# US 12,594,677 B2 · MSA-based robot control device and method for managing robot thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,677 B2 - Document ID: US12594677B2 - Status: Granted - Kind: B2 - Application number: 18/236,997 - Filed: 2023-08-23 - Published: 2024-10-24 - Granted: 2026-04-07 - Earliest claimed: 2023-04-18 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Jung Min Ryu; Deuk Jun Kim; Myung Hwa Ji; Seok Won Kim - Web page: https://patentgrep.com/patent/US12594677B2 ## CPC - B25J 13/06: Control stands, e.g. consoles, switchboards - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robot control device and a robot management method thereof are provided. The robot control device includes a detection module that recognizes an abnormal state generated in at least one external robot based on raw data received from the at least one external robot and provides an external user device with an alarm associated with the abnormal state based on a predetermined abnormal state response rule, a log module that stores the raw data and data associated with the abnormal state, and a robot management module that transmits a command to control at least one of an operation or a state of the at least one external robot to the at least one external robot, based on the abnormal state response rule. ## Claims ### Claim 1 A micro service architecture (MSA)-based robot control device, comprising: a robot state detector configured to recognize an abnormal state generated in at least one external robot based on raw data received from the at least one external robot and provide an external user device with an alarm associated with the abnormal state based on a predetermined abnormal state response rule; a log database configured to store the raw data and data associated with the abnormal state; a robot manager configured to transmit a command to control at least one of an operation or a state of the at least one external robot to the at least one external robot, based on the abnormal state response rule; and a gateway configured to process communication between each component included in the MSA-based robot control device and the at least one external robot using a first protocol or to process communication between each component included in the MSA-based robot control device and the external user device using a second protocol, wherein the robot state detector is configured to: generate, based on sensor data received from the at least one external robot, a map associated with an operation area of the at least one external robot, set, based on the generated map, the operation area of the at least one external robot, receive, from the at least one external robot, coordinate information based on the map indicating a location of the at least one external robot, and recognize that the abnormal state is generated, based on detecting that the at least one external robot deviates from the set operation area based on the coordinate information. ### Claim 2 (depends on 1) The MSA-based robot control device of claim 1, wherein the abnormal state response rule includes a rule associated with whether to provide an alarm depending on at least one of a state of a robot, a location of the robot, a speed of the robot, or an environment around the robot and a response operation of the robot. ### Claim 3 (depends on 1) The MSA-based robot control device of claim 1, wherein the gateway communicates with the at least one external robot using a g remote procedure calls (gRPC) protocol and communicates with the external user device using a restful application programming interface (REST API) protocol. ### Claim 4 (depends on 1) The MSA-based robot control device of claim 1, further comprising: an authenticator configured to perform authentication processing procedures for the respective components included in the robot control device in an integrated manner, when communicating between at least some of the at least one external robot, the external user device, or the respective components included in the robot control device. ### Claim 5 (depends on 1) The MSA-based robot control device of claim 1, further comprising: a statistics generator configured to generate a statistical report including information about a quantity of times that the abnormal state is generated according to a component, an operation type, a movement speed, a surrounding environment, or a location of the at least one external robot, based on the raw data and the data associated with the abnormal state and provide at least one of the robot state detector or the external user device with the statistical report. ### Claim 6 (depends on 5) The MSA-based robot control device of claim 5, wherein the robot state detector updates the abnormal state response rule based on the statistical report. ### Claim 7 (depends on 1) The MSA-based robot control device of claim 1, wherein the robot state detector divides the map into a plurality of areas, sets a number of robots operable for each of the plurality of divided areas, and recognizes that the abnormal state is generated, when detecting that the number of robots which are operating in each of the plurality of areas is greater than a specified threshold. ### Claim 8 (depends on 1) The MSA-based robot control device of claim 1, wherein the log database indexes the raw data and the data associated with the abnormal state and determines a storage duration for the indexed raw data and data associated with the abnormal state based on a specified storage policy. ### Claim 9 (depends on 8) The MSA-based robot control device of claim 8, wherein the log database receives a request of data conforming to a specified condition between the raw data or the data associated with the abnormal state from the at least one external robot or the external user device and provides the at least one external robot or the external user device with the data conforming to the specified condition, in response to the request. ### Claim 10 A robot management method of an MSA-based robot control device, the robot management method comprising: receiving raw data from at least one external robot; recognizing an abnormal state generated in the at least one external robot based on the raw data; providing an external user device with an alarm associated with the abnormal state based on a predetermined abnormal state response rule; and transmitting a command to control at least one of an operation or a state of the at least one external robot to the at least one external robot, based on the abnormal state response rule, wherein the recognizing of the abnormal state comprises: generating, based on sensor data received from the at least one external robot, a map associated with an operation area of the at least one external robot; setting, based on the generated map, the operation area of the at least one external robot; receiving, from the at least one external robot, coordinate information based on the map indicating a location of the at least one external robot; recognizing that the abnormal state is generated, based on detecting that the at least one external robot deviates from the set operation area based on the coordinate information; and using a gateway of the MSA-based robot control device, communicating with the at least one external robot using a first protocol and communicating with the external user device using a second protocol. ### Claim 11 (depends on 10) The robot management method of claim 10, wherein the abnormal state response rule includes a rule associated with whether to provide an alarm depending on at least one of a state of a robot, a location of the robot, a speed of the robot, or an environment around the robot and a response operation of the robot. ### Claim 12 (depends on 10) The robot management method of claim 10, wherein the communicating with the at least one external robot and the communicating with the external user device comprises: communicating with the at least one external robot using a gRPC protocol and communicating with the external user device using a REST API protocol. ### Claim 13 (depends on 10) The robot management method of claim 10, further comprising: storing the raw data and data associated with the abnormal state. ### Claim 14 (depends on 13) The robot management method of claim 13, further comprising: indexing the raw data and the data associated with the abnormal state; and determining a storage duration for the indexed raw data and data associated with the abnormal state based on a specified storage policy. ### Claim 15 (depends on 13) The robot management method of claim 13, further comprising: receiving a request of data conforming to a specified condition between the raw data or the data associated with the abnormal state from the at least one external robot or the external user device; and providing the at least one external robot or the external user device with the data conforming to the specified condition, in response to the request. ### Claim 16 (depends on 13) The robot management method of claim 13, further comprising: generating a statistical report including information about a quantity of times that the abnormal state is generated according to a component, an operation type, a movement speed, a surrounding environment, or a location of the at least one external robot, based on the raw data and the data associated with the abnormal state; and providing at least one of the at least one external robot or the external user device with the statistical report. ### Claim 17 (depends on 16) The robot management method of claim 16, further comprising: updating the abnormal state response rule based on the statistical report. ### Claim 18 (depends on 10) The robot management method of claim 10, further comprising: dividing the map into a plurality of areas; setting a number of robots operable for each of the plurality of divided areas; and recognizing that the abnormal state is generated, when detecting that the number of robots which are operating in each of the plurality of areas is greater than a specified threshold. ### Claim 19 A micro service architecture (MSA)-based robot control device, comprising: at least one processor; and a memory storing instructions that, when executed by the at least one processor, are configured to cause the MSA-based robot control device to: detect, based on raw data received from at least one external robot, an abnormal state generated in the at least one external robot; provide, to an external user device and based on an abnormal state response rule, an alert associated with the abnormal state; store the raw data and the data associated with the abnormal state; transmit, to the at least one external robot and based on the abnormal state response rule, a command to control at least one of an operation or a state of the at least one external robot; and a gateway configured to process communication, with the at least one external robot, that uses a first protocol and to process communication, with the external user device, that uses a second protocol, wherein the instructions, when executed by the at least one processor, are further configured to cause the MSA-based robot control device to: generate, based on sensor data received from the at least one external robot, a map associated with an operation area of the at least one external robot, set, based on the generated map, the operation area of the at least one external robot, receive, from the at least one external robot, coordinate information based on the map indicating a location of the at least one external robot, and recognize that the abnormal state is generated, based on detecting that the at least one external robot deviates from the set operation area based on the coordinate information.