KR102513728B1 - Control method and system for robot - Google Patents

Abstract

The present invention relates to robot remote control, and is a robot remote control method and system capable of controlling movement paths of a plurality of robots. A method for remotely controlling driving of a robot includes controlling a specific robot to move along a first predetermined path, receiving a failure event for a specific area of the first path, and based on the failure event. So, generating a second path avoiding the specific area and controlling the specific robot so that the specific robot moves along the second path, wherein the destination of the second path is, It provides a robot remote control method, characterized in that related to the destination of the first route.

Description

Robot remote control method and system {CONTROL METHOD AND SYSTEM FOR ROBOT}

The present invention relates to remote control of a robot, and is a method and system for remote control of a robot capable of controlling a moving path of a robot in consideration of obstacles.

As technology develops, various service devices are appearing, and in particular, technology development for robots performing various tasks or services has been actively conducted recently.

Furthermore, in recent years, as artificial intelligence technology, cloud technology, and the like develop, the utilization of robots is gradually increasing.

Meanwhile, in order to provide various tasks or services to a robot, it is very important to set a movement path for accurately moving the robot to a target point.

Meanwhile, when the robot travels in space, obstacles and the like may exist on the movement path. If it is impossible to drive according to the planned route due to an obstacle, the travel route must be changed and the driving plan must be changed along a detour route.

Accordingly, Korean Patent Registration No. 10-2148010 (apparatus and method for cloud server-based unmanned mobile IoT service) discloses a method for generating a bypass path in units of robots.

However, when the detour path is created in units of robots, the detour path can be created only after other robots passing through the same path encounter an obstacle, which may cause a problem in that the robot moves on an inefficient path. Accordingly, there is still a need for a control system capable of efficiently controlling the movement paths of a plurality of robots even if there is an environmental change according to an obstacle on the movement path of the robots.

The present invention provides a remote control method and system for a robot. More specifically, the present invention is to provide a robot remote control method and system capable of efficiently controlling the movement paths of a plurality of robots.

Furthermore, the present invention provides a robot remote control method capable of reflecting information on the obstacle to the moving path of another robot when a failure event occurs in which a specific robot cannot move along a predetermined driving path due to an obstacle while driving. and to provide a system.

In addition, the present invention is to provide a robot remote control method and system that provides a user environment capable of efficiently controlling the movement path of the robot.

In order to solve the problems described above, a method for remotely controlling driving of a robot includes the steps of controlling a specific robot to move along a first predetermined path, and receiving a failure event for a specific area of the first path. generating a second path avoiding the specific area based on the failure event and controlling the specific robot so that the specific robot moves along the second path; The destination of the second path provides a robot remote control method, characterized in that related to the destination of the first path.

In addition, the system for remotely controlling the driving of the Bo-Robot includes a communication unit configured to transmit and receive data with the robot and a controller configured to control a specific robot to move along a preset first path, wherein the controller When receiving an obstacle event for a specific area in 1 path, based on the failure event, a second path avoiding the specific area is created, and the specific robot is instructed to move along the second path. Performs control for, and the destination of the second path provides a robot remote control system, characterized in that related to the destination of the first path.

A program, which is executed by one or more processes in an electronic device and can be stored in a computer-readable recording medium, performs control of a specific robot to move along a predetermined first path, a specific one of the first path Receiving a failure event for a zone, generating a second path avoiding the specific zone based on the failure event, and controlling the specific robot to move along the second path It includes instructions for performing the step to be performed, and the destination of the second path may be related to the destination of the first path.

As described above, the robot remote control method and system according to the present invention can flexibly cope with obstacles by reflecting information on obstacles affecting the movement of the robot to the movement paths of other robots as well as the corresponding robot. A robot control environment can be provided.

Furthermore, the method and system for remotely controlling a robot according to the present invention utilize robots to monitor whether an obstacle event is resolved, thereby enabling efficient remote management of an obstacle without intervention by a manager.

In addition, the robot remote control method and system according to the present invention continuously monitors whether or not the failure event is released (or resolved) so that the corresponding area can be used as the robot's driving path when the failure event is released. Through this, the present invention can efficiently control the driving of a plurality of robots according to obstacle conditions in a space.

In addition, in the present invention, when it is impossible to create a detour path for a robot due to an obstacle, it is possible to complete a task assigned to the robot even in an unexpected situation caused by an obstacle by using another robot or having a manager intervene.

1 and 2 are conceptual diagrams for explaining a robot remote control method and system according to the present invention.
3 is a conceptual diagram for explaining a method for estimating an image collected from a robot and a current position of the robot in the robot remote control method and system according to the present invention.
4 is a conceptual diagram illustrating map information used to set a path of a robot.
5 is a flowchart for explaining a robot remote control method according to the present invention.
6a, 6b, 6c, and 6d are conceptual diagrams illustrating a robot remote control method according to the present invention.
7A and 7B are conceptual diagrams illustrating types of obstacle events and movement paths of the robot with respect to obstacles.
8A, 8B, 8C, and 8D are conceptual diagrams illustrating an embodiment of monitoring an obstacle and resetting a path of a robot according to the present invention.
9A and 9B are conceptual diagrams illustrating an embodiment in which another robot performs the mission of a robot unable to perform the mission due to an obstacle.
10 is a conceptual diagram illustrating an embodiment in which a manager intervenes in a robot unable to perform a mission due to an obstacle.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same reference numerals will be assigned to the same or similar components regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

It is 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, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

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

In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

The present invention provides a driving control method and system for a robot, and more specifically, to provide a method and system capable of efficiently controlling movement paths of a plurality of robots. Hereinafter, together with the accompanying drawings, a robot driving control system will be reviewed. 1 and 2 are conceptual diagrams for explaining a robot remote control method and system according to the present invention.

For example, as shown in FIG. 1 , as technology develops, utilization of robots is gradually increasing. Conventional robots have been utilized in special industrial fields (eg, industrial automation related fields), but are gradually transforming into service robots capable of performing useful tasks for humans or facilities.

A robot capable of providing various services as described above may be configured to travel in a space 10 as shown in FIG. 1 in order to perform assigned tasks. The type of space in which the robot travels is not limited, and may be made to travel in at least one of an indoor space and an outdoor space as needed. For example, the indoor space may be various spaces such as a department store, an airport, a hotel, a school, a building, a subway station, a train station, and a bookstore. As such, the robot may be arranged in various spaces to provide useful services to humans.

Meanwhile, in order to provide various services using a robot, it is very important to accurately control the robot. Accordingly, the present invention proposes a method for more accurately controlling a robot remotely by using a camera disposed in space together.

As shown in FIG. 1 , a camera 20 may be disposed in the space 10 where the robot is located. As shown, the number of cameras 20 disposed in the space 10 is not limited. As illustrated, a plurality of cameras 20a, 20b, and 20c may be disposed in the space 10. The types of cameras 20 disposed in the space 10 may vary, and in the present invention, a CCTV (closed circuit television) disposed in the space may be particularly utilized.

As shown in FIG. 2 , in the robot remote control system 300 according to the present invention, the robot 100 can be remotely managed and controlled.

The robot remote control system 300 according to the present invention is an image received from a camera 20 (eg, CCTV) disposed in the space 10, an image received from the robot, information received from a sensor provided in the robot, and Using at least one of information received from various sensors provided in the space, driving of the robot may be controlled or appropriate control of the robot may be performed.

As shown in FIG. 2, the robot remote control system 300 according to the present invention includes at least one of a communication unit 310, a storage unit 320, a display unit 330, an input unit 340, and a control unit 350. can include

The communication unit 310 may communicate with various devices disposed in the space 10 by wire or wirelessly. The communication unit 310 may communicate with the robot 100 as shown. The communication unit 310 may be configured to receive an image taken from a camera provided in the robot 100 through communication with the robot 100 .

Furthermore, the communication unit 310 may perform direct communication with the camera 20 . Furthermore, the communication unit 310 may communicate with the video control system 2000 that controls the camera 20 . When communication is made between the video control system 2000 and the communication unit 310, the robot remote control system 300 is photographed (or received) by the camera 20 from the video control system 2000 through the communication unit 310. ) can receive images.

Furthermore, the communication unit 310 may be configured to communicate with at least one external server (or external storage, 200). Here, the external server 200, as shown, may be configured to include at least one of a cloud server 210 and a database 220. Meanwhile, in the external server 200, it may be configured to perform at least a part of the role of the control unit 350. That is, data processing or data calculation can be performed in the external server 200, and the present invention does not place any particular limitation on this method.

Meanwhile, the communication unit 310 may support various communication methods according to communication standards of communicating devices.

For example, the communication unit 310 may include Wireless LAN (WLAN), Wireless-Fidelity (Wi-Fi), Wireless Fidelity (Wi-Fi) Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), WiMAX ( World Interoperability for Microwave Access), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), 5th Generation Mobile Telecommunication (5G) , Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi Direct, Wireless USB (Wireless Universal) Serial Bus) technology may be used to communicate with a device (including a cloud server) located inside or outside the space 20 .

Next, the storage unit 320 may be configured to store various information related to the present invention. In the present invention, the storage unit 320 may be provided in the robot remote control system 300 itself. Alternatively, at least a portion of the storage unit 320 may mean at least one of the cloud server 210 and the database 220 . That is, it can be understood that the storage unit 320 suffices as long as it is a space for storing necessary information for robot control according to the present invention, and there is no restriction on physical space. Therefore, hereinafter, the storage unit 320, the cloud server 210, and the database 220 are not separately distinguished, and are all expressed as the storage unit 320. At this time, the cloud server 210 may mean "cloud storage". Furthermore, the storage unit 320 may be configured to store various information related to the video control system 2000 as well as information about the robot remote control system 300 .

First, information about the robot 100 may be stored in the storage unit 320 .

The information on the robot 100 can be very diverse, and the information on the robot 100 is, for example, i) identification information for identifying the robot 100 disposed in the space 10 (eg, serial number, TAG information, QR code information, etc.), ii) mission information assigned to the robot 100, iii) driving route information set in the robot 100, iv) location information of the robot 100, v) robot ( 100) state information (eg, power state, failure, battery state, etc.), vi) image information received from a camera provided in the robot 100, and the like may exist.

Next, a map (or map information) for the space 10 may be stored in the storage unit 320 . Here, the map may include at least one of a 2D map and a 3D map. The map of the space 10 may mean a map that can be used to determine the current location of the robot 100 or to set a driving route of the robot.

In particular, in the robot remote control system 300 according to the present invention, the location of the robot 100 can be determined based on an image received from the robot 100 or information received from the robot 100 . To this end, the map of the space 10 stored in the storage unit 320 may be composed of data allowing a location to be estimated based on images or sensing information.

In this case, the map of the space 10 may be a map prepared based on Simultaneous Localization and Mapping (SLAM) by at least one robot moving the space 10 in advance.

Next, information about the camera 20 may be stored in the storage unit 320 .

The information on the camera 20 can be very diverse, and the information on the camera 20 includes: i) identification information (eg, serial number, TAG) of each camera 20a, 20b, 20c, 20d... information, QR code information, etc.), ii) arrangement position information of each camera 20a, 20b, 20c, 20d... (for example, which camera 20a, 20b, 20c, 20d... position), iii) angle of view information (for example, each camera 20a, 20b, 20c, 20d...) of each camera (20a, 20b, 20c, 20d...) Information on which view of the space is being photographed), iv) Status information (eg, power status, failure status, battery status, etc.) of each camera (20a, 20b, 20c, 20d...), vi) each Image information received from the cameras 20a, 20b, 20c, 20d... of may exist.

Meanwhile, information on the cameras 20 listed above may be matched with each other based on the respective cameras 20a, 20b, 20c, 20d...

For example, at least one of identification information, location information, view angle information, state information, and image information of a specific camera 20a may be matched and present as matching information in the storage unit 320 . Such matching information can be usefully used to specify a camera at a corresponding location when a location to view an image is specified later.

Meanwhile, various types of information may be stored in the storage unit 320 in addition to the types of information listed above.

Next, the display unit 330 may output an image received from at least one of a camera provided in the robot 100 and a camera 20 disposed in the space 10 . The display unit 330 is provided in a manager's device that remotely manages the robot 100, and as shown in FIG. 2, it may be provided in the remote control room 300a. Furthermore, differently from this, the display unit 330 may be a display provided in a mobile device. As such, in the present invention, there is no limitation on the type of display unit.

Next, the input unit 340 is for inputting information input from a user (or manager), and the input unit 340 may be a medium between the user (or manager) and the robot remote control system 300. More specifically, the input unit 340 may refer to an input means for receiving a control command for controlling the robot 100 from a user.

At this time, there is no particular limitation on the type of the input unit 340, and the input unit 340 is a mechanical input means (or a mechanical key, for example, a mouse, a joy stick, a physical button, It may include at least one of a dome switch, a jog wheel, a jog switch, etc.) and a touch input means. As an example, the touch input means consists of a virtual key, soft key, or visual key displayed on a touch screen through software processing, or a part other than the touch screen. It can be made of a touch key (touch key) disposed on. On the other hand, the virtual key or visual key can be displayed on the touch screen while having various forms, for example, graphic (graphic), text (text), icon (icon), video (video) or these can be made of a combination of In this case, when the input unit 340 includes a touch screen, the display unit 330 may be made of a touch screen. In this case, the display unit 330 may perform both a role of outputting information and a role of receiving information.

Next, the control unit 350 may be configured to control the overall operation of the robot remote control system 300 related to the present invention. The control unit 350 may process signals, data, information, etc. input or output through the components described above, or provide or process appropriate information or functions to the user.

In particular, the controller 350 may perform control required to set a moving path of the robot using pre-stored map information.

Meanwhile, in the above description, an example of estimating the position of the robot 100 in the control unit 350 has been described, but the present invention is not limited thereto. That is, position estimation of the robot 100 may be performed by the robot 100 itself. Based on the image received from the robot 100 itself, the robot 100 may estimate the current location in the manner described above. And, the robot 100 may transmit the estimated location information to the control unit 350 . In this case, the controller 350 may perform a series of controls based on location information received from the robot.

Meanwhile, the video control system 2000 may be configured to control at least one camera 20 disposed in the space 10. As illustrated, a plurality of cameras 20a, 20b, 20c, 20d, ... may be disposed in the space 10. The plurality of cameras 20a, 20b, 20c, 20d, ... may be disposed at different positions in the space 10, respectively. The video control system 2000 may be used to set a movement path of the robot 100 and detect obstacles to be described later.

On the other hand, according to the above description, in the present invention, the video control system 2000 and the robot remote control system 300 have been described as separate configurations. However, the present invention is not limited thereto, and the video control system 2000 and the robot remote control system 300 may be formed as one integrated system.

Hereinafter, a method of estimating the current position of the robot 100 based on an image received from the robot 100 will be described in more detail with accompanying drawings. 3 is a conceptual diagram for explaining a method for estimating an image collected from a robot and a current position of the robot in the robot remote control method and system according to the present invention.

As described above, the controller 350 according to the present invention receives an image of the space 10 using a camera (not shown) provided in the robot 100, and from the received image, the control unit 350 of the robot 100 It is made to perform Visual Localization to estimate location. At this time, the camera provided in the robot 100 is configured to capture (or sense) an image of the space 10, that is, an image of the robot 100's surroundings. Hereinafter, for convenience of description, an image obtained using a camera provided in the robot 100 will be named a “robot image”. In addition, the image acquired through the camera disposed in the space 10 will be named “space image”.

As shown in (a) of FIG. 3 , the controller 350 acquires a robot image 110 through a camera provided in the robot 100 . Also, the controller 350 may estimate the current position of the robot 100 using the obtained robot image 110 .

The control unit 350 compares the robot image 110 with the map information stored in the storage unit 320, and as shown in (b) of FIG. 3, the location information corresponding to the current location of the robot 100 (eg For example, “3rd floor A area (3, 1, 1)” can be extracted.

As described above, in the present invention, the map of the space 10 may be a map prepared based on Simultaneous Localization and Mapping (SLAM) by at least one robot moving the space 10 in advance. In particular, the map of the space 10 may be a map generated based on image information.

That is, the map of the space 10 may be a map generated by vision (or visual) based SLAM technology.

Therefore, the control unit 350 provides coordinate information (eg, (3rd floor, area A (3, 1, 1,)) In this way, the specified coordinate information may soon become the current location information of the robot 100.

At this time, the control unit 350 compares the robot image 110 obtained from the robot 100 and the map generated by the vision (or visual) based SLAM technology to estimate the current location of the robot 100 there is. In this case, the controller 350 i) specifies an image most similar to the robot image 110 by using image comparison between the robot image 110 and images constituting a pre-generated map, and ii) the specified image The location information of the robot 100 may be specified in a manner of acquiring location information matched to .

In this way, as shown in (a) of FIG. 3, when the robot image 110 is obtained from the robot 100, the controller 350 determines the current position of the robot using the obtained robot image 110. can be specified. As described above, the control unit 350 may obtain location information corresponding to the robot image 110 (for example, from map information pre-stored in the storage unit 320 (eg, it may also be named “node map”). For example, coordinate information) can be extracted.

Meanwhile, in the above description, an example of estimating the position of the robot 100 in the control unit 350 has been described, but as described above, the position estimation of the robot 100 may be performed by the robot 100 itself. That is, the robot 100 may estimate the current position based on the image received from the robot 100 itself in the manner described above. And, the robot 100 may transmit the estimated location information to the control unit 350 . In this case, the controller 350 may perform a series of controls based on location information received from the robot.

On the other hand, in the above example, the method for estimating the position of the robot 100 based on the image received from the robot 100 or the image received through the camera provided in the space 10 has been looked at, but the present invention It is not limited to this. That is, in the present invention, in addition to the method using an image, it is possible to estimate the position of the robot through various sensors disposed in the robot or space, and there is no particular limitation thereto.

Meanwhile, as described above, the present invention may set a movement path of the robot 100 within the space 10 using map information pre-stored in the storage unit 320 . The controller 350 may control the robot 100 to move from the current location to a specific destination. Specifically, the present invention specifies the current location information and destination location information of the robot 100, sets a route to reach the destination, and controls the robot 100 to reach the destination by moving along the set route. can

However, the map information to be described later is merely an example of map information used to set a moving path of the robot, and the robot remote control method according to the present invention is not performed only by the map information to be described later.

As described above, a map (or map information) for the space 10 may be stored in the storage unit 320 . Referring to FIG. 4 , a map of the space 10 stored in the storage unit 320 may be made in the form of a two-dimensional plan view, but is not limited thereto.

Meanwhile, as shown in FIG. 4 , map information may include a plurality of nodes. In this specification, a 'node' means a point or area that becomes a unit target for the robot's movement. A node may contain at least two pieces of information.

First, nodes contain coordinate information. A single node specifies a specific coordinate or range of coordinates on the map. For example, a node may designate a circular area having a predetermined area on a map. To this end, the coordinate information included in the node may consist of specific coordinates or coordinate ranges.

Second, nodes contain connection information. A single node contains information defining other nodes from which the robot can move. The connection information may include a unique number of another node to which the robot can move from the corresponding node or coordinate information designated by the other node.

The control unit 350 may control the robot to move from one node to another node, and may control the robot to reach a target point by repeating this process. In this specification, moving a robot to a specific node may mean that the robot moves within coordinate information or a coordinate range designated by a specific node.

In the present invention, a movement path for moving the robot from the current position (S) to the destination (A) is set using the above-described location information estimation method and map information, and then transmitted to the robot. However, the method using the node map is only one embodiment of controlling the driving of the robot, and the present invention may set the movement path of the robot using means other than the node map described above.

The present invention proposes a robot remote control method and system capable of providing an optimal movement path to a plurality of robots in consideration of the obstacle when an obstacle is detected on the robot's movement path after the movement path is transmitted to the robot. do.

In the present invention, when an obstacle event in which a specific robot cannot move along a predetermined driving path due to an obstacle occurs while driving, information on the obstacle may be shared with a server so as to be reflected in the moving path of other robots. and systems. Hereinafter, this will be described in more detail with accompanying drawings. 5 is a flowchart for explaining a robot remote control method according to the present invention, and FIGS. 6a, 6b, 6c, and 6d are conceptual diagrams illustrating the robot remote control method according to the present invention.

First, in the robot remote control method according to the present invention, a process of receiving a failure event from a specific robot to be controlled may proceed (S110).

The control unit 350 sets a movement path of each robot through communication with a plurality of robots that are control targets. For example, the controller 350 may control the robot to move along the first path.

For example, as shown in FIG. 6A, the control unit 350 transmits movement paths 610 and 620 to each of the plurality of robots R1 and R2, which are control targets, so that each of the plurality of robots goes to a destination for performing a mission. let it move The first robot R1 receives an initial movement path that sequentially passes through N4 and N5 to reach the destination N2, and drives according to the received movement path. Meanwhile, the second robot R2 may receive an initial movement path that sequentially passes through N6, N5, and N4 to reach the destination N7, and may travel according to the received movement path.

The movement route may include current location information of the robot, destination information, and area information (or node information) through which the robot reaches the destination. The robot may drive to the destination via the area included in the movement path.

When a specific robot traveling on the first path detects an obstacle in a specific area, the robot may transmit information about the obstacle to the robot remote control system 300 .

While the robot travels along the movement path, it may determine whether an obstacle exists in the movement path of the robot by using at least one of a sensor and a camera included in the robot. However, the present invention is not limited thereto, and the robot remote control system 300 may determine whether an obstacle exists based on information received from the robot without the robot determining whether an obstacle exists.

In this specification, 'the robot detects an obstacle' may be used to mean that the robot determines that there is an obstacle using at least one of a sensor and a camera included in the robot, and the robot remote control system 300 may be used to mean that the robot It can be used in the sense of determining whether there is an obstacle based on the information received from

When the robot detects an obstacle and cannot pass through a specific area, the robot may transmit at least one of whether an obstacle event has occurred and information about the obstacle to the robot remote control system 300 .

For example, as shown in FIG. 6B, one of the plurality of robots (R1) first detects an obstacle 630 while driving along a driving path, and transmits whether an obstacle event has occurred and information related to the obstacle to the robot remotely. It can be transmitted to the control system 300. At this time, the other robot R2 may move along the initial travel path 620 without detecting the obstacle 630 .

Meanwhile, even when it takes longer than a predetermined time for the robot to pass through a specific area, the robot may transmit at least one of whether an obstacle event has occurred and information about an obstacle to the robot remote control system 300.

Here, the information on the obstacle may include one of the type and size of the obstacle analyzed by the robot, information sensed by a sensor included in the robot, or at least one of an image captured by a camera included in the robot. .

On the other hand, the controller 350 collects information about obstacles in other ways in addition to the information received from the robot. Specifically, the server monitors the current location of the robot in real time or at preset time intervals. When a failure event is received from the robot, the controller 350 may capture an image around the robot using a camera within a predetermined distance from the current location of the robot.

In addition, the control unit 350 collects a robot movement path before a predetermined time from the time of receiving the failure event. That is, the controller 350 may collect the movement path of the robot in the area where the failure event occurred.

The control unit 350 determines whether an obstacle event has actually occurred using information received from the robot and information collected by the robot remote control system 300 and determines the type of obstacle. Specific examples for this will be described later.

Next, the controller 350 may generate a modified movement path considering the failure event received from the specific robot and transmit it to the specific robot (S120).

When it is determined that the failure event received from the specific robot has actually occurred, the controller 350 modifies movement capable of reaching the destination included in the initial movement path of the specific robot without passing through the region where the failure event occurred. A route may be transmitted to the specific robot.

The robot remote control system 300 creates a second path avoiding the specific area based on the failure event. At this time, the controller 350 may modify at least a part of the first route so that the specific area is excluded from the first route.

In one embodiment, referring to FIG. 6C , the control unit 350 does not pass through the zone 640 where the failure event occurred, and passes through N4 and N1 sequentially to reach the destination N2. (610') may be transmitted to the first robot (R1).

Meanwhile, the destination of the second path may be related to the destination of the first path. That the destination of the second path is related to the destination of the first path means that the destination of the second path is the same as the destination of the first path or is a destination for a mission related to the first path. .

For example, when the first route is a movement route for performing a first task and the destination for performing the first task is changed, the destination of the second route may differ from the destination of the first route. can

Specifically, when the second route is created, the controller 350 determines whether there is an avoidance route that avoids the specific area and reaches the destination of the first route. As a result of the determination, if the avoidance route exists, the second route including the destination of the first route is generated, and if the avoidance route does not exist, according to the mission characteristics of the task assigned to the specific robot, Different controls related to tasks assigned to the specific robot are performed. In this case, the destination of the second route may be different from the destination of the first route.

Here, the different control includes a first control for assigning a task assigned to the specific robot to the other robot when the task assigned to the specific robot has a first task characteristic that can be handed over to a robot different from the specific robot. can do.

The first control may include generating a movement path of the other robot so that the task assigned to the specific robot is performed by the other robot. At this time, the destination corresponding to the movement path of the other robot may correspond to the destination of the first path. Meanwhile, when a task assigned to a specific robot is assigned to the other robot, the movement path set for the specific robot may be canceled.

Alternatively, if the task assigned to the specific robot is a second task characteristic that cannot be handed over to another robot other than the specific robot, a second control for moving the specific robot to the specific area may be included.

Specific examples of the first control and the second control will be described later with reference to FIGS. 9A, 9B, and 10 .

Meanwhile, the present invention determines the type of obstacle and uses it to set a detour path or monitors whether or not the obstacle is resolved, which will be described later. Hereinafter, a method for the robot remote control system to determine the type of obstacle and modify map information based on the determination will be described.

7A and 7B are conceptual diagrams illustrating types of obstacle events and movement paths of the robot with respect to obstacles.

Meanwhile, the control unit 350 determines the type of obstacle by using at least one of information sensed by a sensor included in the robot, an image captured by a camera included in the robot, and information collected by the robot remote control system 300. And, based on the type of the obstacle, a region including the obstacle event may be set as a region of interest.

In one embodiment, a list of types of failure events may be stored in the storage unit 120, and the control unit 350 includes information sensed from a sensor included in the robot, an image captured by a camera included in the robot, The shape and size of the obstacle may be determined using at least one of the information collected by the robot remote control system 300 . Thereafter, the controller 350 may set the type of obstacle to one of the types of obstacles included in the list based on the shape and size of the obstacle.

In another temporary example, the controller 350 outputs at least one of an image captured by a camera included in the robot and an image captured by a camera around the robot, and an obstacle list, so that the user can select the type of obstacle.

When the type of obstacle is selected by the user and the type of obstacle is set, the controller 350 may receive an input of an expected time for the obstacle to be cleared from the user. Information input from the user may be stored in map information. In one embodiment, the control unit 350 may release the region including the failure event from the region of interest when the expected resolution time elapses from the time of receiving the failure event.

Through this, the present invention allows the manager to set the release time of the failure event when a predictable failure event (eg, scheduled construction) occurs in a specific area, thereby determining whether the failure event is resolved through separate observation. It is possible to disable the failure event after a certain amount of time without having to determine.

Meanwhile, the controller 350 may update information about a region including the obstacle event in pre-stored map information based on the type of obstacle.

In one embodiment, the control unit 350 may set the zones including the failure event as zones of different types based on the type of obstacles.

For example, the robot remote control system 300 sets an area in which an obstacle is detected as one of a non-running area, a congested area, and a driving obstacle area according to the type of obstacle.

When a specific area is set as a non-driving area, the controller 350 may transmit a modified path that can reach a destination without passing through the non-driving area to at least one robot.

When a specific area is set as a congested area, the controller 350 calculates an expected time to pass through the congested area based on obstacle information, and determines whether or not to modify a path of a specific robot in consideration of the expected time to pass through the congested area. Specifically, when the controller 350 corrects the path of a specific robot, when the expected time to reach the destination is shorter than the expected time to reach the destination through the area including the failure event, the controller 350 determines the path of the specific robot. may not be modified.

When a specific area is set as a driving obstacle area, the controller 350 calculates the difficulty of passing through the congested area based on the obstacle information, and determines whether or not to correct the path of the specific robot in consideration of the difficulty of passing through the congested area. Specifically, the controller 350 may not modify the path of the specific robot when it is determined that the driving means of the path of the specific robot is suitable for the passage difficulty level.

Meanwhile, the present invention is not limited thereto, and the present invention may set a zone characteristic based on the number of monitoring whether or not a failure event is resolved. This will be described along with a description of the obstacle monitoring method.

Hereinafter, exemplary embodiments in which the robot remote control system 300 sets the type of obstacle and updates map information for each type of obstacle will be described with reference to the accompanying drawings.

In one embodiment, referring to FIG. 7A , when it is determined that the robot cannot move to a specific area while traveling from N4 to N5, it may hover around the obstacle 730 and wait (M1).

In addition, the robot transmits information related to whether a failure event has occurred and the obstacle to the robot remote control system 300 . The robot remote control system can set the type of obstacle using the image taken from the robot ((a) and (b) in FIG. 7a) and the moving path M1 of the robot.

As shown in (a) of FIG. 7A, when an obstacle 730a that the robot cannot pass is included in the image received from the robot, the controller 350 may modify map information about the area where the obstacle 730a is located. there is. Specifically, the robot remote control system 300 sets the area where the obstacle 730a is located in the pre-stored map information as a non-driving area. In addition, the controller 350 may match the size and type of the obstacle to the map information and store the matched size and type of the obstacle.

Meanwhile, as shown in (b) of FIG. 7A, when an obstacle 730b through which the robot can pass is included in the image received from the robot, the controller 350 gives a control command to allow the robot to pass through the obstacle 730b. can transmit. The robot travels along the initial movement path, and the failure event can be released.

In contrast, referring to FIG. 7B , even if the robot can pass through a specific area, the controller 350 may receive a failure event for the corresponding area. If it takes a time exceeding a predetermined time to move a specific area while the robot is traveling from N4 to N5, the robot may transmit whether a failure event has occurred and information related to the obstacle to the robot remote control system 300.

The robot remote control system can set the type of obstacle using the image taken from the robot ((a) and (b) in FIG. 7b) and the moving path M2 of the robot.

As shown in (a) of FIG. 7B, when a plurality of obstacles 730c that the robot must avoid are included in the image received from the robot, even if the robot can pass through the area, the controller 350 does not control the obstacles 730c. ) Modify the map information for the area where it is located. Specifically, the robot remote control system 300 sets the area where the obstacle 730a is located in the pre-stored map information as a congestion area. In addition, the control unit 350 may match and store the estimated passage time for the congested area with the map information.

Meanwhile, as shown in (b) of FIG. 7B, when an obstacle 730d obstructing the robot's movement is included in the image received from the robot, the controller 350 transmits map information about the area where the obstacle 730d is located. Fix it. Specifically, the robot remote control system 300 sets the area where the obstacle 730d is located as a driving obstacle area in pre-stored map information. In addition, the control unit 350 may match and store the difficulty of passing the congested area with the map information.

As described above, the present invention classifies zones in which obstacles are detected into different types of zones according to the types of obstacles. This can be used later to set a detour path for other robots and to control failure events.

As described above, according to the present invention, when a specific robot finds an obstacle while driving, it is possible to efficiently cope with changes in the robot driving environment by setting a detour path avoiding the obstacle or having another robot perform the mission of the specific robot. make it possible Meanwhile, the present invention can provide a method for remotely controlling a robot that can reflect a failure event on the movement path of all robots to be controlled as well as the detected robot.

Hereinafter, a method for remotely controlling a robot capable of reflecting information on an obstacle to a movement path of another robot when an obstacle event occurs will be described.

Referring back to FIG. 5 , the controller 350 may search for at least one control target robot moving in an area including a failure event (S130).

The controller 350 may search whether there is another robot that includes the specific area related to the failure event on the movement route.

Thereafter, the controller 350 may transmit the modified movement path to the searched robot (S140).

As a result of searching for another robot, if the other robot exists, the controller 350 may perform control related to the other robot.

In one embodiment, the control unit 350 transmits a modified movement path capable of reaching a destination included in the initial movement path of the searched robot without passing through the area where the failure event occurred, to the searched robot.

At this time, the shortest path that can reach the initial destination without passing through the area where the failure event occurred is established. Meanwhile, when movement paths of a plurality of robots are modified due to a failure event, the controller 350 may distribute the movement paths of the plurality of robots so that congestion does not increase in a specific area.

In one embodiment, referring to FIG. 6D, the control unit 350 may pass through N6, N5, and N8 sequentially without passing through the zone 640 where the failure event occurred and reach the destination N7. The movement path 620' may be transmitted to the first robot R2.

Meanwhile, in the case of correcting the movement paths of a plurality of robots, the control unit 350 uses location information and movement paths of each robot requiring movement path correction, so that each of the robots requiring movement path correction is located in an area where a failure event has occurred. Estimated time of arrival can be calculated. Thereafter, the control unit 350 may correct the movement paths in the order of shorter expected times and transmit the corrected movement paths to each robot.

Meanwhile, the control unit 350 determines the type of obstacle by using at least one of information sensed by a sensor included in the robot, an image captured by a camera included in the robot, and information collected by the robot remote control system 300. And, based on the type of obstacle, an expected resolution time of the obstacle event can be calculated. The controller 350 may not change the path of the specific robot when the expected time for the specific robot to reach the area where the failure event has occurred is longer than the expected time for the failure event to be resolved.

In addition, if the estimated time for the failure event to be resolved is less than the predetermined time, the control unit 350 does not modify the movement path of the robots scheduled to travel in the region where the failure event occurred, and waits until the failure event is resolved. A control command waiting in the set zone may be transmitted to the robots.

Meanwhile, in the step of performing the control related to the other robot, different controls may be performed according to the degree of urgency of the task assigned to the other robot. Here, the different control for the other robots may include whether or not to keep the specific area included in the moving path of the other robots.

Specifically, in the step of performing the control related to the other robot, if the degree of urgency of the task assigned to the other robot is such that it is possible to pass through the specific area, the failure event is performed by the other robot. It is possible to control the movement path of the other robot so that reconnaissance as to whether is resolved.

At this time, control may be performed such that the other robot waits at a monitoring point capable of monitoring the specific area. The other robot may wait at the monitoring point until the failure event occurring in the specific area is resolved. The other robot may periodically transmit information about the obstacle to the robot remote control system 300 at the monitoring point.

When the degree of urgency of the task assigned to the other robot is such that it is impossible to pass through the specific area, the movement path of the other robot is modified so that the specific area is excluded from the movement path of the other robot to create a new one. You can create a movement path.

As described above, the robot remote control method and system according to the present invention reflect information on obstacles affecting the path of a specific robot to the movement paths of other robots, so that a plurality of robots can be efficiently controlled. do.

On the other hand, the present invention periodically monitors the failure event, so that when the failure event is resolved, it can be reflected in the movement path of the robot to be controlled. Hereinafter, a method of monitoring the number of failure events and corresponding obstacles, and controlling driving of the robot when the failure events are canceled will be described.

8A, 8B, 8C, and 8D are conceptual diagrams illustrating an embodiment of monitoring an obstacle and resetting a path of a robot according to the present invention.

Meanwhile, after receiving the failure event, the control unit 350 monitors an obstacle related to the failure event until the failure event is released. Specifically, the controller 350 may determine whether the obstacle event for the specific area is resolved by using a robot different from the specific robot that has detected the obstacle.

The controller 350 may transmit the movement path including the area including the failure event to at least one robot among the plurality of robots.

In one embodiment, the controller 350 may transmit a movement route having a destination including the failure event to a robot for which a movement route is not set because a separate mission is not assigned.

In another embodiment, the robot remote control system 300 does not modify the movement path of the other robot moving to the destination via the specific area, and allows the other robot to reach the specific area, so that the other robot Through this, it is possible to monitor whether the failure event is resolved.

In another embodiment, the control unit 350 may transmit a modified movement path including an area including the failure event to a robot traveling to a specific destination along a preset movement path. That is, the controller 350 can be used to bypass the path of the moving robot and monitor obstacles.

In this case, the controller 350 may select a robot to monitor an obstacle based on at least one of the distance between the robot and the zone including the obstacle event, the importance of the task assigned to the robot, and the location of the destination to which the robot is moving.

Meanwhile, a movement path for monitoring an obstacle may be set in two different ways.

First, the controller 350 sets a movement path capable of monitoring an obstacle without passing through an area including the obstacle event. When the robot travels according to the movement path, the robot can move to the destination after approaching the obstacle to an observable distance. The robot may collect information about obstacles using at least one of a sensor and a camera included in the robot.

In this case, the robot determines whether or not the failure event is released using the collected information, or transmits the collected information to the robot remote control system 300 so that the robot remote control system 300 determines whether the failure event is released. to be able to judge

Second, the control unit 350 sets a movement path through which obstacles can be monitored while passing through the area including the obstacle event. When the robot travels according to the movement path, the robot can move to a destination after passing through an area including a failure event.

In this case, if the robot passes through the zone including the failure event or passes through the zone including the failure event within a preset time, the robot determines that the failure event is released, and determines whether the failure event is released or not. It can be transmitted to the remote control system (300).

On the other hand, the control unit 350 tracks the position of the robot at regular time intervals and releases the failure event from the robot when it passes through the region including the failure event or passes through the region including the failure event within a preset time. Even if the failure event is not received, it may be determined that the failure event has been released.

In one embodiment, referring to FIG. 8A , the controller 350 transmits the modified movement path to the robot R1 moving to N3 via N6. The modified movement path may be a path 810' that reaches the initial destination N3 by sequentially passing through N6, N5, and N2 without passing through the area 840 including the failure event.

In contrast, the modified movement route is a route 810'' that passes through the zone 840 including the failure event from N5 to N4, passes through N5 and N2 sequentially, and reaches the initial destination N3. can

The controller 350 may set different obstacle monitoring paths according to the type of region of interest. For example, when monitoring an area set as a non-driving area, the controller 350 may set a movement path capable of monitoring obstacles without passing through the area including the obstacle event. In contrast, when monitoring an area set as a congested area or a driving problem area, the controller 350 may set a movement path passing through the area including the problem event.

On the other hand, the control unit 350 receives whether or not the failure event is released from the robot monitoring the region including the failure event, or collects data from at least one of sensors and cameras included in the robot monitoring the region including the failure event. Using the received information, it is possible to determine whether the failure event is released.

When it is determined that the failure event is canceled, the control unit 350 may transmit the modified movement path to at least one of the robots to be controlled. In detail, the controller 350 may update pre-stored map information when it is determined that the failure event is cancelled. Accordingly, the region of interest may be released from pre-stored map information.

When the region of interest is released from the pre-stored map information, the controller 350 may transmit the modified movement path to at least one of the robots to be controlled.

Specifically, when it is determined that the failure event is canceled, the controller 350 may recalculate the shortest path of each of the robots for which the movement path is set.

If the movement time of the new movement path passing through the zone where the failure event is released is shorter than the existing movement path, the controller 350 may transmit the new movement path to the robot.

In one embodiment, referring to FIG. 8B , the second robot R2 does not pass through an area including a failure event, and sequentially passes through N4, N7, N8, and N9, and has a moving path with N6 as a destination ( 820).

While the second robot R2 is traveling along the moving path 820, when it is detected that the obstacle in the area including the obstacle event is removed, the controller 350 may release the area from the area of interest. there is.

Referring to FIG. 8C , the control unit 350 may transmit a new movement path 820' to the second robot R2, which sequentially passes through N4 and N5 and has N6 as a destination. Since the new movement path 820' has a shorter robot movement path than the existing movement path 820, the controller 350 can allow the second robot R2 to travel along the new movement path 820'. .

Meanwhile, the controller 350 may calculate an expected obstacle clearing time based on information received from a specific robot. In detail, the control unit 350 may calculate an estimated obstacle clearing time based on information received from a specific robot when the obstacle event is not resolved but the obstacle event is predicted to be resolved within a predetermined time.

In this case, the control unit 350 matches and stores the expected obstacle clearing time with the information about the area including the obstacle event included in the map information. Thereafter, in setting the movement path of the specific robot, the control unit 350 is expected to reach the area including the obstacle event after the expected time for clearing the obstacle, the area including the obstacle event. A movement path passing through may be transmitted to the specific robot.

In one embodiment, referring to FIG. 8D , the control unit 350 calculates an expected obstacle clearing time based on information received from the first robot R1. Thereafter, when the controller 350 wants to move the third robot R3 located at the specific location 860 to N6, the third robot R3 moves from the specific location 860 to the area including the failure event. Estimated travel time can be calculated.

When the expected movement time is greater than the expected time for clearing the obstacle, the control unit 350 moves the third robot R3 through the zone including the obstacle event (passing through N4 and N5 sequentially) to reach N6. The path may be transmitted to the third robot R3.

Meanwhile, when it is determined that the obstacle event has not been released, the controller 350 may monitor the obstacle again using another robot after a predetermined time has elapsed.

The present invention makes it possible to monitor obstacles at intervals of time.

The time interval may vary according to at least one of a type of failure event, the number of times of obstacle reconnaissance, and a type of area in which the failure event occurs.

In one embodiment, the time interval for monitoring whether or not the failure event is resolved may be calculated based on the type of failure event. Specifically, a list of types of failure events may be stored in the storage 120, and expected resolution times for each type of failure event may be matched and stored in the list.

Based on the type of the failure event, the control unit 350 searches for an expected resolution time corresponding to the type of failure event from pre-stored failure event information, and based on the search result, the monitoring time first performed after the failure event occurs. decide The control unit 350 controls the area where the failure event occurred with the at least one robot so that the at least one robot passes the area where the failure event occurred after the searched time elapses from the time the failure event is received. It is possible to transmit a movement path including.

After the initial monitoring is performed, the time interval of the additionally performed monitoring may be variable. Specifically, the controller 350 may increase the time interval as the number of detections that the failure event is not released increases. That is, the controller 350 may increase the time interval as the number of times the robot moves to the area where the failure event occurs increases.

For example, the controller 350 may double the next monitoring interval whenever it detects that the failure event is not released.

When the monitoring interval is excessively increased and further monitoring is meaningless, the controller 350 may stop monitoring a specific area.

In one embodiment, the control unit 350 may change the type of the area where the failure event occurs based on the number of times of monitoring whether or not the failure event is resolved. Specifically, based on the reception of a failure event for the specific region, the specific region is set as a first-type failure region, and as a result of determining whether or not the failure event is resolved, the failure event is resolved more than a predetermined number of times. If not, the specific zone may be set as a failure zone of a second type different from the first type in the failure zone of the first type.

When a specific zone is set as a first-type failure zone, the controller 350 periodically monitors the first-type failure zone to determine whether the failure event is resolved. As a result of the monitoring, when a failure event in a specific area is resolved, a new movement route including the specific area may be created.

In contrast, when a specific area is set as the second type failure area, the controller 350 does not monitor the second type failure area. That is, the second type of failure zone may be regarded as permanently impossible for the robot to move, and a new movement path including the specific zone may not be created.

Through this, the present invention can reduce the number of monitoring for obstacles that are unlikely to be removed.

According to the present invention, it is possible to monitor whether an obstacle event is resolved with optimal efficiency by changing the time interval and frequency of monitoring the obstacle according to the situation in space.

Furthermore, the present invention continuously monitors previously detected obstacles so that the corresponding area can be used as a robot's driving path when an obstacle event is released. Through this, the present invention can efficiently control the driving of a plurality of robots according to obstacle conditions in a space.

On the other hand, in the present invention, when a corrected path considering an obstacle cannot be set, another controllable robot can be used to perform the robot's mission.

9A and 9B are conceptual diagrams illustrating an embodiment in which another robot performs the task of a robot unable to perform its task due to an obstacle, and FIG. 10 shows a manager intervening in a robot unable to perform its task due to an obstacle It is a conceptual diagram showing an embodiment.

If the controller 350 cannot create a modified movement path considering the failure event, the controller 350 transmits a control command to cancel the driving on the initial movement path to the specific robot, and includes a destination included in the initial movement path. The movement path may be transmitted to the specific robot and other robots.

The control unit 350 determines the specific robot's mission based on at least one of the types of missions assigned to each robot to be controlled, the importance of the mission, the distance to the destination included in the initial movement path, and the movement path set for the robot. You can choose which robot to assign.

In one embodiment, referring to FIG. 9A , the first robot R1 moves to N2, receives cargo, and performs a task D1 of transporting the cargo to N8. When the first robot R1 cannot perform the task D1 due to the three zones 940a to 940b including the failure event, the controller 350 searches for robots that can move to N2 and N8. And, among the searched robots, a new movement path is transmitted to the second robot R2 performing the cleaning task D2 of low importance.

Referring to FIG. 9B, the task assigned to the first robot R1 is canceled, and the second robot moves to N2, receives cargo, and performs the task D1 of transporting the cargo to N8. .

On the other hand, the control unit 350 allows a manager to intervene in the robot's mission when it is impossible to generate a modified movement path in consideration of the failure event. Specifically, when the control unit 350 cannot generate a modified movement path considering the failure event, a modified movement path including a destination different from the destination included in the initial movement path of the specific robot is sent to the specific robot. can transmit

Here, another destination means a location where a manager can intervene, and when the robot's destination is changed, the controller 350 can output the changed destination along with a map so that the manager can move to the changed destination. .

In one embodiment, referring to FIG. 10 , the first robot R1 travels along a predetermined movement path 930 and performs a mission D3 of transporting cargo to N2. Due to the three zones 940a to 940b including the failure event, the first robot R1 cannot perform the task D3, and the cargo is being transported by the first robot R1, so another robot can do the task. It cannot be reallocated. At this time, the control unit 350 sets a point to which the first robot R1 can move as a new destination N7 so that the manager can receive the cargo, and a movement path 930' moving to the new destination N7. ) may be transmitted to the first robot R1.

In addition, the controller 350 outputs the new destination N7 to the display unit so that the manager 950 can move to the new destination N7 and receive cargo from the first robot R1.

As described above, the present invention can enable a robot to perform its mission even in an unexpected situation due to an obstacle by using another robot or having a manager intervene when it is impossible to create a detour path for the robot due to an obstacle. .

As described above, the robot remote control method and system according to the present invention can flexibly cope with obstacles by reflecting information on obstacles affecting the movement of the robot to the movement paths of other robots as well as the corresponding robot. A robot control environment can be provided.

Furthermore, the method and system for remotely controlling a robot according to the present invention utilize robots to monitor whether an obstacle event is resolved, thereby enabling efficient remote management of an obstacle without intervention by a manager.

In addition, the robot remote control method and system according to the present invention continuously monitors whether or not the failure event is released (or resolved) so that the corresponding area can be used as the robot's driving path when the failure event is released. Through this, the present invention can efficiently control the driving of a plurality of robots according to obstacle conditions in a space.

In addition, in the present invention, when it is impossible to create a detour path for a robot due to an obstacle, it is possible to complete a task assigned to the robot even in an unexpected situation caused by an obstacle by using another robot or having a manager intervene.

Meanwhile, the present invention described above is executed by one or more processes in a computer and can be implemented as a program that can be stored in a computer-readable medium.

Furthermore, the present invention described above can be implemented as computer readable codes or instructions in a medium on which a program is recorded. That is, the present invention may be provided in the form of a program.

On the other hand, the computer-readable medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. there is

Furthermore, the computer-readable medium may be a server or cloud storage that includes storage and can be accessed by electronic devices through communication. In this case, the computer may download the program according to the present invention from a server or cloud storage through wired or wireless communication.

Furthermore, in the present invention, the above-described computer is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit), and there is no particular limitation on its type.

On the other hand, the above detailed description should not be construed as limiting in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (22)

In the method of remotely controlling the driving of the robot,
Controlling a specific robot to move along a preset first path;
Receiving a failure event for a specific area of the first path; and
Based on the failure event for the specific region being received, setting the specific region as a first type failure region; Including,
As a result of determining whether the failure event is resolved, if the failure event is not resolved more than a predetermined number of times,
The robot remote control method, characterized in that the specific zone is set to a failure zone of a second type different from the first type in the failure zone of the first type. According to claim 1,
generating a second route avoiding the specific area based on the failure event; and
Further comprising the step of controlling the specific robot so that the specific robot moves along the second path,
In the step of generating the second path,
Robot remote control method, characterized in that for modifying at least a part of the first path so that the specific area is excluded from the first path. According to claim 2,
In the step of generating the second path,
determining whether there is an avoidance route that avoids the specific area and reaches the destination of the first route;
As a result of the determination, if the avoidance path exists, the second path is created;
As a result of the determination, when the avoidance path does not exist, different controls related to the mission assigned to the specific robot are performed according to the mission characteristics of the mission assigned to the specific robot. According to claim 3,
The different controls,
When the task assigned to the specific robot is a first task characteristic that can be handed over to a robot different from the specific robot, a first control for assigning the task assigned to the specific robot to the other robot; and
and a second control of moving the specific robot to the specific zone when the mission assigned to the specific robot is a second mission characteristic that cannot be handed over to a robot other than the specific robot. According to claim 4,
Further comprising generating a movement path of the other robot so that the task assigned to the specific robot is performed by the other robot,
The robot remote control method, characterized in that the destination corresponding to the movement path of the other robot corresponds to the destination of the first path. According to claim 5,
When the task assigned to the specific robot is assigned to the other robot, the moving path set for the specific robot is canceled. According to claim 1,
searching for other robots that include the specific area related to the failure event on a movement path; and
The robot remote control method further comprising the step of performing control related to the other robot when the search result indicates that the other robot exists. According to claim 7,
In the step of performing control related to the other robot,
Robot remote control method, characterized in that performing different control according to the degree of urgency of the mission assigned to the other robot. According to claim 8,
Wherein the different control for the other robot is whether or not to keep the specific area included in the moving path of the other robot. According to claim 9,
In the step of performing control related to the other robot,
If the degree of urgency of the mission assigned to the other robot is such that it is possible to pass through the specific area,
Control the movement path of the other robot so that monitoring is performed as to whether the failure event is resolved by the other robot,
If the degree of urgency of the mission assigned to the other robot is such that it is impossible to pass through the specific area,
A robot remote control method, characterized in that in creating a new movement path by modifying the movement path of the other robot so that the specific area is excluded from the movement path of the other robot. According to claim 1,
The robot remote control method further comprising the step of determining whether the failure event for the specific area is resolved by using a robot different from the specific robot. delete According to claim 11,
When the specific area is set as the first type of failure area, a new movement path including the specific area can be created,
When the specific area is set as the second type of failure area, a new movement path including the specific area cannot be created. According to claim 2,
When the failure event is received, at least one of information sensed from the specific robot, image information captured from the specific robot, motion information of the specific robot, and image information captured from a camera disposed within a predetermined distance from the specific robot. Robot remote control method further comprising the step of setting the type of the failure event based on. According to claim 14,
Retrieving an expected resolution time corresponding to the type of the failure event from pre-stored failure event information based on the type of the failure event;
Calculating a time for determining whether to resolve a failure event first performed after a failure event occurs, based on a time point at which the failure event is received and the search expected resolution time; and
Transmitting a movement path including an area where the failure event has occurred to the at least one robot so that the at least one robot moves to the region where the failure event has occurred at the calculated time. How to remotely control a robot. According to claim 15,
The robot remote control method, characterized in that the time interval increases as the number of times the robot moves to the area where the failure event occurs increases. In the system for remotely controlling the driving of the robot,
A communication unit made to transmit and receive data with the robot; and
A control unit for controlling a specific robot to move along a preset first path;
When receiving a failure event for a specific area of the first path, the control unit sets the specific area as a first type failure area based on the failure event, and as a result of determining whether the failure event is resolved, When the failure event is not resolved more than a predetermined number of times, the robot remote control system, characterized in that for setting the specific zone from the failure zone of the first type to a failure zone of a second type different from the first type. A program that is executed by one or more processes in an electronic device and can be stored in a computer-readable recording medium,
said program,
Controlling a specific robot to move along a preset first path;
Receiving a failure event for a specific area of the first path; and
Based on the failure event for the specific region being received, setting the specific region as a first type failure region; Including,
As a result of determining whether the failure event is resolved, if the failure event is not resolved more than a predetermined number of times, the specific zone is set as a failure zone of a second type different from the first type in the failure zone of the first type. A program that can be stored on a computer-readable recording medium, characterized in that. In the method of remotely controlling the driving of the robot,
Controlling a specific robot to move along a preset first path;
Receiving a failure event for a specific area of the first path;
searching for other robots that include the specific area related to the failure event on a movement path; and
As a result of the search, when the other robot exists, performing control related to the other robot,
In the step of performing control related to the other robot,
If the degree of urgency of the mission assigned to the other robot is such that it is possible to pass through the specific area,
Control the movement path of the other robot so that monitoring is performed as to whether the failure event is resolved by the other robot,
If the degree of urgency of the mission assigned to the other robot is such that it is impossible to pass through the specific area,
A robot remote control method, characterized in that in creating a new movement path by modifying the movement path of the other robot so that the specific area is excluded from the movement path of the other robot. In the system for remotely controlling the driving of the robot,
A communication unit made to transmit and receive data with the robot; and
A control unit for controlling a specific robot to move along a preset first path;
The control unit,
When a failure event for a specific area of the first route is received, it is searched whether another robot including the specific region related to the failure event exists on the movement route, and as a result of the search, if the other robot exists , Performs control related to the other robot,
When the degree of urgency of the task assigned to the other robot is such that it is possible to pass through the specific area, the moving path of the other robot is monitored to determine whether the failure event is resolved by the other robot. to control,
When the degree of urgency of the task assigned to the other robot is such that it is impossible to pass through the specific area, the movement path of the other robot is modified so that the specific area is excluded from the movement path of the other robot to create a new one. Robot remote control system, characterized in that for generating a movement path. In the method of remotely controlling the driving of the robot,
Controlling a specific robot to move along a preset first path;
Receiving a failure event for a specific area of the first path;
Retrieving an expected resolution time corresponding to the type of the failure event from pre-stored failure event information based on the type of the failure event;
Calculating a time for determining whether to resolve a failure event first performed after a failure event occurs, based on a time point at which the failure event is received and the search expected resolution time; and
Transmitting a movement path including an area where the failure event occurs to the at least one robot so that the at least one robot moves to the region where the failure event occurs at the calculated time. Robot remote control method. In the system for remotely controlling the driving of the robot,
A communication unit made to transmit and receive data with the robot; and
A control unit for controlling a specific robot to move along a preset first path;
The control unit,
When a failure event for a specific area of the first path is received, based on the type of the failure event, an expected resolution time corresponding to the type of the failure event is retrieved from pre-stored failure event information;
Based on the time point at which the failure event is received and the search expected resolution time, calculating a determination time whether the failure event is resolved first performed after the failure event occurs,
A robot remote control system characterized in that for transmitting a movement path including an area where the failure event has occurred to the at least one robot so that the at least one robot moves to the region where the failure event has occurred at the calculated time. .

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