KR102245824B1 - System and method for controlling multiple robots - Google Patents

Abstract

The present invention provides a system for controlling a plurality of robots which can quickly use mobile robots by arranging the mobile robots regardless of the scale of a task area. The system for controlling a plurality of robots comprises: a user terminal; at least one robot performing an assigned motion task, wherein the robot includes a local control server which transmits state information to the user terminal in accordance with a request of the user terminal or receives the motion task from the user terminal; and a control server connected to communicate with a plurality of the robots to control the plurality of robots. The control server collects state information of at least one among the plurality of robots to transmit the state information to the user terminal in accordance with a request of the user terminal via the local control server or receives the motion task for at least one among the plurality of robots from the user terminal to transfer the motion task. When the control server does not exist, the local control server transmits the state information of the corresponding robot to the user terminal in accordance with a request of the user terminal or receives the motion task from the user terminal.

Description

Multiple robot control system and method {SYSTEM AND METHOD FOR CONTROLLING MULTIPLE ROBOTS}

The present invention relates to a multi-robot control system and method, and more particularly, to a multi-robot control system and method capable of controlling a state of a robot and assigning a task to control a plurality of robots.

In recent years, research on mobile robots to which autonomous driving technology is applied has been actively conducted, and the demand for this is also on the rise. The use of mobile robots has also been diversified, and the demand for operation is increasing not only in large-scale factories and warehouses, but also in factories and warehouses of smaller sizes.

Depending on the size of the place to use the mobile robot or the role (or mission) of the mobile robot at the place, there is a hassle to set up a new mobile robot. In particular, whether there is one or several mobile robots in the mission area. There is a problem in that a server for controlling a mobile robot must be designed differently depending on the perception.

On the other hand, the operation of a mobile robot that is a control target is generally performed by a user (or operator).

In this case, there is no big problem for the user to operate a small number of mobile robots, but when the number of mobile robots is increased, it is difficult to integrate a large number of mobile robots. In particular, when a plurality of mobile robots are controlled and operated to cooperate with each other so that a plurality of mobile robots can achieve a common goal, the above problem may be greater.

Therefore, we would like to propose a technology that can solve the above problems.

KR 10-1152251 B1 KR 10-1668078 B1 KR 10-1733002 B1

In the present invention, there is no need to design a control environment differently depending on whether there is one or several mobile robots in the mission area, and by disposing the mobile robots regardless of the size of the mission area to use the mobile robots, It is intended to provide a multi-robot control system and method that can be utilized.

In order to solve the above problems, the present invention provides a user terminal, at least one robot performing an assigned operation task-The robot transmits status information to the user terminal at the request of the user terminal, or from the user terminal. Including a local control server to be assigned the operation task -, and a control server connected to enable communication with the plurality of robots to control the plurality of robots, wherein the control server, the local control server According to the request of the user terminal, at least one of the plurality of robots is collected and transmitted to the user terminal, or the operation task for at least one of the plurality of robots is received from the user terminal. And, when the control server does not exist, the local control server transmits the status information of the robot to the user terminal according to the request of the user terminal, or receives the operation task from the user terminal. It provides a multi-robot control system.

According to an embodiment, the user terminal may receive a map generated by any one of the robots to be controlled, modify the generated map according to a user input, and update the generated map.

According to an embodiment, the user terminal may generate a position movement command and a direction setting command for at least one of the robots to be controlled at a time by a user's drag and drop input.

According to an embodiment, the user terminal may generate the operation task for at least one of the robots to be controlled by scratch coding.

According to an embodiment, the control server sets at least one functional zone in the mission area to limit the operation tasks of the plurality of robots in the mission area, wherein the functional zone is the entry of the robot. It may be a forbidden zone that prohibits the system or a limited zone that allows only a limited number of robots to enter.

According to an embodiment, if any one of the plurality of robots exists in the limited zone as many as a limited number of robots, it may wait immediately before entering the limited zone until any one in the limited zone leaves. have.

According to an embodiment, the control server sets a collision avoidance zone around at least one current position among the plurality of robots, and prevents the other robots from entering the collision avoidance zone set around the robot. You can control the movement of robots.

According to an embodiment, the control server may control movement of the plurality of robots according to the priority given to the plurality of robots.

According to an embodiment, the control server may variably set the shape of the collision avoidance zone around the robot according to the current moving speed of the robot.

In addition, the present invention is a multi-robot control comprising a user terminal, at least one robot performing a given operation task, and a control server for controlling the plurality of robots connected to communicate with the plurality of robots. In the control method of the system, the robot transmitting status information to the user terminal according to the request of the user terminal or providing a local control server receiving the operation task from the user terminal, and the control server Collecting at least one of the plurality of robots according to the request of the user terminal via a local control server and transmitting the status information to the user terminal, and the control server from the user terminal to one of the plurality of robots Receiving and transmitting the operation task for at least one, wherein when the control server does not exist, the local control server transmits the status information of the robot to the user terminal according to the request of the user terminal, or It provides a method for controlling a plurality of robots, characterized in that receiving the operation task from a user terminal.

According to an embodiment of the present invention, it is not necessary to design the control environment differently depending on whether there is one or multiple mobile robots in the mission area, and regardless of the size of the mission area in which the mobile robot is to be used, the mobile robot It has the effect of being able to use it quickly by placing it.

In addition, according to an embodiment of the present invention, by allowing the user to clearly modify and update the map generated by the robot, it is possible to prevent malfunction of the robot.

In addition, according to an embodiment of the present invention, control of a robot is implemented in a web environment, but a user can collectively generate a position movement command and a direction setting command of the robot with a single mouse operation. In addition, by generating the operation task for the robot by scratch coding, the user can very easily generate a control command.

In addition, according to an embodiment of the present invention, by setting various types of functional zones within a mission area, it is possible to collectively limit the operation tasks of the robots for each area even without separately generating a control command for each robot.

In addition, according to another embodiment, when a plurality of robots operate according to an individually assigned operation task, in order to avoid a possibility of collision between the plurality of robots, a collision avoidance zone is provided around the current position of the robot, It is possible to limit the movement of the robot according to the priority given to the robots. At this time, by considering the moving speed of the robot, it is possible to prevent the shock or fall of the moving robot or the transported object that is being lifted due to the sudden stop of the moving robot.

1 is a block diagram of a multiple robot control system according to an embodiment of the present invention.
2 is a block diagram of a mobile robot according to an embodiment of the present invention.
3A is a view showing a state in which a user terminal controls a robot through a local control server according to an embodiment of the present invention.
3B is a view showing a state in which a control server controls a plurality of robots according to an embodiment of the present invention.
4 is a diagram showing a map generated according to an embodiment of the present invention.
5 is a view showing a state of generating a control command for the movement of the robot according to an embodiment of the present invention.
6 is a diagram showing a state of generating a motion task for a robot according to an embodiment of the present invention.
7 is a diagram illustrating a function zone in a map is set according to an embodiment of the present invention.
8 is a diagram illustrating an example in which a limited zone set according to an embodiment of the present invention operates.
9A is a view showing an example in which a collision avoidance zone set around a robot operates according to an embodiment of the present invention.
9B is a view showing an example in which the collision avoidance zone of FIG. 9A is changed according to the state of the robot.
10 is a step-by-step flowchart of a method for controlling a plurality of robots according to an embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for constituent elements used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, when it is determined that a detailed description of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In the present specification, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Multiple robot control system

1 is a block diagram of a multiple robot control system according to an embodiment of the present invention.

As shown in FIG. 1, the multiple robot control system 100 according to an embodiment of the present invention includes a user terminal 130, at least one robot 121 to 123 performing assigned operation tasks, and It is connected to enable communication with the plurality of robots (121 to 123), it may include a control server 110 for controlling the plurality of robots (121 to 123).

At this time, each of the robots 121 to 123 transmits its own status information to the user terminal 130 at the request of the user terminal 130, or a local control server ( 121a to 123a).

That is, when controlling the robots 121-123 using the user terminal 130, the user terminal 130 is typically connected to the control server 110 that controls several robots 121-123. However, the user terminal 130 according to an embodiment of the present invention may control individual robots 121 to 123 by accessing the local control servers 121a to 123a included in each of the robots 121 to 123. .

In the end, regardless of whether there is one or multiple robots 121 to 123 in the mission area, there is no need to design the control environment differently, and there is no need to have the control server 110 necessarily, the robot 121 There is an effect that robots 121 to 123 can be placed and used quickly regardless of the size of the mission area to be utilized.

Hereinafter, each component will be described.

The user terminal 130 according to an embodiment of the present invention is connected to enable communication with the control server 110 and/or the local control servers 121a to 123a in the robots 121 to 123 through a network, and transmits and receives data. The type is not limited as long as it can be done, but examples include the mobile phone, smart phone, laptop computer, digital broadcasting terminal, personal digital assistants (PDA), portable multimedia player (PMP), and slate PC. It may be a mobile terminal such as a (slate PC), a tablet PC, or an ultrabook, or a fixed terminal such as a digital TV or a desktop computer.

By operating the user terminal 130, the user can access the control server 110 to receive and check the status information on the plurality of robots 121 to 123 in the web environment, and the plurality of robots 121 to 123 ) Can be transmitted by generating a control command for at least one of.

Each of the robots 121 to 123 collects status information on the corresponding robots 121 to 123 and provides them according to the request of the user terminal 130, or according to a control command received from the user terminal 130. A local control server 121a to 123a may be included so that the 121 to 123 can operate.

Therefore, even if the control server 110 does not exist, or even if there is only one robot (121 to 123), the user terminal 130 does not go through the control server 110, the local control server included in each robot (121 to 123) By connecting to (121a to 123a), it is possible to control the individual robots (121 to 123).

The circular knitting, control server 110 may monitor the state of the plurality of robots 121 to 123, or may generate and provide control commands for at least a part of the robots 121 to 123 to be controlled.

Since the control server 110 controls a plurality of robots 121 to 123 in this way, the user terminal 130 at this time is connected to the local control servers 121a to 123a included in each robot 121 to 123. It is preferable to prevent individual control by accessing, and to control the robot through the user terminal 130 sequentially through the control server 110 and the local control servers 121a to 123a.

Because, because any one robot (121-123) is generated by a user and transmitted from the control server 110 and the control command transmitted from the local control server (121a-123a), because a conflict may occur, the control command It is desirable to solve this problem by clarifying the delivery path.

On the other hand, the movable robots 121 to 123 according to an embodiment of the present invention are robots that perform an operation assigned by a user, and the type is not limited thereto.

2 is a block diagram of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 2, the robots 121 to 123 according to an embodiment of the present invention include a control unit 1211, a driving unit 1212, a storage unit 1213, a sensor unit 1214, and a communication unit 1215. ) And at least one of the state detection unit 1216.

The driving unit 1212 may include a driving device including at least one wheel for moving the main body of the robot and a motor for rotating the wheel.

The driving unit 1212 may further include a steering device for setting the driving direction in the front, rear, left and right directions, but if the steering device is not included, the driving unit 1212 rotates the wheels provided on each of the left and right sides without the steering device. It is also possible to change the driving direction of the main body to the left or right by making a difference in speed, or to rotate the main body.

Although not shown in the drawings, the mobile robot 10 according to an embodiment of the present invention may further include a battery for supplying power required for overall operation, wherein the battery is preferably a rechargeable secondary battery.

The sensor unit 1214 may include at least one of an external signal detection sensor, a front detection sensor, a cliff detection sensor, a camera sensor, and a posture sensor.

The external signal detection sensor may detect an external signal of the robot cleaner. The external signal detection sensor may be, for example, an infrared ray sensor, an ultrasonic sensor, an RF sensor, and the like, and the robots 121 to 123 are detected by an external signal detection sensor. Control command input can be received according to the signal.

The front detection sensor may be installed at a predetermined interval in front of the robots 121 to 123, specifically along the lateral outer circumferential surface of the robots 121 to 123. The front detection sensor is located on at least one side of the robots 121 to 123 to detect an obstacle in front, and may be, for example, any one of an infrared sensor, an ultrasonic sensor, an RF sensor, and a geomagnetic sensor, or a combination thereof. have.

The cliff detection sensor (or Cliff Sensor) can detect obstacles on the floor supporting the main body of the robot by mainly using various types of optical sensors. The cliff detection sensor may be, for example, any one of an infrared sensor, an ultrasonic sensor, an RF sensor, a position sensitive detector (PSD) sensor, etc. installed on the bottom of the robot, or a combination thereof.

The camera sensor is installed to face up or in front of the robot body, so that the surrounding can be photographed. For example, a plurality of camera sensors may be provided, and may be disposed at a certain distance or at a certain angle on the top or side of the body of the robot. The camera sensor may include a lens that focuses on a subject, an adjuster that adjusts the camera sensor, and a lens adjuster that adjusts the lens, and the controller 1211 uses the image data captured by the camera sensor. You can recognize your current location and create a map for the mission area.

The attitude sensor is for recognizing the attitude of the robot, and may be any one of an acceleration sensor, a gyro sensor, and a wheel sensor, or a combination thereof, and the controller 1211 is currently in combination with image data by a camera sensor. You can also accurately recognize the location.

The state detection unit 1216 is sensors that detect the state of each component (or units) of the robots 121 to 123, and includes a sensor that detects a wheel state, a driving motor state, a battery state, a communication state, etc. . The control unit 1211 transmits the status of each component of the robot detected by the state detection unit 1216 to the user terminal 130 through the control server 110 or the local control servers 121a to 123a through the communication unit 1215. ) To provide to users.

The storage unit 1213 may store a control program for controlling or driving the robots 121 to 123 and data corresponding thereto. Specifically, the storage unit 1213 may store a map for the mission area, and may store audio information, image information, obstacle information, location information, and the like. In addition, the storage unit 1213 may store a driving method or the like.

The storage unit 1213 may mainly use a non-volatile memory, wherein the non-volatile memory (NVM, NVRAM) is a storage device capable of maintaining stored information even when power is not supplied, for example, It may be a ROM, a flash memory, a magnetic computer memory device (eg, a hard disk, a diskette drive, a magnetic tape), an optical disk drive, a magnetic RAM, a PRAM, and the like.

The control unit 1211 is a means for controlling the overall operation of the robots 121 to 123, and can execute various application programs in conjunction with each component of the robots 121 to 123 and perform operations related thereto. . That is, the control unit 1211 controls the driving of the robots 121 to 123 by processing signals or data input/output through the components of the robots 121 to 123, or by driving an application program stored in the storage unit 1213. can do. In addition, the control unit 1211 may control at least some of the components of the mobile robot 10 in order to drive the application program stored in the storage unit 1213.

The control unit 1211 may generate a map for the mission area, as shown in FIG. 3, using the obstacle information detected by the forward detection sensor or the obstacle detection sensor and the position recognized by at least one camera sensor. have. The method of generating a map for the mission area is according to a known method, and is not particularly limited in the present invention.

Here, the'mission area' among the terms used in the present specification is an area formed by obstacles such as walls, and the robots 121 to 123 are assigned a movement command given from a user, or a task such as loading or unloading an object or delivering an object. It can refer to an area to perform.

In contrast, the map is not generated while autonomously traveling by the robots 121 to 123, but may be provided from the outside and stored in the storage unit 1213.

When the robots 121 to 123 generate a map, since the robots 121 to 123 detect a wall or an obstacle in front of the front sensor or an obstacle detection sensor, etc., and based on this, as shown in FIG. Likewise, for some points, the light emitted from the robots 121 to 123 is not received or incorrectly received, so that the boundary of the generated map is not smooth, and the boundary is misrecognized at some points and thus becomes messy. The parts indicated by reference numerals d1 to d6 of FIG. 3 are parts in which the robots 121 to 123 erroneously recognize the boundary of the map.

Based on the maps generated by the robots 121-123, the robots 121-123 performing tasks may operate differently from the user's intention when there is an error in the map. Accordingly, the user terminal 130 according to an embodiment of the present invention includes a local control server 121a to 123a of each robot 121 to 123 to be controlled, or a control server that controls a plurality of robots 121 to 123 ( 110), the map generated from at least one of the robots 121 to 123 may be transmitted, and the generated map may be edited according to a user input.

The user terminal 130 creates a boundary as a line or figure, or selects a part of the boundary and deletes the selected part, for the map loaded from at least one robot 121-123 or the control server 110, The generated map can be edited, such as revised by rotation, reversal, etc., and the edited map can be transferred to any one or all robots 121 to 123 so that the boundary is cleared by the user to be updated. Specifically, the user terminal 130 transmits the edited map to the control server 110 to replace a map previously stored in at least one robot 121 to 123, or a local control server of each robot 121 to 123 It can be transmitted to (121a ~ 123a) to replace the map stored by the robot (121 ~ 123).

The communication unit 1215 is for performing communication with the control server 110 and/or the user terminal 130, and the communication method may be wired or wireless. For example, the communication method is WLAN (Wireless LAN), WiFi ( Wireless Internet method or mobile communication method such as Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), Wibro (Wireless broadband), Wimax (World Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), or radio frequency ( It may be one of short-range wireless communication methods such as RF) communication, Bluetooth, infrared communication (IrDA), and Zigbee.

Meanwhile, the controller 1211 may control the driving unit 1212 to set a movement route from one point in the mission area to another point, recognize the current position, and drive along the movement route.

To this end, the mobile robot 10 may include an input unit (not shown) for receiving various commands or inputs from a user. The input unit may include at least one button or the like to receive input from a user for moving point setting, moving route setting, or performing operation setting, and the input unit is interlocked with the communication unit 1215 to connect an external terminal device or Various commands or inputs can be received from the server.

Specifically, the user generates and transmits a movement command to the robots 121 to 123 using the user terminal 130 to move to a certain point in the mission area, or sets at least two points and moves generated accordingly. It is also possible to generate and transmit a driving command to drive once or more than two times along the route.

5 is a view showing a state of generating a control command for the movement of the robot according to an embodiment of the present invention.

As shown in FIG. 5, the user terminal 130 according to an embodiment of the present invention displays an icon R1 representing one of the robots 121 to 123 to be controlled at the current position of the robots 121 to 123. You can print it on the map accordingly.

As a specific example, the user terminal 130 includes a map of the mission area on the screen and icons (R1 to R3) representing the robots 121 to 123 at a position corresponding to the current position of the robots 121 to 123 on the map. Can be output (see Fig. 7).

At this time, in order for the user to create and transmit a position movement command to any one of several robots (R1), the user selects one of several robots (R1) on the screen and wants to move to the destination (for example, destination # 1 or by dragging to destination #2), that is, by using a drag and drop input, a position movement command for the robot can be generated and transmitted.

More preferably, as described above, a position movement command can be generated and transmitted to the robots 121 to 123, but in order to set the attitude or viewing direction of the robots 121 to 123 at the destination, the user can By using an input for dragging the appeared robot to the destination and selecting the surroundings of the robot icons R1 to R3, a direction setting command for the robots 121 to 123 at the destination can be generated.

In other words, the user selects one of several robots (R1) displayed on the screen and drags it to the destination to be moved (for example, destination #1 or destination #2), and then the corresponding robot icon (R1) of the destination. By moving in the corresponding direction within and then dropping, the user can generate a position movement command and a direction setting command for the robots 121 to 123 at once.

Meanwhile, according to an embodiment of the present invention, the user terminal 130 may use scratch coding to generate an operation task assigned to at least one of the robots 121 to 123 to be controlled.

Conventionally, in order to assign an operation task to at least one robot (121-123), the user had to write a control command directly, and in this case, a general user who cannot write a program performs an operation task on the robot (121-123). There was a very difficult problem to give.

According to an embodiment of the present invention, the above problem can be solved by generating the operation task to be assigned to the robots 121 to 123 by scratch coding.

The user terminal 130 may intuitively provide an operation command for a robot to a user, and provide an environment for the user to create an operation task consisting of a combination of operation commands by combining the listed operation commands.

6 is a view showing a state of generating a motion task for a robot according to an embodiment of the present invention. As shown in Fig. 6, according to an embodiment of the present invention, the user terminal 130 groups operation commands by type (for example, control, operation, movement, etc.) (refer to reference numeral W1), and this into each group. By providing the user with specific operation commands (refer to the drawing symbol W2), the user brings at least one operation command to the operation task creation window W3 as a drag and drop input and places it, thereby placing the user terminal ( 130) may generate a motion task with a combination of motion commands arranged by the user and transmit it to the corresponding robot.

In this way, even if the user does not have the ability to write a program, it is possible to code the creation of the operation mission for the robots 121 to 123 with a simple drag-and-drop command, so that a control command can be generated very easily.

On the other hand, according to an embodiment of the present invention, the control server 110 may set at least one functional zone in the mission area to limit the operation tasks of the robots 121 to 123 in the mission area.

7 is a diagram illustrating a function zone in a map is set according to an embodiment of the present invention.

As shown in FIG. 7, the user may set at least one functional zone Z1 to Z3 in the map m indicating the mission area using the user terminal 130.

The functional zones (Z1 to Z3) can be formed in various forms according to the user's boundary setting input, and various types according to the method of limiting the operation task of the robots 121 to 123 in the function zones (Z1 to Z3) set by the boundary. It can be divided into. In this case, the color displayed on the user terminal 130 may be differentiated and displayed in the functional zones Z1 to Z3 according to their type.

The robots 121 to 123 performing the motion task assigned by the user input can face the corresponding function zone (Z1 to Z3) set by the user while moving, and the robots 121 to 123 may face the corresponding function zone. Depending on the type of (Z1 to Z3), the corresponding operation can be performed.

According to an embodiment, the functional zones (Z1 to Z3) are a forbidden zone that prohibits the entry of robots within a mission area according to their function, and a limited number of robots within the zone can enter. It may be a limited zone, a speed zone allowing the robot to travel at high speed, or an alarm zone in which the robot outputs a warning signal such as sound or light around it.

The control server 110 can receive and recognize the current position of the robots 121 to 123 in real time, and compare the boundaries of the functional zones Z1 to Z3 set in the task area by the user, and compare the robots 121 to 123 ), it is possible to determine whether or not the current function zones Z1 to Z3 have been accessed or belong to them, and accordingly, a control command according to the corresponding function zones Z1 to Z3 may be generated and transmitted to the corresponding robots 121 to 123.

By setting various types of functional zones in the mission area, it is possible to collectively limit the operation tasks of the robots for each area even if a control command is not separately generated for each of the robots.

Meanwhile, FIG. 8 is a diagram illustrating an example in which a limited zone set according to an embodiment of the present invention operates.

As shown in FIG. 8, according to an embodiment of the present invention, a user may set at least one of the first to fourth limited zones ZL1 to ZL4 in the mission area using the user terminal 130.

As described above, the limited zone is a place where only a limited number of robots (R1 to R5) in the zone can enter, and there are only a preset limited number of robots (R1 to R5) in each limited zone. The limit number of robots R1 to R5 may be set differently for each limited zone.

At this time, it is possible to assign an operation task to sequentially move the first to fourth limited zones ZL1 to ZL4 clockwise to each of the robots R1 to R5, and the first to fourth limited zones ZL1 If there are a preset limited number of robots (R1 to R5) in any one of ~ZL4), the robot (R3) that wants to enter the limited zone (ZL3) is any one of the limited zone (ZL3) that wants to enter. It is desirable to wait just before entering the corresponding limited zone (ZL3) until it leaves.

In other words, when the number of robots (R4, R5) belonging to the limited zone (ZL3) does not reach the limit, the robot (R3), which is scheduled to enter, immediately enters and performs the task in the limited zone (ZL3). This is because it is preferable.

On the other hand, according to an embodiment of the present invention, the control server 110 has a collision avoidance zone (C1 to C2) around at least one of the plurality of robots (121 to 123) around the current position of the robot. Can be set. That is, the control server 110 may set a collision avoidance zone (C1 to C2) around at least one robot and control the movement of the robots to prevent other robots from entering the set collision avoidance zones (C1 to C2). have.

For example, if another robot (R1 to R5) is located within a collision avoidance zone (C1 to C2) or at the boundary of a collision avoidance zone (C1 to C2), or a collision avoidance zone (C1 to C2) set around a robot C2) When the boundary and the boundary of the collision avoidance zone (C1 to C2) set around other robots overlap each other, the movement of at least one of the adjacent robots can be controlled to prevent collisions between adjacent robots. .

At this time, there are various methods of determining the robots (R1 to R5) to be restricted movement, but the control server 110 according to an embodiment of the present invention prioritizes each of the robots (R1 to R5). It is desirable to control to limit the movement of robots with low priority among adjacent robots.

As shown in FIG. 9A, the control server 110 may set a collision avoidance zone C1 around the current position of one robot R1, and similarly, the other robot R2 Another collision avoidance zone (C2) can be set around the current location. If two robots (R1, R2) are moving in different directions and the collision avoidance zones (C1, C2) set around each robot (R1, R2) overlap, priority among the two adjacent robots (R1, R2) If there is no other robot in the collision avoidance zone set around the robot where movement is stopped or other collision avoidance zones do not overlap, the previously interrupted mission can be continued. have.

Collision avoidance zones (C1 to C2) set around the current position of the robots (R1 to R5) may be within a range of a predetermined distance based on the current position of the robots (R1 to R5), but a preferred embodiment Accordingly, it is preferable that the shape of the collision avoidance zones C1 to C2 is set variable according to the current moving speed of the corresponding robots R1 to R5.

9B is a view showing an example in which the collision avoidance zone of FIG. 9A is changed according to the state of the robot.

As shown in FIG. 9B, one of the robots R1 and R2 may be moving at high speed, and in the case of the robot R1 moving at a high speed, it is set around the robot R1. It is desirable to set the shape of the collision avoidance zone C1' differently.

That is, a collision avoidance zone (C1´) having a range of a predetermined distance is basically set based on the current position of the robot (R1), but a collision avoidance zone (C1´) corresponding to the direction in which the robot (R1) moves. The distance of) can be made longer depending on the moving speed of the robot R1. As shown in FIG. 9B, a collision avoidance zone C1′, which is set around the current position of the robot R1, is a collision avoidance zone C1 corresponding to the moving direction when the robot R1 moves at high speed. The shape can be changed by increasing the distance of ´).

In this way, when setting the collision avoidance zone around the robot, by considering the movement speed of the robot, when it overlaps with the collision avoidance zone of another robot or when another robot enters the collision avoidance zone, a mobile robot or a lifting ( It is possible to prevent the impact or falling of the transported material that is being lifted.

However, for the robots (R1 to R5) belonging to the limited zones (ZL1 to ZL4), it is desirable that the collision avoidance zones (C1 to C2) set around the robot do not deviate from the corresponding limited zones (ZL1 to ZL4).

This is because the existence of other robots who want to enter the limited zone (ZL1-ZL4), and there is a problem that a robot that cannot complete the task and quickly escape within the limited zone (ZL1-ZL4) may occur.

Multiple robot control method

10 is a step-by-step flowchart of a method for controlling a plurality of robots according to an embodiment of the present invention.

As shown in FIG. 10, in the method for controlling a plurality of robots according to an embodiment of the present invention, the robots 121 to 123 transmit status information to the user terminal 130 at the request of the user terminal 130, or The step (S110) of preparing a local control server (121a ~ 123a) to be assigned an operation task from the user terminal (130) (S110), and the control server (110) through the local control server (121a ~ 123a) the user terminal (130) Collecting at least one of the plurality of robots (R1 ~ R5) according to the request of the step (S121) and transmitting it to the user terminal 130 (S121), and the control server 110 from the user terminal 130 Including the step (S121) of receiving and transmitting the operation task for at least one of the robots (R1 ~ R5), but in the absence of the control server 110, the local control server (121a ~ 123a) is a request from the user terminal (130) Depending on the status information of the corresponding robots (R1 to R5) may be transmitted to the user terminal 130 or may be assigned an operation task from the user terminal 130.

In the end, regardless of whether there is one or multiple robots 121 to 123 in the mission area, there is no need to design the control environment differently, and there is no need to have the control server 110 necessarily, the robot 121 There is an effect that robots 121 to 123 can be placed and used quickly regardless of the size of the mission area to be utilized.

Since the description of each step included in the method for controlling multiple robots is redundant with that described above, a description thereof will be omitted and replaced.

Computer readable recording medium

The method for controlling a plurality of robots according to an embodiment of the present invention described above may be implemented in the form of program instructions that can be executed through various computer components and recorded in a computer-readable recording medium.

The computer-readable recording medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded in the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable to those skilled in the computer software field. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magnetic-optical media such as floptical disks. media), and a hardware device specially configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the processing according to the present invention, and vice versa.

In the above, preferred embodiments of the present invention have been described in detail with reference to the drawings. The description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that other specific forms can be easily modified without changing the technical spirit or essential features of the present invention.

Therefore, the scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning, scope and equivalent concepts of the claims are included in the scope of the present invention. It must be interpreted.

100: multiple robot control system 110: control server
121~123: Robot 121a~123a: Local control server
1211: control unit 1212: driving unit
1213: storage unit 1214: sensor unit
1215: communication unit 1216: state detection unit
130: user terminal

Claims (10)

User terminal;
At least one robot performing the assigned operation task-The robot includes a local control server that transmits status information to the user terminal at the request of the user terminal, or receives the operation task from the user terminal- ; And
A control server connected to enable communication with the plurality of robots to control the plurality of robots;
Including,
The control server collects at least one of the plurality of robots according to the request of the user terminal via the local control server and transmits the status information to the user terminal, or from the user terminal to one of the plurality of robots. Receiving and transmitting the operation task for at least one,
In the absence of the control server, the local control server transmits the status information of the robot to the user terminal according to the request of the user terminal, or receives the operation task from the user terminal,
The control server sets at least one functional zone in the mission area to limit the operation tasks of the plurality of robots in the mission area, but the functional zone allows only a limited number of robots to enter. Includes a limited zone,
Any one of the plurality of robots, when there are a limited number of robots in the limited zone, waits immediately before entering the limited zone until any one in the limited zone escapes. system. The method of claim 1,
The user terminal,
A multi-robot control system, characterized in that receiving a map generated by one of the robots to be controlled, modifying the generated map according to a user input, and updating the generated map. The method of claim 1,
The user terminal,
A plurality of robot control system, characterized in that for generating a position movement command and a direction setting command for at least one of the robots to be controlled by a user's drag & drop input at a time. The method of claim 1,
The user terminal,
The multi-robot control system, characterized in that the operation task for at least one of the robots to be controlled is generated by scratch coding. The method of claim 1,
The functional zone further includes a forbidden zone for prohibiting the entry of the robot, a speed zone for allowing high-speed driving, or an alarm zone for outputting a warning signal. Multiple robot control system. delete The method of claim 1,
The control server,
Setting a collision avoidance zone around at least one current position among the plurality of robots, and controlling movement of the plurality of robots to prevent other robots from entering the collision avoidance zone set around the robot. Multiple robot control system. The method of claim 7,
The control server,
A plurality of robot control system, characterized in that for controlling the movement of the plurality of robots according to the priority given to the plurality of robots. The method of claim 7,
The control server,
A plurality of robot control system, characterized in that the shape of the collision avoidance zone around the robot is variablely set according to the current moving speed of the robot. In the control method of a multi-robot control system comprising a user terminal, at least one robot performing the assigned operation task, and a control server for controlling the plurality of robots connected to communicate with the plurality of robots ,
The robot may transmit status information to the user terminal according to the request of the user terminal, or provide a local control server for receiving the operation task from the user terminal;
The control server includes the steps of collecting status information of at least one of the plurality of robots according to a request of the user terminal via the local control server and transmitting the status information to the user terminal; And
The control server, receiving and transmitting the operation task for at least one of the plurality of robots from the user terminal;
Including,
In the absence of the control server, the local control server transmits the status information of the robot to the user terminal according to the request of the user terminal, or receives the operation task from the user terminal,
The control server sets at least one functional zone in the mission area to limit the operation tasks of the plurality of robots in the mission area, but the functional zone allows only a limited number of robots to enter. Includes a limited zone,
Any one of the plurality of robots, when there are a limited number of robots in the limited zone, waits immediately before entering the limited zone until any one in the limited zone escapes. Way.

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