KR101733002B1 - Unmmaned robot operation method of system assignning multiple missions to a plurality of unmmaned robots and operating the plurality of unmmaned robots based on the aggigned multiple missions - Google Patents

Abstract

The present invention relates to a method of operating an unmanned robot in a system for assigning multiple tasks to a plurality of unmanned robots and operating the unmanned robots based on the assigned task. A method for operating an unmanned robot according to the present invention includes the steps of setting a plurality of unmanned robots to be operated, assigning multiple assignments to each of the set unmanned robots, and assigning multiple unattended robots Wherein the step of assigning multiple tasks to each of the set unmanned robots comprises the steps of selecting at least one of the set unattended robots, Selecting one or more tasks to be performed from among the predefined tasks, setting the order of execution of the selected one or more tasks, for each of the selected one or more tasks, Selecting one of the predefined operating modes Type and is characterized in that it comprises the step of selecting from among the for each of the selected one or more tasks, the tasks which are previously defined time conditions that must be performed to the selected operating mode time conditions.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of operating an unmanned robot in which a plurality of unmanned robots are assigned multiple tasks and unmanned robots are operated based on the assigned task. UNMMANED ROBOTS BASED ON THE AGGENED MULTIPLE MISSIONS}

The present invention relates to a method for operating an unmanned robot in a system for assigning multiple tasks to a plurality of unmanned robots and operating unmanned robots based on the assigned task.

Future events will be transformed into Network Centric Warfare (NCW) rather than individual platforms by utilizing remote / asymmetric distributed power in the 5-dimensional battlefield including cyber and universe. In addition to the incentive system, the unmanned system is considered as a component of the network-centric system, and its application and importance are becoming more and more important as the development of cutting-edge science and technology and the emphasis on life sciences become commonplace. The expected effects of the unmanned system, drone or robotic army can minimize the damage of the combatants and substitute the troops if necessary, and create synergistic effects through cooperation between the manpower assisted and unmanned systems. However, in order to ensure its practical use, it is required to develop mission control technology for unmanned system operation.

In future, the unmanned weapon system may increase the burden on the conductor and operator due to various and complex operations. Generally, in the unmanned system, the task of the unmanned robot consists of one or more task components having different performance characteristics, but the task management of a conventional unmanned robot is performed in one task unit. Therefore, in order to allow the unmanned robot to perform multiple tasks continuously and spatially and temporally, intervention of the operator has frequently occurred, and this situation has been an obstacle to maximizing the operation effect of the unmanned robot. Therefore, it is necessary to maximize the operational efficiency by eliminating the operational burden of the operator through the task automation.

Among the technologies related to the unmanned robot task control, a plurality of unmanned robots are required to automate and optimize the task planning and management technology for assigning multiple tasks to each unmanned robot. This is to prevent disconnection of mission performance and to ensure proper level of unmanned robot autonomy through timely appropriate operator intervention or modification and change of automatic mission plan when necessary. In addition, it is possible to identify the definitions of the unit tasks, the operation modes and the time settings for each unit task of the unidentified unmanned robot in consideration of the concept of the unmanned operation system, Management is required.

An object of the present invention is to provide a method for efficiently operating a plurality of unmanned robots in order to operate an unmanned robot in a system for operating several unmanned robots in an unmanned electric vehicle system.

It is another object of the present invention to provide a method for maximizing the effect of operation on a plurality of unmanned robots by achieving task automation, task optimization, and robot collaboration with an effective mission concept and a mission planning and task management technique do. Accordingly, it is an object of the present invention to maximize the operation effect of unmanned robots by minimizing unnecessary operator intervention and accomplishing task automation and task optimization.

In order to achieve the above object, the present invention provides a method for operating an unmanned robot in a system for assigning multiple tasks to a plurality of unmanned robots and operating unmanned robots based on the assigned task, , Assigning multiple tasks to each of the set unmanned robots, and operating the set unmanned robots based on multiple tasks assigned to each of the set unmanned robots, wherein each of the set unmanned robots Wherein the step of assigning multiple tasks to at least one unmanned robot comprises selecting at least one of the set unmanned robots, selecting one or more tasks to be performed by the selected at least one unmanned robot from among predefined tasks, Setting the order of execution of the selected one or more tasks, Selecting one of the predefined operational modes associated with a manner in which a task is to be operated, for each of the plurality of tasks, and for each of the one or more tasks selected, And selecting the time condition to be performed from the predefined time conditions.

In one embodiment, the predefined tasks include atmospheric, moving, mine detection, fixed monitoring, movement monitoring, and CW detection, wherein the predefined operating modes include a traveling mode and a monitoring / The predefined time conditions are characterized by continuous execution, compliance with end time, compliance with continuous execution and end time, and unspecified.

In one embodiment, the running mode includes manual running, path running and dependent running, and the monitoring / detecting mode includes manual and automatic.

In one embodiment, the step of operating the set unmanned robots based on multiple tasks assigned to each of the set unmanned robots may include setting n + 1 when the n-th task of the set unattended robot is finished, Th task and determining whether to perform the (n + 1) -th task based on the time condition of the (n + 1) -th task searched for

In one embodiment, if the n < th > task is terminated early in a state in which the time condition of the found n + 1 < th > task is in the state of being unacknowledged or complied with the end time, And the n + 1 th task is performed successively to the n th task when the n th task is delayed.

In one embodiment, if the time condition of the searched n + 1 < th > task complies with the successive execution or the successive execution and the end time, the n + Lt; th > task.

In one embodiment, when the time condition of the found n + 1 < th > task is in an end time compliant state and the n < th > task finishes at a predetermined end time of the (n + The first task is not performed.

Effects of the unmanned robot operating method of a system for assigning multiple tasks to a plurality of unmanned robots according to the present invention and operating unmanned robots based on the assigned task will be described as follows.

Multiple tasks for each of the plurality of unmanned robots are selected among the predefined tasks and the order of execution is determined. The operation mode and the time condition for each task are set, thereby enabling effective task planning and task management. Accordingly, unnecessary operator intervention is minimized, task automation and optimization are achieved, and the operation effect for a plurality of unmanned robots can be maximized.

In addition, among the tasks that constitute the task in the task planning, the time setting method is differentiated according to whether there is a movement attribute of the task in setting the time for the first task of the unmanned robot, and the operator can set an unnecessary task planning option Can be easily initiated by blocking in advance. In addition, if the task is actually executed after the mission plan is established, the inconsistency situation will occur due to early or delayed termination depending on each task. When various time setting conditions are designated and applied to each task, Performance and effective mission management becomes possible.

FIG. 1 is a flowchart illustrating an unmanned combat system integrated mission control system according to the present invention.
FIG. 2 is a flowchart for explaining a method for operating the unmanned robot of the system described in FIG. 1
FIG. 3 is an exemplary diagram for explaining a method of planning a mission based on task by robot
FIG. 4 is a view illustrating an example of a mission management for explaining the automation of a unit-based mission

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

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 singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

  Future events will be transformed into Network Centric Warfare (NCW) rather than individual platforms, using distant / asymmetric distributed power in the 5-dimensional battlefield including the cyber space and the space besides the ground, air and sea. In addition to the incentive system, the unmanned system is considered as a component of the network-centric system, and the importance of the development of state-of-the-art science and technology and the emphasis on life sciences has become increasingly important. In order to effectively operate an unmanned robot, mission control technology is required in addition to technologies such as remote control through wireless communication, an unmanned platform, and autonomous navigation.

The task control technology can be divided into three stages: a preplanning stage to prepare a task assignment for an unmanned robot, a task execution stage, and an evaluation stage after completion of the mission, from the viewpoint of the time in which the task is performed. In the preplanning stage, a mission / route plan support map and mission planning technique including a communication map, an operation map and a threat map, a mission management technique in a mission execution stage, and a post evaluation technique in an evaluation stage are included. That is, the overall robot mission control technology largely includes a mission / path plan support map generation technique and mission plan technology including a communication map, a movement map and a threat map in the pre-planning stage, a mission management technique in the mission execution stage, And post-evaluation technology.

The present invention proposes a method of maximizing the effect of the operation of multiple robots by accomplishing task automation, task optimization, and robot collaboration with the mission planning and task management techniques considering the effective and operational concept among the above-mentioned mission control technologies.

More specifically, by presenting a method for effectively operating unmanned robots in order to operate unmanned robots in a system that operates several unmanned robots in an unmanned battlefield system, it is possible to achieve task automation and task optimization while minimizing unnecessary operator intervention, To maximize the operational effect of the system.

It is also an object of the present invention to plan an overall task consisting of one or more tasks for each unmanned robot for proper task management for a plurality of unmanned robots, The present invention provides a method of operating an unmanned robot. Also, the method of operating the unmanned robot is roughly divided into a preplanning step, a mission performing step, and an evaluation step, and an unmanned robot operating method for integrally operating a plurality of unmanned robots is provided. According to the unmanned robot operating method of the present invention, when the unmanned robots are operated, the unmanned robot can be controlled so that the duty of the unmanned robot is automatically changed when a unit task different from the plan is performed.

FIG. 1 is an overall flowchart for explaining an unmanned combat system integrated mission control system related to the present invention.

The system according to the present invention assigns multiple tasks to a plurality of unmanned robots, manages unmanned robots based on the assigned task, and performs each step of the unmanned robot operating method proposed in the present invention.

Herein, the unmanned robot means an apparatus or a robot that performs an unmanned vehicle or an airplane based on the induction of a radio wave without a person riding. Uranium or drone is also used in the sense that it does not take a person to ride in a vehicle or airplane, but remotely controls the ground.

On the other hand, the system according to the present invention can operate one or more tasks (or multiple tasks) for each of a plurality of unmanned robots, and operate the plurality of unattended robots to perform an assigned task.

At this time, the task control by the system can be divided into three stages according to the time flow: the preplanning stage, the mission execution stage, and the evaluation stage.

The preplanning stage in the task of the unmanned robot is to prepare the necessary materials and prepare the mission plan to plan the mission. Visualization of various battlefields and target information in a situation diagram, and creation of a mission / path plan support map used in the creation of the mission plan in consideration of operational transparency and the like received from the top.

Here, the Mission Planning Support Map is used as operator assistance information for effective Mission Planning, multi-robot determination, operation formulation, and mission planning. This is not only the operational transparency information and the status map, but also the visualization through processing / fusion of the battlefield / target information such as the placement of the pie, features, obstacles and targets. The path plan support map is map information used for planning the route of the unmanned robot between the preparation of the mission plan, and there are a speed map, a threat map and a communication map as types.

The speed map can be generated by latticing the path planning area selected by the operator and then inputting the robot moving speed and related cost value in each lattice and is used to automatically extract the route point that can be moved most quickly in terms of the moving time .

Threat maps can be directly applied to create a reference or path between mission plans by overlaying them in a context map. Threat maps are created based on the results of pie placement, enemy threat characteristics, enemy types, distance and line of sight analysis, and are prepared from the viewpoint of survivability considering enemy threats.

In the communication map, a communication line line analysis combining the Fresnel area and the path loss model is performed. The RF signal through the path loss model calculates the power loss occurring during transmission through the waiting path, estimates the maximum communication distance, And the result of the line of sight of the communication can be derived. These various types of mission / path planning support maps can be used at the same time to create a path for optimal mission planning.

After creating the mission / path planning support map, the conductor analyzes the mission and performs multi-robot required number, mission specification, and mission execution scenario for mission planning. When establishing the mission plan, consideration will be given to the type of task, the mode of operation, and the time setting for each task. Execution of the mission is carried out to verify the validity of the plan after completion of the mission plan. After the execution of the mock simulation, the conductor can change the plan if the mission is not appropriate. The actual task is performed based on the completed mission plan. In the task of each unmanned robot, depending on each task, an early or delayed termination may occur and inconsistency with the plan may occur. In this situation, mission management technology for automation of the mission without operator intervention is applied.

After the completion of the actual mission, the conductor conducts a post-evaluation on the results of the completed mission, which includes the ability to display actual results, various situations, and robot status information in comparison with the plan. In detail, the plan / performance comparative display function compares actual performance results against mission plans by robot in terms of time and distance. In addition, the detailed result display and summary report function provides information on the total execution time of the mission, the start / end time of each task, time information related to various situations, information about occurrence of obstacle / target / mine related situation, Information and information related to the status transmission related to the transmission and reception of the specials are displayed.

In the system according to the present invention, a plurality of unmanned robots to be operated in the system are set. Here, the setting means data processing such as setting communication for controlling unmanned robots using wireless communication or setting security for preventing hacking to an unmanned robot.

Meanwhile, the system assigns tasks to the set unmanned robots, manages a plurality of unmanned robots based on the assigned tasks, and performs evaluation of the performed tasks. That is, the system according to the present invention is configured to sequentially perform the pre-planning step, the mission performing step, and the evaluation step.

In particular, the system according to the present invention assigns tasks using predefined task attributes in the pre-planning step and assigns tasks to the unmanned robot in the task execution stage in order to achieve task optimization and task automation while minimizing unnecessary operator intervention Automatically manage the continuity between the previous task and the next task based on the task attributes.

The method for operating the unmanned robot of the system according to the present invention will be described in more detail with reference to FIG.

First, a step of selecting at least one unmanned robot for assigning a task is performed (S210). The same task may be given to one or more unmanned robots, and different tasks may be assigned to each set unmanned robot.

In order to establish a mission plan for integrated mission control for a plurality of unmanned robots, it is necessary to define the type of tasks constituting the mission, and the operation mode and time setting conditions for performing each task. That is, to be optimized and automated for a plurality of unmanned robots, tasks are assigned by well-defined tasks and the task assigned must be performed according to a predetermined time condition according to the operation mode.

In order to assign the task, a step of selecting a task to be performed by the selected unmanned robot is selected from the predefined tasks (S230). More specifically, one or more tasks to be performed by the selected unmanned robot are selected from predefined tasks. Thereafter, the execution order of the selected tasks is set (S250).

The predefined tasks include air, movement, landmine detection, fixed surveillance, movement surveillance, and NBC detection. The tasks that the selected unmanned robot should perform are selected among the predefined tasks.

For example, any one of the ten unmanned robots is selected, and the task of the selected unmanned robot is selected from the predefined tasks, and the order of execution of the selected tasks can be determined. If three tasks (mobile, fixed surveillance, and landmine detection) are selected as the tasks to be performed by the selected unmanned robot, the order of execution may be set to be performed in the order of movement, fixed surveillance and mine detection.

Meanwhile, the operation mode of any task among the one or more tasks to be performed by the selected unmanned robot may be selected from among the predefined operation modes (S270). And, the time condition of a task can be selected from predefined time conditions (S290).

For example, when the first to third tasks are set, the first operation mode and the first time condition corresponding to the first task are selected, and the second operation mode and the second time condition corresponding to the second task are selected And the third operation mode and the third time condition corresponding to the third task are selected.

Here, the operation mode is related to the manner in which the unmanned robot performs the selected task, and may be selected from among a manual driving mode, a path driving mode, a subordinate driving mode, a manual monitoring / detection mode, and an automatic monitoring / detection mode. The manual driving mode refers to a mode in which a manual operation is performed based on user input and remote control applied to the system, and a corresponding task is performed. The route running mode means a mode in which a corresponding task is performed while autonomously traveling using a predetermined route. The subordinate driving mode means a mode in which a specified target is followed within a reference range and a corresponding task is performed. The manual monitoring / detection mode refers to a mode in which a corresponding task is manually monitored / detected based on user input and remote control applied to the system, and a corresponding task is performed. The automatic monitoring / detection mode refers to a mode in which automatic task monitoring / detection is performed according to an algorithm of the robot.

Meanwhile, the time condition is related to at least one of the start time and the end time of the selected task in the unmanned robot performing the selected task according to the operation mode. The predefined time conditions include consecutive execution, compliance with the end time, compliance with the continuous execution and end time, and unspecified.

To illustrate the time condition, we assume nth task and n + 1th task. n is from 1 to m-1, and m is the total number of tasks constituting the task assigned to the robot. The nth task can be exactly planned, terminated early, or delayed at the planned end. At this time, the time condition for the start time and the end time corresponding to the (n + 1) th task can be preset.

If continuous execution is selected as a time condition for the n + 1th task, the n + 1th task will start at the same time as the nth task finishes, regardless of the start time set for the n + 1th task. In the case of continuous execution, the end time of the (n + 1) th task changes depending on the start time.

If the nth task is terminated prematurely with end time compliance selected as a time condition for the n + 1th task, the system waits for the unmanned robot to arrive at the start time of the n + 1th task, And controls the unmanned robot to perform the (n + 1) -th task, and ends the (n + 1) th task at the predetermined end time. On the contrary, if the nth task is planned or delayed, the system controls the unmanned robot so that the n + 1th task is performed successively to the nth task, and ends the n + 1th task at the predetermined end time .

If consecutive execution and termination time compliance are selected as time conditions for the n + 1th task, the system controls the unmanned robot so that the n + 1th task starts successively to the nth task, and the n + And ends at the set end point.

Table 1 summarizes the considerations for preparing the mission plan. The basic concept of the mission plan is to identify the minimum number of mission components that can be given to the unmanned robot as a unit task (task), and to form the task by combining them.

Predefined tasks

Predefined operating modes
Predefined time conditions
ㆍ Waiting
ㆍ Moving
ㆍ Landmine detection
ㆍ Fixed monitoring
ㆍ Mobile monitoring
ㆍ NBC detection

ㆍ Driving mode
- Manual driving
- Path driving
- dependent driving
ㆍ Monitoring / detection mode
-manual automatic
ㆍ Continuous performance
ㆍ Completion of end time
ㆍ Continuous execution + end time compliance
ㆍ Unspecified

The types of tasks that make up the mission for mission planning, the modes of operation for each task, and the time conditions are predefined.

As described above, according to the present invention, in operating a plurality of unmanned robots in an unmanned electric field system, it is possible to integrally operate multiple robots classified as a pre-planning stage, a mission performance stage, and an evaluation stage and apply effective mission planning and mission management techniques Through minimization of unnecessary operator intervention, automation and optimization of tasks are accomplished to maximize the operation effect of multiple robots.

FIG. 3 is an exemplary diagram for explaining a method of planning a task based on a task for each unmanned robot. An example of planning a task based on task is shown for each unmanned robot.

When setting the time for the first task for each unmanned robot, discrimination is made on the method of selecting the time condition depending on whether there is a movement attribute of the task. First, the selection of "continuous execution" and "continuous execution and end time compliance" is excluded for the first task. For the 'waiting' and 'fixed monitoring' tasks that have a stop attribute in the task, the 'end time compliance' or 'unspecified' may be selected as the time condition. If you select 'Compliance with End Time', the first task will be terminated with a plan termination status that complies with the end time of the task execution result. If you select 'Unspecified', the task termination result will be one of early termination, delay termination, The first task may be terminated by circumstances. In the case of task having the remaining movement attribute, the time setting range may be different according to the traveling mode, and is summarized as shown in Table 2.

With movement attribute
Task

Driving mode

Manual driving

Path driving or dependent driving
ㆍ Moving
ㆍ Landmine detection
ㆍ Mobile monitoring
ㆍ NBC detection

ㆍ Completion of end time (selectable)
ㆍ Unspecified (selectable)
ㆍ Completion time (not selectable)
ㆍ Unspecified (selectable)

  Referring to Table 2, in the case of selecting the end time compliance in the manual travel, the operator controls the unmanned robot to travel to the plan termination state that complies with the end time. On the other hand, when the unspecified selection is made in the manual driving and the path / subordinate driving, the first task may be terminated by one of the following conditions: early termination, delay termination or plan termination.

In setting the time for the initial task of each robot among the tasks constituting the task in the task planning, differentiation is given to the time setting method depending on the presence or absence of the movement attribute of the task, so that the operator can perform unnecessary task planning Mission plans can easily be initiated by blocking options in advance. In addition, if the task is actually executed after the mission plan is established, the inconsistency situation will occur due to early or delayed termination depending on each task. When various time setting conditions are designated and applied to each task, Performance and effective mission management becomes possible.

As described above, considering the mission planning properties for the first task by the unmanned robot, if the task is actually performed after a task plan is established by combining various tasks, the robot can be started or delayed according to each task of the unmanned robot, Inconsistencies can arise. In this situation, mission management technology for automation of the mission without operator intervention is needed.

FIG. 4 is a diagram illustrating an example of mission management for explaining a unit-based mission automation.

When a particular task T (n) is set to unspecified and the previous task T (n-1) prematurely ends, T (n) begins at the scheduled start of the task. T (n) may be terminated in one of the following cases: early termination, delay termination, or termination of plan termination at the end of the termination work. In addition, when T (n) is set to unspecified and the previous task T (n-1) is delayed, T (n) starts immediately after the immediately preceding task T (n-1). T (n) may be terminated by one of the following conditions: early termination, delay termination, or termination of the plan.

 When T (n) is set to continuous execution and the previous task T (n-1) is prematurely terminated, T (n) starts immediately following the immediately preceding task T (n-1). T (n) may be terminated by one of the following conditions: early termination, delay termination, or termination of the plan. Also, when T (n) is set to continuous execution and the previous task T (n-1) is the delayed end, T (n) starts immediately following the immediately preceding task T (n-1). T (n) may be terminated by one of the following conditions: early termination, delay termination, or termination of the plan.

If T (n) is set to adhere to the end time and the previous task T (n-1) is prematurely terminated, T (n) The planning is completed according to the timing. Also, at the end of the immediately preceding task T (n-1), T (n) is immediately started immediately after the immediately preceding task T (n-1) after the delayed end. As a result of the execution of T (n), the planned task execution time interval decreases, and the plan is terminated at the end of the plan.

When the previous task T (n-1) is set to T (n) and the previous task T (n-1) is early terminated, T (n) starts immediately after the immediately preceding task T . As a result of the task execution, the scheduled task execution time interval increases, and the plan is terminated at the end of the plan. Also, at the end of the last task T (n-1), T (n) is immediately followed by the immediately preceding task T (n-1) It starts. As a result of the execution of T (n), the planned task execution time interval decreases, and the plan is terminated at the end of the plan.

It will be apparent to those skilled in the art that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer-readable medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) . The computer may also be a component of a system according to the present invention.

Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

Claims (7)

A method of operating an unmanned robot in a system for assigning multiple tasks to a plurality of unmanned robots and operating unmanned robots based on the assigned task,
Setting a plurality of unattended robots to be operated;
Assigning multiple missions to each of the set unmanned robots; And
And operating the set unmanned robots based on multiple tasks assigned to each of the set unmanned robots,
Wherein assigning multiple tasks to each of the set unmanned robots comprises:
Selecting at least one of the set unmanned robots;
Selecting one or more tasks to be performed by the selected at least one unmanned robot from among predefined tasks;
Setting an execution order of the selected one or more tasks;
Selecting, for each of the selected one or more tasks, an operational mode associated with the manner in which the task is to be operated, among the predefined operational modes; And
Selecting, for each of the one or more tasks selected, a time condition in which the task should be performed in the selected operating mode from predefined time conditions,
Wherein said selecting said time condition from among said predefined time conditions comprises:
Determining a movement attribute of the selected task;
Assigning differentiations to the selection of the time condition based on the determined movement attribute; And
And selecting the time condition from among the predefined time conditions based on the given discrimination. The method according to claim 1,
The predefined tasks include atmospheric, mobile, landmine detection, fixed surveillance, movement surveillance and CW detection, wherein the predefined operating modes include a traveling mode and a surveillance / detection mode, Wherein the continuous operation, the end time compliance, the continuous operation, the end time compliance, and the unspecified operation are included. 3. The method of claim 2,
Wherein the running mode includes manual running, path running and dependent running, and the monitoring / detecting mode includes manual and automatic. 3. The method of claim 2,
Wherein the step of operating the set unmanned robots based on multiple tasks assigned to the set unmanned robots comprises:
Searching for a time condition of the (n + 1) th task when the nth task of the unmanned robot among the set unmanned robots is terminated; And
And determining whether to perform the (n + 1) th task based on the time condition of the searched n + 1th task. 5. The method of claim 4,
If the time condition of the (n + 1) th task is found to be in the state of being unacknowledged or the end time is in compliance, the n + 1th task is performed at a predetermined start time when the nth task is terminated early, The n + 1 th task is performed successively to the n th task. 6. The method of claim 5,
If the time condition of the (n + 1) th task is the continuous execution or the continuous execution and the end time are complied with, the (n + 1) th task is continuously performed to the n th task regardless of the end time of the n th task Wherein the robot is a robot. The method according to claim 6,
If the nth task finishes the predetermined end time of the (n + 1) th task in the state that the time condition of the searched n + 1th task is in conformity with the end time, the (n + 1) th task is performed Wherein the robot is a robot.

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