KR102617712B1 - Quarantine system using heterogeneous multi-robot - Google Patents

Abstract

The present invention relates to a quarantine system using heterogeneous multi-robots that plans quarantine work based on the contamination level of objects to be disinfected.
The quarantine system using heterogeneous multi-robots according to an embodiment of the present invention,
An initial information input unit that receives quarantine target information including quarantine space (Zone), quarantine segment (Segment), and quarantine object (Object), station information, map information, and initial information about the robot to be quarantined; a task creation unit that selects quarantine segments whose representative contamination level is higher than a standard contamination level, sorts them in order of highest contamination level, and generates a task; A work planning unit that sets or changes the work order based on the quarantine space to minimize unusable time in the space; It includes a task allocation unit that allocates a robot that can quickly perform the task in consideration of parameters related to the robot to the tasks arranged based on the quarantine space.

Description

Quarantine system using heterogeneous multi-robot}

The present invention relates to a quarantine system for virus quarantine in multi-use facilities, and to a quarantine system using heterogeneous multi-robots that plans quarantine work based on the contamination level of objects to be disinfected.

Currently, most multi-robot work planning methods organize all tasks into individual tasks to improve the operating efficiency of robots or assign tasks to robots in a way that reduces the time required for the entire task.

However, in the case of quarantine work, rather than reducing robot operation efficiency and the time required for the overall work, it should be carried out in the direction of disinfecting highly contaminated objects first. Additionally, since space cannot be used while quarantine is in progress, individual quarantine units There is a special characteristic in which information about space must be taken into consideration so that quarantine work can be carried out by specific space units rather than by unit.

In addition, in the case of quarantine work, the method of wiping the object to be quarantined is more effective than the simple method of spraying disinfectants, and for this purpose, various types of robots such as robots that wipe the floor, robots that wipe objects, and robots that wipe the walls are used for quarantine work. There is a need to do this.

Therefore, in order to operate heterogeneous multi-robots, it is essential to set up an area in which work will be performed and configure a work plan to determine the work order, and the present invention discloses this.

Korean Patent Publication No. 2021-0147685

The purpose of the present invention is to provide a quarantine system using heterogeneous multi-robots that plans quarantine work for virus quarantine for multi-use facilities based on the contamination level of objects to be disinfected.

The quarantine system using heterogeneous multi-robots according to an embodiment of the present invention,

Initial information that receives quarantine target information including at least one quarantine space, quarantine segments, and quarantine objects, station information, map information, and initial information about the robot to be quarantined. input unit; a task creation unit that selects quarantine segments whose representative contamination level is higher than the standard contamination level and sorts them in descending order of contamination level to generate a segment list; A work planning unit that sets or changes the work order based on the quarantine space to minimize unusable time in the space; It includes a task allocation unit that allocates a robot that can quickly perform the task in consideration of parameters related to the robot to the tasks arranged based on the quarantine space.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the quarantine space is a physical space subject to quarantine, the quarantine object is an object subject to quarantine processing, and the quarantine segment is one area within the quarantine space. It may be an area divided into a range that can be processed by a large robot, or an object group in which the quarantine objects form one group.

In the quarantine system using heterogeneous multiple robots according to an embodiment of the present invention, the station information includes a station type and disinfection time, and the station type includes a charging station for charging the battery of the robot and a disinfection station for disinfecting the robot. Included, the disinfection time may be allocated to the time it takes to disinfect the robot at the disinfection station.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the map information includes node information and edge information used to calculate the path the robot moves and the time required for movement, and the node information It includes information on the robot's movement destination, a type that is path information to the destination, and a status value indicating whether the node is occupied. The edge information includes the ID of the start node and the ID of the end node, and the edge information includes the ID of the start node and the ID of the end node. The robot speed value when moving to the end node can be included.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task creation unit generates UIDs (Uuique IDs) of quarantine segments whose representative contamination level is higher than the reference contamination level from the first segment list consisting of the quarantine segments. Store it as a 2-segment list, create a third segment list by sorting the order of the second segment list in descending order of representative contamination, and determine the standard contamination level among the quarantine objects included in each quarantine segment stored in the third segment list. A first quarantine object list containing the UIDs of the above quarantine objects can be created, and a second quarantine object list can be generated by sorting the quarantine objects included in the first quarantine object list in descending order of contamination. .

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the second quarantine object list includes a tuple list consisting of a quarantine segment and a list of quarantine objects in the corresponding quarantine segment. A first task list including, and the task planning unit uses the quarantine space in the first task list to generate a second task list composed of task groups created by grouping quarantine segment tasks corresponding to the same quarantine space, A third task list can be created in which the tasks within each quarantine space included in the second task list are ordered so that the floor quarantine task is performed last.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task allocation unit calculates the task performance completion time of all robots for each quarantine task in the third task list, selects the optimal robot, and makes the assignment. However, it is determined whether the calculation of the task completion time for all robots has been completed, and if the calculation of the task completion time has been completed, the matching robot can be assigned according to the quarantine segment type.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task allocation unit first determines whether robot status restoration work, including robot disinfection, robot charging, and robot tool replacement, is necessary before assigning tasks to the robot. After the robot state recovery task is completed, it can be determined whether the robot type matches the quarantine segment type in the third task list.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, when the robot type and the quarantine segment type match, the task allocation unit calculates the expected completion time of the existing task of the matched robot and completes the existing task. Using the location as the starting position, the time required for the newly matched task can be calculated, and the completion time of the new task can be calculated by adding it to the expected completion time of the existing task.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task allocation unit determines whether the segment type of the newly matched task is floor disinfection or not, and if it is a floor, within the same quarantine space to which the floor belongs. The robot with the smallest absolute value of the difference between the completion time of the quarantine work excluding the floor and the start of the floor quarantine work can be assigned.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, it further includes an information updating unit that updates the pollution level by reflecting a pollution level model built by collecting pollution-related data in the actual environment, and the task creation unit updates the updated level. Based on the level of contamination, you can create a segment list by rearranging the segments in order of highest level of contamination.

Details of other implementations of various aspects of the present invention are included in the detailed description below.

According to an embodiment of the present invention, quarantine work for virus quarantine in a multi-use facility can be planned based on the degree of contamination of objects to be disinfected.

Figure 1 is a block diagram showing a quarantine system using heterogeneous multi-robots according to an embodiment of the present invention.
Figure 2 is a table showing initial information about quarantine targets, stations, maps, and robots input from the initial information input unit.
Figure 3 is a flowchart showing the process of creating a task in the task creation unit and sorting the tasks in order of contamination level.
Figure 4 is a flowchart showing the process of reorganizing work based on spatial information in the work planning department.
Figure 5 is a flowchart showing the process of allocating a robot that can quickly perform a task by considering parameters related to the robot in the task allocation unit.
6 is a diagram illustrating a computing device according to an embodiment of the present invention.

Since the present invention can be modified in various ways and can have various embodiments, specific embodiments will be exemplified and explained in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all transformations, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'have' are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. Hereinafter, a quarantine system using heterogeneous multi-robots according to an embodiment of the present invention will be described with reference to the drawings.

Figure 1 is a block diagram showing a quarantine system using heterogeneous multi-robots according to an embodiment of the present invention.

As shown in Figure 1, the quarantine system 100 (hereinafter also referred to as "quarantine system") using heterogeneous multi-robots according to an embodiment of the present invention includes an initial information input unit 110, a task creation unit 120, It includes a work planning unit 130, a work allocation unit 140, and an information update unit 150.

In the quarantine system of the present invention, the quarantine target has a hierarchical structure in the order of quarantine space (Zone), quarantine segment (Segment), and quarantine object (Object), and the quarantine system of the present invention uses this hierarchical structure to ensure an efficient quarantine order. decide

Quarantine space (Zone) refers to the physical space subject to quarantine, quarantine segment (Segment) refers to the area that can be quarantined by one robot, and quarantine object (Object) refers to the object subject to quarantine treatment. The quarantine segment includes an object group in which quarantine objects form one group. For example, individual quarantine objects such as a bed, table, and closet can form one object group and become one quarantine segment.

The initial information input unit 110 receives initial information about quarantine targets (Zone, Segment, Object) information, map information, robots to be quarantined, etc.

The task creation unit 120 selects quarantine segments whose representative contamination level is higher than the standard contamination level, sorts them in descending order of contamination level, and generates the task. The representative pollution level of a quarantine segment is set to the highest value among the contamination levels of quarantine objects within the corresponding quarantine segment.

The work planning unit 130 sets or changes the work order based on the quarantine space (Zone), which is physical space information, to minimize space unusability time.

The task allocation unit 140 allocates robots that can quickly perform tasks to tasks sorted based on quarantine space, taking robot-related parameters into consideration.

Meanwhile, the pollution level may increase over time or depending on event situations such as human contact, and this information is included in the pollution level model. A pollution model can be built by collecting pollution-related data in the real environment. The information update unit 150 may update the pollution level by reflecting the pollution level model. When the pollution level is updated by the information update unit 150, the job creation unit 120 creates/changes jobs by rearranging them in descending order of pollution level based on the updated pollution level.

The initial information input unit 110 will be described with reference to FIG. 2 . Figure 2 is a table showing initial information on quarantine targets, stations, maps, and robots input from the initial information input unit 110.

Referring to FIG. 2, the initial information input to the initial information input unit 110 includes initial information on quarantine target information (111 to 113), station information (114), map information (115, 116), robot information (117), etc. Includes.

The quarantine target information 111 to 113 includes a quarantine space (111), a quarantine segment (112), and a quarantine object (113).

Quarantine space 111 refers to a physical space such as a room, hallway, hall, etc.

The quarantine segment 112 refers to an area divided into a range that can be quarantined by one robot within one quarantine space. For example, it can be the floor of a certain area or a group of objects such as a bed, table, closet, etc. there is.

The quarantine object 113 includes the time required to disinfect the quarantine object (Time), the robot type used for disinfection (Matching Robot Type), and the contamination level of the quarantine object (Disinfection), and this information is used when assigning robots. do.

Station information 114 (Station) includes the type of station and disinfection time. Station types include a charging station that charges the robot's battery and a disinfection station that disinfects the robot. The disinfection time is assigned the time it takes to disinfect the robot at the disinfection station, and the remaining robots that do not require disinfection are assigned a value of 0.

The map information 115 and 116 includes node information 115 (Node) and edge information 116 (Edge), and this information is used to calculate the path the robot moves and the time required for movement.

The node information 115 includes a type and a status value, and the type includes the robot's movement destination information and path information (Moving Point) to the destination. Specifically, the robot's movement destination information includes the location information of the quarantine object for the robot's quarantine work, the location information of the floor, and the location information of the station for the robot's recovery work. And, the status value indicates information about whether the corresponding node is occupied.

Edge information 116 represents the connection relationship between nodes. Edge information 116 includes a start node ID (Start Node UID), an end node ID (End Node UID), and a robot speed value (Speed) when moving from the start node to the end node.

The robot information 117 includes information on the type of robot, current speed, current target point, battery, contamination level, and remaining amount of disinfection tool, and this information is used when assigning a robot.

Next, the task creation unit 120 will be described with reference to FIG. 3 . Figure 3 is a flowchart showing the process of creating a task in the task creation unit and sorting the tasks in order of contamination level.

First, the task creation unit 120 calls the first segment list consisting of quarantine segments delivered from the initial information input unit 110. (S121)

Next, the task creation unit 120 stores the UID (Uuique ID) of quarantine segments with a representative contamination level higher than the quarantine standard contamination level as a second segment list. (S122) The quarantine standard contamination level may vary depending on the quarantine target space, and this can be changed as a user variable.

Next, the job creation unit 120 generates a third segment list by sorting the stored second segment list in step S122 in descending order of representative contamination. (S123)

Next, the task creation unit 120 generates a first quarantine object list (Object List) including the UIDs of quarantine objects with a standard contamination level or higher among the quarantine objects included in each quarantine segment stored in the third segment list. . (S124)

Next, the task creation unit 120 creates a second quarantine object list so that the quarantine objects included in the first quarantine object list are sorted in descending order of contamination. (S125)

Next, the task creation unit 120 transmits a task list (second quarantine object list) including segments and quarantine objects sorted in order of contamination level to the task planning unit 130. (S126)

Next, the work planning unit 130 will be described with reference to FIG. 4 . Figure 4 is a flowchart showing the process of reorganizing work based on spatial information in the work planning department to improve quarantine effectiveness and minimize space unusability time.

First, the task planning unit 130 calls the second quarantine object list transmitted from the task creation unit 120. (S131) At this time, the second quarantine object list delivered is called the first work list. The first task list is [(segment, [object list]), ?? ] format and includes a tuple list consisting of tuples consisting of a quarantine segment and a list of quarantine objects in the segment. An example of a tuple list is described in block 131. Here, a tuple is a data structure used to enumerate and store multiple data.

Next, the task planning unit 130 performs a process of grouping tasks corresponding to the same space to minimize space unusability time. Specifically, the work planning unit 130 uses the quarantine space (Zone) in the first task list to group quarantine segment tasks corresponding to the same quarantine space to create a work group. (S132)

Referring to the example written in the block at code 132, [[Segment5, segment2, segment8]] corresponding to the same quarantine space form one work group, and the work groups in each quarantine space are organized in the form of a list and form a second work list. constitutes.

Meanwhile, in order to increase the effectiveness of quarantine, quarantine work by robots must be carried out from top to bottom. To this end, the work planning unit 130 creates a third work list in which the order of the floor disinfection work is performed last among the tasks in each quarantine space included in the second work list. (S133)

Referring to the example written in the block at symbol 133, it can be seen that the order has been changed so that “Segment2,” the floor disinfection work, is located behind the other quarantine segments in the first work group.

Next, the task planning unit 130 transmits the third task list generated in step S133 to the task allocation unit 140. (S134)

Next, the task allocation unit 140 will be described with reference to FIG. 5 . Figure 5 is a flowchart showing the process of allocating a robot that can quickly perform a task by considering parameters related to the robot in the task allocation unit.

First, the task allocation unit 140 calls the third task list generated by the task planning unit 130 and sequentially assigns robots to all quarantine tasks in the third task list based on quarantine segments. . (S141, S142) At this time, the task completion time of all robots is calculated for each quarantine task in the third task list, and the optimal robot is selected and assigned.

If the assignment of robots to all tasks has not been completed, the task allocation unit 140 determines whether the calculation of the task completion time for all robots has been completed (S143), and if the calculation of the task completion time has been completed, the quarantine segment ( Depending on the Segment type, a matching robot is assigned. (S147 ~ S149)

The task allocation unit 140 calculates the task completion time when the calculation of the task completion time for all robots is not completed. At this time, the task allocation unit 140 first determines whether robot state recovery work is necessary before assigning the task to the robot. (S144) Robot state recovery work includes robot disinfection/robot charging/robot tool replacement work.

The task allocation unit 140 determines the degree of contamination of the robot itself and, if the degree of contamination is greater than the standard value, assigns a robot disinfection task. (S144_11, S144_12)

Additionally, the task allocation unit 140 determines the battery status of the robot and assigns a robot charging task when the robot's battery is below the standard value. (S144_21, S144_22)

Additionally, the task allocation unit 140 determines the remaining amount of the robot tool and, when the remaining amount of the robot tool is below the standard value, assigns a robot tool replacement task. (S144_31, S144_32)

The steps (S144_11, S144_12), (S144_21, S144_22), and (S144_31, S144_32) do not necessarily proceed in this order, and the judgment order may be combined differently.

After the robot state recovery task is completed, the task allocation unit 140 determines whether the robot type and the quarantine segment type of the third task list match. (S145) For example, if the quarantine segment type is object group (Object List), a robot that wipes the quarantine object with a tool is matched, and if the quarantine segment type is floor (Floor), a robot that disinfects the floor is matched.

If the robot type and the quarantine segment type match, the task allocation unit 140 calculates the estimated task completion time of the matched robot. Here, the “task end time” includes the scheduled end time of the current task and the scheduled end time of the task scheduled after the current task. Next, the task allocation unit 140 uses the completion position of the previously scheduled task as the starting position, calculates the time required for the newly matched task, and adds it to the expected completion time of the previously scheduled task to complete the execution of the new task. Calculate time. (S146)

The task allocation unit 140 repeats steps S144 to S146 until the calculation of the task completion time for all robots is completed, and when the calculation of the task completion time for all robots is completed, Depending on the segment type of the task, the corresponding robot is assigned. (S147 ~ S149) At this time, the task allocation unit 140 determines whether the segment type of the task is floor disinfection (S147), and if it is a floor, the quarantine work is completed within the same quarantine space (Zone) to which the floor belongs. Assign the robot (floor disinfection robot) with the smallest absolute value of the difference between time (object and segment completion time excluding floor) and floor disinfection work start time (S148). If the segment type is not floor, the task completion time is assigned (S148). Assign the fastest robot. (S149)

The reason to first determine whether the type of work is on the floor is because the quarantine effect increases only when quarantine work is done from top to bottom, and while disinfecting objects located above, dust falls to the floor and the level of contamination on the floor increases. In other words, after completing quarantine for the quarantine objects, disinfection of the floor must be performed to increase the quarantine effect. Therefore, if the segment type is floor, all quarantines other than the floor within the same quarantine space (Zone) have been completed. A robot must be assigned to proceed later.

However, if you simply assign a robot whose work start time is later than the Object or Segment quarantine completion time, there may be a large empty time between the two tasks, and in this case, the time when space cannot be used may be prolonged. To prevent this, it is desirable to assign the robot with the smallest absolute value of the difference between the two points in time, even if the robot waits for a while.

When robot allocation is completed for all tasks in the list, the work of the task allocation unit 140 is completed, and the information update unit 150 updates the completed allocation information.

6 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 6 may be a device for performing quarantine using heterogeneous multi-robots described in this specification.

In the embodiment of FIG. 6, the computing device TN100 may include at least one processor TN110, a transceiver device TN120, and a memory TN130. Additionally, the computing device TN100 may further include a storage device TN140, an input interface device TN150, an output interface device TN160, etc. Components included in the computing device TN100 may be connected by a bus TN170 and communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may refer to a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Processor TN110 may be configured to implement procedures, functions, and methods described in connection with embodiments of the present invention. The processor TN110 may control each component of the computing device TN100.

Each of the memory TN130 and the storage device TN140 can store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

The transceiving device TN120 can transmit or receive wired signals or wireless signals. The transmitting and receiving device (TN120) can be connected to a network and perform communication.

Meanwhile, the present invention may be implemented as a computer program. The present invention can be combined with hardware and implemented as a computer program stored on a computer-readable recording medium.

Methods according to embodiments of the present invention may be implemented in the form of programs readable through various computer means and recorded on a computer-readable recording medium. Here, the recording medium may include program instructions, data files, data structures, etc., singly or in combination.

Program instructions recorded on the recording medium may be those specifically designed and constructed for the present invention, or may be known and available to those skilled in the art of computer software.

For example, recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CDROMs and DVDs, and magneto-optical media such as floptical disks. optical media), and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, flash memory, etc.

Examples of program instructions may include machine language, such as that created by a compiler, as well as high-level languages that can be executed by a computer using an interpreter, etc.

These hardware devices may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

Above, an embodiment of the present invention has been described, but those skilled in the art can add, change, delete or add components without departing from the spirit of the present invention as set forth in the patent claims. The present invention may be modified and changed in various ways, and this will also be included within the scope of rights of the present invention.

110: initial information input unit 120: task creation unit
130: Work planning department 140: Work allocation department
150: Information update department

Claims (11)

Initial information that receives quarantine target information including at least one quarantine space, quarantine segments, and quarantine objects, station information, map information, and initial information about the robot to be quarantined. input unit;
a task creation unit that selects quarantine segments whose representative contamination level is higher than the standard contamination level and sorts them in descending order of contamination level to generate a segment list;
A work planning unit that sets or changes the work order based on the quarantine space to minimize unusable time in the space;
a task allocation unit that allocates a robot that can quickly perform the task in consideration of parameters related to the robot to the tasks sorted based on the quarantine space;
A quarantine system using heterogeneous multi-robots, including.
In claim 1,
The quarantine space is a physical space subject to quarantine,
The quarantine object is an object subject to quarantine processing,
The quarantine segment is an area divided into a range that can be processed by one robot within the quarantine space, or an object group in which the quarantine objects form one group. A quarantine system using heterogeneous multi-robots.
In claim 1,
The station information includes station type and disinfection time,
The station type includes a charging station that charges the battery of the robot and a disinfection station that disinfects the robot,
The disinfection time is allocated to the time it takes to disinfect the robot at the disinfection station,
Quarantine system using heterogeneous multi-robots.
In claim 1,
The map information includes node information and edge information used to calculate the path the robot moves and the time required to move,
The node information includes a type that is the robot's movement destination information and route information to the destination, and a status value indicating whether the node is occupied.
The edge information includes the ID of the start node and the ID of the end node, and includes the robot speed value when moving from the start node to the end node. A quarantine system using heterogeneous multi-robots.
The method of claim 1, wherein the job creation unit,
In the first segment list consisting of the quarantine segments, the UID (Uuique ID) of the quarantine segments whose representative contamination level is higher than the standard contamination level is stored as a second segment list,
Creating a third segment list by sorting the second segment list in descending order of representative contamination,
Generating a first quarantine object list (Object List) including the UIDs of quarantine objects with a standard contamination level or higher among the quarantine objects included in each quarantine segment stored in the third segment list,
Creating a second quarantine object list by sorting the quarantine objects included in the first quarantine object list in descending order of contamination,
Quarantine system using heterogeneous multi-robots.
In claim 5,
The second quarantine object list is a first task list including a quarantine segment and a tuple list composed of tuples consisting of a quarantine object list in the quarantine segment,
The work planning unit uses the quarantine space in the first task list to generate a second task list consisting of task groups created by grouping quarantine segment tasks corresponding to the same quarantine space,
Generating a third task list in which the tasks in each quarantine space belonging to the second task list are ordered so that the floor quarantine task is performed last,
Quarantine system using heterogeneous multi-robots.
In claim 6,
The task allocation unit calculates the task completion time of all robots for each quarantine task in the third task list, selects the optimal robot, and performs the assignment,
Determines whether the calculation of the task completion time for all robots has been completed, and if the calculation of the task completion time is complete, assigns the matching robot according to the quarantine segment type.
Quarantine system using heterogeneous multi-robots.
In claim 7,
Before assigning a task to the robot, the task allocation unit first determines whether robot status restoration work, including robot disinfection, robot charging, and robot tool replacement, is necessary,
A quarantine system using heterogeneous multi-robots that determines whether the robot type matches the quarantine segment type of the third task list after the robot state recovery task is completed.
In claim 8,
If the robot type and quarantine segment type match,
The task allocation unit calculates the expected completion time of the existing task of the matched robot, uses the completion position of the existing task as the starting position, calculates the time required for the newly matched task, and adds the expected completion time of the existing task to the new task. A quarantine system using heterogeneous multi-robots that calculates the execution completion time.
The method of claim 9, wherein the task allocation unit,
Determine whether the segment type of the newly matched work is floor disinfection or not, and if it is a floor, the absolute value of the difference between the completion time of the quarantine work excluding the floor and the start of the floor disinfection work within the same quarantine space to which the floor belongs is the highest. A quarantine system using heterogeneous multi-robots that allocates small robots.
The method according to any one of claims 1 to 10,
It further includes an information update unit that updates the pollution level by reflecting the pollution level model built by collecting pollution-related data in the actual environment,
A quarantine system using heterogeneous multi-robots in which the task creation unit generates a segment list by rearranging it in descending order of contamination based on the updated contamination level.

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