KR101186192B1 - Apparatus and method for recognizing sensor information using sensor scripts, and its robot - Google Patents

Abstract

The present invention relates to an apparatus and method for recognizing sensor information using a sensor script, and a robot and a service agent system using the same. The sensor script can easily recognize sensor information through matching between sensor information and unit recognition information. To provide a sensor information recognition apparatus using a sensor script, a method thereof, and a robot and a service agent system using the same.

To this end, the present invention provides a sensor information recognition method comprising: an inquiry step of querying a cognitive information generating function using unit sensor information received from an external sensing means; An extraction step of extracting sensor information necessary for executing the inquired cognitive information generating function; And a generation step of generating unit recognition information by executing the inquired recognition information generating function.

Service Agent, Robot, Sensor Information, Cognitive Information, Sensor Information Recognition Device, Cognitive Information Generator, Sensor Script

Description

Sensor information recognition device using sensor script and method and robot using same {APPARATUS AND METHOD FOR RECOGNIZING SENSOR INFORMATION USING SENSOR SCRIPTS, AND ITS ROBOT}

The present invention relates to an apparatus and method for recognizing sensor information using a sensor script, and a robot and a service agent system using the same. More particularly, in the service agent recognizing specific sensor information of a robot, the robot is an external environment or a user. Transmitting unit sensor information input by the sensor to the sensor information recognition device, the sensor information recognition device generates recognition information according to the content of the sensor script corresponding to the unit sensor information received from the robot, and delivers to the service agent, the sensor An apparatus and method for recognizing sensor information using a script, and a robot and a service agent system using the same.

In the following embodiment according to the present invention will be described with an example of the robot, but the present invention is not limited thereto.

Recently, with the development of intelligent robots (also known as "URCs (Ubiquitous Robotic Companion robots)"), a remote user can control the behavior of the robots by remote users from the network by ordering them to perform specific motion services. The robot can receive information about the recognized environment.

Recognition of the surrounding environment according to the prior art may recognize only limited situation information by using a hardware sensor attached to the robot, and in particular, may recognize only fixed situation information unique to each robot. In order to generate more diverse cognitive information using various hardware sensor information, sensor fusion technology that combines various sensor information is also used.

However, in the prior art as described above, the remote service agent should know all the information about the software and hardware provided in the robot to be controlled for sensor information recognition, and should refer to all the information of the robot, but the robot and the surrounding environment. Recognize information.

In other words, the communication protocol for the intelligent URC robot is not standardized, and each robot existing or newly released by the robot manufacturer has a heterogeneous specification [the robot's specifications, functions, sensor recognition methods, and shapes thereof are different from each other]. Considering the configuration, it is very difficult to reflect all the information of all the robot in the service agent.

Therefore, the prior art as described above has a problem that it is difficult to recognize the surrounding environment information of several robots having heterogeneous specifications in one service agent, it is a problem of the present invention to solve this problem.

The present invention separates sensor information generated from a sensor and recognition information required for a service agent, and converts unit sensor information into unit recognition information using a sensor script, and an apparatus and method for recognizing sensor information using the sensor script and a method thereof The purpose is to provide a robot and service agent system used.

That is, the present invention provides a sensor information recognizing apparatus and method using the sensor script, and a robot and service agent system using the same, which can easily recognize the sensor information through matching between the unit sensor information and the unit recognition information using the sensor script. The purpose is to provide.

In other words, in the present invention, when a service agent recognizes specific sensor information of a robot, the robot transmits unit sensor information input by an external environment or a user to a sensor information recognizing device, and the sensor information recognizing device is determined from the robot. The object of the present invention is to provide a sensor information recognition apparatus using the sensor script, a method and a robot and a service agent system using the same, which generate cognitive information according to the contents of the sensor script corresponding to the received unit sensor information, and transmit the recognition information to the service agent. have.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

An apparatus of the present invention for achieving the above object, in the robot, sensing means for transmitting at least one unit sensor information by sensing information; And sensor information recognition means for generating unit recognition information according to the content of the sensor script corresponding to the unit sensor information received from the sensing means and transmitting the generated unit recognition information to the service agent.

The apparatus of the present invention may further include the service agent for determining and providing a service using unit recognition information received from the sensor information recognizing means.

On the other hand, the system of the present invention for achieving the above object, in the service agent system, the sensor information for generating and transmitting the unit recognition information according to the content of the sensor script corresponding to the unit sensor information received from the external sensing means Recognition means; And a service agent for determining and providing a service using unit recognition information received from the sensor information recognizing means.

On the other hand, another apparatus of the present invention for achieving the above object, the sensor information recognizing apparatus, the sensor information storage for storing the unit sensor information received from the external sensing means; A sensor script storage storing sensor script corresponding to the unit sensor information; And extracting the sensor script corresponding to the unit sensor information received from the external sensing means in the sensor script repository, and then using the extracted sensor script and unit sensor information of the sensor information repository and the received unit sensor information. A cognitive information generator for generating cognitive information and transmitting it to the service agent.

On the other hand, the method of the present invention for achieving the above object, the sensor information recognition method, querying step for inquiring the recognition information generation function using the unit sensor information received from the external sensing means; An extraction step of extracting sensor information necessary for executing the inquired cognitive information generating function; A generation step of generating unit recognition information by executing the inquired recognition information generating function; And a transmitting step of transmitting the generated unit recognition information to a service agent.

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As described above, the present invention has an effect of easily recognizing robot sensor information through matching between unit sensor information and unit recognition information using a sensor script.

In addition, the present invention has the effect that can recognize the sensor information by using a single service agent for any robot having a heterogeneous specification.

In addition, the present invention has the effect of ensuring the mutual independence between the service agent and the robot because it does not need to change the process of the service agent even if hardware addition / change / removal of the sensor information recognition target robot is made.

In addition, the present invention has the advantage of naturally implementing a process of reproducing one or more cognitive information by combining a plurality of sensors.

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

1 is a block diagram of an embodiment of a sensor information recognition apparatus using a sensor script and a robot using the same according to the present invention.

As shown in FIG. 1, the robot using the sensor script according to the present invention includes a service agent 10, a sensor information recognizing device 20, and various sensors 30 included in the robot. The sensor information recognizing apparatus 20 using the sensor script includes a cognitive information generator 21, a sensor script storage 22, a sensor information storage 23, and the like.

Meanwhile, in the present invention, each component such as the service agent 10, the sensor information recognizing device 20, and various sensors 30 included in the robot may be all mounted on one hardware robot.

Alternatively, in the present invention, various sensors 30 are provided in the robot, and the sensor information recognizing apparatus 20 and the service agent 10 are remotely connected to the robot through a network (for example, the Internet), and the sensor information. The recognition device 20 may be implemented by being mounted on the service agent 10 side.

Alternatively, the present invention may be implemented such that the various sensors 30 and the sensor information recognizing apparatus 20 are provided in the robot, and the service agent 10 is remotely connected to the robot through a network (for example, the Internet). have.

Alternatively, in the present invention, various sensors 30 are provided in the robot, and the sensor information recognizing apparatus 20 and the service agent 10 are remotely connected to the robot through a network (for example, the Internet), and the sensor information. The recognition device 20 and the service agent 10 may not be implemented in one system but may be implemented in each device. That is, each component such as the service agent 10, the sensor information recognizing device 20, and the various sensors 30 included in the robot may be implemented and connected through a network (for example, the Internet).

And it will be obvious to those skilled in the art that the present invention can be implemented in various connection methods in addition to the above-described connection method. Therefore, it should be noted that the present invention is not necessarily limited to the above-described connection method alone. Since only one embodiment according to one connection method is described, an embodiment according to another connection method can be easily understood by a person skilled in the art. In the following embodiment of FIG. 1, the service agent 10 and the sensor information recognizing apparatus are described below. 20 and the case where each component such as various sensors 30 included in the robot are all mounted on one hardware robot and implemented.

First, to briefly understand the technical gist of the present invention to help understand the present invention, in the robot using the sensor script according to the present invention, the unit sensor information sensed by the various sensors 30 is transferred to the sensor information recognizing apparatus 20. The cognitive information generator 21 of the sensor information recognition apparatus 20 generates cognitive information according to the content of the sensor script related to the unit sensor information and transmits the cognitive information to the service agent 10. In this case, the cognitive information generator 21 of the sensor information recognition apparatus 20 uses the sensor script storage 22 and the sensor information storage 23 when generating cognitive information. Referring to this in more detail with reference to Figure 1 as follows.

As shown in FIG. 1, a robot using a sensor script according to the present invention senses various types of information input from the outside and transmits at least one unit sensor information to the sensor information recognizing apparatus 20. 30, the sensor information recognition device 20 for generating unit recognition information according to the content of the sensor script corresponding to each unit sensor information received from the various sensors 30 and transmitting the generated unit recognition information to the service agent 10. And a service agent 10 for determining and providing a service using unit recognition information received from the sensor information recognizing apparatus 20.

Here, the unit sensor information includes a sensor name and sensor information.

The sensor script may include a sensor name, a cognitive information generating function, and a cognitive information generating method.

The sensor information recognizing apparatus 20 converts each unit sensor information received from the various sensors 30 into unit recognition information using the sensor script stored in the sensor script storage 22 and then recognizes the corresponding unit. The information is sent to the service agent 10.

That is, the sensor information recognizing apparatus 20 extracts the sensor script corresponding to the received unit sensor information from the sensor script storage 22 as the at least one unit sensor information is received from the various sensors 30. (A plurality of scripts may be extracted at this time), and generates at least one unit recognition information using the extracted sensor script, the unit sensor information of the sensor information storage 23 and the received unit sensor information, and the generation One piece of unit recognition information is sequentially transmitted to the service agent 10. Looking at each component in more detail as follows.

The sensor information recognizing apparatus 20 may store the latest unit sensor information received from the various sensors 30 or all previous unit sensor information for use in generating cognitive information. Sensor script storage 22 storing sensor scripts corresponding to unit sensor information and sensor scripts corresponding to unit sensor information received from the various sensors 30 for use in generating cognitive information. After extraction from the storage 22, unit recognition information is generated using the extracted sensor script, the unit sensor information of the sensor information store 23, and the received unit sensor information, and then sequentially transmitted to the service agent 10. A cognitive information generation unit 21 is included.

Then, the service agent 10 determines its own behavior by using the unit recognition information received from the sensor information recognizing apparatus 20 and provides a corresponding service.

Here, the sensor information storage 23 is a storage (database) for storing the unit sensor information received from the various sensors 30 in chronological order, and the cognitive information generating unit 21 is new from the various sensors 30. Each time the unit sensor information is received, the unit sensor information is added and stored. The sensor information stored in this way is used in the process of generating the cognitive information by the cognitive information generator 21 using the sensor script.

Here, the sensor information storage 23 may be implemented to store not only the latest sensor information but also sensor information according to time in order to support the cognitive information generator 21 to generate more complex cognitive information. . However, in consideration of the physical storage space of the sensor information storage 23, if the sensor information exceeds a certain number (e.g. ten thousand) or a predetermined time (e.g. one month) elapses after the sensor information is stored, the sensor information stored first It may be implemented to delete and store only the latest sensor information.

2A and 2B illustrate an example of a sensor script according to the present invention, and show a relationship between a sensor name and a cognitive information generating function, and a cognitive information generating method according to the cognitive information generating function.

As shown in FIGS. 2A and 2B, the sensor script according to the present invention includes a relationship between a sensor name and a cognitive information generating function using the sensor name (FIG. 2A), and the cognitive information generating function and corresponding cognitive information. The relationship of the generation method (FIG. 2B) is included and stored in the sensor script repository 22.

Next, the sensor script will be described in more detail as follows.

In the present invention, instead of using a method of generating an integrated sensor script for heterogeneous robots, for example, a method of generating a different sensor script for each heterogeneous robot is used. For example, if the robot to be serviced is changed from robot A to robot B, the previously used sensor script for robot A is changed to the new sensor script for robot B so that the service application (service agent) remains unchanged ( Independently). At this time, a sensor script should be created for each sensor installed in each heterogeneous robot, and if a sensor is simply added, the sensor script needs to be modified.

Herein, the sensor name of the sensor script repository 22 represents an independent hardware sensor that generates one sensor value, and the cognitive information generation function and the cognitive information generation method according thereto may enable the service agent 10 to recognize the surrounding environment. The unit sensor information is processed to generate unit recognition information.

Such unit recognition information is generated using one or more sensor values. FIG. 2A is a diagram illustrating a relationship between a sensor name and a cognitive information generation function using the corresponding sensor name. The relationship between the sensor name and the cognition information generation function using the corresponding sensor name is described in the sensor script storage ( 22).

The cognitive information generating function processes the sensor value into unit cognitive information through a cognitive information generating method. Here, the method of generating cognitive information expresses how to process the sensor value into unit recognition information in a language that can be interpreted and executed in real time. At this time, the language used in the present invention may be any known technical language, so a detailed description thereof will be omitted. For this reason, an embodiment of the present invention will be described using a pseudo code of a general form.

For example, in order to determine whether the robot has fallen down, sensor information received from an inclination sensor and a floor detection sensor is required. The cognitive information generating function for determining the robot fall may be defined as “Fall-down”, and the robot may be implemented to determine that the robot falls down when it is tilted more than 30 ° and the floor is not detected (FIG. 2B). Cognitive information functions may simply result in true or false values, such as "Fall-down," but in some cases may be real or may be represented by multiple values. For example, the "Hit" function may have a result of true (UE) or false (FALSE) depending on the implementation method, but the value of true may have an additional real value in the case of true (UE).

In this way, complex cognitive information generation methods such as user face recognition can also be expressed in the language and used to generate cognitive information.

3 is a flowchart illustrating a method for recognizing sensor information using a sensor script according to the present invention.

In the following embodiment of FIG. 3, each component such as a service agent 10, a sensor information recognizing device 20, and various sensors 30 included in a robot may be implemented to implement a network (eg, the Internet, etc.). It will be described by taking the case of the connection via an example.

In the processing of the sensor information recognition method using the sensor script according to the present invention, a process performed in various sensors 30 of the robot will be described first.

First, a plurality of various sensors 30 included in the robot sense various kinds of information input from a surrounding environment or a user (301).

Thereafter, the sensed sensor value (sensor information) and the name of the corresponding sensor are transmitted as the sensor information recognizing apparatus 20 as one unit sensor information (302).

Next, a process performed by the sensor information recognizing apparatus 20 will be described.

First, the sensor information recognizing apparatus 20 searches the sensor script storage 22 using the sensor name and sensor value of the unit sensor information received from the robot side, and inquires a recognition information generating function using the corresponding sensor values (303). ).

Thereafter, unit sensor information (sensor value), which is additionally required to execute the inquired cognitive information generating function, is extracted through the sensor information storage 23 (304).

Thereafter, corresponding sensor values (the received unit sensor information and the extracted unit sensor information) are collected and the unit recognition information generating function is executed to generate unit recognition information (305).

Thereafter, the generated unit recognition information is transmitted to the service agent 10 (306).

For example, when the body touch sensor value is input, it can be seen that the cognitive information generating functions using the body touch sensor information are “Lift” function and “Hit” function as shown in FIG. 2A. In addition, it can be seen that an additional floor sensor is required to perform the "Lift" function as shown in FIG. 2B. The unit recognition information may be generated by executing the "Lift" function using the body touch sensor value and the floor sensing sensor value, and executing the "Hit" function using the body touch sensor value. The unit recognition information processed through the recognition information generation function is transmitted to the service agent 10. At this time, the latest sensor information is recorded in the sensor information storage 23 and used for generation of later cognitive information.

Next, the service agent 10 determines and provides a service using unit recognition information received from the sensor information recognizing apparatus 20 (307).

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

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

The present invention can be used in the field of sensor information recognition technology or an intelligent robot using the same.

1 is a configuration diagram of an embodiment of a sensor information recognizing apparatus using a sensor script and a robot having the same according to the present invention;

2A and 2B are exemplary views of a sensor script according to the present invention.

3 is a flowchart illustrating a method for recognizing sensor information using a sensor script according to the present invention.

* Explanation of symbols on the main parts of the drawing

10: service agent 20: sensor information recognition device

21: recognition information generation unit 22: sensor script repository

23: sensor information store 30: sensor

Claims (17)

In robots, Sensing means for sensing information and transmitting at least one unit sensor information; And Sensor information recognition means for generating unit recognition information according to the content of the sensor script corresponding to the unit sensor information received from the sensing means for transmitting to the service agent Robot comprising a. The method of claim 1, The service agent for determining and providing a service using unit recognition information received from the sensor information recognizing means Robot comprising more. 3. The method according to claim 1 or 2, The sensor information recognition means, In response to receiving at least one unit sensor information from the sensing means, a sensor script corresponding to the received unit sensor information is extracted from a sensor script repository, and the sensor information and the received sensor of the extracted sensor script and sensor information repository. At least one unit recognition information is generated using the information, and the robot transmits the generated unit recognition information to the service agent. 3. The method according to claim 1 or 2, The sensor information recognition means, A sensor information store for storing unit sensor information received from the sensing means for use in generating cognitive information; A sensor script storage for storing sensor scripts corresponding to unit sensor information for use in generating cognitive information; And After extracting the sensor script corresponding to the unit sensor information received from the sensing means in the sensor script storage, unit recognition information is obtained using the extracted sensor script, the unit sensor information of the sensor information store and the received unit sensor information. Cognitive information generation unit for generating and transmitting to the service agent Robot comprising a. The method of claim 4, wherein The unit sensor information, Robot containing sensor name, and sensor information. The method of claim 4, wherein The sensor script, A robot comprising a sensor name, a cognitive information generating function, and a method of generating cognitive information. In the service agent system, Sensor information recognizing means for generating and transmitting unit recognition information according to content of a sensor script corresponding to unit sensor information received from an external sensing means; And Service agent for determining and providing a service using the unit recognition information received from the sensor information recognition means Service agent system comprising a. The method of claim 7, wherein The sensor information recognition means, Upon receiving at least one unit sensor information from the external sensing means, a sensor script corresponding to the received unit sensor information is extracted from a sensor script repository, and the unit sensor information and the sensor information of the extracted sensor script and sensor information repository are extracted. At least one unit recognition information is generated using the received unit sensor information, and the generated unit recognition information is transmitted to the service agent. The method of claim 7, wherein The sensor information recognition means, A sensor information store for storing unit sensor information received from the external sensing means for use in generating cognitive information; A sensor script storage for storing sensor scripts corresponding to unit sensor information for use in generating cognitive information; And After extracting the sensor script corresponding to the unit sensor information received from the sensing means in the sensor script storage, unit recognition information is obtained using the extracted sensor script, the unit sensor information of the sensor information store and the received unit sensor information. Cognitive information generation unit for generating and transmitting to the service agent Service agent system comprising a. The method according to any one of claims 7 to 9, The sensor script, A service agent system comprising a sensor name, a cognitive information generation function, and a method of generating cognitive information. In the sensor information recognition device, A sensor information store for storing unit sensor information received from an external sensing means; A sensor script storage storing sensor script corresponding to the unit sensor information; And After extracting the sensor script corresponding to the unit sensor information received from the external sensing means in the sensor script repository, unit recognition is performed using the extracted sensor script, the unit sensor information of the sensor information repository and the received unit sensor information. Cognitive information generator for generating information and transmitting it to the service agent Sensor information recognition device comprising a. The method of claim 11, The sensor script, Sensor information recognition device comprising a sensor name, cognitive information generating function, and cognitive information generating method. 13. The method according to claim 11 or 12, The unit sensor information, Sensor information recognition device including a sensor name, and sensor information. In the sensor information recognition method, An inquiry step of querying a cognitive information generating function using unit sensor information received from an external sensing means; An extraction step of extracting sensor information necessary for executing the inquired cognitive information generating function; A generation step of generating unit recognition information by executing the inquired recognition information generating function; And A transmission step of transmitting the generated unit recognition information to a service agent Sensor information recognition method comprising a. delete 15. The method of claim 14, In the querying step, a sensor script repository is searched using a sensor name and a sensor value of unit sensor information received from the external sensing means, and a cognitive information generation function using the corresponding sensor values is queried. In the extracting step, the sensor information (sensor value) additionally required to execute the inquired cognitive information generating function is extracted through a sensor information storage, In the generating step, the sensor information recognition method is generated by generating the unit recognition information by executing the inquired recognition information generating function by collecting the sensor values (sensor information). 17. The method of claim 16, The sensor script, A sensor information recognition method comprising a sensor name, a cognitive information generating function, and a cognitive information generating method.

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