KR102569181B1 - ROS-based robot integrated management system - Google Patents

Abstract

The present invention breaks away from the method used in a fixed form and utilizes a 6-axis acceleration sensor to establish an environment in which robots can be used in a modular manner, and through this, various robot applications and robots that meet customer needs through a brainless industrial cloud robot system. It provides a robot integrated management system based on a robot operating system (ROS) that can provide an AI control and management integration platform for management. The present invention is a machine vision-linked industrial robot, comprising: a plurality of brainless robots 101, 102, and 103 based on a robot operating system (ROS); A communication network 200 including a 5G network for remotely controlling the plurality of brainless robots 101, 102, and 103; A cloud 300 platform for data connection with a plurality of brainless robots 101, 102, and 103, which include a proxy server and are AI-linked industrial robots; And for the plurality of brainless robots (101, 102, 103) through the cloud (300) platform, location and angle information are collected through IMU sensors attached to each of the brainless robots (101, 102, and 103) and advanced. It provides a robot operating system (ROS) based robot integrated management system, characterized in that it is configured to include;

Description

Robot operating system (ROS) based robot integrated management system {ROS-based robot integrated management system}

The present invention relates to integrated management of robots, and more particularly, to construct an environment in which robots can be used in a modular manner by utilizing a 6-axis acceleration sensor, away from a method used in a fixed form, and through this, a brainless industrial cloud robot system. It is about a robot integrated management system based on a robot operating system (ROS) that can provide various robot applications tailored to customer needs and an AI control and management integrated platform for robot management.

If you look at SF movies set in the future, we humans are living our daily lives in a space with towering skyscrapers. Some people are depicted living in an unapproachable utopia, while others are living in a dystopia that is more severe than now.

Then, even in the distant future we imagine, will the keyword ‘the rich get richer and the poor get poorer’ never disappear? The future of utopia will be the result of the efforts that our generation can create for the next generation, and at some point in the future, it will depend on how the next generation maintains and improves it.

Living in the present, we are facing the 4th industrial revolution, and within this framework, numerous keywords such as self-driving cars, artificial intelligence (AI), big data, and Internet of Things (IoT) are invested and developed as tasks that must be achieved. is continuing In the 1800s, the first industrial revolution began with the steam engine, and mass production was carried out through machines. After the birth of electricity, machines began to generate power through electrical energy. The world has been steadily changing with the emergence of technologies such as computers, the Internet, and semiconductors.

We live in the present through the achievements of past generations. Research results from the previous generation have been further advanced and developed, and through this, another new result can be created. It has the name 'robot', not 'machine'.

Humanity is still focusing on the development of artificial intelligence. The ability of artificial intelligence became a hot topic by defeating Lee Se-dol, the emperor of Go. Let's think. Assuming that the area equipped with such artificial intelligence is a brain, this brain is again connected to the cloud or Internet network. Sensors and cameras that can detect one's position and environment are placed in both eyes, and microphones and speakers that can listen to and respond to human commands are mounted like a mouth. It gives power to each joint, including the fingers, and implements it so that it can walk upright like a human. Of course, it should be a high-capacity, high-performance battery that can emit energy for all of this to work. If a machine decorated like this is the robot we have been dreaming of, it would not be particularly impossible. Of course, that's not all.

Naver, a Korean portal company, has been researching self-driving cars and robots through a research organization called Naver Labs. Naver Labs is focusing on developing products and services that operate based on ambient intelligence. One of the major research results is ‘Aircart’.

It is called a physical human-robot interaction (pHRI), and the force sensor on the handle grasps the user's intention to manipulate and controls the movement. In other words, it measures the pushing force on an uphill road and moves by identifying the pulling force on a downhill road. If Naver's shape-changing robot becomes a reality, it will feel like watching a scene from a movie.

In addition, the field that the industry has paid the most attention to is 'Brainless Robot'. It has been mentioned before that a device equipped with advanced artificial intelligence and capable of receiving the Internet is placed in the upper area of the robot's head. will be. As is already known, the biggest advantage of 5G mobile communication is ultra-high speed, ultra-connectivity and ultra-low latency.

To put it simply, after issuing a command, it includes all processes in which the signal for the command is transmitted through communication and executed, and this 'ultra-low latency' is also the biggest feature of 5G. All areas that act as the ‘brain’ of the ‘brainless’ robot exist outside the robot body. In terms of cloud-based robot control, it is quite attractive that several robots can be moved in batches, and above all, there is no need to put a processor that must be included in each robot one by one.

According to Markets & Markets, the robot market has grown by 226.2% from $8.4 million in 2016 to $19 million in 2017, as shown in Figure 1, and is expected to grow at a CAGR of 52.44% by 2025 to $670 million.

Basically, the conventional robot industry has mainly focused on industrial robots, but robots performing various functions are increasing through the recent development of robot technology and public interest in using robots. However, robots have different robot characteristics, such as a robot with arms or a robot with legs or wheels and no monitor, and the characteristics of the operating system used by each robot and the hardware provided in each robot are different from each other. In particular, the robot can selectively use various input/output boards, use more than one processor board, and operate various operating systems such as Linux, Windows, real-time operating system, embedded Linux, and middleware such as ROS, OPRoS, OpenRTM, and OROCOS on the processor board. . Therefore, applications and robot contents that are required for each robot or that can be driven are inevitably different depending on the processor board, operating system, middleware, or robot characteristics, even if they have the same function.

On the other hand, even if applications and robot contents for various robots are developed, directly downloading them to the robot and verifying (or testing) whether or not they are suitable requires a lot of time and money for the stable operation of the robot and the setting of the operating environment. For robots that require multiple processor boards and heterogeneous operating systems, it is very difficult for both application and robot content developers to purchase these robot systems. Therefore, there is a need for a method to more easily develop, verify, and provide application and robot contents by utilizing virtual machines and heterogeneous operating systems provided by existing cloud systems. That is, there is a demand for a method capable of utilizing and providing the optimal application and robot contents for the target robot while providing an optimal development and verification environment when developing applications and robot contents for the target robot.

Also robot management function. Robot online control board, calibration for mobile/fixed brainless robots, robot motion/robot data real-time dashboard function, AI control integration function through vibration and energy monitoring. Network linkage function and online calibration considering AR/VR/XR linkage are required.

Accordingly, manufacturing flexibility is secured by changing from a commonly used fixed/repetitive robot control capable of only repetitive learning to a modular robot that can adapt to user needs, convenient network connection and remote connection/data API that are suitable for the manufacturing environment, and It is necessary to grasp / communicate the robot status in real time through an AI control integration platform.

However, until now, various companies are developing related technologies, but only one maker-based platform exists in consideration of the relationship between robots and robots, and architecture and cloud provide data pipelines for mutual application of various robots. The system needs to change. In addition, the current technology of 5G is also insufficient to apply it based on 5G in the industrial field, and there was a problem that it is more difficult, especially in the case of small and medium-sized enterprises.

Patent Document 1: Republic of Korea Patent Publication No. 10-2020-0120394 (published on October 21, 2020) - Android-based multipurpose robot platform device Patent Document 2: Republic of Korea Patent Publication No. 10-2021-0084025 (published on July 7, 2021) - AI computing platform for robots using deep learning-based learning cloud platform Patent Document 3: Republic of Korea Patent Publication No. 10-2015-0074375 (published on July 2, 2015) - Smart device and robot control method for controlling various types of robots in a robot platform environment Patent Document 4: Republic of Korea Patent Publication No. 10-2021-0008605 (published on January 25, 2021) - Mobile robot platform system and its operating method

Therefore, the present invention is to solve the various disadvantages and problems of the prior art as described above, and to build an environment in which a robot can be used in a modular manner by using a 6-axis acceleration sensor, away from a method used in a fixed form, and to achieve this Through the Brainless industrial cloud robot system, we provide a robot operating system (ROS)-based robot integrated management system that can provide AI control and management integration platforms for various robot applications and robot management that meet customer needs. There is a purpose.

In order to achieve the above object, the present invention is a machine vision-linked industrial robot, a plurality of brainless robots (101, 102, 103) based on a robot operating system (ROS); A communication network 200 including a 5G network for remotely controlling the plurality of brainless robots 101, 102, and 103; A cloud 300 platform for data connection with a plurality of brainless robots 101, 102, and 103, which include a proxy server and are AI-linked industrial robots; Through the cloud 300 platform, position and angle information is collected through the IMU sensor attached to each of the brainless robots 101, 102, and 103 for the plurality of brainless robots 101, 102, and 103, and advanced A central control server 400 through real-time monitoring and AI that centrally controls motion data; As a server of manufacturers for the plurality of brainless robots (101, 102, 103), the central control server through real-time monitoring and AI of specification information, program operation information, and each IMU sensor information for mobile and fixed brainless robots 1st to Nth robot manufacturer server 500 provided in (400); And a plurality of first to Nth robot management terminals 600 composed of smart pads or smart phones as manager terminals for the plurality of brainless robots 101, 102, and 103; The lease robots 101, 102, and 103 are modular robots that can be fixed as well as movable as industrial robots in the metal machinery, food and beverage and bio, plastic and rubber, and chemical industries, and the cloud 300 platform is a plurality of the brains It provides various drive programs necessary for operating the lease robots (101, 102, 103), provides AI-linked industrial robots and data connection, and the central control server 400 through the real-time monitoring and AI, the communication network 200 ) through the plurality of brainless robots 101, 102, 103, the first to Nth robot manufacturer servers 500, and the plurality of first to Nth robot management terminals 600 and the central through real-time monitoring and AI The communication unit 401 for communication between the control server 400, the name of the member company, the member company contact information, and the person in charge Robot member company information storage unit 402 that stores contact information, workplace location, and robot installation address information, and robot size, robot function, and attached IMU from the manufacturer that produces the plurality of brainless robots 101, 102, and 103 Manufacturer that collects sensor type, sensor location, robot price information, price information of accessories and sensors, unique identification number information that can identify the robot, installation location where the robot is installed, installation company name, installation date, and inspection date information A robot information collection unit 403 for each manufacturer, a robot information classification unit 404 for each manufacturer that classifies the standard information of robots collected by each manufacturer collected by the robot information collection unit 403 for each manufacturer, and the plurality of brainless A robot manager data storage unit 405 that stores the manager's name, phone number, PC identification information, and smartphone information for managing the robots 101, 102, and 103, and the plurality of brainless robots 101, 102, and 103 A robot-specific operation program storage unit 406 in which programs for operation of ) are stored in collaboration with the cloud 300 for each robot, and a robot that collects operation information of the plurality of brainless robots 101, 102, and 103 An operation information collection unit 407, a robot operation information analysis unit 408 that analyzes the information collected by the robot operation information collection unit 407, and a plurality of the robot operation information analysis units analyzed by the robot operation information analysis unit 408. A robot operation abnormality detection unit 409 that detects an abnormal situation of the brainless robots 101, 102, and 103, and a robot that notifies the manager's PC or smartphone of the abnormal situation collected by the robot operation abnormality detection unit 409 An abnormal information manager notification unit 410, an AI operation information collection unit 411 for each robot that collects AI operation information for each robot operated through the cloud 300, and an AI operation information collection unit 411 for each robot The AI operation information analysis unit 412 for each robot that analyzes the AI operation information for each robot collected from and the information analyzed by the AI operation information analysis unit 412 for each robot is transmitted to the robot management terminal 600 of the corresponding robot A robot operation information management terminal transmission unit 413 that enables robot management response and Before Service in case of abnormality, and a robot-IMU sensor operation information collection unit 414 for collecting operation information of each robot-IMU sensor, The per-robot-IMU sensor operation information analysis unit 415 that analyzes the information collected by the per-robot-IMU sensor operation information collection unit 414, and the per-robot-IMU sensor operation information analysis unit 415 analyzed by the The robot-specific IMU sensor operation information DB (416) that stores the information and optimization information of the robot newly updated from the manufacturer are collected, but the manufacturer's standard information and the company that installed the robot are regularly A robot operation optimization information collection unit 417 that collects operation information including the number of inspections and inspection methods, sensor types, and sensor manufacturers, and the robot operation optimization information collection unit 417 collects A robot operation optimization database (418) that converts optimization information into a database so that latecomers or existing member robot manufacturers can develop improved robots through other company's robots, collaborative robots of the robots, and IMU sensor information, and a database for each robot. -IMU sensor operation information DB (416) information and robot operation optimization database (418) are transmitted to each manufacturer, and the manufacturer's robot to which their IMU sensor is attached is operating, operating, or abnormal information in the actual field, or Robot operation information manufacturer transmission unit 419 and communication unit 401, robot member company information storage unit 402, robot information collection unit 403 by manufacturer, robot by manufacturer Information classification unit 404, robot manager data storage unit 405, operation program storage unit for each robot 406, robot operation information collection unit 407, robot operation information analysis unit 408, robot operation abnormality detection unit 409 ), robot abnormal information manager notification unit 410, robot-specific AI operation information collection unit 411, robot-specific AI operation information analysis unit 412, robot operation information management terminal transmission unit 413, robot-specific IMU sensor Operation information collection unit 414, each robot-IMU sensor operation information analysis unit 415, each robot-IMU sensor operation information DB 416, robot operation optimization information collection unit 417, robot operation optimization database 418 and a control unit 420 for controlling the robot operation information manufacturer transmission unit 419. A robot operating system (ROS) based robot integrated management system.

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Meanwhile, the communication network 200 connects IoT with 5G to the plurality of brainless robots 101, 102, and 103 to ensure high-speed time series and flexibility in motion selection, and at the same time, robot action through real-time linkage with the cloud 300 It is characterized by being remotely controlled.

In addition, the brainless robots 101, 102, and 103 are characterized in that they are robots to which IMU (Inertial Measurement Unit) sensors are respectively attached.

And in the robot operating system (ROS) based robot integrated management system, it is characterized by the application of robot applications including autonomous driving + ARM / ARM + Gripper / Vision + ARM.

On the other hand, the robot operating system (ROS) based robot integrated management system connects the brainless robots (101, 102, 103) with 5G IoT to ensure high-speed time series and flexibility in operation selection, while at the same time the cloud (300) platform and to remotely control the action of the brainless robots (101, 102, 103) through real-time linkage, and provide a robot real-time monitoring system based on the data transmitted to the cloud 300, through which real-time robot status monitoring and It is characterized by being able to provide before service.

The present invention has the following effects.

First, it is possible to guarantee the flexibility of application of industrial robots compared to existing systems.

Second, an advanced smart factory model can be presented through the spread of brainless robots.

Third, it is possible to build an AI advanced Before service using industrial 5G network activation and high-speed time series.

Fourth, it is possible to provide optimal services to manufacturing sites lacking skilled manpower through the AI central control system.

Fifth, it is possible to minimize the damage of personnel input in industrial sites and dangerous sites.

Sixth, a single robot can be used appropriately to customer needs in various models ranging from process/workshop/factory.

Seventh, it has the advantage of being able to respond to robot management by utilizing a self-developed cloud-based platform and enabling Before Service in case of an abnormality.

Eighth, there is an advantage that system administrators and users can check the real-time situation through the real-time monitoring system.

1 is a diagram showing growth data of the robot market;
2 to 4 are diagrams for explaining the basic concept of a robot operating system (ROS) based robot integrated management system according to the present invention;
5 is a view showing a conventional fixed robot system;
6 is a diagram showing an embodiment of a cloud robot platform prototype in a robot operating system (ROS) based robot integrated management system according to the present invention;
7 is a view showing the cloud robot platform structure of the robot operating system (ROS) based robot integrated management system according to the present invention;
8 and 9 are diagrams for explaining the world industrial robot and collaborative robot market;
10 to 11 are diagrams for explaining a 6-axis acceleration sensor used in a robot operating system (ROS) based robot integrated management system according to the present invention;
12 is a diagram showing an embodiment of a robot operating system (ROS) based robot integrated management system according to the present invention;
13 is a diagram showing another embodiment of a robot operating system (ROS) based robot integrated management system according to the present invention;
14 is a block diagram for explaining an embodiment of a central control server through real-time monitoring and AI in a robot operating system (ROS) based robot integrated management system according to the present invention shown in FIGS. 12 and 13.

A preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

In addition, the terms used in the present invention have been selected from general terms that are currently widely used as much as possible, but in certain cases, there are terms arbitrarily selected by the applicant. It is intended to clarify that the present invention should be understood as the meaning of the term, not the name of. In addition, in describing the embodiments, descriptions of technical details 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 it by omitting unnecessary description.

2 to 4 are diagrams for explaining the basic concept of a robot operating system (ROS) based robot integrated management system according to the present invention, FIG. 5 is a diagram showing a conventional fixed robot system, and FIG. 6 is a diagram of the present invention It is a diagram showing an embodiment of a cloud robot platform prototype in a robot operating system (ROS) based robot integrated management system according to.

The basic concept of the robot operating system (ROS) based robot integrated management system according to the present invention is as shown in FIGS. Through this, it is an AI control and management integration platform for various robot applications and robot management that meet customer needs through a brainless industrial cloud robot system. Develop a base robot platform, manufacture a self-driving robot prototype, verify industrial robot-linked module replacement tests, and perform predictive maintenance of robots based on vibration and power data.

In addition, we produce and provide UI/UX-based design monitoring web pages for real-time indoor status data check, 5G-based network design and DB design/production for high-speed data collection, communication environment through Edge and Cloud linkage, service materialization, and If the AI-based central control platform is advanced and vibration and power data detect abnormalities in the robot, the platform changes the speed of the robot and delivers it to the customer so that robot management is performed automatically and before service is performed accordingly. In addition, it is intended to provide modification, supplementation, and commercialization of the previously developed prototype autonomous driving/industrial cobot (collaborative) linked platform.

And in the industrial environment, the conventional robot is configured to operate only as one model in a fixed position, as shown in FIG. 5, so it is very difficult to change, and thus there is a mobile environment or a feature that is not flexible. However, due to changes in the industrial model, it is necessary to secure the flexibility of the manufacturing model for mass customization production methods that require individual characteristics. Brainless Robot Platform is required to configure the manufacturing environment.

In particular, in the case of personnel handling robots in existing industrial sites, they are composed of personnel who have received advanced technical training, and there are characteristics that are difficult to use, and there are limitations that can only be performed by wired / field through a controller.

Accordingly, in order to ensure flexibility in the manufacturing environment, a platform that can perform robot motion logic on the web and connect them to each other through a network is required, and it must be easy to use. To this end, in the current robot development system, cloud and Ultra-low-latency 5G connectivity is required, and there is a need to reorganize services based on Docker and microarchitecture.

In addition, since the input of personnel to hazardous spaces is restricted by the Special Act on Industrial Accidents, it is necessary to prepare for industrial damage as well.

In the present invention, as shown in FIG. 6, it is intended to develop a brainless robot platform linked to machine vision and to provide an autonomous driving robot prototype linkage and corresponding platform.

In other words, by configuring Brainless Robot, when the model is changed/manufacturing environment is changed, the platform recognizes it and communicates it to customers and users, and after the manager approves the change in manufacturing environment, immediate action change and model change are possible, and prototype For this, we want to activate the platform by connecting machine vision to the endpoint.

7 is a diagram showing the cloud robot platform structure of a robot operating system (ROS) based robot integrated management system according to the present invention, and FIGS. 8 and 9 are diagrams for explaining the global market for industrial robots and collaborative robots.

By connecting IoT with 5G to each robot, high-speed time series and flexibility in motion selection are ensured, and at the same time, robot actions are controlled remotely through real-time linkage with the central cloud center. And based on the data transmitted to the cloud, a robot real-time monitoring system is provided, through which real-time robot status monitoring and Before service can be provided.

In addition, robot operation is advanced through AI-based central control.

In this case, industrial efficiency can be improved through 'Machine Vision Linked Brainless Robot' developed for processes requiring flexible and automation compared to existing robot systems, and various robot applications (autonomous driving + ARM / ARM + Gripper / Vision + It is possible to guarantee the flexibility by building an industrial Cloud Robot platform, which is an environment where ARM) can be applied.

In addition, it is possible to build a before service model through digital worker conversion and central control and data monitoring that can be supplied in the form necessary for industrial sites linked to autonomous robots.

On the other hand, the use of robots in the domestic market is higher than in any other country, and as of 2020, the non-automotive sector began to outperform the automotive sector for the first time in the North American industrial robot market. In 2020, the introduction of automobiles in the electronics industry overtook the automobile sector for the first time worldwide in 2020, and the automobile industry is in a period of great transformation in terms of production systems due to the rapid rise of the electric vehicle market. In addition, the use of industrial robots is expanding to metal machinery, food and beverage, bio, plastic, rubber, and chemical industries, which are not major customers.

As shown in FIGS. 8 and 9 , the growth of industrial robots and cooperative robots is predicted, and the ratio of cooperative robots is also rising steeply.

10 to 11 are diagrams for explaining a 6-axis acceleration sensor used in a robot operating system (ROS) based integrated robot management system according to the present invention.

The 6-axis acceleration sensor used in the robot operating system (ROS) based robot integrated management system according to the present invention is as shown in FIGS. 10 and 11, IMU is an abbreviation of Inertial Measurement Unit, and is an inertial measurement sensor. The IMU sensor is a sensor composed of a gyroscope/accelerometer/geomagnetic sensor, and the value to be finally obtained by measuring inertia is the tilt angle of the object.

Each of the three sensors in the IMU sensor has the following characteristics.

1. Gyroscope

* Measure the change in rotation (angular velocity [rad/s]). This is used when the number of degrees rotated per time is required.

* Since the angular velocity is exported as an output, the angle of inclination can be calculated by integrating this angular velocity over the entire time.

* The angular velocity measured by the sensor continues to have small errors in the measured value due to noise or other reasons, and these values are accumulated during integration, increasing the error of the final value.

* A geomagnetic sensor is used for error compensation.

2. Accelerometer

* When measuring the acceleration (m/s^2) and calculating the initial value, the gravitational acceleration is decomposed and used to measure how much it is tilted.

* When the sensor moves in three dimensions, it measures the acceleration in the x-, y-, and z-axis directions.

* It is also possible to integrate the acceleration and use the velocity and travel distance values.

* In the moving state, the accelerometer cannot measure the tilt value.

3. Geomagnetic sensor

* To measure the magnetism, measure the strength of magnetic flux based on magnetic north and measure how much it is deflected from magnetic north.

* The value obtained through this sensor is used to correct the error of the gyroscope.

The use case and form of these IMU sensors are,

* Gesture recognition system based on IMU sensor for interaction in virtual reality environment

- Learning by using a CNN (Computer Neural Network) model by converting the result of the IMU sensor of a specific gesture into time-series data

- The accuracy is about 99.5%, showing that motion recognition is possible with only the data of the IMU sensor.

(https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE10448424)

* A study on location estimation using GPS/IMU sensor fusion

- Disadvantages of using only GPS for location tracking (results are not smooth)

Disadvantages of using only the IMU (largely distorted position due to error accumulation)

- The disadvantages of the above two sensors are complemented by using both sensors to greatly improve the performance of location tracking.

(https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE11108431)

* A study on indoor orientation estimation using an IMU sensor

- Increases the accuracy of the overall measurement by measuring and correcting the degree of disturbance of the geomagnetic sensor in the angle detection of the IMU sensor

(https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE11022866)

* Research on board robot wireless control using IMU sensor

- Research on attaching an IMU sensor to a user's arm, analyzing the user's arm position or behavior, and controlling the board they are riding

- IMU sensors can be used in various ways not only on boards but also on boarding robots such as Segway.

(https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE02478296)

12 is a diagram showing an embodiment of a robot operating system (ROS) based robot integrated management system according to the present invention.

As shown in FIG. 12, an embodiment of a robot operating system (ROS) based robot integrated management system according to the present invention includes a plurality of brainless robots 101, 102, and 103, a communication network (5G network) 200, and , It is configured to include a cloud 300 and a central control server 400 through real-time monitoring and AI.

The plurality of brainless robots 101, 102, and 103 are machine vision-linked industrial robots including store robots, indoor self-driving service robots, and collaborative robots, each having an IMU sensor attached thereto. These multiple brainless robots (101, 102, 103) are modular robots that can be fixed as well as movable as industrial robots for metal machinery, food and beverage and bio, plastic and rubber, and chemical industries, and are based on the robot operating system (ROS). it works

The communication network 200 connects IoT with 5G to a plurality of brainless robots (101, 102, 103) to ensure high-speed time series and flexibility in motion selection, while simultaneously controlling robot actions remotely through real-time linkage with the central cloud center It includes 5G networks to make it possible.

As shown in FIG. 7, the cloud 300 includes a proxy server and is a cloud platform for data connection with a plurality of brainless robots 101, 102, and 103, which are AI-linked industrial robots. It is not available, but it can be usefully used in the case of small and medium-sized businesses, and provides various driving programs necessary for operating a plurality of brainless robots (101, 102, 103), and allows managers to cope with robot management. In other words, it provides AI-connected industrial robots and data connectivity.

The central control server 400 through real-time monitoring and AI uses IMU sensors attached to each of the brainless robots 101, 102, and 103 for a plurality of brainless robots 101, 102, and 103 through the cloud 300. It collects position and angle information and centrally controls advanced motion data. That is, the central control server 400 through real-time monitoring and AI enables a real-time dashboard function through the IMU sensor for robot motion / robot data. At this time, data collection by ultra-low latency is possible through the 5G network communication network 200, and when configured as a machine vision interlocking type as in FIG. 6, a network linkage function considering vibration monitoring and AR/VR/XR linkage is provided.

13 is a diagram showing another embodiment of a robot operating system (ROS) based robot integrated management system according to the present invention.

As shown in FIG. 13, another embodiment of the ROS-based integrated robot management system according to the present invention includes the first to Nth brainless robots 100, the communication network 200, the cloud 300, the real-time It is configured to include a central control server 400 through monitoring and AI, a plurality of first to Nth robot manufacturer servers 500 and a plurality of first to Nth robot management terminals 600.

Here, the first to Nth brainless robots 100, the communication network 200, the cloud 300, and the central control server 400 through real-time monitoring and AI are the same as in FIG. 12 .

And the plurality of first to Nth robot manufacturer servers 500 are servers of a plurality of first to Nth robot manufacturers. The plurality of first to Nth robot manufacturer servers 500 are servers of manufacturers for the first to Nth brainless robots 100, and various specification information, program operation information, and The IMU sensor information of is provided to the central control server 400 through real-time monitoring and AI.

The plurality of first to Nth robot management terminals 600 may be terminals of managers for the plurality of first to Nth brainless robots 100, and may be, for example, smart pads or smart phones.

14 is a block diagram for explaining an embodiment of a robot management server in a robot operating system (ROS) based robot integrated management system according to the present invention shown in FIGS. 12 and 13.

As shown in FIG. 14, the embodiment of the central control server through real-time monitoring and AI in the robot operating system (ROS) based robot integrated management system according to the present invention includes a communication unit 401, a robot member company information storage unit 402, Robot information collection unit 403 by manufacturer, robot information classification unit 404 by manufacturer, robot manager data storage unit 405, operation program storage unit 406 by robot, robot operation information collection unit 407, robot operation Information analysis unit 408, robot operation abnormality detection unit 409, robot abnormal information manager notification unit 410, robot-specific AI operation information collection unit 411, robot-specific AI operation information analysis unit 412, robot operation information Management terminal transmission unit 413, each robot-IMU sensor operation information collection unit 414, each robot-IMU sensor operation information analysis unit 415, each robot-IMU sensor operation information DB 416, robot operation optimization information It is configured to include a collection unit 417, a robot operation optimization database 418, a robot operation information manufacturer transmission unit 419, and a control unit 420.

Here, the communication unit 401 connects a plurality of robots 100, a plurality of robot manufacturer servers 500, a plurality of robot management terminals 600 through a communication network 200 and a central control server 400 through real-time monitoring and AI. to communicate

The robot member company information storage unit 402 stores information of member companies registered as members among manufacturers that manufacture robots and installation companies such as factories in which a plurality of robots 100 are installed. Such member company information may include member company name, member company contact information, contact person in charge, business location, robot installation address, and the like.

The robot information collection unit 403 for each manufacturer includes robot specification (specification) information (robot size, robot function, attached IMU type, sensor location, robot price information, prices of accessories and sensors, etc.) of the manufacturer producing the robot, It may include unique identification number information that can identify the robot, installation location when the robot is actually installed, installation company name (factory name), installation date, inspection date information, etc.

The robot information classification unit 404 for each manufacturer classifies the standard information of the robots collected by each manufacturer collected by the robot information collection unit 403 for each manufacturer.

The robot manager data storage unit 405 includes the name, phone number, PC identification information, smartphone information, and the like of each manager (person in charge) who manages the plurality of robots 100 . Of course, in the case of the same company or a group of robots, one person can manage several robots.

The robot operating program storage unit 406 stores programs for operating the plurality of robots 100 for each robot. This operating program is capable of collaborating with the cloud 300 .

The robot operation information collection unit 407 collects operation information of the robot 100 .

The robot operation information analysis unit 408 analyzes the information collected by the robot operation information collection unit 407 . At this time, it is operated in real time through the cloud 300, and the operating information is analyzed in the robot operation information analysis unit 408 as well as in the cloud.

The robot operation abnormality detection unit 409 detects an abnormal situation in the plurality of robots 100 analyzed by the robot operation information analysis unit 408 .

The robot abnormal information manager notification unit 410 notifies the abnormal situation collected by the robot operation abnormality detection unit 409 to the manager's (operator's) PC or smartphone.

The AI operation information collection unit 411 for each robot collects AI operation information for each robot operated through the cloud 300.

The AI operation information analysis unit 412 for each robot analyzes the AI operation information for each robot collected by the AI operation information collection unit 411 for each robot.

The robot operation information management terminal transmission unit 413 transmits the information analyzed by the AI operation information analysis unit 412 for each robot to the robot operation information management terminal 600 of the corresponding robot. Depending on this operation information, it is possible to respond to robot management and Before Service is possible in case of an abnormality.

The per-robot-IMU sensor operation information collection unit 414 collects per-robot-IMU sensor operation information.

The per-robot-IMU sensor operation information analysis unit 415 analyzes the information collected by the per-robot-IMU sensor operation information collection unit 414 .

The per-robot-IMU sensor operation information DB 416 stores information analyzed by the per-robot-IMU sensor operation information analyzer 415 .

The robot operation optimization information collection unit 417 collects newly updated robot optimization information from the manufacturer. At this time, the manufacturer's standard information for the robot that produces optimal performance, operation information of the company (factory) that installed the robot (regular inspection frequency, inspection method, etc.), sensor type, and sensor manufacturer information are also collected. .

The robot operation optimization database 418 databases the optimization information collected by the robot operation optimization information collection unit 417 . According to this database, latecomer robot manufacturers or existing member robot manufacturers can use information from other companies' robots, their collaborative robots, and IMU sensors to develop more improved robots. Such data can be useful especially among SMEs.

The robot operation information manufacturer transmission unit 419 transmits information from the robot-specific IMU sensor operation information DB 416 and the robot operation optimization database 418 to each manufacturer, which means that the manufacturer It is possible to receive information about operation, operation, abnormal occurrence or optimized information in the actual field and use it for further improvement.

The controller 420 includes a communication unit 401, a robot member company information storage unit 402, a robot information collection unit 403 for each manufacturer, a robot information classification unit 404 for each manufacturer, a robot manager data storage unit 405, and a robot-specific robot information collection unit 403. Operation program storage unit 406, robot operation information collection unit 407, robot operation information analysis unit 408, robot operation abnormality detection unit 409, robot abnormal information manager notification unit 410, AI operation information collection for each robot unit 411, robot-specific AI operation information analysis unit 412, robot operation information management terminal transmission unit 413, each robot-IMU sensor operation information collection unit 414, each robot-IMU sensor operation information analysis unit ( 415), the robot-specific IMU sensor operation information DB 416, the robot operation optimization information collection unit 417, the robot operation optimization database 418, and the robot operation information manufacturer transmission unit 419 are controlled.

Although the present invention has been described with the above examples, the present invention is not necessarily limited to these examples, and may be variously modified and implemented without departing from the technical spirit of the present invention. Therefore, the examples disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these examples. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: first to Nth (brainless) robots
200: communication network
300: cloud
400: Central control server through real-time monitoring and AI
500: 1st to Nth robot manufacturer server
600: 1st to Nth robot management terminals

Claims (7)

As a machine vision-linked industrial robot, a plurality of brainless robots (101, 102, 103) based on a robot operating system (ROS);
A communication network 200 including a 5G network for remotely controlling the plurality of brainless robots 101, 102, and 103;
A cloud 300 platform for data connection with a plurality of brainless robots 101, 102, and 103, which include a proxy server and are AI-linked industrial robots;
Through the cloud 300 platform, position and angle information is collected through the IMU sensor attached to each of the brainless robots 101, 102, and 103 for the plurality of brainless robots 101, 102, and 103, and advanced A central control server 400 through real-time monitoring and AI that centrally controls motion data;
As a server of manufacturers for the plurality of brainless robots (101, 102, 103), the central control server through real-time monitoring and AI of specification information, program operation information, and each IMU sensor information for mobile and fixed brainless robots 1st to Nth robot manufacturer server 500 provided in (400); and
As administrator terminals for the plurality of brainless robots 101, 102, and 103, a plurality of first to Nth robot management terminals 600 composed of smart pads or smart phones; including,
The plurality of brainless robots 101, 102, and 103 are modular robots that can be fixed as well as movable as industrial robots in the metal machinery, food and beverage and bio, plastic and rubber, and chemical industries,
The cloud 300 platform,
Provides various drive programs necessary for operating the plurality of brainless robots 101, 102, and 103, provides AI-linked industrial robots and data connection,
The central control server 400 through the real-time monitoring and AI,
Through the communication network 200, the plurality of brainless robots 101, 102, 103, the first to Nth robot manufacturer servers 500, and the plurality of first to Nth robot management terminals 600 and real-time monitoring and The communication unit 401 for communication between the central control server 400 through AI, the name of the member company that is registered as a member among the manufacturers that manufacture the robot and the installation company that installed the plurality of brainless robots (101, 102, 103), A robot member company information storage unit 402 that stores member company contact information, person in charge contact information, workplace location, and robot installation address information, and robot size and robot function from the manufacturer that produces the plurality of brainless robots 101, 102, and 103 , Attached IMU sensor type, sensor location, robot price information, price information of accessories and sensors, unique identification number information that can identify the robot, installation location where the robot is installed, installation company name, installation date, inspection date information A robot information collection unit 403 for each manufacturer that collects and a robot information classification unit 404 for each manufacturer that classifies standard information of robots collected by each manufacturer collected in the robot information collection unit 403 for each manufacturer, A robot manager data storage unit 405 storing the manager's name, phone number, PC identification information, and smartphone information that manages the plurality of brainless robots 101, 102, and 103, and the plurality of brainless robots 101 , 102, 103) and operation program storage unit 406 for each robot in which programs for operation are stored in collaboration with the cloud 300 for each robot, and operation information of the plurality of brainless robots 101, 102, and 103 A robot operation information collection unit 407 that collects, a robot operation information analysis unit 408 that analyzes the information collected by the robot operation information collection unit 407, and analysis by the robot operation information analysis unit 408. A robot operation abnormality detection unit 409 for detecting an abnormal situation of the plurality of brainless robots 101, 102, and 103, and a manager's PC or smartphone for the abnormal situation collected by the robot operation abnormality detection unit 409 A robot abnormal information manager notification unit 410 notifying, an AI operation information collection unit 411 for each robot that collects AI operation information for each robot operated through the cloud 300, and AI operation information collection for each robot The AI operation information analysis unit 412 for each robot that analyzes the AI operation information for each robot collected in the unit 411, and the information analyzed by the AI operation information analysis unit 412 for each robot is a robot management terminal of the corresponding robot ( 600) and a robot operation information management terminal transmission unit 413 that enables robot management response and Before Service in case of an abnormality, and a robot-IMU sensor operation information collection unit that collects operation information for each robot-IMU sensor ( 414), a robot-IMU sensor operation information analysis unit 415 for analyzing the information collected by the robot-IMU sensor operation information collection unit 414, and the robot-IMU sensor operation information analysis unit 415 ), collects robot-specific-IMU sensor operation information DB 416 that stores the analyzed information, and robot optimization information newly updated from the manufacturer, but with respect to the robot that produces optimal performance, the manufacturer's standard information and robot installation A robot operation optimization information collection unit 417 that collects operation information including the number of regular inspections and inspection methods of a company, and information on sensor types and sensor manufacturers, and the robot operation optimization information collection unit 417 ), and the robot operation optimization database 418, which databases the optimization information collected from latecomers or existing member robot manufacturers to develop improved robots through other companies' robots, their collaborative robots, and IMU sensor information. , The robot-specific IMU sensor operation information DB (416) information and the robot operation optimization database (418) are transmitted to each manufacturer, so that the robots to which their IMU sensors are attached are operated, operated, or abnormal in the actual field. A robot operation information manufacturer transmission unit 419 and the communication unit 401, a robot member company information storage unit 402, and a robot information collection unit 403 for each manufacturer that receive this generated information or optimized information and use it for improvement , Robot information classification unit 404 by manufacturer, robot manager data storage unit 405, operation program storage unit 406 by robot, robot operation information collection unit 407, robot operation information analysis unit 408, robot operation Abnormality detection unit 409, robot abnormal information manager notification unit 410, AI operation information collection unit 411 for each robot, AI operation information analysis unit 412 for each robot, robot operation information management terminal transmission unit 413, robot Each-IMU sensor operation information collection unit 414, each robot-IMU sensor operation information analysis unit 415, each robot-IMU sensor operation information DB 416, robot operation optimization information collection unit 417, robot operation optimization A robot operating system (ROS) based robot integrated management system, characterized in that it is configured to include a control unit 420 for controlling the database 418 and the robot operation information manufacturer transmission unit 419.
delete delete According to claim 1,
The communication network 200 connects IoT with 5G to a plurality of brainless robots 101, 102, and 103 to ensure high-speed time series and flexibility in motion selection, and at the same time, robot action through real-time linkage with the cloud 300 A robot operating system (ROS) based robot integrated management system characterized in that it is remotely controlled.
According to claim 1,
The brainless robot (101, 102, 103) is a robot operating system (ROS) based robot integrated management system, characterized in that the IMU (Inertial Measurement Unit) sensor is attached to each robot.
According to claim 1,
In the robot operating system (ROS) based robot integrated management system,
Robot operating system (ROS) based robot integrated management system characterized in that robot applications including autonomous driving + ARM / ARM + Gripper / Vision + ARM are applied.
According to claim 1,
The robot operating system (ROS) based robot integrated management system,
The brainless robots (101, 102, 102, 102, 102, 103) Remotely control actions, provide a robot real-time monitoring system based on the data transmitted to the cloud 300, and through this, real-time robot status monitoring and Before service. Robot operating system (ROS), characterized in that ) based robot integrated management system.