KR102625699B1 - Apparatus and method for duplex system architecture modularization of mobile robot - Google Patents

Abstract

The apparatus and method for modularizing the redundant system configuration of a mobile robot according to a preferred embodiment of the present invention is an overall system architecture (system architecture) to satisfy the pl-d (performance level d) required for functional safety of the robot. By making it redundant, sensors can be removed or new sensors can be added without changing the overall system configuration.

Description

Apparatus and method for duplex system architecture modularization of mobile robot}

The present invention relates to a modular device and method for configuring a redundant system for a mobile robot, and more specifically, to a device for redundant modules to satisfy pl-d (performance level d) required for functional safety of a robot. and methods.

To ensure the safety of the robot, redundancy of modules is required at the performance level (pl) related to functional safety. However, the conventional method has a problem in that when an existing sensor is removed or a new sensor is added, the system configuration must be changed according to the change in order to satisfy the performance level (pl) of the robot.

The purpose of the present invention is to duplicate the entire system architecture to satisfy pl-d (performance level d) required for functional safety of the robot, a modular device for redundant system configuration of a mobile robot. and methods are provided.

Other unspecified objects of the present invention can be additionally considered within the scope that can be easily inferred from the following detailed description and its effects.

In order to achieve the above object, a modular device for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention includes an input unit equipped with a plurality of sensors; a logic unit equipped with a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit; an output unit that transmits output values to the outside using redundancy parameters based on the outputs of the plurality of logic boards mounted on the logic unit; and a control unit that changes the values of the duplication parameters including logic board identification information, logic board type information, and sensor location information based on duplication target information input by the user.

Here, when the duplication target information including the logic board identification information of the duplication target and sensor information corresponding to the logic board of the duplication target is input by the user, the control unit sets the duplication parameters based on the duplication target information. The value of can be changed using the replication target set as a unit.

Here, the control unit, based on the duplication target information, generates a first pair of logic board identification information, the first pair of logic board type information, the first pair of sensor location information, and a second pair of logic board identification information. , the duplication target may be dynamically changed by changing the value of the duplication parameter including the second pair of logic board type information and the second pair of sensor location information in units of the duplication target set.

Here, the output unit includes two OR gates, and inputs to each of the two OR gates are set using the redundancy parameters based on the outputs of the plurality of logic boards, and the output values of the two OR gates are can be transmitted externally.

Here, the control unit controls the output unit based on the duplication target information, sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate. The output of the logic board corresponding to the second pair can be set to be input to the second OR gate.

Here, the plurality of logic boards mounted on the logic unit may be connected to one communication network.

Here, the sensor mounted on the input unit is one of a LiDAR sensor, an encoder sensor, and a Cliff sensor, and the logic board mounted on the logic unit is a LiDAR board or an encoder. It can be one of the (Encoder) board and other (ETC) boards.

A method of modularizing a dual system configuration of a mobile robot according to a preferred embodiment of the present invention to achieve the above object includes an input unit on which a plurality of sensors are mounted, and a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit. A modular device comprising a logic unit on which a (logic board) is mounted, an output unit that transmits output values to the outside using redundancy parameters based on the outputs of the plurality of logic boards mounted on the logic unit, and a control unit. A redundancy system configuration modularization method performed by the method, comprising: inputting redundancy target information by a user; and changing values of the redundancy parameters including logic board identification information, logic board type information, and sensor location information based on the redundancy target information.

Here, in the change step, when the duplication target information including the logic board identification information of the duplication target and sensor information corresponding to the logic board of the duplication target is input by the user, the duplication is performed based on the duplication target information. This can be done by changing the value of the parameter using the duplication target set as a unit.

Here, the changing step includes, based on the duplication target information, a first pair of logic board identification information, the first pair of logic board type information, the first pair of sensor location information, and a second pair of logic board identification. The duplication target may be dynamically changed by changing the value of the duplication parameter including information, logic board type information of the second pair, and sensor location information of the second pair in units of the duplication target set. there is.

Here, the output unit includes two OR gates, and inputs to each of the two OR gates are set using the redundancy parameters based on the outputs of the plurality of logic boards, and the output values of the two OR gates are can be transmitted externally.

Here, the change step controls the output unit based on the duplication target information, sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate. The output of the logic board corresponding to the second pair of may be set to be input to the second OR gate.

A computer program according to a preferred embodiment of the present invention for achieving the above technical problem is stored in a computer-readable recording medium and executes any one of the above-described redundant system configuration modularization methods for a mobile robot on a computer.

According to the device and method for modularizing a redundant system for a mobile robot according to a preferred embodiment of the present invention, the entire system is configured (system architecture) to satisfy the pl-d (performance level d) required for functional safety of the robot. ), allowing sensors to be removed or new sensors to be added without changing the overall system configuration.

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

Figure 1 is a diagram to explain the redundancy concept for pl-d (performance level d) category 3 required for functional safety of robots.
Figure 2 is a block diagram illustrating a modular device for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention.
FIG. 3 is a block diagram for explaining the detailed configuration of the redundant system configuration modularization device shown in FIG. 2.
FIG. 4 is a diagram illustrating an example of implementation of a modular device for forming a redundant system for a mobile robot according to a preferred embodiment of the present invention.
Figure 5 is a flowchart illustrating a modularization method for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings. The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are merely intended to ensure that the disclosure of the present invention is complete, and that the present invention is not limited to the embodiments disclosed below and is provided by those skilled in the art It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numerals refer to like elements throughout the specification.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with meanings that can be commonly understood by those skilled in the art to which the present invention pertains. Additionally, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless clearly specifically defined.

In this specification, terms such as “first” and “second” are used to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, a first component may be named a second component, and similarly, the second component may also be named a first component.

In this specification, identification codes (e.g., a, b, c, etc.) for each step are used for convenience of explanation. The identification codes do not describe the order of each step, and each step is clearly understood in the context. Unless a specific order is specified, events may occur differently from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the opposite order.

In this specification, expressions such as “have,” “may have,” “includes,” or “may include” indicate the presence of the corresponding feature (e.g., a numerical value, function, operation, or component such as a part). indicates, does not rule out the presence of additional features.

Additionally, the term '~unit' used in this specification refers to software or hardware components such as FPGA (field-programmable gate array) or ASIC, and the '~unit' performs certain roles. However, '~part' is not limited to software or hardware. The '~ part' may be configured to reside in an addressable storage medium and may be configured to reproduce on one or more processors. Therefore, as an example, '~ part' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuits, data structures, and variables. The functions provided within the components and 'parts' may be combined into a smaller number of components and 'parts' or may be further separated into additional components and 'parts'.

Hereinafter, with reference to the attached drawings, a preferred embodiment of a modular device and method for constructing a redundant system for a mobile robot according to the present invention will be described in detail.

First, a modular device for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention will be described with reference to FIGS. 1 and 2.

Figure 1 is a diagram to explain the redundancy concept for pl-d (performance level d) category 3 required for functional safety of robots, and Figure 2 is a diagram showing redundancy of a mobile robot according to a preferred embodiment of the present invention. This is a block diagram to explain the system configuration modularization device.

Referring to FIG. 2, the modularization device (hereinafter referred to as 'modularization device') 100, which constitutes a redundant system for a mobile robot according to a preferred embodiment of the present invention, has the pl-d ( To satisfy performance level d), the entire system architecture can be redundant.

Here, the present invention can be used for household cleaning robots, public building cleaning robots, logistics robots, service robots, and industrial robots.

In other words, in order to satisfy the pl-d required for the functional safety of the robot, three modules: the input (I) stage, the logic (L) stage, and the output (O) stage, as shown in Figure 1. Each stage must be duplicated. The input terminal is dualized with "LiDAR sensor A (I1)" and "LiDAR sensor B (I2)", and the logic terminal is "LiDAR logic board A (L1)" and It is duplicated with “LiDAR Logic Board B (L2)” and the output terminal is duplicated with “O1” and “O2” and can stop if the result is “0 or 2”. The present invention relates to a method of performing such redundancy from the perspective of overall system configuration.

To this end, the modular device 100 may include an input unit 110, a logic unit 130, an output unit 150, and a control unit 170.

The input unit 110 may be equipped with a plurality of sensors 111.

Here, the sensor 111 may be one of a LiDAR sensor, an encoder sensor, and a cliff sensor.

The logic unit 130 may be equipped with a plurality of logic boards 131 corresponding to each of the plurality of sensors 111 mounted on the input unit 110.

Here, the logic board 131 may be one of a LiDAR board, an encoder board, and an ETC board.

The output unit 150 may transmit output values to the outside using redundancy parameters based on the outputs of the plurality of logic boards 131 mounted on the logic unit 130.

The control unit 170 may change the value of the duplication parameter based on duplication target information input by the user.

Here, the redundancy parameters include logic board identification information, which is unique information that can identify the logic board 131, logic board type information, which is information that can identify the type of the logic board 131, and the sensor 111. It may include sensor location information, which is information that can identify the location.

Then, with reference to FIG. 3, the modularization device for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention will be described in more detail.

FIG. 3 is a block diagram for explaining the detailed configuration of the redundant system configuration modularization device shown in FIG. 2.

Referring to FIG. 3, the input unit 110 of the modular device 100 according to the present invention is equipped with a plurality of “type A” sensor A (111-a) and a “type B” sensor B (111-b). A plurality of “Type C” sensors C (111-c) may be installed. Here, “Type A” may represent a LiDAR sensor, “Type B” may represent an Encoder sensor, and “Type C” may represent a Cliff sensor.

In addition, the logic unit 130 of the modular device 100 is equipped with a plurality of “type A” logic boards A (131-a) corresponding to each of the plurality of sensors A (111-a) mounted on the input unit 110. A plurality of "type B" logic boards B (131-b) are mounted in correspondence with each of the plurality of sensors B (111-b) mounted on the input unit 110, and a "type C" logic board C (131-b) is mounted on the input unit 110. A plurality of -c) may be mounted to correspond to each of the plurality of sensors C (111-c) mounted on the input unit 110. Here, “Type A” may represent a LiDAR board, “Type B” may represent an Encoder board, and “Type C” may represent an ETC board.

In addition, a plurality of logic boards 131 mounted on the logic unit 130, that is, a plurality of logic boards A (131-a), a plurality of logic boards B (131-b), and a plurality of logic boards C (131-c) ) can be connected to one communication network.

Additionally, when replication target information is input by the user, the control unit 170 of the modularization device 100 may change the value of the replication parameter based on the replication target information using the replication target set as a unit. Here, the duplication target information may include identification information of the logic board of the duplication target and sensor information corresponding to the logic board of the duplication target.

In more detail, the control unit 170 generates the first pair of logic board identification information, the first pair of logic board type information, the first pair of sensor location information, and the second pair of logic board identification information, based on the duplication target information. The duplication target may be dynamically changed by changing the value of the duplication parameter including the information, the second pair of logic board type information, and the second pair of sensor location information in units of the duplication target set.

At this time, the output unit 150 includes two OR gates 151 and 152, and uses a redundancy parameter based on the outputs of the plurality of logic boards 131 to generate an OR gate for each of the two OR gates 151 and 152. The input is set, and the output values of the two OR gates 151 and 152 can be transmitted to the outside.

That is, the control unit 170 controls the output unit 150 based on the duplication target information, sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate. The output of the logic board corresponding to the second pair of can be set to be input to the second OR gate.

For example, sensor A (111-a) is two “LiDAR sensors”, sensor B (111-b) is two “Encoder sensors”, and sensor is two “Cliff sensors”. C (111-c) is installed in the input unit 110, and logic board A (131-a), which is two “LiDAR boards” corresponding to each of the two sensors A (111-a), two Logic board B (131-b), which is two “encoder boards” corresponding to each of sensor B (111-b), and two “others (ETC)” corresponding to each of two sensors C (111-c) After the logic board C (131-c), which is the "board", is installed, the following duplication target information can be input.

- Redundancy target information

-> Redundancy target set 1: Identification information of each of the two logic boards A (131-a), the number of sensors 111 connected to each of the two logic boards A (131-a), and identification information of the sensors 111, etc.

-> Redundancy target set 2: Identification information of each of the two logic boards B (131-b), the number of sensors 111 connected to each of the two logic boards B (131-b), and identification information of the sensors 111, etc.

-> Redundancy target set 3: Identification information for each of the two logic boards C (131-c), the number of sensors 111 connected to each of the two logic boards C (131-c), and identification information for the sensors 110, etc.

Then, the control unit 170 of the modularization device 100 according to the present invention can dynamically change the replication target by changing the value of the replication parameter in units of the replication target set as follows based on the above replication target information.

- Change the value of redundancy parameters

-> Duplex target set 1: Among the two logic boards A (131-a), one logic board A (131-a) is set as the first pair, and the other logic board A (131-a) is set as the second pair. , By changing the value of the relevant redundancy parameter, two logic boards A (131-a) are set as redundancy targets.

-> Duplex target set 2: Among the two logic boards B (131-b), one logic board B (131-b) is set as the first pair, and the other logic board B (131-b) is set as the second pair. , By changing the value of the relevant redundancy parameter, two logic boards B (131-b) are set as redundancy targets.

-> Duplication target set 3: Among the two logic boards C (131-c), one logic board C (131-c) is set as the first pair, and the other logic board C (131-c) is set as the second pair. , By changing the value of the relevant redundancy parameter, two logic boards C (131-c) are set as redundancy targets.

And, the control unit 170 has one logic board A (131-a) set as the first pair of the two logic boards A (131-a) and a first pair of the two logic boards B (131-b). So that the output of one logic board C (131-c), which is set as the first pair among one logic board B (131-b) and two logic boards C (131-c), is input to the first OR gate (151). You can set it. In addition, the control unit 170 has one logic board A (131-a) set as the second pair among the two logic boards A (131-a) and a second pair of the two logic boards B (131-b). Among the one logic board B (131-b) and the two logic boards C (131-c), the output of one logic board C (131-c) set as the second pair is input to the second OR gate (152). You can set it. Through this, the present invention can implement duplication of the output stage.

Then, with reference to FIG. 4, an example of implementation of a modular device for forming a redundant system for a mobile robot according to a preferred embodiment of the present invention will be described.

FIG. 4 is a diagram illustrating an example of implementation of a modular device for forming a redundant system for a mobile robot according to a preferred embodiment of the present invention.

Referring to Figure 4, the present invention configures the entire system by dividing it into an input (I) stage, a logic (L) stage, and an output (Output, O) stage, each logic board (LB) 131 ) consists of a single communication network, so the modules of the logic board (LB) 131 can be removed or added according to the number of sensors 111 required when configuring redundancy.

In addition, the output terminal is composed of two OR gates (151 and 152) to flexibly receive data regardless of the number of duplicated data, so the module of the logic board (LB) 131 can be removed or newly added. Even if this happens, a redundant system can be implemented without changing the entire system configuration.

That is, the present invention configures a logic board (LB) 131 for each sensor 111 to form a module-level redundancy system, and provides a dual output board (output board) regardless of the number of output data coming from the entire logic stage. By duplicating the output stage using two OR gates, pl-d configuration is possible without significant change in the overall duplex system configuration whenever the number of sensors 111 is changed.

In the system configuration according to the present invention, the logic stage can be broadly divided into three types: LiDAR board, Encoder board, and ETC board. At this time, the number of LiDAR sensors can be dynamically changed from 2 to 4, the number of encoder sensors can be changed from 2 to 4, and the number of cliff sensors can be changed dynamically from 4 EA to 8 EA. You can. When changing, the software within the board can change the number of sensors 111 without any additional changes, and the change can be transmitted to the board in the form of parameter data by the user. In other words, the user can transmit changes to the relevant board by inputting information to be duplicated.

When the user inputs duplication target information such as the ID number of the logic board 131 and the number of sensors 111 to be duplicated, the board automatically sets the values of the duplication parameters below based on the duplication target information through an internal algorithm. It can be changed to .

- Duplication parameters of the first pair to be duplicated

ID of logic board 131: LB_PAIR_RS485_ID_1

Type of logic board (131): LB_PAIR_EXTRINSIC_TYPE_1

Location of sensor 111: LB_PAIR_LIDAR_LOCATION_XYZ_1 / LB_PAIR_LIDAR_LOCATION_R_XYZ_1

- Duplication parameters of the second pair to be duplicated

ID of logic board 131: LB_PAIR_RS485_ID_2

Type of logic board (131): LB_PAIR_EXTRINSIC_TYPE_2

Location of sensor 111: LB_PAIR_LIDAR_LOCATION_XYZ_2 / LB_PAIR_LIDAR_LOCATION_R_XYZ_2

Through the above redundancy parameters, the object to be duplicated on the internal board can be dynamically changed. That is, in the present invention, the redundancy target can be automatically changed by changing the number of sensors to be changed on a system basis and then changing only the value of the redundancy parameter accordingly.

Next, a method for modularizing a redundant system for a mobile robot according to a preferred embodiment of the present invention will be described with reference to FIG. 5 .

Figure 5 is a flowchart illustrating a modularization method for configuring a redundant system for a mobile robot according to a preferred embodiment of the present invention.

Referring to Figure 5, the modularization device 100 according to the present invention allows duplication target information to be input by the user (S110).

Here, the duplication target information may include identification information of the logic board of the duplication target and sensor information corresponding to the logic board of the duplication target.

Then, the modularization device 100 may change the value of the duplication parameter based on the duplication target information (S130).

Here, the redundancy parameters include logic board identification information, which is unique information that can identify the logic board 131, logic board type information, which is information that can identify the type of the logic board 131, and the sensor 111. It may include sensor location information, which is information that can identify the location.

That is, when replication target information is input by the user, the modularization device 100 may change the value of the replication parameter based on the replication target information using the replication target set as a unit.

In more detail, the modularization device 100 includes a first pair of logic board identification information, a first pair of logic board type information, a first pair of sensor location information, and a second pair of logic boards, based on the duplication target information. The duplication target may be dynamically changed by changing the value of the duplication parameter including the identification information, the second pair of logic board type information, and the second pair of sensor location information in units of the duplication target set.

At this time, the output unit 150 of the modular device 100 includes two OR gates 151 and 152, and uses a redundancy parameter based on the outputs of the plurality of logic boards 131 to generate two OR gates 151. and 152), the inputs for each are set, and the output values of the two OR gates 151 and 152 can be transmitted to the outside.

That is, the modularization device 100 controls the output unit 150 based on the duplication target information, sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and sets the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate. The output of the logic board corresponding to the second pair of the set can be set to be input to the second OR gate.

Even though all the components constituting the embodiments of the present invention described above are described as being combined or operated in combination, the present invention is not necessarily limited to these embodiments. That is, as long as it is within the scope of the purpose of the present invention, all of the components may be operated by selectively combining one or more of them. In addition, although all of the components may be implemented as a single independent hardware, a program module in which some or all of the components are selectively combined to perform some or all of the combined functions in one or more pieces of hardware. It may also be implemented as a computer program having. In addition, such a computer program can be stored in a computer readable media such as USB memory, CD disk, flash memory, etc. and read and executed by a computer, thereby implementing embodiments of the present invention. Recording media for computer programs may include magnetic recording media and optical recording media.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications, changes, and substitutions can be made by those skilled in the art without departing from the essential characteristics of the present invention. will be. Accordingly, the embodiments disclosed in the present invention and the attached drawings are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments and the attached drawings. . The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

100: redundant system configuration modular device,
110: input unit,
111: sensor,
130: logic unit,
131: logic board,
150: output unit,
151: first OR gate,
152: second OR gate,
170: control unit

Claims (13)

An input unit equipped with a plurality of sensors;
a logic unit equipped with a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit;
an output unit that transmits output values to the outside using redundancy parameters based on the outputs of the plurality of logic boards mounted on the logic unit; and
a control unit that changes values of the redundancy parameters including logic board identification information, logic board type information, and sensor location information based on redundancy target information input by the user;
A modular device for configuring a redundant system for a mobile robot that includes a. In paragraph 1:
The control unit,
When the duplication target information including logic board identification information of the duplication target and sensor information corresponding to the logic board of the duplication target is input by the user, the value of the duplication parameter is set based on the duplication target information to the duplication target set. Changing it as a unit,
Modular device for redundant system configuration of mobile robots. In paragraph 2,
The control unit,
Based on the duplication target information, the first pair of logic board identification information, the first pair of logic board type information, the first pair of sensor location information, the second pair of logic board identification information, and the second pair of logic board identification information. Dynamically changing the duplication target by changing the value of the duplication parameter including logic board type information and the second pair of sensor location information in units of the duplication target set,
Modular device for redundant system configuration of mobile robots. In paragraph 3,
The output unit,
It includes two OR gates, and inputs to each of the two OR gates are set using the duplication parameters based on the outputs of the plurality of logic boards, and output values of the two OR gates are transmitted to the outside.
Modular device for redundant system configuration of mobile robots. In paragraph 4,
The control unit,
The output unit is controlled based on the duplication target information to set the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and the output of the logic board corresponding to the first pair of the duplication target set is set to be input to the first OR gate. Setting the output of the logic board to be input to the second OR gate,
Modular device for redundant system configuration of mobile robots. In paragraph 5,
The logic unit is,
The plurality of mounted logic boards are connected to one communication network,
Modular device for redundant system configuration of mobile robots. In paragraph 1:
The sensor mounted on the input unit is,
It is one of the LiDAR sensor, Encoder sensor, and Cliff sensor,
The logic board mounted on the logic unit is,
One of LiDAR board, Encoder board and other (ETC) board,
Modular device for redundant system configuration of mobile robots. An input unit equipped with a plurality of sensors, a logic unit equipped with a plurality of logic boards corresponding to each of the plurality of sensors mounted on the input unit, and an output of the plurality of logic boards mounted on the logic unit. A redundant system configuration modularization method performed by a redundant system configuration modularization device including an output unit and a control unit that transmits output values to the outside using redundancy parameters,
Inputting information to be duplicated by a user; and
changing values of the redundancy parameters including logic board identification information, logic board type information, and sensor location information based on the redundancy target information;
Modularization method for configuring a redundant system for a mobile robot including. In paragraph 8:
The change step is,
When the duplication target information including logic board identification information of the duplication target and sensor information corresponding to the logic board of the duplication target is input by the user, the value of the duplication parameter is set based on the duplication target information to the duplication target set. Consisting of changing as a unit,
Modularization method for redundant system configuration of mobile robots. In paragraph 9:
The change step is,
Based on the duplication target information, the first pair of logic board identification information, the first pair of logic board type information, the first pair of sensor location information, the second pair of logic board identification information, and the second pair of logic board identification information. Consists of dynamically changing the duplication target by changing the value of the duplication parameter including logic board type information and the second pair of sensor location information in units of the duplication target set,
Modularization method for redundant system configuration of mobile robots. In paragraph 10:
The output unit,
It includes two OR gates, and inputs to each of the two OR gates are set using the duplication parameters based on the outputs of the plurality of logic boards, and output values of the two OR gates are transmitted to the outside.
Modularization method for redundant system configuration of mobile robots. In paragraph 11:
The change step is,
The output unit is controlled based on the duplication target information to set the output of the logic board corresponding to the first pair of the duplication target set to be input to the first OR gate, and the output of the logic board corresponding to the first pair of the duplication target set is set to be input to the first OR gate. Consists of setting the output of the logic board to be input to the second OR gate,
Modularization method for redundant system configuration of mobile robots. A computer program stored in a computer-readable recording medium for executing on a computer the method of modularizing a redundant system for a mobile robot according to any one of claims 8 to 12.

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