KR102370575B1 - Disaster robot training system in mr environment - Google Patents

Abstract

A disaster robot training system in an MR environment according to the present invention relates to a training system in which a robot including a camera and sensor is driven in a training space, and trainees are provided with a virtual environment like a real environment so that the trainees can train. The disaster robot training system in an MR environment includes a scenario module, a mixed environment implementation module, an interaction module, a robot driving module, and a control module.

Description

Disaster robot training system in MR environment

The present invention relates to a disaster response robot training system in an MR environment that builds a disaster scenario in an MR environment (mixed environment) and enables trainees to drive robots, and to allow trainees to recognize the same situation as the real situation during training.

The era of the 4th industrial revolution demands the speed of rapid change in the modern society that pursues technological innovation, and robots and artificial intelligence have become one of the fields of attention in the modern society.

These robots have been developed for the purpose of replacing many of the tasks of humans, and in the near future, it is expected that they will take over the tasks of rescuing people at disaster sites and restoring damaged facilities.

Disasters, such as fire, flood, and landslide, require very important responses and situational judgment at every moment.

In a disaster situation, flying robots such as ground-running robots or drones, or various types of robots are developed and operated as needed.

In the event of a disaster, the controller's ability to control and respond appropriately to the disaster response robot is required.

The existing evaluation system for training and evaluating the disaster response capability of the controller is mainly limited to training and evaluating the operational capability of the controller in a virtual environment.

There is a need for a system that trains or evaluates the ability to handle a variety of disaster situations while operating real robots and issuing timely commands.

The key element of this system for training and evaluation of disaster situations is to make the trainees who control the real robot feel the virtual environment the same as the real one, but it is necessary to make the robot in the real environment recognize the disaster mission in the virtual environment. Since there is no system to control it, it has become a limitation of the virtual environment.

For example, in the real virtual simulation training system called LVC (Live-Virtual-Constructive), since training in tactics and recognition of virtual enemies are the main points, an environment in which the real control robot and the virtual medium are in contact is not created. Therefore, there is a difference from the disaster environment, and in addition, many training systems having a virtual simulation training system do not use real robots, so there is a problem that trainees feel a sense of heterogeneity in the real situation.

The present invention is an invention devised to solve the problems of the prior art, and has an object to provide a system in which trainees train through a robot to respond to a disaster in an MR environment.

In particular, the present invention makes the trainee feel so that the robot in the real environment recognizes the disaster mission in the virtual environment, and provides a system for training to preferably operate the robot in a disaster situation through training to cope with an unexpected situation in the scenario. have

The problems of the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the following description.

A disaster robot training system in an MR environment of the present invention for achieving the above object is a training system for training a trainee to respond to a disaster mission by controlling a robot in a disaster situation, wherein the trainee By manipulating the robot, environmental factors that may occur during the disaster mission are set as a training event, and the trainee drives the robot to perform the disaster mission and training in response to the training event. A scenario module to build, a mixed environment realization module for realizing the disaster mission in virtual or real form in the scenario, determining whether the training event is real or virtual in the scenario, and the trainee using the robot to perform the disaster mission When the virtual training event occurs during operation, the robot restricts the operation of the robot due to the virtual training event before the trainee commands the robot to control the robot so that the trainee recognizes the virtual training event When the operation of the robot is restricted in the interaction module, the robot driving module and the robot are sent to the robot by giving priority to the command to limit the driving of the robot rather than the command by the trainee to control the robot and the robot is the disaster It may include a control module that provides the trainee with a result driven by a command of the trainee while performing a task and a result of limiting the operation of the robot in the interaction module to the trainee.

And the interaction module determines whether the training event is an actual training event or a virtual training event in a scenario, and when it is the virtual training event, the trainee commands the robot and drives the robot so that the robot corresponds to the virtual training event. When the trainee fails to control the robot to respond to the virtual training event by receiving the determination result from the interaction determination unit and the interaction determination unit to determine whether the command result matches the command result, a command to limit the operation of the robot is issued and an interaction control unit provided to a robot driving module, wherein the interaction control unit limits the operation of the robot in the virtual training event so that the trainee recognizes the virtual training event.

In addition, in the interaction module, when the interaction determining unit determines that the training event is the actual training event, the interaction control unit may not be involved in driving the robot.

The interaction control unit may extract the virtual training event information from the scenario module and generate a control command that is a command for limiting the operation of the robot in response to the size and location of the virtual training event.

In addition, the robot may include a robot action unit that physically changes the robot state of the robot so that the trainee can recognize a result corresponding to the virtual training event.

In addition, the robot is provided with wheels to be movable, and the robot action unit is mounted on the wheel of the robot to block the driving force that rotates the wheel by the control command.

In addition, the trainee may further include a training evaluation module for evaluating a result of manipulating the robot while coping with the disaster mission and the training event by driving the robot.

And the training evaluation module may derive a result by comparing it with pre-stored scenario success data using the driving information of the robot, the position information of the robot, and the time information when the robot passed the scenario in the scenario. .

The disaster robot training system in the MR environment of the present invention for solving the above problems can be trained like a trainee training in a mixed environment is training in a real situation.

In addition, there is an advantage in that there is spatial efficiency in that the trainee controls the real robot in a virtual environment while controlling it.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a diagram illustrating a disaster scenario displayed to trainees in a robot training system in a disaster robot training system in an MR environment according to an embodiment of the present invention;
2 is a diagram conceptually illustrating some of a plurality of scenarios for training in a disaster robot training system in an MR environment according to an embodiment of the present invention;
3 is a view showing the overall concept for building a mixed environment in the disaster robot training system in the MR environment according to an embodiment of the present invention;
4 is a signal flow diagram between trainees, robots, and systems in a disaster robot training system in an MR environment according to an embodiment of the present invention;
5 is a diagram illustrating an algorithm of an interaction module of a disaster robot training system in an MR environment according to an embodiment of the present invention;
6 is a conceptual diagram illustrating a robot driving for a virtual training event in a disaster robot training system in an MR environment according to an embodiment of the present invention;
7 is a conceptual diagram of a state in which a robot can recognize a virtual training event by a control command in a disaster robot training system in an MR environment according to an embodiment of the present invention;
8 is a diagram showing the training degree of trainees according to whether a disaster mission is virtual or real through a training evaluation module in a disaster robot training system in an MR environment according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present invention pertains can easily practice the present invention.

In describing the embodiments, descriptions of technical contents that are well known in the technical field to which the present invention pertains and are not directly related to the present invention will be omitted. This is to more clearly convey the gist of the present invention without obscuring the gist of the present invention by omitting unnecessary description.

For the same reason, some components are exaggerated, omitted, or schematically illustrated in the accompanying drawings. In addition, the size of each component does not fully reflect the actual size. In each figure, the same or corresponding elements are assigned the same reference numerals.

The present invention will be described in detail with reference to the drawings.

1 is a diagram illustrating a disaster scenario displayed to trainees in a training system 300 of a disaster robot 100 in an MR environment according to an embodiment of the present invention, and FIG. 2 is an MR environment according to an embodiment of the present invention. It is a diagram conceptually showing some of a plurality of scenarios for training in the disaster robot 100 training system 300, and FIG. 3 is a disaster robot 100 training system in an MR environment according to an embodiment of the present invention. It is a view showing the overall concept for building a mixed environment in 300, and FIG. 4 is a trainee, robot 100 and It is a signal flow diagram between the systems 300, and FIG. 5 is a diagram showing the algorithm of the interaction module 330 of the disaster robot 100 training system 300 in an MR environment according to an embodiment of the present invention, FIG. It is a conceptual diagram illustrating the operation of the robot 100 for a virtual training event F in the disaster robot 100 training system 300 in an MR environment according to an embodiment of the present invention, and FIG. 7 is an embodiment of the present invention It is a conceptual diagram of a state in which the robot 100 can recognize the virtual training event F by the control command 331 in the disaster robot 100 training system 300 in the MR environment according to the present invention, and FIG. It is a diagram showing the training degree of trainees according to whether the disaster mission E is virtual or real through the training evaluation module 360 in the disaster robot 100 training system 300 in the MR environment according to an embodiment of

The present invention implements a disaster situation like the real one in a mixed environment (MIXED-REALITY) so that a trainee who controls the real robot 100 trains in a virtual disaster situation in a disaster robot 100 training system 300 ), the configuration of the system 300 may include a mixed environment implementation module 310 , a scenario module 320 , an interaction module 330 , a robot driving module 340 , and a control module 350 . .

The system 300 may be stored in the robot 100 , and may be stored in the controller 200 in which the trainee controls the robot 100 .

First, the robot 100 according to an embodiment of the present invention has a body, a moving part, and a camera 120, and a part of the body may include a communication arm 140 capable of communicating with a virtual environment.

In addition, since the robot 100 is equipped with various sensors therein, it is possible to generate information about the robot 100 .

The sensor provided in the robot 100 may include a position sensor, a communication sensor, a speed (including acceleration) sensor, and a photo sensor.

And it is premised that the robot 100 is moved in the training space, which is the real environment of the present invention, and in the real space, markers are formed on the ceiling and wall, and the robot 100 can transmit location information through the marker. Also, the image captured by the robot 100 can be transmitted in real time.

The sensor data and image data are transmitted to the system 300 in real time, and the trainee can drive the robot 100 through the controller 200 that can drive the robot 100 in the training space.

The controller 200 provides a control command 342 to the robot 100 so that a trainee can remotely control the robot 100 in a space separate from the training space.

Here, the steering command 342 may refer to a command for controlling the robot from a trainee so that the robot performs a disaster mission.

The controller 200 includes a joystick and buttons, and may be displayed as a mixed environment so that a virtual target object G1 and a virtual training event F are generated at a specific location in the image data.

Also, the controller 200 may have a display configured to view the mixed environment.

Therefore, the trainee can train in the form of driving the actual robot 100 in the training space while watching a mixed environment such as a disaster environment in the controller 200 .

Meanwhile, creating a mixed environment through the image data may be performed by the mixed environment realizing module 310 .

And the scenario module 320 is linked with the mixed environment implementation module 310, and by identifying the structure of the training space, it corresponds to the disaster mission (E) and the scenario achievement goal between the starting location (P1) and the target location (P2). A scenario including the target location P2 in which the virtual target object G1 is disposed may be generated.

In addition, the fire G1 may be extinguished by communicating with the virtual target object G1 through the communication arm 140 mounted on the robot 100 .

The interaction module 330 may generate size and location information of the virtual target object G1 as well as the virtual training event F.

Specifically, the interaction determination unit 332 determines whether the robot 100 is adjacent to the virtual target object G1 with information on the virtual target object G1 disposed at the target position P2, and the interaction control unit ( 334 may cause the virtual target object G1 to disappear from the scenario through the direction and time of the signal generated from the communication arm 140 in response to the virtual target object G1 information.

The above scenario may be implemented as a mixed environment.

Therefore, the trainee proceeds with the scenario while viewing the image implemented in the mixed environment in the controller 200. In this case, the robot 100 may be driven by receiving the trainee's control command 342 in the mixed environment.

On the other hand, the interaction module 330 checks the disaster mission (E) occurring in the mixed environment, and determines whether the robot 100 has reached the contact point in contact with the disaster mission (E) by the control command 342, and the contact A control command 331 for controlling the robot 100 is generated at a point.

Specifically, the interaction module 330 reacts as if there is a virtual training event F at the point of contact where the trainee drives the robot 100 through the control command 342 and the virtual training event F exists. In order to do so, a control command 331 for controlling the driving of the robot 100 may be generated before the manipulation command 342 at the contact position.

Through this, the trainee can confirm on the display as if the robot 100 was moving and collided with the wall, which is the virtual training event (F).

Here, it may be the robot driving module 340 that provides the control command 342 and the control command 331 to the robot 100 .

The robot driving module 340 may provide a control command 331 to the robot 100 at a point of contact where the robot 100 comes into contact with the virtual training event F, such as when the robot 100 collides with the actual training event R. .

At this time, the trainee's display is provided with a scenario of a mixed environment, so that the trainee can see it as if he had hit a real wall.

In this way, the control command 342 and the control command 331 are selected and connected to the robot driving module 340 provided to the robot 100, and the control provided so that the trainee can check the results of the operation of the robot 100 in the scenario A module 350 may be included.

The control module 350 provides a steering command 342 and a control command 331 from the robot driving module 340 to the robot 100 so that the robot 100 comes into contact with the disaster mission E, or comes into contact with the robot 100 and leaves. A state in which the trainee can provide the control command 342 to the robot 100 may be provided in the completed state.

That is, the robot 100 is to provide a steering timing so that the trainee can recognize that the collision with the virtual training event (F).

An embodiment of the present invention will be described in detail with reference to the following drawings.

1 shows a fire (G1) scenario in which virtual objects (G1, G2) are set as a fire (G1).

In the scenario, the robot 100 needs to extinguish the fire G1 by moving from the starting position P1 to the target position P2 where the virtual objects G1 and G2 are formed. A disaster mission E may be formed between the starting position P1 and the target position P2 .

The disaster mission (E) corresponds to the wall and may be an actual training event (R) formed in the training space, or a virtual training event (F) that is not in the training space.

In order to accomplish the scenario mission, the trainee avoids the disaster mission (E), moves to the target location (P2), and performs training to extinguish the fire (G1).

In the fire (G1) scenario, as shown in FIG. 2 , as well as training to suppress the fire (G1), it can be provided as a scenario to rescue the person in need (G2).

As such, the scenario is not limited to the rescue of the fire (G1) and the rescuer (G2), and according to the disaster situation in the scenario module 320, a scenario including a fire (G1), a tornado, a rescue, a flood, etc. may be provided. , and the corresponding virtual objects G1 and G2 may be provided in various ways through scenario construction.

In this embodiment, a fire (G1) scenario is selected and described.

In FIG. 2 , the scenario module 320 is divided into a starting location P1 and a target location P3 where the scenario starts, and a fire G1 corresponding to the scenario mission between the starting location P1 and the target location P3. Alternatively, the requestor G2 includes the target position P2 formed of the virtual objects G1 and G2.

The scenario module 320 may adjust the arrangement of the start position P1, the target position P2 and the target position P3, and the disaster mission E with actual information about the training space.

In this case, the scenario module 320 may provide a scenario in the mixed environment to the trainee together with the mixed environment implementation module 310 .

In order to provide such a structure to the trainee so that the trainee can have a training effect corresponding to the actual disaster environment in a mixed environment, it can be implemented by the configuration of the system 300 of the present invention.

In addition, in the trainee evaluation according to the present invention, the scenario module 320 may randomly arrange an actual training event (R) and a virtual training event (F) on the scenario.

This, in conjunction with the training evaluation module 360, determines the number of disaster missions (E) according to the level of training, and may alternately place the disaster missions (E) in virtual or virtual, or select only one of the virtual or virtual can also be placed.

And the disaster mission (E) may include an event (not shown).

The event can be implemented in virtual or real form, and may include an area where oil leaks on the floor where the robot is driven, gusts of wind, rain, hail, thunder, and gravel spread in the scenario.

Since an object of the present invention is to allow trainees to experience virtual objects G1 and G2 implemented virtually in a mixed environment as an entity, details will be described with reference to FIGS. 3 and 4 .

In FIG. 3 , the trainee driving the robot 100 with the controller 200 intervenes with the system 300 to control the robot 100 drive and implement the mixed environment, and the robot 100 is moved in the training space without anything, but the trainee is actually You can make it feel like

First, the mixed environment implementation module 310 implements a mixed environment by adding a virtual training event (F) and virtual objects (G1, G2) to the image through the image captured by the robot 100 and the information of the training space, and the robot ( 100) is moved and a virtual training event (F) and virtual objects (G1, G2) are displayed in real time in response to an image in which the direction is changed.

Here, the mixed environment implementation module 310 may arrange the virtual training event F and the virtual objects G1 and G2 together with the scenario module 320 .

In addition, the interaction module 330 determines the location of the disaster mission E in the scenario and generates a control command 331 capable of controlling the robot 100 at the contact point.

Specifically, the interaction module 330 determines whether an actual training event (R) in the training space that is a disaster mission (E) or a virtual training event (F) generated by the mixed environment implementation module 310 or the type of disaster mission (E) It may include an interaction determination unit 332 that determines and generates disaster mission (E) information including the location of the disaster mission (E) in the scenario.

In addition, the disaster mission (E) information for the virtual training event (F) adjacent to the robot 100 is provided to the robot 100 to control the robot 100 when the robot 100 is close to the disaster mission (E). It may include an interaction control unit 334 that generates a control command 331 and provides it to the robot driving module 340 .

The interaction determination unit 332 generates the size of the virtual training event (F) as a plurality of coordinate data on the scenario according to the disaster mission (E) information to measure the distance between the robot 100 and the virtual training event (F). The interaction control unit 334 provides the control command 331 to the robot driving module 340 at the contact point where the robot 100 and the virtual disaster mission E come into contact, so that the robot driving module 340 is the robot ( 100) may be able to provide a control command 331 .

The control command 331 may include coordinate data for a virtual volume of the disaster mission E according to the disaster mission E information.

Subsequently, in order for the interaction control unit 334 to provide the control command 331 to the robot driving module 340, it is determined as a preset threshold value between the robot 100 and the virtual training event F, and the robot 100 is contacted. The control command 331 may be provided at a threshold imminent at a point.

At this time, the trainee continues to transmit the control command 342 , but the robot driving module 340 preferentially provides the control command 331 to the robot 100 at the contact point.

Let me explain with an example.

Assume that the robot 100 is in contact with the virtual training event F several times due to the trainee's manipulation mistake.

The interaction determination unit 332 first generates the disaster mission (E) information of the virtual training event (F), and the interaction control unit 334 is the robot 100 and the location of the robot 100 in proximity to the disaster mission (E). When it is determined that is a threshold value, the control command 331 is provided to the robot driving module 340 . In addition, the robot driving module 340 provides a control command 342 to the robot 100 so that the robot 100 is driven, and when the control command 331 is received, control when the robot 100 is located at the contact point. A command 331 is provided to the robot 100 , and when it deviates from the contact point, a control command 342 is provided to the robot 100 again.

The control command 331 causes the robot 100 to recognize the virtual training event F. Therefore, when the control command 331 is received, the control command 342 is not received, so that the trainee can feel it as if the robot 100 hit a wall.

Meanwhile, the state when the robot 100 comes into contact with the disaster mission E is shown in FIG. 4 as a flow according to the signal.

When a trainee first controls the robot 100 in a situation where the robot 100 departs from the starting position P1, the robot driving module 340 provides a control command 342 to the robot 100, and the robot 100 The image of is transmitted to the system 300 .

In the system 300 , the mixed environment implementation module 310 corresponds to the image and provides the mixed environment on the display, and the trainee continues to control the robot 100 and moves to the target position P2 .

When the robot 100 encounters a virtual training event F while moving, the interaction module 330 generates a control command 331 and provides it to the robot driving module 340, and the robot driving module 340 is the control module 350 ) through which the robot 100 provides a mixed environment with a result corresponding to the virtual training event F. After the virtual training event F, the trainee continues to move by controlling the robot 100 .

In a situation where the virtual training event F and the robot 100 are close to each other, the interaction module 330 operates as shown in FIG. 5 .

When the steering command 342 is received, the robot 100 is driven (S01) through the steering command 342, and the steering command 342 generates the disaster mission (E) information by the interaction determination unit 332 and controls the command. It is determined whether 342 has reached the contact point (S02), and it is determined whether the robot 100 has reached the contact point and made contact with the virtual training event (F) (F) (S03).

And when the robot 100 reaches the contact point and does not come into contact with the virtual training event (F) (F), the robot 100 drive module 340 provides the control command 342 to the robot 100, and the contact If done, the robot 100 driving module 340 provides control commands 331 and 331 to the robot 100 (S04), and the control modules 350 and 350 are displayed on the display (S05).

A state in which the control command 331 allows the robot 100 to come into contact with the virtual training event F is shown in FIGS. 6 to 7 .

Since there is no virtual training event (F) in the training space, the user may pass the virtual training event (F) due to a steering mistake.

However, the control command 331 prevents the virtual training event F from passing by controlling the driving force of the robot 100 so that the virtual training event F and the robot 100 can come into contact.

Since the interaction determination unit 332 generates the disaster mission (E) information as coordinate data, the control command 331 controls the operation of the robot 100 in response to the size and shape of the virtual training event F.

It is an object of the present invention to increase the training element of the trainee by recognizing the virtual training event F by the robot 100 as well.

Evaluation of whether the trainee has performed the scenario mission to avoid the disaster mission (E) in the scenario is performed in the training evaluation module 360 .

First, the elements of training in a scenario can be a disaster mission (E) and a scenario mission.

Accordingly, the trainee is evaluated by the training evaluation module 360 in a series of processes of overcoming the disaster mission E and completing the scenario mission.

The evaluation may be a score evaluation in units of 1 point on a scale of 1 to 10, or success or failure.

For example, if the robot 100 is driven by the control command 342 and then the control command 331 is generated, a loss may occur.

In addition, disaster missions (E) and events can be evaluated relative to other trainees as time out of the situation.

To this end, the training evaluation module 360 may include a separate display through which the evaluator can check the screen for driving the trainee's robot 100 together.

As shown in FIG. 8 , if an actual disaster mission (E) is placed in the training space in the training evaluation module 360, the robot 100 can contact the actual disaster mission (E) according to the control command 342 . However, it is difficult to implement the disaster mission (E) similarly to the actual situation because it is expensive and the number of training items is limited, so the number of training items is inevitably reduced.

However, with the intervention of the system 300, when the robot 100 recognizes the virtual training event (F), the trainee can implement the virtual training event (F) in various ways, and various training items can be arranged on the scenario Do. Therefore, the number of training items increases, and the evaluation items can be evaluated according to the training items.

Training of trainees is carried out in a scenario, and it is possible to evaluate the achievement of the scenario mission and the ability to cope with the disaster mission.

Specifically, in the scenario, trainees cannot distinguish between an actual training event (R) or a virtual training event (F), and both are perceived as a disaster mission (E).

Therefore, when the disaster mission (E) appears, the robot 100 can be driven with the control command 342 to avoid the disaster mission (E), and the disaster mission (E) and the disaster mission (E) cannot be avoided. If it is touched, it may be a factor of deduction of points.

Also, when the scenario task is a fire, the fire can be extinguished by operating the communication arm 140 and communicating with the virtual fire.

At this time, the distance between the robot 100 and the fire, the time to operate the communication arm 140 when it is operated, etc. are elements of training, and the trainee is trained through the trainee's control command 342 in the training evaluation module 360. can be evaluated

Subsequently, the training evaluation module 360 may determine that the control command 331 is generated from the interaction module 330 as a training deduction factor.

As described above, the preferred embodiments according to the present invention have been reviewed, and the fact that the present invention can be embodied in other specific forms without departing from the spirit or scope of the present invention in addition to the above-described embodiments is a matter of ordinary skill in the art. It is obvious to them. Therefore, the above-described embodiments are to be regarded as illustrative rather than restrictive, and accordingly, the present invention is not limited to the above description, but may be modified within the scope of the appended claims and their equivalents.

100: robot
200: controller
300: system
310: Mixed Environment Implementation Module
320: scenario module
330: interaction module
332: interaction judgment unit
334: interaction control
340: robot driving module
350: control module

Claims (8)

As a training system for training that trainees can respond to disaster missions by controlling robots in a disaster situation,
The trainee controls the robot to set an environmental factor that may occur during the disaster mission performance as a training event, and the trainee drives the robot to perform the disaster mission and to train in response to the training event Scenario module to build a scenario so that;
a mixed environment realization module that implements the disaster mission in virtual or real form in the scenario;
It is determined whether the training event is real or virtual in the scenario, and when the virtual training event occurs while the trainee is manipulating the robot to perform the disaster mission, the trainee performs the command before the command to control the robot an interaction module for allowing the robot to restrict the operation of the robot due to the virtual training event so that the trainee recognizes the virtual training event;
a robot driving module that, when the operation of the robot is restricted in the interaction module, prioritizes a command for restricting driving of the robot over a command for the trainee to control the robot and sends the command to the robot; and
A control module that provides the trainee with a result of driving the robot by the trainee's command while performing the disaster mission and a result of limiting the operation of the robot in the interaction module,
The interaction module is
In the scenario, it is determined whether the training event is an actual training event or a virtual training event. an interaction determination unit that determines whether or not they match; and
When the trainee receives the determination result from the interaction determination unit and fails to control the robot to respond to the virtual training event, an interaction control unit for providing a command to limit the operation of the robot to the robot driving module;
The interaction control unit limits the driving of the robot in the virtual training event so that the trainee recognizes the virtual training event,
The interaction determination unit determines that the robot and the training event come into contact with a preset threshold value, and when the robot reaches the preset threshold value, the robot driving module is more than a command for the trainee to control the robot, the interaction characterized in that the control unit preferentially transmits a command to limit the driving of the robot to the robot,
Disaster robot training system in MR environment.
delete According to claim 1,
The interaction module,
When the interaction determining unit determines that the training event is the actual training event, the interaction control unit is not involved in driving the robot,
Disaster robot training system in MR environment.
According to claim 1,
The interaction control unit,
Extracting the virtual training event information from a scenario module to generate a control command that is a command for limiting the operation of the robot in response to the size and location of the virtual training event
Disaster robot training system in MR environment.
5. The method of claim 4,
The robot is
Characterized in that it comprises a robot action unit that physically changes the robot state of the robot so that the trainee can recognize a result corresponding to the virtual training event,
Disaster robot training system in MR environment.
6. The method of claim 5,
The robot is provided movably with wheels,
The robot action unit,
It is mounted on the wheel of the robot, characterized in that it blocks the driving force to rotate the wheel by the control command,
Disaster robot training system in MR environment.
According to claim 1,
The trainee further comprises a training evaluation module for evaluating the result of manipulating the robot while coping with the disaster mission and the training event by driving the robot,
Disaster robot training system in MR environment.
8. The method of claim 7,
The training evaluation module,
In the scenario, the robot's driving information, the robot's position information, and the time information when the robot passed the scenario are compared with pre-stored scenario success data to derive a result,
Disaster robot training system in MR environment.

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