Patent Document ID: 8214079
Application ID: 12076893

Base Claim:
1. A central information processing system communicating with a plurality of mobile service robots in an indoor, the central information processing system comprising: a broker unit including a plurality of interfaces respectively corresponding to the service robots where each of the interfaces analyzes an information request from a corresponding service robot, transforms a format of the requested information to a format analyzable by the corresponding service robot, and transmits the transformed information to the service robot; a spatial information manager for hierarchically composing and storing spatial information for the indoor according to a recognition/reasoning level, searching spatial information requested by a spatial information request of the broker unit, and returning the searched spatial information, the spatial information being shared by the plurality of mobile service robots, the spatial information including a plurality of information layers, each layer having a different recognition/reasoning level; an object information manager for hierarchically composing and storing object information about objects in the indoor according to a recognition/reasoning level, searching object information requested by an object information request of the broker unit, and returning the searched object information, the object information being shared by the plurality of mobile service robots, the object information including a plurality of information layers, each layer having a different recognition/reasoning level; and a space and object reasoning unit for searching and reasoning upper layer information about the object or space using lower layer information obtained from real environment or object, or searching and reasoning lower layer information to be used for comprehension of the object or space from upper layer information, wherein: the plurality of mobile service robots include a first robot having a first level of recognition/reasoning and a second robot having a second level of recognition/reasoning that is different from the first level; the broker unit includes a first interface that transmits, upon request from the first robot, information that corresponds to the first level of recognition/reasoning to the first robot, and a second interface that transmits, upon request from the second robot, information that corresponds to the second level of recognition/reasoning to the second robot; the spatial information or the object information stored in the central information processing system includes a spatio-temporal information layer including information about variation and relation of objects or a space according to a time and a space; and the spatial information manager or the object information manager composes and stores the spatial information or the object information in ontology, and the space and object reasoning unit performs reasoning based on ontology.

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Claim 2:
2. The central information processing system of claim 1 , wherein the spatial information or the object information stored in the central information processing system includes: an actual measurement information layer including actual measurement information; a photometric information layer including photometric features; a geometric information layer including information about sub-parts obtained by dividing an object or a space by a geometric structure; a structural information layer including information obtained by dividing constituent elements of a space or an object and symbolizing and layering information about the divided constituent elements; a topological information layer including information for representing locations of objects and obstacles in a space and accessibility information for gripping an object; a generic information layer including information about generic models of a space, an object, and constituent elements of the space and the object; and a reasoning information layer including reasoning information for reasoning about a space, an object or states of the space or the object from object or spatial information of lower information layers.