence of an event causes transition from the second finite state “State 2” to the third finite state “State 3”. Here, the second finite state “State 2” causes a procedural action “Procedural Action A” to allow the robot to be operated according to a preset condition.
In the embodiments of the invention, the robot service user interface 10 is installed in a terminal such as a PC or the like, and the robot executor 20 and the robot virtual machine 30 are installed in the robot. On the other hand, although the conversion of robot service-authoring request information of a user into the robot instruction set is described as being carried out in the robot service user interface 10, a module for this conversion may be installed inside the robot along with the robot executor 20.
Further, the robot service user interface 10 may be installed in the robot and allows a user to input the robot service authoring request information using an input menu item provided in the form of a figure through an input unit provided to the robot. Then, the robot service user interface 10 allows the robot to be operated according to the robot service authoring request information input by the user, so that the user can control the robot in a desired way at any time without additional knowledge about the robot.
Although some embodiment have been provided to illustrate the invention, it will be apparent to those skilled in the art that the embodiments are given by way of illustration, and that various modifications, changes, and substitutions can be made without departing from the spirit and scope of the invention. The scope of the invention should be limited only by the accompanying claims.

Claims (20)

  1. A standardization system for robot fabrication comprising:
    a robot developer terminal allowing robot constitution information corresponding to a developed robot to be uploaded according to manipulation of a robot developer;
    a robot constitution information management server establishing and managing a database (DB) of the robot constitution information uploaded from the robot developer terminal and issuing identification information corresponding to the robot constitution information stored in the DB to allow the robot constitution information to be downloaded based on the identification information;
    a robot production server including a robot information installer electronically connected to the robot constitution information management server to download the robot constitution information based on the identification information; and
    a robot including a robot information interface connected to the robot information installer to allow a user to confirm the robot constitution information and select desired robot constitution information for download, and a robot platform storing the desired robot constitution information downloaded through the robot information interface and allowing the robot to be operated according to the robot constitution information.
  2. The standardization system according to claim 1, wherein the robot constitution information comprises:
    profile information as data for fabrication of the robot;
    dimension information as data for an external appearance and unit shape of the robot;
    kinematic information as data for a mechanics model for controlling the robot;
    device information as data for sensors, output units and devices constituting the robot; and
    interface information for use of software for the robot.
  3. The standardization system according to claim 2, wherein the robot constitution information is coded based on Extensible Markup Language (XML).
  4. The standardization system according to claim 1, wherein the robot constitution information management server comprises:
    a storage storing the robot constitution information in association with the identification information;
    an analysis module analyzing and classifying the robot constitution information stored in the storage;
    an allocation module issuing the identification information to the robot constitution information classified by the analysis module;
    a search module searching for robot constitution information requested through the robot information interface from the storage and supplying the retrieved robot constitution information and identification information corresponding to the retrieved robot constitution information; and
    a transmission module transmitting the retrieved robot constitution information along with the corresponding identification information to the robot platform so as be confirmed on the robot information interface.
  5. The standardization system according to claim 4, wherein the identification information comprises different pieces of identification information issued to different pieces of robot constitution information so as to allow the different pieces of robot constitution information to be classified according to the corresponding pieces of identification information and has a predetermined format, the predetermined format being composed of a combination of preset numbers indicating a fabrication date, shape and utility of the robot and a sequential serial number.
  6. The standardization system according to claim 1, wherein the robot information installer comprises:
    a storage storing the robot constitution information in association with the corresponding identification information downloaded from the robot constitution information management server; and
    a transmission module electronically connected to the robot constitution information management server to download and store the robot constitution information and the identification information in the storage in response to a request from a robot manufacturer and connected to the robot platform via a wired or wireless network to transmit the robot constitution information, requested based on the identification information through the robot information interface, to the robot platform.
  7. The standardization system according to claim 6, wherein the robot information installer further comprises a registration module registering the robot constitution information to the robot constitution information management server.
  8. The standardization system according to claim 1, wherein the robot platform comprises:
    a storage storing the robot constitution information in association with the corresponding identification information downloaded together through the robot information interface;
    a communication module linked to the robot information interface to search for and download the robot constitution information; and
    an upgrade module recognizing variation of the robot constitution information and upgrading the robot constitution information.
  9. The standardization system according to claim 1, wherein the robot information interface allows the robot constitution information to be confirmed by a user and provides the robot constitution information after combing or parsing the robot constitution information.
  10. A standardization method for robot fabrication comprising:
    registering information of a robot fabricated by a robot manufacturer as a plurality of pieces of robot constitution information;
    issuing identification information to each of the pieces of robot constitution information;
    downloading, by a robot platform, the issued identification information and the robot constitution information corresponding to the issued identification information; and
    using the downloaded robot constitution information.
  11. The standardization method according to claim 10, wherein the registered robot constitution information comprises software information for driving the robot and hardware information of the robot.
  12. The standardization method according to claim 10, wherein the use of the downloaded robot constitution information comprises:
    confirming and downloading, by the robot manufacturer, the robot constitution information of the robot; and
    upgrading the robot constitution information using the downloaded robot constitution information.
  13. A robot service implementation system comprising:
    a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, converting and outputting the selected figure into a robot service markup language, and converting and outputting the robot service markup language into a robot instruction set;
    a robot executor establishing a state-based service implementation architecture using the robot instruction set input from the robot service user interface, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and
    a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
  14. A robot service implementation system comprising:
    a robot service user interface providing a service item in the form of a figure, allowing a user to request a desired service by selecting the provided figure, and converting and outputting the selected figure into a robot service markup language;
    a robot executor converting the robot service markup language input from the robot service user interface into a robot instruction set, establishing a state-based service implementation architecture using the robot instruction set, generating operation request information to request operation of a robot in accordance with the state-based service implementation architecture, and receiving and storing an implementation result and an event generated from the robot in response to the operation request information; and
    a robot virtual machine transmitting the operation request information input from the robot executor to an engine or middleware of the robot and transmitting an instruction implementation result sent from the engine or middleware of the robot and an event generated from the robot to the robot executor.
  15. The robot service implementation system according to claim 13, wherein the robot executor selects a corresponding robot instruction from the robot instruction set based on analysis of the desired service authored by the user and converted into the robot service markup language to store information for implementing the service in a memory and to perform scheduling of the information.
  16. The robot service implementation system according to claim 15, wherein the robot executor converts an implementation result in the robot and an event generated at an unspecified time point from the robot into coherent data and stores the coherent data in the memory for maintenance, correction, search and transmission.
  17. The robot service implementation system according to claim 13 or 14, wherein the robot executor is connected to the robot virtual machine via an XML-based interface and allows request information “Request” requesting a certain operation of the robot, response information “Response” informing of a result in response to the request information, and the event generated at the unspecified time point from the robot to be transmitted to or received by the engine or middleware of the robot through the XML-based interface.
  18. The robot service implementation system according to claim 13 or 14, wherein the robot virtual machine further comprises a robot code module coupled thereto in the form of a dynamic library, the robot code module calling an application programming interface (API) of the robot, receiving information from the engine or middleware of the robot and outputting the received information to the robot virtual machine.
  19. The robot service implementation system according to claim 13 or 14, wherein the robot service user interface is installed in a separate terminal independent of the robot executor and the robot virtual machine and converts robot service authoring request information sent from a user into a radio signal to transmit the radio signal.
  20. The robot service implementation system according to claim 13 or 14, wherein the robot service user interface is installed in the robot and allows a user to input robot service authoring request information using an input unit provided to the robot.
PCT/KR2009/007626 2008-12-19 2009-12-21 Standardization system and method for robot fabrication and robot service implementation system WO2010071384A2 (en)

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KR10-2008-0136182 2008-12-30
KR1020080136182A KR101040702B1 (en) 2008-12-30 2008-12-30 Robot Manufacturing Standardization System and Method

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