KR102658913B1 - Method for controlling robot cooperation and system thereof - Google Patents

Abstract

The present invention relates to a robot collaboration control method and system, and more specifically, when a plurality of robots perform work in a work area including a plurality of unit areas, the unit area in which the plurality of robots complete the work with each other It relates to a robot collaboration control method and system that controls a plurality of robots to perform tasks more efficiently through collaboration by performing tasks while exchanging task performance history information including a list of.
In the present invention, in a control method for a plurality of robots that perform work while moving in a work area including a plurality of unit areas, a first robot among the plurality of robots is one or more second robots among the plurality of robots. A task performance history information collection step of collecting second task performance history information including a list of unit areas in which this task has been completed; Work performance history in which the first robot transmits first work performance history information including a list of unit areas in which the first robot has completed the work so that the one or more second robots can collect the first work performance history information. information transfer step; And a movement unit area selection step in which the first robot moves to the next unit area among the plurality of unit areas and selects a unit area to perform work in consideration of the first task performance history information and the second task performance history information. A robot control method is disclosed.

Description

{Method for controlling robot cooperation and system thereof}

The present invention relates to a robot collaboration control method and system, and more specifically, when a plurality of robots perform work in a work area including a plurality of unit areas, the unit area in which the plurality of robots complete the work with each other It relates to a robot collaboration control method and system that controls a plurality of robots to perform tasks more efficiently through collaboration by performing tasks while exchanging task performance history information including a list of.

As robots become more popular, attempts are being made to provide various services using robots in various fields. More specific examples include robot vacuum cleaners that are already widely used, customer service robots that serve customers at airports and large shopping malls, and security guard robots that detect or deal with risk factors while moving around buildings, among other services utilizing robots. is already being used or is being attempted.

Furthermore, in recent years, attempts have been made to control multiple robots to work in cooperation with each other, such as increasing work efficiency or expanding work areas through collaboration between multiple robots, going beyond task performance by individual robots.

At this time, when multiple robots perform work while cooperating in a common workspace, the multiple robots must perform work by considering information about the movement path of other robots and the resulting work completion area to avoid duplication of the same area. Work efficiency can be increased by preventing work and optimizing the robot's movement path, so it becomes necessary to exchange information on work performance history, including movement paths.

Accordingly, there is a need for a method to control multiple robots in a common workspace to cooperate and perform tasks while exchanging task performance history information, including movement paths, with each other. However, an appropriate solution has not yet been proposed. I'm not able to do it.

Republic of Korea Patent Publication No. 10-2013-0092729 (published on August 21, 2013)

The present invention was created to solve the problems of the prior art as described above. When a plurality of robots cooperate and perform work in a common work space, the plurality of robots determines the movement path of other robots and completes the work accordingly. The purpose is to provide a robot collaboration control method and system that can increase work efficiency by performing work while considering information about the area, preventing duplicate work in the same area and optimizing the robot's movement path.

In addition, the detailed purpose of the present invention can be clearly understood and understood by experts or researchers in this technical field through the specific contents described below.

A robot control method according to one aspect of the present invention for solving the above problem is a control method for a plurality of robots that perform work while moving in a work area including a plurality of unit areas, wherein the first of the plurality of robots A task performance history information collection step in which a first robot collects second task performance history information including a list of unit areas in which one or more second robots among the plurality of robots have completed tasks; Work performance history in which the first robot transmits first work performance history information including a list of unit areas in which the first robot has completed the work so that the one or more second robots can collect the first work performance history information. information transfer step; And a movement unit area selection step in which the first robot moves to the next unit area among the plurality of unit areas and selects a unit area to perform work in consideration of the first task performance history information and the second task performance history information. It is characterized by:

At this time, in the task performance history information collection step, the first robot receives the second task performance history information from the relay server, and in the task performance history information transmission step, the first robot receives the second task performance history information from the relay server. 1 Work performance history information can be transmitted to the one or more second robots.

Here, the relay server may generate overall task performance details information that merges the first task performance details information and the second task performance details information and transmit it to the first robot and the second robot.

Additionally, the first robot may transmit the first task performance history information whenever the task for one unit area is completed.

In addition, the first task performance history information and the second task performance history information may include information about the unit area in which the task could not be completed along with information about the unit area in which the task was not completed.

At this time, after completing the work for all unit areas assigned to the first robot, the first robot may move to the unit area in which it was unable to complete the work and perform the work again.

Additionally, in the movement unit area selection step, the first robot and the second robot select a unit area to next move and perform work according to a predetermined movement rule, and at this time, the first robot follows the movement rule. Accordingly, the unit area in which the first robot will move can be determined by considering the unit area in which the first robot and the second robot are expected to move.

Furthermore, if the second robot must move to the unit area where work will be performed via the already worked unit area due to the unit area where the first robot is expected to move, the first robot must move to the unit area where it will move. can be changed to allow the second robot to move to the next unit area without passing through the previously worked unit area.

In addition, in the movement unit area selection step, after the first robot completes work on all unit areas assigned to it, the movement time to the remaining unit area of the second robot and the remaining unit area of the second robot are calculated. By comparing the work execution time for each area, the work can be performed by moving to the remaining unit area only if the travel time to the remaining unit area is short.

In addition, the robot control system according to another aspect of the present invention is a control system for a plurality of robots that perform work while moving in a work area including a plurality of unit areas, and includes a list of unit areas in which the robot has completed work. One or more second robots transmitting second task performance history information including; and a unit that receives the second task performance history information and moves to the next of the plurality of unit areas to perform the task by considering the first task performance history information including a list of unit areas in which the task has been completed. It includes a first robot that selects an area, wherein the first robot transmits the first task performance history information so that the one or more second robots can collect the first task performance history information. do.

At this time, a relay server that receives the first task performance history information from the first robot and transmits it to the second robot, and receives the second task performance history information from the second robot and transmits it to the first robot. More may be included.

Furthermore, the relay server may generate overall task performance details information that merges the first task performance details information and the second task performance details information and transmit it to the first robot and the second robot.

Accordingly, in the robot control method and system according to an embodiment of the present invention, when a plurality of robots cooperate and perform work in a work space including a plurality of unit areas, the plurality of robots complete the work with each other. By performing work while exchanging work performance history information including a list of one unit area, the plurality of robots perform work while moving in consideration of information about the movement path of other robots and the corresponding work completion area, thereby performing work in the same area. Work efficiency can be increased by preventing duplicate work and optimizing the robot's movement path.

The accompanying drawings, which are included as part of the detailed description to aid understanding of the present invention, provide embodiments of the present invention and explain the technical idea of the present invention together with the detailed description.
1 is a flowchart of a robot control method according to an embodiment of the present invention.
Figure 2 is a configuration diagram of a robot control system according to an embodiment of the present invention.
Figures 3 and 4 are diagrams for explaining the operation of a robot control method and system according to an embodiment of the present invention.
5 to 7 are diagrams illustrating operations of a unit area in a robot control method and system according to an embodiment of the present invention.
Figure 8 is a diagram illustrating a specific flow chart of a robot control method according to an embodiment of the present invention.
Figures 9 and 10 are diagrams illustrating an algorithm for selecting a movement path by considering the paths of other robots in a robot control method and system according to an embodiment of the present invention.

The present invention can be modified in various ways and can have various embodiments. Hereinafter, specific embodiments will be described in detail based on the accompanying drawings.

The following examples are provided to provide a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, if it is determined that a detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, the definition should be made based on the contents throughout this specification. The terminology used in the detailed description is only for describing embodiments of the present invention and should in no way be limiting. Unless explicitly stated otherwise, singular forms include plural meanings. In this description, expressions such as “comprising” or “comprising” are intended to indicate certain features, numbers, steps, operations, elements, parts or combinations thereof, and one or more than those described. It should not be construed to exclude the existence or possibility of any other characteristic, number, step, operation, element, or part or combination thereof.

In addition, terms such as first, second, etc. may be used to describe various components, but the components are not limited by the terms, and the terms are used for the purpose of distinguishing one component from another component. It is used only as

Below, exemplary embodiments of a robot control method and system according to an embodiment of the present invention will be sequentially described with reference to the attached drawings.

First, Figure 1 shows a flowchart of a robot control method according to an embodiment of the present invention. As can be seen in FIG. 1, the robot control method according to an embodiment of the present invention is a control method for a plurality of robots that perform work while moving in a work area including a plurality of unit areas, wherein the plurality of robots A task performance history information collection step in which a first robot 100 among the robots collects second task performance history information including a list of unit areas in which one or more second robots 200 among the plurality of robots have completed tasks. (S110), the first robot 100 transmits first task performance history information including a list of unit areas in which the task has been completed, and the one or more second robots 200 transmit the first task performance details. A task performance history information transmission step (S120) for collecting information, and the first robot 100 moves to the next one of the plurality of unit areas in consideration of the first task performance history information and the second task performance history information. It includes a moving unit area selection step (S300) of selecting a unit area to move and perform work.

At this time, the plurality of robots, including the first robot 100 and the second robot 200, perform work while exchanging work performance history information including a list of unit areas in which work has been completed with each other, The plurality of robots perform tasks while moving in consideration of other robots' movement paths and information about the unit area where work has been completed, thereby improving work efficiency by preventing duplicate work in the same area and optimizing the robot's movement path. It becomes possible.

In addition, Figure 2 shows a configuration diagram of the robot control system 10 according to an embodiment of the present invention. As can be seen in FIG. 2, the robot control system 10 according to an embodiment of the present invention is a control system for a plurality of robots that perform work while moving in a work area including a plurality of unit areas, One or more second robots 200 transmitting second task performance history information including a list of unit areas in which the task has been completed, and receiving the second task performance history information, and unit areas in which the task has been completed. It may be configured to include a first robot 100 that selects a unit area to perform work by moving to the next one of the plurality of unit areas by considering the first job performance history information including the list of.

At this time, the first robot 100 transmits the first task performance history information so that the one or more second robots 200 can collect the first task performance history information.

Furthermore, the robot control system 10 according to an embodiment of the present invention receives the first task performance history information from the first robot 100 and transmits it to the second robot 200, and also transmits the first task performance history information to the second robot 200. 2 It may further include a relay server 500 that receives the second task performance history information from the robot 200 and transmits it to the first robot 100. At this time, the relay server 500 generates total task performance history information that merges the first task performance history information and the second task performance history information to enable the first robot 100 and the second robot 200 ) can be transmitted.

Hereinafter, with reference to FIGS. 1 and 2, the robot control method and system 10 according to an embodiment of the present invention will be examined in more detail by dividing each component.

First, in the work performance history information collection step (S110), the first robot 100 among the plurality of robots creates a list of unit areas in which one or more second robots 200 among the plurality of robots have completed work. Information on the second task performance history is collected.

Here, the first robot 100 and the second robot 200 are various types of robots, such as a robot vacuum cleaner, a customer service robot, and a security guard robot, which are equipped with motors and the like and perform given tasks while moving within the work area. You can.

Additionally, the work area may include a plurality of unit areas, and the first robot 100 and the second robot 200 move and perform work for each unit area.

To this end, the first robot 100 is equipped with map information about the work area and can perform work while moving in the work area. At this time, the map information for the work area may be map information generated by the first robot 100 while driving in the work area, or it may receive map information generated by another robot among a plurality of robots. , it is also possible to receive and use map information about the work area from the relay server 500.

Accordingly, the first robot 100 and the second robot 200 among the plurality of robots share map information about the work area and cooperatively perform the same task on the work area. Furthermore, the first robot 100 and the second robot 200 can recognize their own positions in the work area using the singularity of the map information and perform a given task while moving between the unit areas. do.

As a more specific example, in the robot control method and system 10 according to an embodiment of the present invention, as can be seen in FIG. 3, the relay server 500 directs a plurality of robots to the work area according to the user's instructions. You can order to perform work on . At this time, the relay server 500 may divide and allocate work areas to some or all robots among the plurality of robots for more efficient work performance.

Additionally, the relay server 500 may transmit map information about the work area to the plurality of robots. At this time, the map information for the work area may be map information generated by the management robot 300 capable of autonomous driving while autonomously driving in the work area. Furthermore, map information about the work area may be generated by the first robot 100. At this time, the map information can be transmitted to the plurality of robots through the relay server 500, and further, the map information can be shared between the robots through direct wireless communication, etc.

At this time, the first robot 100 and the second robot 200 may transmit the first task performance history information each time the task for one unit area is completed, and accordingly, the other robot may transmit the first task performance history information in real time. By updating the work performance details of the first robot 100 and the second robot 200, work can be performed more efficiently. However, the present invention is not necessarily limited to this, and in addition, the first robot 100 and the second robot 200 provide work performance history information including information on unit areas for which work has been completed according to a predetermined cycle. can be transmitted and shared with other robots, or the task performance history information can be transmitted when the relay server 500 requests it.

Furthermore, the first task performance history information and the second task performance history information may include information on the unit area in which the task was not completed as well as information on the unit area in which the task could not be completed.

For a more specific example, if the first robot 100 is unable to perform the task due to an obstacle located in a specific unit area while performing a task in the work area, the task may not be completed in the specific unit area. Information may also be included to generate first task performance history information.

Accordingly, after completing the work for all unit areas assigned to the first robot 100, the first robot 100 may move to the unit area in which it was unable to complete the work and perform the work again.

Next, in the work performance history information transmission step (S120), the first robot 100 transmits first work performance history information including a list of unit areas in which the work has been completed, and the one or more second The robot 200 is able to collect the first task performance history information.

Accordingly, not only the first robot 100 but also the second robot 200 selects a unit area to perform work in consideration of the unit area where other robots such as the first robot 100 completed the work, By having the first robot 100 and the second robot 200 perform work cooperatively while considering each other's work performance history, work in the work area can be performed more efficiently.

At this time, the first robot 100 may directly transmit the first task performance history information to the second robot 200 through wireless communication, etc., and perform the first task via the relay server 500. Details information may also be transmitted to the second robot 200.

Finally, in the movement unit area selection step (S130), the first robot 100 moves to the next of the plurality of unit areas to perform the task in consideration of the first task performance history information and the second task performance history information. The unit area where the operation will be performed is selected.

Furthermore, a plurality of robots, including the first robot 100 as well as the second robot 200, move to the next unit among the plurality of unit areas to perform the task in consideration of the task performance history information of other robots. An area is selected.

Accordingly, as can be seen in FIG. 4, in the robot control method and system 10 according to an embodiment of the present invention, a plurality of robots including the first robot 100 and the second robot 200 Work is performed in each unit area while driving through the work area using map information transmitted from the relay server 500, etc., and at this time, a plurality of robots including the first robot 100 and the second robot 200 are used. By allowing the robots to perform tasks while exchanging task performance history information including a list of unit areas in which tasks have been completed, the plurality of robots takes into account information about the movement paths of other robots and the resulting task completion areas. By performing tasks, work efficiency can be increased by preventing duplicate work in the same area and optimizing the robot's movement path.

In addition, FIGS. 5 to 7 illustrate diagrams illustrating in more detail operations in a unit area of the robot control method and system 10 according to an embodiment of the present invention.

Below, the description is given by taking the case of a robot vacuum cleaner as the robot, but the present invention is not limited thereto.

First, Figure 5(a) illustrates map information about the work area created by the initial run of the first robot 100. The generated map information can be shared and used by the second robot 200 through the relay server 500, etc.

At this time, an example list of each item used in the map information is shown in Table 1 below.

Enumeration Value Not Explored 0 Explored One Cleaned *2 (1st robot: 12, 2nd robot: 22) Obstacle *4 (1st robot: 14, 2nd robot: 24)

Accordingly, the map information generated by the first robot 100 includes structures such as walls explored through the driving of the first robot 100, as can be seen in FIG. 5(a). This was displayed as "1", and the plurality of workable unit areas were displayed as "0".

In addition, while the first robot 100 and the second robot 200 move to each unit area and perform work, the cleaned unit area is marked with "*2" and obstacles, etc. Unit areas where cleaning could not be performed are marked with “*4”. At this time, in order to identify that work was performed in the work area by the first robot 100 and the second robot 200, the first robot 100 and the Indexes representing the second robot 200 (for example, 1 and 2, respectively) may be added.

In addition, FIG. 5(b) shows the starting position 1020 of the first robot 100 and the starting position 1010 of the second robot 200 that start cleaning in the work area.

Subsequently, when the first robot 100 and the second robot 200 proceed with the work, the first robot 100 and the second robot 200 perform cleaning for each unit area and then You can move to the next unit area according to the established movement rules. For example, as the movement rule, a rule may be used to move along the left wall.

Accordingly, as can be seen in FIG. 6(a), when the first robot 100 and the second robot 200 complete the work on three unit areas, the first robot 100 moves according to the movement rule. The robot 100 continues to move straight along the left wall and records work performance details (“12” in FIG. 6(a)) for each unit area (1040), and the second robot 200 turns right while meeting the wall. It can be seen that the work performance details (“22” in FIG. 6(a)) for each unit area are recorded while moving along the left wall (1030).

In addition, Figure 6(b) illustrates a case where the first robot 100 encounters an obstacle 1050, and even in this case, the first robot 100 recognizes the obstacle 1050 as the left wall and moves. While doing so, work performance details (“14” in FIG. 6(a)) for the unit area where the obstacle 1050 is located are recorded.

Subsequently, as can be seen in FIG. 7(c), when the first robot 100 and the second robot 200 complete the work on 11 unit areas, the second robot 200 While the cleaning work for all of the unit areas being performed is completed, the first robot 100 may still have seven remaining unit areas to perform cleaning work on.

In this case, the time it takes for the second work robot 200 to move to the remaining unit area is compared with the time it takes for the first robot 100 to perform work in the remaining unit area, and the time it takes for the second work robot 200 to move to the remaining unit area is compared. Only when the travel time to the unit area is short, work can be performed by moving to the remaining unit area.

Accordingly, looking at the case of FIG. 7(c), after the second robot 200 completes the work on all unit areas 1060 assigned to it, in order to move to the remaining unit area 1080, While 8 unit areas must be moved (1070), the first robot 100 can complete the task by moving 7 unit areas (1090). As a result, the second robot 200 is shown in FIG. As can be seen in 7(d), the task is completed by returning to the initial position without moving to the remaining unit area 1080, and the first robot 100 performs cleaning on the remaining unit area. can do.

Additionally, Figure 8 illustrates a more detailed flowchart of the robot control method according to an embodiment of the present invention.

First, as can be seen in FIG. 8, the first robot 100 and the second robot 200 download the map information stored in the relay server 500 (S211, S221). Subsequently, the first robot 100 and the second robot 200 move to the unit area (Not Explored area) where work will be performed using the map information (S212, S222). In addition, the first robot 100 and the second robot 200 create navigation information (a list of unit areas where work is performed while moving) after performing the task (S213, S223). Subsequently, the first robot 100 and the second robot 200 transmit navigation information to the relay server 500 (S214, S224).

Subsequently, the relay server 500 calculates merged navigation information (X) from the navigation information received from the first robot 100 and the second robot 200 (S230), and the calculated navigation information ( X) is transmitted to the first robot 100 and the second robot 200 (S241, S242).

Accordingly, the first robot 100 and the second robot 200 determine whether there is still a unit area (Not Explored area) to perform work in the work area (S251, S252), and if so, The work continues.

However, at this time, if the moving distance of the first robot 100 to the unit area (Not Explored area) where the task is to be performed is shorter than the moving distance of the second robot 200, the first robot 100 It moves to perform the task, but if not, the task can be terminated and the second robot 200 can perform the task (S261).

Likewise, if the movement distance to the unit area (Not Explored area) where the second robot 200 will perform the task is shorter than the movement distance of the first robot 100, the second robot 200 moves. The task is performed, but if not, the task can be terminated and the first robot 100 can perform the task (S262).

In addition, even when there is no unit area (Not Explored area) remaining in the work area to perform work, it is determined whether there is an area in the work area where work cannot be performed due to obstacles, etc. (S271, S272), and the The first robot 100 and the second robot 200 can each perform work on the unit area they marked (S281, S282).

Finally, when cleaning of the work area is completed, the work can be completed by initializing the navigation information of the first robot 100 and the second robot 200 (S291, S292).

In addition, in the robot control method and system 10 according to an embodiment of the present invention, the first robot 100 and the second robot 200 move to the next step according to a predetermined movement rule to perform the task. A unit area can be selected, and at this time, the first robot 100 considers the unit area where the first robot 100 and the second robot 200 are expected to move according to the movement rule. The unit area in which the robot 100 will move can be determined.

At this time, more specifically, when the second robot 200 must move to the unit area where work will be performed through the previously worked unit area due to the unit area where the first robot 100 is predicted to move, The first robot 100 can change the unit area to which it will move so that the second robot 200 can move to the next unit area without passing through the previously worked unit area.

In this regard, Figures 9 and 10 illustrate an algorithm for selecting a movement path by considering the paths of other robots in the robot control method and system 10 according to an embodiment of the present invention.

For example, when the first robot 100 and the second robot 200 start cleaning work in neighboring unit areas in the work area shown in FIG. 9(a) (1110, 1120), the first robot 100 and the second robot 200 can perform tasks while moving according to predetermined movement rules. For example, as the movement rule, a rule may be used to move along the left wall.

Accordingly, the first robot 100 and the second robot 200 continue to move straight and perform cleaning work, as can be seen in FIG. 9(b). However, when the first robot 100 and the second robot 200 continue to move straight and perform work in a unit area adjacent to the wall, the first robot 100 and the second robot 200 There may be a problem in that moving to another unit area is possible only through the unit area 1150 in which cleaning work has already been performed.

Accordingly, in the robot control method and system 10 according to an embodiment of the present invention, as can be seen in FIG. 10(c), the first robot 100 and the second robot 200 are expected to move. Considering the predicted unit area, the movement path of the first robot 100 or the second robot 200 can be determined, and the movement path of the second robot 200 is modified accordingly (1160), The first robot 100 can perform work while moving without going through a previously worked unit area.

Additionally, in the robot control method and system 10 according to an embodiment of the present invention, it is also possible to determine the movement path by predicting several steps in advance regarding the movement path. That is, as can be seen in FIG. 10(d), the second robot 200 starts after 5 steps based on the position 1180 of the first robot 100. By predicting in advance that it must move through the worked unit area, the movement path may be modified so that the first robot 100 can secure a unit area in which it can move (1170).

Accordingly, in the robot control method and system 10 according to an embodiment of the present invention, when a plurality of robots cooperate and perform work in a work space including a plurality of unit areas, the plurality of robots interact with each other. By performing work while exchanging work performance history information including a list of unit areas where work has been completed, the plurality of robots perform work while moving in consideration of information about the movement path of other robots and the corresponding work completion area. This can improve work efficiency by preventing duplicate work in the same area and optimizing the robot's movement path.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments described in the present invention are for illustrative purposes rather than limiting the technical idea of the present invention, and are not limited to these embodiments. 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 interpreted as being included in the scope of rights of the present invention.

10: Robot control system
100: first robot
200: 2nd robot
300: Management robot
500: relay server

Claims (12)

In a control method for a plurality of robots that perform work while moving in a work area including a plurality of unit areas,
A task performance history information collection step in which a first robot among the plurality of robots collects second task performance history information including a list of unit areas in which one or more second robots among the plurality of robots have completed tasks;
Work performance history in which the first robot transmits first work performance history information including a list of unit areas in which the first robot has completed the work so that the one or more second robots can collect the first work performance history information. information transfer step; and
The first robot determines the plurality of units by considering the unit area in which the work was completed by the first robot among the first work performance history information and the unit area in which the work was completed by the second robot among the second work performance history information. A robot control method comprising a moving unit area selection step of selecting a unit area to perform work by moving to the next area, rather than a previously worked unit area. According to paragraph 1,
In the task performance history information collection step,
The first robot receives the second task performance history information from the relay server,
In the task performance history information transmission step,
A robot control method characterized in that the first robot transmits the first task performance history information to the relay server to be transmitted to the one or more second robots. According to paragraph 2,
The relay server is,
A robot control method characterized by generating total task performance history information that merges the first task performance history information and the second task performance history information and transmitting it to the first robot and the second robot. According to paragraph 1,
The first robot is,
A robot control method characterized by transmitting the first task performance history information whenever a task for one unit area is completed. According to paragraph 1,
The first task performance history information and the second task performance history information are,
A robot control method characterized in that it includes information on the unit area in which the task could not be completed along with information on the unit area in which the task was completed. According to clause 5,
The first robot is,
After completing work on all unit areas assigned to you,
A robot control method characterized by moving to a unit area where the task could not be completed and performing the task again. According to paragraph 1,
In the mobile unit area selection step,
The first robot and the second robot move next according to predetermined movement rules and select a unit area to perform work,
At this time, the first robot determines the unit area in which the first robot will move by considering the unit area in which the first robot and the second robot are predicted to move according to the movement rule. In clause 7,
When the second robot must move to the unit area where work will be performed through the previously worked unit area due to the unit area where the first robot is predicted to move,
A robot control method characterized in that the first robot changes the unit area to which it will move so that the second robot can move to the next unit area without passing through the previously worked unit area. According to paragraph 1,
In the mobile unit area selection step,
After the first robot completes work on all unit areas assigned to it,
By comparing the movement time to the remaining unit area of the second robot and the work execution time for the remaining unit area of the second robot,
A robot control method characterized in that it moves to the remaining unit area and performs work only when the movement time to the remaining unit area is short. In a control system for a plurality of robots that perform work while moving in a work area including a plurality of unit areas,
one or more second robots transmitting second task performance history information including a list of unit areas in which the task has been completed; and
Receiving the second task performance history information, considering the unit area in which the task was completed by the second robot among the second task performance history information and the unit area in which the task was completed by the robot among the first task performance history information, It includes a first robot that selects a unit area to perform work by moving to a next unit area, rather than a previously worked unit area, among the plurality of unit areas,
A robot control system, characterized in that the first robot transmits the first task performance details information so that the one or more second robots can collect the first task performance details information. According to clause 10,
Receives the first task performance history information from the first robot and transmits it to the second robot,
A robot control system further comprising a relay server that receives the second task performance history information from the second robot and transmits it to the first robot. According to clause 11,
The relay server is,
A robot control system, characterized in that it generates total task performance history information that merges the first task performance history information and the second task performance history information and transmits it to the first robot and the second robot.

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