ROBOT CONTROL SYSTEM, ITS API PROCESSING METHOD, PROXY ACCESS DEVICE, AND PROXY ACCESS PROGRAM

Abstract

To solve the problem that instability cannot be cancelled in a case where a device disposed in an on-premise region utilizes an API provided by a cloud server in a conventional robot control system.SOLUTION: A robot control system comprises: a robot scenario control device 11 which is disposed in an on-premise region and controls an apparatus of a control target while calling an API provided by a cloud server 30; a proxy access processing unit 16 which sends a reply of an API response corresponding to an API call request to the robot scenario control device 11; and a storage device 17 which stores API related information related to the API. When there is API related information in the storage device 17, the proxy access processing unit 16 sends a reply of an API response to the robot scenario control device 11 based on the API related information stored in the storage device 17.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a robot control system, its API processing method, a proxy access device, and a proxy access program, and more particularly to a robot control system including a robot scenario control device that controls a robot while utilizing an API provided by a cloud server, its API processing method, a proxy access device, and a proxy access program. [Background technology]

[0002] In recent years, hybrid clouds have been used in various systems, in which some processing is performed by a cloud server installed on an open public network, while other processing is performed by devices installed in a closed on-premise area. There are various configuration examples for distributing the load between the cloud server and the devices in the on-premise area, such as a first configuration example in which important information is processed on the on-premise area side and less important information is processed on the cloud side, a second configuration example in which information backup on the on-premise area side is performed on the cloud side in consideration of business continuity, and a third configuration example in which the load of the devices on the on-premise side is offloaded to the cloud side. Therefore, a technology related to hybrid clouds is disclosed in Patent Document 1. The hybrid unified communications arrangement described in Patent Document 1 is a method for providing a hybrid unified communications (UC) arrangement including telephone communications, comprising the steps of hosting a tenant including a user using a UC cloud arrangement including PSTN communications integrated with the tenant's UC on-premises arrangement, maintaining and managing the tenant's identity information consistently between the UC cloud arrangement and the UC on-premises arrangement, storing policies used in both the UC cloud arrangement and the UC on-premises arrangement, and associating a selection from the tenant of a telecommunications (Telco) provider that provides PSTN services. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6138782 Summary of the Invention [Problem to be solved by the invention]

[0004] However, when a hybrid cloud configuration is applied to a robot installed in an on-premise area, the robot communicates with the cloud server via a relay device including a firewall device, and therefore there are many cases where cloud access is agreed upon. In such cases, access from the robot to the cloud server becomes unstable, which may affect the operation of the robot. In response to such a problem, in the conventional technology, the division of processing between the cloud server and the device in the on-premise area, such as the robot, is fixed, and flexible switching of the division of processing according to the operation of the robot cannot be performed, so that the instability of the robot operation cannot be eliminated.

[0005] The present invention has been made to solve such problems, and aims to improve the operational stability of a robot placed in an on-premise area while utilizing processing on a cloud server. [Means for solving the problem]

[0006] One aspect of a robot control system according to the present invention includes a cloud server connected to a public network located outside an area, a robot scenario control device located in an on-premises area that communicates between devices located within the area via a local network constructed within the area and controls equipment to be controlled while calling an API (Application Program Interface) provided by the cloud server via an API call request, a proxy access processing unit located in the on-premises area that returns an API response corresponding to the API call request to the robot scenario control device, a storage device located in the on-premises area that stores API-related information related to the API, and a communication relay device that relays communication between the local network and the public network, and if the API-related information is in the storage device, the proxy access processing unit returns the API response to the robot scenario control device based on the API-related information stored in the storage device.

[0007] One aspect of an API processing method in a robot control system according to the present invention is an API processing method in a robot control system having a cloud server connected to a public network located outside the area, a robot scenario control device located in an on-premises area that communicates between devices located within the area via a local network constructed within the area and controls equipment to be controlled while calling an API (Application Program Interface) provided by the cloud server via an API call request, and a communication relay device that relays communication between the local network and the public network, the method comprising: a proxy access process located in the on-premises area that returns an API response corresponding to the API call request to the robot scenario control device; and a storage process that stores API-related information related to the API in a storage device located in the on-premises area, and in the proxy access process, if the API-related information is in the storage device, the API response is returned to the robot scenario control device based on the API-related information stored in the storage device.

[0008] One aspect of the proxy access device of the present invention is a proxy access device that calls an API (Application Program Interface) provided by a cloud server through an API call request and returns an API response corresponding to the API call request to a robot scenario control device that controls a controlled device, and has a proxy access processing unit that returns the API response to the API call request to the robot scenario control device, and a storage device that is used exclusively by the proxy access processing unit and stores API-related information related to the API, and if the API-related information is in the storage device, the proxy access processing unit returns the API response to the robot scenario control device based on the API-related information stored in the storage device.

[0009] One aspect of the proxy access program of the present invention is a proxy access program that is executed on a computer having a storage device and that calls an API (Application Program Interface) provided by a cloud server via an API call request, while returning an API response corresponding to the API call request to a robot scenario control device that controls a device to be controlled. The proxy access program includes a proxy access processing unit that returns the API response to the API call request to the robot scenario control device, and a storage process that stores API-related information related to the API in the storage device. If the API-related information is in the storage device, the proxy access processing unit returns the API response to the robot scenario control device based on the API-related information stored in the storage device.

[0010] In the robot control system, API processing method, proxy access device, and proxy access program according to the present invention, an API response is returned by proxy access processing in response to an API call request issued by a robot scenario control device to a cloud server. Effect of the Invention

[0011] The present invention can eliminate instability that occurs when a device located in an on-premise area uses an API provided by a cloud server. [Brief description of the drawings]

[0012] [Figure 1] 1 is a schematic diagram of a robot control system according to a first embodiment. [Diagram 2] 4 is a flowchart illustrating an operation of the proxy access device according to the first embodiment. [Diagram 3] FIG. 11 is a schematic diagram of a robot control system according to a second embodiment. [Figure 4] 11 is a flowchart illustrating an operation of the proxy access device according to the second embodiment. [Diagram 5] FIG. 11 is a schematic diagram of a robot control system according to a third embodiment. [Figure 6] FIG. 13 is a schematic diagram of a robot control system according to a fourth embodiment. [Figure 7] 13 is a flowchart illustrating a first example of the operation of a robot scenario control device according to the fourth embodiment. [Figure 8] 13 is a flowchart illustrating a second example of the operation of the robot scenario control device according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] In order to clarify the description, the following description and drawings are omitted and simplified as appropriate. In addition, each element shown in the drawings as a functional block performing various processes can be configured in hardware with a CPU (Central Processing Unit), memory, and other circuits, and in software, can be realized by a program loaded into memory. Therefore, it is understood by those skilled in the art that these functional blocks can be realized in various forms by hardware alone, software alone, or a combination thereof, and are not limited to any one of them. In addition, the same elements are given the same symbols in each drawing, and duplicated explanations are omitted as necessary.

[0014] Moreover, the above-mentioned program includes a set of instructions (or software code) for making the computer perform one or more functions described in the embodiment when the program is read into the computer. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, the computer-readable medium or the tangible storage medium includes random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technology, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disk or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may be transmitted on a transitory computer-readable medium or a communication medium. By way of example and not limitation, the transitory computer-readable medium or the communication medium includes electrical, optical, acoustic, or other forms of propagating signals.

[0015] First embodiment FIG. 1 shows a block diagram of a robot control system 1 according to a first embodiment, and the robot control system 1 will be described in detail. First, in the following description, an area where a cloud server connected via a public network is installed is referred to as a cloud area. Note that in the cloud area, it is sufficient that the public network is used as an access path to the cloud server, and access to the cloud server does not need to be open to the public, and may be limited to, for example, a contractor. Also, an area where multiple devices are connected to a closed local network that is connected to a public network via a relay device such as an in-house firewall device and where access by outsiders is prohibited is referred to as an on-premise area.

[0016] In the robot control system 1 according to the first embodiment, the cloud server 30 is placed in the cloud area, and the proxy access device 10, the robot scenario control device 11, the robot 12, the door controller 13, the elevator controller 14, the camera 15, etc. are placed in the on-premise area. In the robot control system 1 according to the first embodiment, communication between the local network in the on-premise area and the public network in the cloud area is relayed by a relay device (for example, the on-premise firewall device 20).

[0017] Here, an example of a system configuration in an on-premise area will be described. As shown in Fig. 1, in the robot control system 1 according to the first embodiment, a robot scenario control device 11 controls a plurality of control target devices while using an API provided by a cloud server. In the example shown in Fig. 1, a robot 12, a door controller 13, an elevator controller 14, and a camera 15 are shown as control targets of the robot scenario control device 11, but the control targets of the robot scenario control device 11 are not limited to these.

[0018] The proxy access device 10 receives an API call request from the robot scenario control device 11 and replies to the robot scenario control device 11 with an API response corresponding to the API call request. At this time, the proxy access device 10 has a cache, and if the cache stores API-related information related to the API corresponding to the API call request, the proxy access device 10 generates an API response based on the API-related information in the cache without sending the API call request to the cloud server 30, and replies to the API response to the robot scenario control device 11. Furthermore, if the proxy access device 10 does not have API-related information in the cache, it transfers the API call request to the cloud server 30 and replies to the robot scenario control device 11 with the API response obtained from the cloud server 30.

[0019] Here, the proxy access device 10 will be described in more detail. The proxy access device 10 has a proxy access processing unit 16 and a cache 17. The proxy access device 10 can realize the proxy access processing unit 16 by a proxy access program executed on a computer or by dedicated hardware. The proxy access processing unit 16 may be a storage device provided in the housing of a device in which the proxy access program or dedicated hardware is installed, or may be implemented as a separate device connected to the housing via a network.

[0020] The proxy access processing unit 16 is disposed in an on-premise area, and returns an API response corresponding to an API call request to the robot scenario control device. In addition, API-related information related to the API is stored in the cache 17. Then, if the API-related information is in the cache 17, the proxy access processing unit 16 returns an API response to the robot scenario control device based on the API-related information stored in the proxy access processing unit 16. In addition, if the API-related information corresponding to the API call request is not in the cache 17, the proxy access processing unit 16 sends an API call request to the cloud server 30, returns the API response acquired from the cloud server 30 to the robot scenario control device 11, and saves the API-related information acquired from the cloud server 30 in the cache 17.

[0021] Next, the operation of the proxy access device 10 according to the first embodiment will be described in detail. Fig. 2 shows a flowchart explaining the operation of the proxy access device 10 according to the first embodiment. When the proxy access device 10 starts its operation, it puts itself into a standby state until it receives an API request (e.g., an API call request) from the robot scenario control device 11 (step S1). Then, when it receives the API call request from the robot scenario control device 11, the proxy access processing unit 16 checks whether API-related information for the requested API is stored in the cache 17 (step S2).

[0022] Then, in step S2, if it is found that the API-related information is stored in the cache 17 (YES branch of step S2), the proxy access processing unit 16 further judges whether the API-related information stored in the cache 17 is within a preset cache expiration date (step S3). Then, in step S3, if the API-related information stored in the cache 17 is within the cache expiration date (YES branch of step S3), the proxy access processing unit 16 generates an API response based on the API-related information stored in the cache 17, and returns the API response to the robot scenario control device 11 (step S4).

[0023] On the other hand, if it is found in step S2 that the API related information is not stored in the cache 17 (NO branch of step S2), or if the API related information stored in the cache 17 in step S3 has expired (NO branch of step S3), the proxy access processing unit 16 transmits the API call request received from the robot scenario control device 11 to the cloud server 30 and calls an API response related to the API requested from the cloud server 30 (step S5). Then, the proxy access processing unit 16 returns the API response acquired in step S5 to the robot scenario control device 11 (step S6). In addition, the proxy access processing unit 16 acquires API related information from the cloud server 30 and stores it in the cache 17 (step S7). The proxy access device 10 executes the operations of steps S1 to S7 every time it receives an API call request from the robot scenario control device 11.

[0024] As explained above, in the robot control system 1 according to the first embodiment, the proxy access device 10 returns an API response to an API call request made by the robot scenario control device 11 based on the API-related information stored in the cache 17, without accessing the cloud server 30. As a result, in the robot control system 1 according to the first embodiment, it is possible to avoid communication instability that occurs when accessing the cloud server 30 via the on-premise firewall device 20 or a public network, and ensure stable operation of the robot scenario control device 11.

[0025] Furthermore, in the robot control system 1 according to the first embodiment, if API-related information corresponding to the API call request issued by the robot scenario control device 11 is not present in the cache 17, the proxy access processing unit 16 transfers the API call request to the cloud server 30 to acquire an API response. Furthermore, in the robot control system 1 according to the first embodiment, API-related information related to the API call request is acquired from the cloud server 30 and stored in the cache 17. As a result, in the robot control system 1 according to the first embodiment, it is possible to dynamically change the API to be processed in the on-premise area without having to set the API to be processed in the on-premise area in advance.

[0026] In the robot control system 1 according to the first embodiment, the processing uses the cache 17, and therefore is particularly effective in processing related to APIs that utilize the calculation results (e.g., API processing related to position calculation processing, personal authentication processing, image processing, behavior prediction processing, etc.).

[0027] Embodiment 2 In the second embodiment, a robot control system 2 having a proxy access device 40 which is another embodiment of the proxy access device 10 will be described. Fig. 3 shows a schematic diagram of the robot control system according to the second embodiment. As shown in Fig. 3, the proxy access device 40 has a proxy access processing unit 46 and a local database 47 instead of the proxy access processing unit 16 and the cache 17. Furthermore, the robot control system 2 according to the second embodiment has a master database 31 in the cloud area.

[0028] The proxy access processing unit 46 performs processing related to an API call request issued by the robot scenario control device 11 by referring to the local database 47, and if the API that executed the processing is one that was registered in advance, it performs a synchronization process of the stored contents between the local database 47 and the master database 31. Here, the proxy access processing unit 46 executes processing related to APIs that use databases, such as an API that searches the contents of the local database 47, an API that saves the control history of the robot scenario control device 11 in the local database 47, and an API that saves the movement history of the robot 12 in the local database 47.

[0029] Here, the operation of the proxy access device 40 of the robot control system 2 according to the embodiment 2 will be described in detail. Fig. 4 shows a flowchart explaining the operation of the proxy access device according to the embodiment 2. As shown in Fig. 4, when the proxy access device 40 is started, the proxy access processing unit 46 waits for an API call request from the robot scenario control device 11 (step S11).

[0030] Then, when receiving an API call request from the robot scenario control device 11, the proxy access processing unit 46 performs processing related to the API call request using the local database 47 (step S12). Also, it is determined whether or not the API processed in step S12 is a pre-registered API (step S13). If it is determined in step S13 that the API processed in step S12 is not a pre-registered API (NO branch of step S13), the proxy access device 40 waits again for an API call request from the robot scenario control device 11. On the other hand, if it is determined in step S13 that the API processed in step S12 is a pre-registered API (YES branch of step S13), the proxy access processing unit 46 accesses the cloud server 30 to synchronize the local database 47 with the master database 31 (step S14), and then waits again for an API call request from the robot scenario control device 11.

[0031] As explained above, in the robot control system 2 of the second embodiment, the frequency of access to the cloud server 30 can be reduced, even in the case of data accumulation and APIs that use the accumulated data, thereby improving the operational stability of the robot scenario control device 11.

[0032] Furthermore, in the robot control system 2 according to the second embodiment, the synchronization processing between the local database 47 and the master database 31 can be performed asynchronously with the operation timing of the robot scenario control device 11. In other words, in the robot control system 2 according to the second embodiment, the synchronization processing can be performed at a timing that does not interfere with the operation of the robot scenario control device 11, thereby improving the operational stability of the robot scenario control device 11.

[0033] Third embodiment In the third embodiment, a proxy access device 50 having the functions of both the proxy access device 10 and the proxy access device 40 will be described. FIG. 5 shows a schematic diagram of a robot control system according to the third embodiment. As shown in FIG. 5, the proxy access device 50 has a proxy access processing unit 56 instead of the proxy access processing unit 16. Furthermore, the proxy access device 50 has a local database 47 adopted in the proxy access device 40 in addition to the cache 17.

[0034] The proxy access processor 56 has the functions of both the proxy access processor 16 and the proxy access processor 46, and is compatible with both the API of the calculation processing system and the API of the storage and search processing system.

[0035] As explained above, in the robot control system 3 of the third embodiment, the frequency of access to the cloud server 30 can be reduced in both the API of the calculation processing system and the API of the storage and search processing system, thereby improving the operational stability of the robot scenario control device 11.

[0036] Fourth embodiment In the fourth embodiment, a robot control system 4 will be described which is another embodiment of the robot control system 3 according to the third embodiment. FIG. 6 shows a schematic diagram of the robot control system 4 according to the fourth embodiment.

[0037] As shown in FIG. 6, the robot control system 4 according to the fourth embodiment is obtained by replacing the robot scenario control device 11 of the robot control system 1 with a robot scenario control device 61. In addition to accessing the proxy access device 50, the robot scenario control device 61 has a function of accessing the cloud server 30 without going through the proxy access device 50. The robot scenario control device 61 switches whether to obtain a response to an API call request from the cloud server 30 or the proxy access device 50 depending on the response speed of the access destination. Specifically, there are a first example and a second example of the method of obtaining an API response by the robot scenario control device 61.

[0038] Fig. 7 shows a flowchart for explaining a first example of the operation of the robot scenario control device 61 according to the fourth embodiment. As shown in Fig. 7, in the first example, when an API call process occurs in the robot scenario control device 61 (YES branch of step S21), the robot scenario control device 61 transmits an API call request to the cloud server 30 (step S22). Then, if there is no API response from the cloud server 30 within a preset specified time (NO branch of step S23), an API call request is made to the proxy access processing unit 56 in the proxy access device 50 (step S24), and processing is performed based on the API response obtained from the proxy access device 50 (step S25). On the other hand, if there is an API response from the cloud server 30 within a preset specified time (YES branch of step S23), processing is performed based on the API response obtained from the cloud server 30 (step S25).

[0039] 8 shows a flowchart for explaining a second example of the operation of the robot scenario control device according to the fourth embodiment. As shown in FIG. 8, in the second example, when an API call process occurs in the robot scenario control device 61 (YES branch at step S21), the robot scenario control device 61 transmits an API call request to the proxy access device 50 (step S32). Then, if there is no API response from the proxy access device 50 within a preset specified time (NO branch at step S33), an API call request is made to the cloud server 30 (step S34), and processing is performed based on the API response obtained from the cloud server 30 (step S25). On the other hand, if there is an API response from the proxy access device 50 within a preset specified time (YES branch at step S33), processing is performed based on the API response obtained from the proxy access device 50 (step S25).

[0040] As explained above, in the robot control system 4 according to the fourth embodiment, the robot scenario control device 61 switches between issuing a request to the cloud server 30 or the proxy access device 50 based on the response time from the destination of the API call request. This makes it possible for the robot control system 4 according to the fourth embodiment to always select a fault-free route regardless of whether congestion occurs on the public network or in the processing of the proxy access device 50, thereby improving the operational stability of the robot scenario control device 61.

[0041] The invention made by the inventor has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the embodiments already described, and various modifications are possible without departing from the gist of the invention. [Explanation of symbols]

[0042] 1~4 Robot control system 10, 40, 50 Proxy Access Device 11, 61 Robot scenario control device 12. Robot 13 Door Controller 14 Elevator Controller 15 Camera 16, 46, 56 Proxy access processing unit 17 Cache 20. In-house firewall device 30 Cloud Servers 31 Master Database 47 Local Database

Claims

1. A cloud server connected to a public network located outside the region; a robot scenario control device that is placed in an on-premise area where devices placed in the area communicate with each other via a local network constructed in the area, and that controls devices to be controlled by calling an API (Application Program Interface) provided by the cloud server in response to an API call request; a proxy access processing unit that is disposed in the on-premise area and returns an API response corresponding to the API call request to the robot scenario control device; A storage device disposed in the on-premise area and configured to store API-related information related to the API; a communication relay device that relays communications between the local network and the public network, The proxy access processing unit: If the API related information is in the storage device, the robot control system returns the API response to the robot scenario control device based on the API related information stored in the storage device.

2. the storage device is a cache; The proxy access processing unit: If the API-related information corresponding to the API invocation request is not in the cache, a call request for the API is sent to the cloud server, the API response obtained from the cloud server is returned to the robot scenario control device, and the API-related information obtained from the cloud server is stored in the cache; The robot control system according to claim 1 , wherein if the API related information corresponding to the API call request is in the cache, the API response is returned to the robot scenario control device based on the API related information obtained from the cache.

3. A master database provided in an area accessible to the cloud server; the storage device is a local database; The proxy access processing unit: Referencing the local database to perform processing related to the API call request; 3. The robot control system according to claim 1, wherein when the API that executed the process is a previously registered API, the system performs a process of synchronizing the stored contents between the local database and the master database.

4. A robot control system as described in any one of claims 1 to 3, wherein the robot scenario control device makes an API call request to the cloud server, and if a response from the cloud server is not received within a predetermined time period, makes the API call request to the proxy access processing unit.

5. A robot control system as described in any one of claims 1 to 3, wherein the robot scenario control device makes the API call request to the proxy access processing unit, and if a response from the proxy access processing unit is not received within a predetermined time period, makes the API call request to the cloud server.

6. An API processing method in a robot control system having a cloud server connected to a public network located outside an area, a robot scenario control device that is located in an on-premise area where communication between devices located within the area is performed by a local network constructed within the area, and controls devices to be controlled while calling an API (Application Program Interface) provided by the cloud server by an API call request, and a communication relay device that relays communication between the local network and the public network, comprising: a proxy access process in which a proxy access processing unit located in the on-premise area returns an API response corresponding to the API call request to the robot scenario control device; A storage process is performed to store API-related information related to the API in a storage device located in the on-premise area; In the proxy access processing, if the API-related information is in the storage device, the API response is returned to the robot scenario control device based on the API-related information stored in the storage device.

7. A proxy access device that calls an API (Application Program Interface) provided by a cloud server in response to an API call request and returns an API response corresponding to the API call request to a robot scenario control device that controls a control target device, a proxy access processing unit that returns the API response to the API call request to the robot scenario control device; a storage device that is exclusively used by the proxy access processing unit and stores API-related information related to the API; The proxy access processing unit: If the API related information is in the storage device, a proxy access device returns the API response to the robot scenario control device based on the API related information stored in the storage device.

8. A proxy access program that is executed on a computer having a storage device, and that calls an API (Application Program Interface) provided by a cloud server in response to an API call request, and returns an API response corresponding to the API call request to a robot scenario control device that controls a device to be controlled, a proxy access process for returning the API response to the API call request to the robot scenario control device; A storage process is performed to store API-related information related to the API in the storage device; In the proxy access processing, if the API related information is in the storage device, a proxy access program returns the API response to the robot scenario control device based on the API related information stored in the storage device.

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