KR101708041B1 - Management Method and Apparatus for Robots based on Component-level - Google Patents

Abstract

A component-based robot management method is disclosed. A component-based robot management method according to an embodiment of the present invention includes collecting monitoring information on a plurality of components constituting the robot from at least one robot; Analyzing the collected monitoring information and calculating component usage information indicating the degree of use of each component; And generating maintenance information necessary for the maintenance for each component or external control information for externally controlling the operation for each component based on the calculated component usage information.

Description

[0001] The present invention relates to a robot-

The present invention relates to a method and apparatus for managing a robot, and more particularly, to a method and apparatus for managing a robot on a component basis.

In the past, in order to obtain the quality information of the production facility, the manager had to measure and analyze the precise work directly during the operation of the industrial robot. Therefore, the accuracy is very low and the robot malfunction or remaining life is accurately grasped And it was also inconvenient to monitor the operation of the robot at all times.

However, in recent years, companies are increasingly equipped with a distributed production system that distributes production facilities to various regions in order to improve the efficiency of the production system. The tendency is to improve the efficiency of quality, productivity, and facility management through management to be. Therefore, there is a need for quality control for effectively analyzing and integrating real-time quality measurement information of production facilities occurring in such a distributed production system.

Related arts are disclosed in Patent Publication No. 10-2010-0048857 (entitled " Robot software component management device and method in intelligent robot system, published on May 11, 2010).

An object of the present invention is to provide a method and apparatus for defining main components of a robot as components, monitoring information generated in each component, and analyzing the information to generate replacement cycle information and control information of the component efficiently.

The problems to be solved by the present invention are not limited to the above-mentioned problem (s), and another problem (s) not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided a method for managing a robot based on a component, the method comprising: collecting monitoring information for a plurality of components constituting the robot from at least one robot; Analyzing the collected monitoring information and calculating component usage information indicating the degree of use of each component; And generating maintenance information necessary for maintenance of each component or external control information for externally controlling the operation of each component based on the calculated component usage information.

Preferably, the monitoring information includes at least one of operation time information for each component, coordinate information, and internal control information for internally controlling the component, and the monitoring information may be collected according to the set period.

The component usage information may include at least one of operation time information, waiting time information, movement distance information, rotation number information, and operation frequency information for each component.

Advantageously, the maintenance information may be information regarding replacement timing or failure probability for each component.

The method may further include transmitting the generated maintenance information to the user device.

Preferably, the external control information compares the component usage information of the same kind of components among the plurality of components, and when the difference value between the component usage information for the unit time of the same kind of components is within a predetermined threshold value As shown in FIG.

Preferably, when the components of the same kind are motors, and the component use information includes the number of revolutions per motor, the external control information may be set such that the difference value of the revolutions per unit time And may include information for controlling to be within a threshold value.

Transmitting the external control information to at least one or more robots; Further comprising the steps of: (a)

In addition, the component-based robot management apparatus according to an embodiment of the present invention includes: a monitoring unit for collecting monitoring information on a plurality of components constituting the robot from at least one robot; A usage information calculation unit for analyzing the collected monitoring information and calculating component usage information indicating the degree of use for each component; And a management information generation unit for generating maintenance information necessary for the maintenance for each component or external control information for externally controlling the operation for each component based on the calculated component usage information.

Preferably, when the monitoring information includes at least one of operating time information for each component, coordinate information, and internal control information for internally controlling the component, the monitoring unit collects the monitoring information according to a set cycle .

The component usage information may include at least one of operation time information, waiting time information, movement distance information, rotation number information, and operation frequency information for each component.

Advantageously, the maintenance information may be information regarding replacement timing or failure probability for each component.

Preferably, the information processing apparatus further includes a transmission unit for transmitting the generated maintenance information to the user device.

Preferably, the external control information compares the component usage information of the same kind of components among the plurality of components, and when the difference value between the component usage information for the unit time of the same kind of components is within a predetermined threshold value As shown in FIG.

Preferably, when the components of the same kind are motors, and the component use information includes the number of revolutions per motor, the external control information may be set such that the difference value of the revolutions per unit time And may include information for controlling to be within a threshold value.

Preferably, the transmitting unit may transmit the external control information to a part or all of the at least one or more robots.

In the present invention, various component related information is processed in real time in order to manage a component-based robot, and an efficient robot management is enabled by providing quality control functions of various components such as prediction of replacement time and failure probability of components have.

In the present invention, the use information of the same type of components constituting the robot is compared to generate external control information for maintaining the difference in degree of use of the components within a certain range, and the external control information can be transmitted to the robot have. Accordingly, all the components are uniformly used, so that life span is made to be similar to each other, thereby enabling efficient robot management.

1 is a flowchart illustrating a component-based robot management method according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating a component-based robot management method according to another embodiment of the present invention.
FIG. 3 is a view for explaining a component-based robot management apparatus according to an embodiment of the present invention.
4A is a view illustrating component usage information before a component-based robot management apparatus according to an embodiment of the present invention is used.
4B is a view illustrating component usage information after the component-based robot management apparatus according to the embodiment of the present invention is used.
FIG. 5 is a view for explaining the effect of the component-based robot management apparatus according to the embodiment of the present invention.
6 is a view illustrating an industrial robot that can be connected to a component-based robot management apparatus according to an embodiment of the present invention.
7 is a diagram illustrating a method of calculating a movement distance of an end effector of a robot connected to a component-based robot management apparatus according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms first, second, A, B, etc. may be used to describe various elements, but the elements should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. And / or < / RTI > includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

The robot referred to in the present invention should be interpreted as including all kinds of robots applicable to the present invention and should not be construed to be limited to the industrial robots or the like mentioned in the embodiment of the present invention .

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a flowchart illustrating a component-based robot management method according to an embodiment of the present invention.

In step 110, the robot management apparatus collects monitoring information on a plurality of components constituting each robot from at least one or more robots.

Here, the component refers to a main component that is a component of the robot, and in particular, it can be interpreted as a part requiring maintenance in consideration of cost and importance, which need to be replaced according to the degree of use.

For example, the industrial robot used for assembling the product shown in Fig. 6 includes a plurality of motors rotating in the X-axis, Y-axis, Z-axis and R-axis directions, a motor rotating in the X- A plurality of harmonic drives to be attached, a ball screw attached to the motor rotating in the Z axis direction, a gripper for gripping the accessories, an origin sensor for initializing the position of the robot, And a mechanical stopper for stopping the robot.

Also, the monitoring information can be collected by each component of the robot by the robot management apparatus, and can be understood as unprocessed information that can calculate information on the degree of use of the component through analysis of the information .

Meanwhile, the robot management apparatus may be connected through a connection method (e.g., Internet network, Bluetooth, etc.) capable of data communication with at least one robot to collect monitoring information, and the robot management apparatus and one or more robots may be connected to the same place Or may be located remotely as needed.

In another embodiment, the monitoring information may include at least one of operating time information for each component, coordinate information, and internal control information for internally controlling each component. Also, the robot management apparatus may set monitoring information according to a set cycle Can be collected.

For example, the operation time information for each component may be time information set each time the operation state (e.g., operation state, standby state, etc.) of each component is changed. The coordinate information for each component may be positional information for calculating the moving distance of the corresponding component. The internal control information may include a pulse value of each motor generated as the robot moves by the rotation of the motor, and an internal signal Information.

In addition, the robot management apparatus can collect monitoring information according to a period set by a device manager (i.e., a user) or a default. In this case, the period of collecting the monitoring information should be set to an appropriate level considering the type, cost, importance, and amount of the robot and components used.

In step 120, the robot management apparatus analyzes the collected monitoring information and calculates the component usage information indicating the degree of use for each component.

At this time, the component usage information is the information calculated by the robot management apparatus in order to analyze the monitoring information collected at step 110 and to indicate the degree of use of each component. Therefore, since the criterion indicating the degree of use differs naturally depending on the type of the component, the component usage information may include other information depending on the type of the component.

In another embodiment, the component usage information may include at least one of work time information, idle time information, movement distance information, rotation number information, and operation frequency information for each component.

For example, the robot management apparatus can calculate the operation time information and the waiting time information of the component from the operation time information of each component. The operation time information refers to the time used for the operation while the component is operating, It refers to the waiting time when the power is connected and not operating.

In addition, the robot management apparatus can calculate the movement distance information of the component from the coordinate information of each component or the internal control information of the ball screw, and it is possible to use the coordinates of the component or the rotation speed of the ball screw It is calculated information.

7 is a plan view for explaining a method of calculating the moving distance of the end effector of the robot. The moving distance of an end-effector attached to the end of the robot shown in FIG. Can be calculated through the following steps using the coordinate information of the end effector.

7 includes a first rotary shaft 710, a second rotary shaft 720, a first robot arm 732, and a second robot arm 734.

In the first step, when the first robot arm 732 of the robot is rotated by the angle A at the center (origin) of the first rotary shaft 710, the second rotary shaft 720 connected to the first robot arm 732 The center coordinates (x, y) are shifted to the coordinates (x ', y'), and the shifted coordinates (x ', y') can be calculated using Equation (1).

In the second stage, the end effector (not shown) located at the (xOld, yOld) coordinates of the end of the second robotic arm 734 is moved (xNew, yNew) by the rotational movement of the first robot arm 732, XNld = xOld + (x'-x) and yNew = yOld + (y'-y).

In the third step, when the second robot arm 734 rotates about the second rotational axis 720 by an angle B, the coordinates of the end effector are changed from (XNew, yNew) to (Xfinal, Yfinal) The coordinates (Xfinal, Yfinal) can be calculated using Equation (1).

In the final step, the final movement distance of the end effector can be calculated by calculating the distance between the coordinates (xOld, yOld), which is the first position, and the coordinates (Xfinal, Yfinal), which is the final position.

[Equation 1]

X2 is the final X coordinate after the rotation about the origin, Y2 is the final Y coordinate after the rotation about the origin,? Is the magnitude of the angle that rotates counterclockwise about the origin, The robot management apparatus calculates the rotation number information and the operation frequency information of the component from the internal control information of each component (e.g., the pulse value of the motor, etc.) And the rotation correction information is information on the number of times the motor and similar kinds of components (for example, a harmonic drive, a ball screw, etc.) are rotated, and the operation frequency information is information on the number of operations It is information about the number of times of operation.

In step 130, the robot management apparatus generates maintenance information necessary for maintenance of each component or external control information for externally controlling operation of each component based on the calculated component usage information.

In other words, the robot management apparatus generates maintenance information for the components requiring maintenance, based on the component usage information calculated in step 120, and generates external control information when it is necessary to change the operation of the specific component Will be.

In this case, the maintenance information may include general information necessary for maintenance of the component in a normal case, and may selectively include information about the situation in case of an urgent or important situation.

The external control information is for allowing the operation of each component to be changed externally, for example, when the robot management apparatus needs to change the operation of a specific component.

On the other hand, although the robot management apparatus can generate external control information by comparing the component usage information with respect to a plurality of robots, it is possible to generate external control information by comparing the component usage information with respect to one of the robots, Control information may be generated.

In another embodiment, the maintenance information may be information about replacement timing or failure probability for each component.

For example, considering the cumulative use time and usage of the component for a specific component, the robot management device may calculate the remaining life expectancy (i.e., replacement time) and the failure probability of the component using mathematical equations and statistical methods It can be estimated.

Here, the use time of the component can be considered in terms of the work time information and the waiting time information, and the amount of use of the component takes into consideration the number of operations and the number of revolutions of the component having the feature of rotating like a motor according to the type of the component, The number of times of operation can be considered.

At this time, the calculation of the replacement cycle for the motor can be performed using Equation (2), and the replacement timing can be calculated from the replacement cycle and the start timing of the use of the motor.

&Quot; (2) "

Where α is a constant having a value of 1.5 * 108, n is the number of movements per minute per minute, θ is the average rotation during the movement of the axis, N is the rate of deceleration rate, h is the operating hour per day and D is the operating day per year.

On the other hand, the fact that certain components are close to the time of replacement, or that the probability of failure is high, will be very important information for the device manager, the individual who operates the robot, the school, the hospital and the enterprise. If the robot that contains the component is shut down, if the robot is used in the factory, there may be a problem in the production of the product. If the robot is used in the hospital, the worst case may endanger the life of the patient It is because. Therefore, when the robot management apparatus learns this fact, it will be necessary to generate the maintenance information so that it can notify the device manager immediately.

In another embodiment, the external control information is generated by comparing the component usage information of the same type of components among the plurality of components, and controlling the difference value between the component usage information for the unit time of the same type of components to be within a predetermined threshold value And the like.

In other words, it is possible to generate external control information such that the difference in degree of use of the robot management apparatus for the unit time with respect to the same kind of components is within a predetermined threshold value. This is to prevent such a situation because, when the difference in the degree of use over a unit time exceeds the threshold value, the lifetime of the components may eventually vary greatly due to the cumulative use of the components.

In this case, it is not desirable to generate external control information by comparing component usage information between different types of components, unless there is a special situation such as that the life expectancy can be predicted with extremely high accuracy for other kinds of components will be. This is because it is highly likely that the errors in the life prediction of the components are added to each other and the efficiency of the maintenance is lowered by comparing the usage time and the usage amount among other kinds of components.

In another embodiment, when the same type of components are motors, and the component usage information for the component includes the number of revolutions per motor, the external control information may include a difference value of the revolutions per unit process time May be included within the predetermined threshold value.

At this time, the robot management apparatus can generate external control information to control the difference in the number of revolutions per unit time of the motor of the same type of component to be within the threshold value, and details thereof are shown in Figs. 4A, 4B and 5 Will be described later.

In this way, the robot management apparatus monitors components constituting the robot to calculate the component use information, and generates maintenance information and external control information on the basis of the information, thereby enabling the device manager to effectively cope with future problems There are advantages.

FIG. 2 is a flowchart illustrating a component-based robot management method according to another embodiment of the present invention.

In step 210, the robot management apparatus collects monitoring information on a plurality of components constituting each robot from at least one or more robots.

In step 220, the robot management apparatus analyzes the collected monitoring information and calculates component usage information indicating the degree of use of each component.

In step 230, the robot management apparatus generates maintenance information necessary for maintenance of each component or external control information for externally controlling operation of each component based on the calculated component usage information.

In step 240, it is determined whether the robot management apparatus has generated maintenance information.

At this time, if the robot management apparatus has generated the maintenance information, the process proceeds to step 250, and if not, the process proceeds to step 260.

In step 250, the robot management apparatus transmits the generated maintenance information to the user device.

For example, in a case where the robot management apparatus is normal, maintenance information including overall usage information of all the components of the robot being managed is generated, and when an urgent situation occurs such as when a replacement period of a specific component is estimated to be one month later, Maintenance information including information on the replacement timing may be generated and the maintenance information may be transmitted to the user device so that the device manager can view the maintenance information.

In step 260, it is determined whether the robot management apparatus has generated external control information.

At this time, if the robot management apparatus has generated external control information, the process proceeds to step 270. Otherwise, the entire process is terminated.

In step 270, the robot management apparatus transmits the generated external control information to a part or all of the one or more robots.

For example, in the case of a situation where the operation of a specific component is to be changed as a result of comparison of the same type of components, the robot management apparatus generates new external control information for controlling the operation of the corresponding component, To the robot having the component as a component.

At this time, a part of one or more robots may be a plurality of robots, but it may be a specific one robot. This is because it may be necessary to compare the usage information of the internal components with respect to a specific robot and manage it.

In this manner, the robot management apparatus sends the maintenance information to the user device and informs the device manager that the device manager can prepare and execute the tasks required for maintenance before the occurrence of the problem, It is possible to control the replacement period of the component constantly by changing the operation of each component by transmitting to some or all of the robots, thereby improving the efficiency of component management.

FIG. 3 is a view for explaining a component-based robot management apparatus 310 according to an embodiment of the present invention. However, the user device 320 and the robot 330 are further illustrated for convenience of explanation.

3, a component-based robot management apparatus 310 according to an embodiment of the present invention includes a monitoring unit 312, a usage information calculating unit 314, a management information generating unit 316, and a transmitting unit 318 ).

The monitoring unit 312 collects monitoring information for a plurality of components constituting each robot from at least one robot.

In another embodiment, the monitoring information collected by the monitoring unit 312 includes at least one of operation time information for each component, coordinate information, and internal control information for internally controlling each component, and the monitoring unit 312 Monitoring information can be collected according to the set cycle.

The usage information calculation unit 314 analyzes the collected monitoring information and calculates component usage information indicating the degree of use of each component.

In another embodiment, the component usage information calculated by the usage information calculation unit 314 may include at least one of work time information, waiting time information, movement distance information, rotation number information, and operation frequency information for each component.

The management information generation unit 316 generates maintenance information necessary for maintenance of each component or external control information for externally controlling the operation of each component based on the calculated component usage information.

The transmitting unit 318 transmits the generated maintenance information to the user device.

In another embodiment, the maintenance information may be information about replacement timing or failure probability for each component.

Also, the transmitting unit 318 may transmit the external control information to at least one or more of the robots.

In another embodiment, the external control information is obtained by comparing the component usage information of the same type of components among the plurality of components, and controlling the difference value between the component usage information for the same type of components to be within a predetermined threshold value Lt; / RTI > information.

In another embodiment, when the same kind of components mentioned in the above embodiments are motors and the component usage information includes the number of revolutions per motor, the external control information mentioned above is the number of revolutions per unit process hour May be included within the predetermined threshold value.

4A and 4B are diagrams showing component usage information before and after the use of the component-based robot management apparatus 300 according to an embodiment of the present invention.

FIG. 4A is a diagram for explaining the component usage information before application of the component-based robot management apparatus 300 to the industrial robot shown in FIG. 6 which rotates or moves in X, Y, Z and R axes by using four motors in total. . At this time, each motor is a component of the robot.

Referring to FIG. 4A, it can be seen that the motor rotates 1.57 times in the X axis, 3.54 times in the Y axis, 2.58 rotations in the R axis, and 116.51 millimeters in the Z axis per unit process time. If the difference in the number of revolutions per unit time of the X, Y, and R axis motors is large, the life expectancy of each motor is different. As a result, the motor is replaced several times It is possible to cause inefficiency of process management.

FIG. 4B shows component usage information after applying the component-based robot management apparatus 300 to the industrial robot shown in FIG. 4A.

That is, the operation of the robot is controlled such that the difference in the number of revolutions per unit processing time of the motor attached to the X axis, Y axis, and R axis of the robot managing device 300 becomes less than a predetermined threshold value (for example, less than 0.1 times per unit processing time) Axis control means for controlling the rotation speed of the X-axis, the Y-axis, the Z-axis and the R-axis motor so as to shorten the moving distance in the Z- External control information) to the robot.

At this time, it is understood that the motor rotates 2.67 times in the X axis, 2.64 times in the Y axis, 2.61 times in the R axis, and 113.22 millimeters in the Z axis per unit processing time. Therefore, it can be seen that the difference in the number of revolutions of each motor per unit processing time is changed within 0.1 time, and it can be seen that the motor rotating on the X axis, Y axis and R axis of the robot is used uniformly without large deviation .

This result can be grasped more clearly by using the table shown in Fig.

That is, as the robot management apparatus 300 adjusts the difference in the number of revolutions per unit processing time of the motors attached to the X axis, the Y axis, and the R axis within a predetermined threshold and adjusts the movement distance in the Z axis direction to be shortened, It can be seen that the replacement period of each of the motors has been relatively evenly changed from 2 to 9 years to 6 to 8 years.

Thus, by managing the robot management apparatus 300 such that the difference in the usage amount per unit processing time for the same type of component (that is, the motor in this case) is less than or equal to a predetermined threshold value, the device manager predicts in advance It is possible to establish an appropriate countermeasure in advance, and as a result, it is effective to increase the efficiency of using the robot.

The above-described embodiments of the present invention can be embodied in a general-purpose digital computer that can be embodied as a program that can be executed by a computer and operates the program using a computer-readable recording medium.

The computer readable recording medium includes a magnetic storage medium (e.g., ROM, floppy disk, hard disk, etc.), optical reading medium (e.g., CD ROM, DVD, etc.).

The present invention has been described with reference to the preferred embodiments. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. Therefore, the disclosed embodiments should be considered in an illustrative rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and all differences within the scope of equivalents thereof should be construed as being included in the present invention.

Claims (16)

Collecting monitoring information on a plurality of components constituting the robot from at least one robot;
Analyzing the collected monitoring information and calculating component usage information indicating the degree of use of each component; And
Generating maintenance information necessary for maintenance of each component or external control information for externally controlling operation of each component based on the calculated component usage information;
Lt; / RTI >
The external control information
And information for controlling the difference between the component usage information for the unit time of the same type of components to be within a predetermined threshold by comparing the component usage information of the same kind of components among the plurality of components Wherein the component-based robot management method comprises: The method according to claim 1,
The monitoring information
At least one of operation time information for each component, coordinate information, and internal control information for internally controlling the component,
Wherein the monitoring information is collected according to a set period. The method according to claim 1,
The component usage information includes
And at least one of operation time information for each component, waiting time information, movement distance information, rotation number information, and operation frequency information. The method according to claim 1,
The maintenance information
Wherein the component-based robot management information is information on replacement timing or failure probability for each component. The method according to claim 1,
Transmitting the generated maintenance information to a user device;
Further comprising the steps of: (a) delete The method according to claim 1,
When the components of the same kind are motors, and the component usage information includes the number of revolutions per motor,
The external control information
And information for controlling the difference between the revolutions per unit time of the motors to be within a predetermined threshold value. The method according to claim 1,
Transmitting the external control information to at least one or more robots;
Further comprising the steps of: (a) A monitoring unit for collecting monitoring information on a plurality of components constituting the robot from at least one robot;
A usage information calculation unit for analyzing the collected monitoring information and calculating component usage information indicating the degree of use for each component; And
A management information generation unit for generating maintenance information required for maintenance of each component or external control information for externally controlling the operation of each component based on the calculated component usage information;
Lt; / RTI >
The external control information
And information for controlling the difference between the component usage information for the unit time of the same type of components to be within a predetermined threshold by comparing the component usage information of the same kind of components among the plurality of components Wherein the robot is a robot. 10. The method of claim 9,
When the monitoring information includes at least one of operation time information for each component, coordinate information, and internal control information for internally controlling the component,
Wherein the monitoring unit collects the monitoring information according to a predetermined period. 10. The method of claim 9,
The component usage information includes
And at least one of operation time information for each component, wait time information, movement distance information, rotation number information, and operation frequency information. 10. The method of claim 9,
The maintenance information
And the information about the replacement timing or the failure probability for each component. 10. The method of claim 9,
A transfer unit for transferring the generated maintenance information to a user device;
Further comprising: a robot control unit for controlling the robot based on the robot control information. delete 10. The method of claim 9,
When the components of the same kind are motors, and the component usage information includes the number of revolutions per motor,
The external control information
And information for controlling the difference between the revolutions per unit time of the motors to be within a predetermined threshold value. 10. The method of claim 9,
A transmitting unit for transmitting the external control information to at least one or more robots;
Further comprising: a robot control unit for controlling the robot based on the robot control information.

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