KR20110124587A - Method and apparatus for simultaneously manipulating multiple moving objects, and recording medium containing computer readable programs performing the same - Google Patents

Abstract

PURPOSE: A method for simultaneously operating a multiple mobile body, a device, and computer readable medium performing the same are provided to operation multiple mobile body through one mobile operation. CONSTITUTION: A control unit(1020) of a slave mobile body(1002) sends the measured distance and direction information to a master mobile body by the distance sensor and the direction sensor of slave mobile body. The control unit of the salve mobile body receives a command from a master mobile body(1001) through the communication unit of the slave mobile body. A control unit(1010) of the master mobile body grasps a relative position by distance and direction information with the salve mobile body. The control unit of the master mobile body control the location information of the salve mobile body.

Description

Method and apparatus for simultaneously manipulating multiple moving objects, and recording medium containing computer readable programs performing the same

The present invention relates to a method for simultaneously operating multiple moving objects and a recording medium storing a computer-readable program for performing the same. More particularly, the present invention relates to an ultrasonic wave and a geomagnetic sensor embedded in a multiple moving object (robot), thereby communicating with multiple moving objects. A method and apparatus for simultaneous moving object control using a cooperative position recognition technique for identifying a distance and a position of multiple moving objects, and a recording medium storing a computer readable program for performing the same.

The present invention, as part of the National Research and Development Project of the Ministry of Knowledge Economy, task unique number: ITAC1090103100090001000100100, Research project name: University IT research center development support project, research title: "Internal software technology research for fusion terminal".

Multiple mobile robots (hereinafter referred to as multiple mobile robots) may perform tasks beyond the limits that one robot can perform through mutual cooperation. For example, multi-mobile robots can efficiently do 3D mapping, lifesaving, or dangerous spaces (biochemical terrorism, food poisoning, avian influenza spreading spaces) for areas that are not known at all or in part. Can be done. However, in order for multiple mobile robots to perform their tasks effectively, communication capabilities for exchanging information and sending / receiving commands, location-awareness for location movement to a desired place, and cooperative localization for co-robot collaboration (CL) Ability etc. are essential (refer nonpatent literature [1]).

In order to recognize the environment and perform specific tasks, many studies have been conducted on robots that autonomously drive themselves. Apart from this, the technique of controlling a mobile robot directly by a remote user is widely used in actual field because of its reliability. For example, since September 29, 2009, firefighter robots that have been deployed to fight fire scenes are known to use the remote control function. It is common to use more than one mobile robot to improve the efficiency of working with robots. However, each remote control of multiple mobile robots participating in the task is one of very difficult tasks, and the practical research to overcome this problem is very weak.

Local area wireless communication technologies based on FM, Bluetooth, Zigbee (IEEE 802.15.4), and WLAN are used for remote control of mobile robots. Recently, short-range wireless communication IEEE 802.15.4a (see Non-Patent Document [2]) that provides a stable SDS-TWR ranging function has been commercialized, but remote control using the same has not been attempted. CL for multiple mobile robots is used in a variety of areas, including area surveillance, search and rescue operations. To accomplish these tasks, the CL controls each robot in the collaboration with an odometer, camera, GPS, etc. to ensure the correct position and orientation. Odometer is not used alone due to the error, and is basically used in combination with other techniques. The camera-based vision technique has high accuracy, but there is a problem of high computational amount for image processing. In the case of GPS, the measurement error is large, and there is a problem that the function cannot be used indoors.

Mobile control technologies such as robots are widely used in industrial sites such as factories, radioactive processing facilities that are dangerous for humans to work on, and in the process of handling dangerous goods. In order to control the moving object, a technology for recognizing the position of the moving object is essential. In particular, when a plurality of moving objects (robots) work together, each moving object must be able to recognize each other's position. The technique is called cooperative localization.

When using autonomous mobile robot (robot) with high artificial intelligence in the process of controlling the moving object, it is possible to simplify the work because the user sets only the final goal of the robot and does not need to be involved in the intermediate process, but it requires more stability and accuracy. In an environment, the user must perform direct monitoring, commanding, and manipulation. In particular, in order to control multiple moving objects at the same time, it is often necessary to have a formation of moving objects. However, it is difficult for a user to operate each moving object at the same time in order to have a large size of multiple moving objects.

[1] L. Parker, "Current state of the art in distributed autonomous mobile robotics," Distributed Autonomous Robotic Systems, vol. 4, pp. 3-12, Springer, 2000. [2] IEEE 802.15.4a, "Part 15.4: Wireless Medium Access Control (MAC) and Physical Layer (PHY) Specifications for Low-Rate Wireless Personal Area Network (LR-WPAN)," IEEE Society, 2007. [3] R. Hach, “Symmetric double side-two way ranging,” IEEE 802.15 WPAN documents, 15-05-0334-r00.

The present invention incorporates an ultrasonic wave and a geomagnetic sensor in a multi-mobile (robot), a moving object simultaneous control method and apparatus using a cooperative position recognition technique for grasping the distance and position of the multi-mobile by communication between multiple mobiles, and a computer performing the same An object of the present invention is to provide a recording medium storing a readable program.

The present invention groups the moving objects equipped with ultrasonic and geomagnetic sensors to control multiple moving objects (robots), and constitutes a group of moving objects into one master moving object and the remaining slave moving objects, and multiple moving objects. By using a cooperative position recognition technique for determining the distance and position of multiple moving objects by communication between the users, a moving object simultaneous control method and apparatus capable of manipulating all moving objects in the group by manipulating only the master moving object, and a computer reading that performs the same. Provides a recording medium storing possible programs.

According to one aspect of the invention, in the simultaneous control method of multiple moving bodies,

(a) configuring the multiple moving objects into one master moving object and a slave moving object; (b) a user sending a user command to mobiles; (c) the master mobile unit transmitting a user command to the slave mobile units; (d) slave mobile units performing a user command by a cooperative position recognition algorithm with the master mobile unit and transmitting a user command execution completion message to the master mobile unit; And (e) receiving a command execution completion message from the slave mobile units and transmitting a message informing the user that the execution of the user command is completed.

Preferably, in the step (b), the user command is a cooperative position recognition command for moving the master moving object to the slave moving objects to form a large size relative to the master moving object.

Preferably, the step (c) is characterized in that the master mobile unit sends a user command for calculating the distance and the angle (orientation) between the slave mobile unit to the slave mobile unit.

Preferably said step (d) comprises the steps of: slave mobile stations storing their current angle upon receiving a user command from a master mobile object; Slave mobiles to calculate the relative angle and distance to the position of the master moving object and transmits the calculated relative angle and distance to the master moving body; The master mobile unit calculates an optimal angle and distance to which the slave mobile unit will move, an optimal angle and a distance to move, and transmits the calculated values to the slave mobile unit to perform a user command received from a user; The slave mobile unit receives the calculated value for the destination to move from the master mobile unit to move to the destination; The slave mobile unit includes a step of measuring a relative distance with the master mobile unit to confirm whether the user command is completed and transmitting a completion message to the master mobile unit.

Preferably, the step of the user transmitting the user command to the moving objects further comprises the step of confirming whether the mobile objects received the user command is a master moving object.

Preferably, the moving objects forming the group are each equipped with an algorithm for cooperative position recognition.

Preferably, the cooperative position recognition algorithm between the moving objects includes: parsing the command by the moving object receiving the command from the user; Determining whether the command is for cooperative position recognition; If the received command is a command for cooperative position recognition, the moving object checks whether it is a master moving object; In the case of the master mobile unit, transmitting a command received from the master mobile unit to the slave mobile unit and confirming whether the transmission is successful; The master mobile unit sets the state flag to "1" and waits for receiving relative angle and distance information from slave mobile units; Checking, by the master moving object, the reception of the relative angle and distance information; After receiving the relative angle and distance information, the master moving object includes calculating and transmitting a moving angle and a distance to a destination to which the slave moving objects should move to the slave moving objects for formation of a large size.

Preferably, in the master moving object inspection step, if the moving object itself is a slave moving object, check whether the state flag value is "0", and if it is "0", change it to "1", and then calculate the relative angle and distance with respect to the master moving object. Transmitting the calculated value to the master moving object, and if the transmission is successful, setting the status flag value to "2" and waiting for information on a destination to be moved from the master moving object; And checking whether the destination information to be moved from the master moving object is received, and if so, moving to the destination, setting the status flag to "0", and ending the cooperative position recognition algorithm.

Preferably, the meaning of each status flag means that "0" indicates not being a cooperative position recognition state or terminated in the case of a master moving object, "1" indicates a waiting state for response from a slave moving object, and "0" in the case of a slave moving object. Means that the cooperative position recognition has ended and "1" means to start calculating the relative angle and distance to the master moving object for the cooperative position recognition, and "2" indicates the waiting state for the movement command from the master moving object. It means to mean.

According to another aspect of the invention. In the simultaneous control apparatus of multiple moving objects having one master moving object and a slave moving object, each of the master moving object and the slave moving object includes a control unit, a memory, a distance sensor, an orientation sensor, and a communication unit. The controller of the control unit receives a control signal wirelessly or wired from the user and sends a command to the slave mobile unit through the communication unit of the master mobile unit by data and programs stored in the memory of the master mobile unit, thereby providing a distance sensor and azimuth sensor of the master mobile unit. Obtains distance and bearing information on the slave mobile unit, and the slave mobile unit receives the command from the master mobile unit through the communication unit of the slave mobile unit, and the controller of the slave mobile unit is slaved by the data and program stored in the memory of the slave mobile unit. Sends the distance and bearing information measured by the distance sensor and the orientation sensor of the moving object to the master moving object, and the control unit of the master moving object grasps the relative position based on the distance and bearing information with the slave moving object to control the position movement of the slave moving object. Provides a simultaneous control device of the moving object.

Preferably, the control signal sent from the user to the mobile may be DTMF using a wired or wireless telephone, or may be a VoIP telephone signal, which is an internet telephone signal sent from a PC.

Preferably, the control signal sent from the user to the moving object is characterized in that the control signal by the remote controller (remote control).

Preferably, the distance sensor is an infrared sensor or an ultrasonic sensor, and the orientation sensor is a GPS receiver for receiving a position signal from a geomagnetic sensor or a satellite.

According to still another aspect of the present invention, in a computer-readable recording medium storing a software program for performing a method of simultaneously controlling a plurality of moving objects, the software program comprises the plurality of moving objects comprising one master moving object and a slave moving object. Program code; Program code for a user to transmit user commands to moving objects; Program code for the master mobile to transmit a user command to the slave mobiles; Program code for slave mobile units to execute a user command by a cooperative position recognition algorithm with the master mobile object and to transmit a user command execution completion message to the master mobile object; And a program medium for receiving a command execution completion message from the slave mobile units and transmitting a message informing the user that the execution of the user command is completed.

Preferably, the user command is a cooperative position recognition command for moving the master moving object to the master moving object to form a large relative to the master moving object.

Preferably, the program code for transmitting the user command is characterized in that the master moving object is a user command for calculating the distance and the angle (orientation) between the slave moving objects to the slave moving object.

Preferably, the program code for executing the user command by the slave mobile unit by the cooperative position recognition algorithm with the master mobile unit and transmitting the user command execution completion message to the master mobile unit is that the slave mobile units receive their user command from the master mobile unit. Program code to remember; The slave moving objects may include: program code for calculating a relative angle and distance with respect to the position of the master moving object and transmitting the calculated relative angle and distance to the master moving object; The master moving object may include: program code for calculating a destination to which each slave moving object moves, an optimum angle and distance to move, and transmitting the calculated values to the slave moving object to execute a user command received from a user; The slave mobile unit may include: program code for receiving a calculated value for a destination to be moved from the master mobile unit and then moving to the corresponding destination; The slave moving object may include a program code for measuring a relative distance with the master moving object to confirm whether a user command is completed and transmitting a completion message to the master moving object.

Preferably, the program code for transmitting a user command to the moving objects by the user may further include a program code for confirming whether the moving objects received the user command are master moving objects.

Preferably, the cooperative position recognition algorithm between the moving objects includes: a program code for receiving a command from a user and parsing the command; Program code for determining whether the command is for cooperative position recognition; If the received command is a command for cooperative position recognition, the moving object comprises: program code for checking whether it is a master moving object; A program code for transmitting a command received by the master mobile device to the slave mobile device and confirming whether the transmission is successful; The master moving object has a program code that sets a status flag to "1" and waits for receiving relative angle and distance information from slave moving objects; The master moving object includes program code for checking whether or not the relative angle and distance information are received; The master moving object includes program code for calculating and transmitting a moving angle and a distance to a destination to which the slave moving objects should move to receive the relative angle and distance information, and then completing the formation.

Preferably, if the moving object itself is a slave moving object in the master moving object inspection program code, check whether the status flag value is "0". If the moving object is "0", change it to "1" and then change the relative angle and distance with respect to the master moving object. Program code for calculating and transmitting the calculated value to the master moving object and, if the transmission is successful, setting the status flag value to "2" and receiving information on the destination to be moved from the master moving object; And program code for checking whether the destination information to be moved from the master moving object has been received, and if so, moving to the destination, setting the status flag to "0", and ending the cooperative position recognition algorithm.

Cooperative position recognition-based simultaneous operation method of multiple moving objects (robot) according to the present invention ensures the convenience and operation of multiple moving objects by manipulating multiple moving objects through one moving object when a user operates multiple moving objects. Provides an effect that can be performed quickly.

1 to 8 are diagrams for explaining a multi-mobile simultaneous control method through the multi-mobile cooperation position recognition according to an embodiment of the present invention step by step.
9 is a flowchart of a cooperative position recognition algorithm of a multi-mobile simultaneous operation method according to the present invention.
10 is a block diagram schematically showing a configuration of a moving body applied to the present invention.

Hereinafter, a structure and an operation of a multi-mobile simultaneous control method and apparatus according to a preferred embodiment of the present invention, and a recording medium storing a computer readable program for performing the same will be described in detail with reference to the accompanying drawings.

10 is a block diagram schematically showing a configuration of a moving body applied to the present invention. According to FIG. 10, two moving bodies 1001 and 1002 are shown, one of which is a master moving object 1001 and the other is a slave moving object 1002. In FIG. 10, the master mobile unit 1001 and the slave mobile unit 1002 are configured to have the same components for convenience, but the slave mobile unit 1002 controlled by the master mobile unit 1001 is not provided with a distance sensor and a geomagnetic sensor. The operating program of the slave moving object 1002 may be different from the operating program of the master moving object 1001. In this embodiment, the components of the master moving object 1001 and the slave moving object 1002 are made the same, so that any moving object can be a master depending on the situation.

Referring to FIG. 10, the master moving object 1001 includes a control unit 1010, a memory 1012, a distance sensor 1014, an orientation sensor 1016, and a communication unit 1018. The controller 1020, the memory 1022, the distance sensor 1024, the orientation sensor 1026, and the communication unit 1028. The control unit 1010 of the master mobile unit 1001 receives a control signal from a user (not shown) by wireless or wired and commands a slave mobile unit 1002 through the communication unit 1018 by data and programs stored in the memory 1012. By sending, the distance sensor 1014 and the direction sensor 1016 are used to obtain distance and orientation information for the slave moving object 1002. Similarly, the slave mobile unit 1002 includes a distance sensor 1024 and azimuth sensor 1026 by a controller 1020 that receives a command from the master mobile unit 1001 via the communication unit 1028 by data and programs stored in the memory 1022. Send the distance and azimuth information measured by the master moving object 1001.

Through the configuration of the mobile unit, the controller 1010 of the master mobile unit 1001 can control the positional movement of the slave mobile unit 1002 by grasping the relative position based on the distance and orientation information with respect to the slave mobile unit 1002.

Here, in the present invention, the control signal sent from the user to the mobile body may be DTMF using a wired or wireless telephone, or may be a VoIP telephone signal, which is an internet telephone signal sent from a PC, and a remote controller for transmitting a control signal to a controlled device (here, the mobile body). It may be a (remote control). Since the description thereof will be apparent to those skilled in the art, the detailed description will be omitted. In addition, in the present invention, the distance sensor may be configured as an infrared sensor or an ultrasonic sensor, and the orientation sensor may be configured as a geomagnetic sensor (gyro sensor) or a GPS receiver for receiving a position signal from a satellite, but a description thereof will be directed to those skilled in the art. Since it is obvious, a detailed description thereof will be omitted.

Through the configuration and operation of the above-described moving object, a multi-mobile simultaneous control method of the present invention will be described with reference to FIGS.

1 to 8 are diagrams for explaining a multi-mobile simultaneous control method through the multi-mobile cooperation position recognition according to an embodiment of the present invention step by step.

1 to 8, although not shown in the drawing, the user 1000 uses a terminal including a portable terminal based remote control user interface (I / F), and the moving object includes a moving object remote control module.

The user I / F includes a remote control stub module for communicating the user UI program with the mobile remote control module. The UI program enables a user to simultaneously control a plurality of mobile robots, and provides various functions such as group movement and cooperative position recognition. The remote control stub module generates remote control commands, including Atmega128 MCUs and IEEE802.15.4a hardware modules, and comes standard with TinyOS and associated MACs. In addition, the user IF has a built-in WPAN (Ultra High Speed Personal Wireless Network) communication module and communicates with the mobile device through the WPAN (Ultra High Speed Personal Wireless Network) communication module embedded in the mobile remote control module by the high-speed personal wireless network communication module. .

The mobile remote control module is attached to the mobile controller of each mobile robot through a universal asynchronous receiver / transmitter (UART). The moving object remote control module corresponds to the control unit of FIG. 10, and includes a command preprocessing module, a mobile robot real-time control module, a precision distance measuring module, a cooperative position recognition module, and an automatic spacing received from a user mobile terminal or another mobile robot. spacing module). The mobile remote control module applied to the present invention is, firstly, the first multi-mobile robot remote control platform based on IEEE 802.15.4a. Second, it provides convenient remote control functions such as group movement and cooperative position recognition for multiple mobile robots. Third, the present invention provides a new cooperative position recognition control technique using the distance measurement and relative angle measurement functions of IEEE 802.15.4a. However, the present invention does not deal with remote image transmission, and uses the FM system image transmission provided by the robot.

 The precision distance measuring module operates based on the IEEE 802.15.4a module and uses the SDS-TWR technique (see Non-Patent Document 3). The precision distance measuring module is used by the automatic spacing module and the cooperative position recognition module to maintain a constant distance between the mobile robots. The automatic spacing module is a module that operates when a group move command is requested for multiple moving objects from a user UI program. The automatic spacing module starts operation by sending a group move command to a robot having a lower serial number (master moving object). Next, the master moving body adjusts the moving angle (compass plate) to the moving angle set by the user, and then transmits the moving angle to the remaining robots (slave moving bodies) so that the moving angles are equally adjusted. Finally, the master moving object proceeds in the predetermined direction, and each slave moving object does not exceed the distance holding value (d) received from the master moving object while measuring the distance with the master moving object through the precision distance measuring module. In order to maintain a certain distance, two boundary values (HWM and LWM) are additionally used for the d value. When the distance between the master moving object and the slave moving object is greater than (d-LWM), the slave moving object starts moving in the direction of the master moving object, and when the distance between the two is smaller than (d-HWM), the movement stops. The cooperative position recognition module allows multiple mobile robots to equip the user with the desired positional form (a horizontal rung with a distance of k meters) without additional user intervention. Unlike the existing cooperative position recognition scheme, the present invention operates using distance information and relative angle information between mobile robots.

Referring to Fig. 1, a group of moving bodies is composed of one master moving object 1001 and two slave moving objects 1002 and 1003 (step 1).

In the present exemplary embodiment, the user 1000 uses the above-described wired / wireless telephone or a remote controller to move the slave groups 1001, 1002, and 1003 shown in FIG. 1 horizontally by the distance d based on the master mobile unit 1001. Suppose you want to have large formations arranged apart.

In FIGS. 1 to 8, the master moving object 1001 existing in the two-dimensional coordinates (0, d) is connected to the master moving object in the slave moving objects 1002 and 1003 located at (a1, d1) and (a2, d2). Send the command to get the relative angle and distance. Each slave mobile unit 1002 or 1003 obtains a relative angle using a gyro sensor and ultrasonic waves (direction detection using a gyro after generating an ultrasonic wave toward the master mobile unit 1001), and then obtains a distance using IEEE 802.15.4a. The value is transmitted to the moving object 1001. Based on this, the master moving object 1001 determines the destinations T1 and T2 to which each of the slave moving objects 1002 and 1003 should move according to a well-defined algorithm, and determines the angle and direction to which each of the slave moving objects 1002 and 1003 move. The final decision is made by using the equation to inform each slave moving object 1002, 1003 to start the actual movement.

The command processing process between the master mobile unit 1001 and the slave mobile units 1002 and 1003 will be described in more detail below.

In FIG. 1, when the user 1000 groups the moving object 1001-1003 into the master moving object 1001 and the slave moving objects 1002 and 1003, as shown in FIG. 2, the user 1000 moves the master moving object 1001. Send a user command, i.e. a control signal (step 2). Such a control signal may take a command structure such as (horizontal, d) as a cooperative position recognition command such as large formation between moving bodies.

As shown in FIG. 3, the master moving object 1001 sends commands to the slave moving objects 1002 and 1003 to calculate distances and angles (orientations) between the slave moving objects 1002 and 1003. 1003 stores its current angle when it receives a command from the master moving object 1001 (step 3).

Next, as shown in FIG. 4, when the slave moving object 1003 rotates at the current position, for example, a relative angle with respect to the position of the master moving object 1001 using a distance sensor (ultrasound sensor or infrared sensor) and a geomagnetic sensor. (a2) and the distance d2 are calculated (step 4).

Then, as shown in FIG. 5, the slave mobile unit 1003 returns to its original angle and transmits the calculated relative angle a2 and the distance d2 to the master mobile unit 1001 (step 5). . Similarly, in step 5, the slave mobile unit 1002 transmits the calculated relative angle a1 and the distance d1 to the master mobile unit 1001.

Thereafter, as shown in FIG. 6, the master moving object 1001 has a destination T1 and T2 to which each slave moving object 1002 and 1003 will move to form a large (horizontal, d) received from the user 1000. The optimum angles a1 ', a2' and distances d1 'and d2' to be moved are calculated, and the calculated values are transmitted to the slave moving objects 1002 and 1003 (step 6).

Then, as shown in FIG. 7, each slave moving object 1002, 1003 receives the calculated values for the destinations T1, T2 to be moved from the master moving object 1001, and then moves to the corresponding destination for large formation. (Step 7). In step 7, the slave moving bodies 1002 and 1003 move to destinations T1 and T2 which form a large size by using odometry (driving distance measurement), and the relative distance d with the master moving object 1001 is It does not measure, and generates a related command using the real-time control module of the moving object.

Finally, as shown in FIG. 8, the slave moving bodies 1002 and 1003 measure the relative distance d with the master moving object 1001 to confirm that the formation of the large-scale formation is completed, and the large-size formation completion message is sent to the master moving body 1001. Send to. The master mobile unit 1001 receiving the large formation completion message from the slave mobile units 1002 and 1003 transmits a message informing the user that the large formation has been completed, and by a user command such as a cooperative position recognition command (horizontal, d) between the mobile units. The formation of the large group of moving bodies is completed (step 8).

As described above, by using the multiple moving object simultaneous control method of the present invention, grouping multiple moving objects into a master moving object and a slave moving object, and when a user gives a command to the master moving object, the master moving object transmits a command to the slave moving objects so that the user Can simultaneously control the master and slave mobiles.

In the present invention, the moving objects forming the group are each equipped with an algorithm for cooperative position recognition, and FIG. 9 is a flowchart of a cooperative position recognition algorithm applied to the present invention. In the present invention, a new cooperative localization (CL) technique using a distance measuring function provided by IEEE 802.15.4a, a gyro sensor mounted on a robot, and a relative angle measuring function using ultrasonic waves is used. .

According to FIG. 9, a mobile object that receives a command from a user parses the command (901) to determine whether it is a command for cooperative position recognition (903), and when the received command is a command for cooperative position recognition, the mobile object It checks whether it is a master moving object (905). In the case of the master moving object after transmitting the command received to the slave moving object (907), and checks whether the transmission was successful (909).

The state flag is then set to " 1 " and waits for receiving relative angle and distance information from slave mobiles (911). Here, the meaning of each status flag means that, in the case of the master mobile object, "0" indicates that the cooperative position recognition state is not completed or "1" indicates a response waiting state from the slave mobile object. In the case of the slave moving object, "0" means that the cooperative position recognition has been completed, and "1" means starting the step of calculating the relative angle and distance with respect to the master moving object for the cooperative position recognition. In addition, "2" means the wait state of the movement command from the master moving object.

Next, by checking whether the relative angle and distance information is received (913), after receiving the relative angle and distance information, the master moving object calculates the moving angle and distance with respect to the destination to which the slave moving objects should move to form a large size. Send to the slave mobiles (915), complete the algorithm execution.

On the other hand, if the moving object itself is a slave moving object in step 905 (step 917), if the status flag value is "917", and if "0" is changed to "1" (919), the relative angle and distance to the master moving object In operation 921 and 923, the calculated value is transmitted to the master moving object (925). If the transmission is successful (927), the state flag value is set to "2" and then receive information on the destination to move from the master moving object (929). It is checked whether the destination information to be moved from the master moving object has been received (931), and upon receipt, the cooperative position recognition algorithm is terminated after moving to the destination (933).

The mobile body (robot) used in the present invention is equipped with two wheels, and the firmware based on the ATmega128 MCU is operating for controlling the robot. The remote control platform (especially the remote control stub module) utilizes independent ATmega128 MCUs and Nanotron's IEEE 802.15.4a module hardware and uses TinyOS and its associated MAC (nanoLOC). The control module in the mobile (robot), the user's handheld terminal and the remote control platform are connected by a UART of 38,400 RAID. First, according to the performance measurement result of the precision distance measuring module (automatic spacing / cooperative position recognition), the average error in the indoor area (corridor of 3m width with iron gates on each side of 3-4m) is 64.6cm, The error was also estimated to be 115.4 cm. Considering that the main use of the robot controller of the present invention is an outdoor environment, it can be confirmed that the error is somewhat high.

The real-time required for the control of multiple moving bodies (robots) operating in a hazardous area is about 100msec. In designing the platform, the worst time for control was about 54.19 msec (without analysis model). The actual measured value was found to be about 338 msec. The time required for wireless communication was found to be less than 68.5msec, while exceeding 200msec of the time required to pass through the UART module. This is judged to be overhead due to the programming model and device driver structure used in TinyOS, and performance optimization is essential.

Method and apparatus for simultaneous operation of multiple moving objects through multiple moving object (robot) cooperative position recognition according to the present invention and a recording medium storing a computer readable program for performing the same may be used in various industries in which multiple moving objects (robots) should be loaded and executed. It can be usefully used for simultaneous operation of moving objects (robots) in the field.

1001 ... master moving object 1002 ... slave moving object
1010, 1020 ... Control section 1012, 1022 ... Memory
1014, 1024 ... distance sensors 1016, 1026 ... orientation sensors
1018, 1028 ... Communication

Claims (20)

In the simultaneous control method of multiple moving objects,
(a) configuring the multiple moving objects into one master moving object and a slave moving object;
(b) a user sending a user command to mobiles;
(c) the master mobile unit transmitting a user command to the slave mobile units;
(d) slave mobile units performing a user command by a cooperative position recognition algorithm with the master mobile unit and transmitting a user command execution completion message to the master mobile unit; And
(e) receiving a command completion message from the slave mobiles by the master mobile and transmitting a message to the user indicating that the execution of the user command is completed. The method of claim 1, wherein the user command in step (b) is a cooperative position recognition command for moving the master moving object to a large size with respect to the master moving object to the slave moving objects. 3. The method of claim 2, wherein the step (c) is a step in which the master moving object sends a user command to calculate a distance and an angle (orientation) between the slave moving objects to the slave moving object. 4. The method of claim 3, wherein step (d) further comprises: slave slaves storing their current angle upon receiving a user command from a master mobile;
Slave mobiles to calculate the relative angle and distance to the position of the master moving object and transmits the calculated relative angle and distance to the master moving body;
The master mobile unit calculates an optimal angle and distance to which the slave mobile unit will move, an optimal angle and a distance to move, and transmits the calculated values to the slave mobile unit to perform a user command received from a user;
The slave mobile unit receives the calculated value for the destination to move from the master mobile unit to move to the destination;
The slave mobile unit measures the relative distance to the master mobile unit to determine whether the user command is completed, and transmits a completion message to the master mobile unit, characterized in that the control method for multiple mobiles. The method according to any one of claims 1 to 4, wherein the step of transmitting a user command to the moving objects by the user further comprises checking whether the moving objects received the user command are master moving objects. Method of simultaneous control of moving objects. The method according to any one of claims 1 to 4, wherein each group of moving objects is equipped with an algorithm for cooperative position recognition. The system of claim 6, wherein the cooperative position recognition algorithm between the moving objects
Receiving a command from a user, parsing the command;
Determining whether the command is for cooperative position recognition;
If the received command is a command for cooperative position recognition, the moving object checks whether it is a master moving object;
In the case of the master mobile unit, transmitting a command received from the master mobile unit to the slave mobile unit and confirming whether the transmission is successful;
The master mobile unit sets the state flag to "1" and waits for receiving relative angle and distance information from slave mobile units;
Checking, by the master moving object, the reception of the relative angle and distance information;
The master moving object includes a step of calculating and transmitting a moving angle and a distance to a destination of slave destinations to which the slave moving objects should move for large formation after receiving the relative angle and distance information, and completing the multiple moving objects. Control method. The method of claim 7, wherein in the master moving object checking step, if the moving object is a slave moving object, the state flag value is “0”, and if “0” is changed to “1”, the relative angle with respect to the master moving object and Calculating a distance, transmitting the calculated value to the master moving object, and if the transmission is successful, setting the state flag value to "2" and receiving information on a destination to be moved from the master moving object; And
Checking whether the destination information to be moved from the master moving object has been received, and if so, moving to the destination, setting the status flag to "0", and ending the cooperative position recognition algorithm; Way. The method according to claim 7 or 8, wherein the meaning of each state flag indicates that, in the case of a master moving object, "0" indicates not being a cooperative position recognition state or is finished, and "1" indicates a waiting state for a response from a slave moving object. In the case of a slave moving object, "0" means that the cooperative position recognition has ended, "1" means starting the step of calculating the relative angle and distance to the master moving object for cooperative position recognition, and "2" means the master moving object. A method for simultaneously controlling a plurality of moving objects, characterized in that the waiting state from the moving command. In the simultaneous control apparatus of multiple mobiles having one master mobile and slave mobiles,
Each of the master moving object and the slave moving object includes a control unit, a memory, a distance sensor, an orientation sensor, and a communication unit,
The control unit of the master mobile unit receives a control signal wirelessly or wired from a user and sends a command to the slave mobile unit through the communication unit of the master mobile unit by the data and program stored in the memory of the master mobile unit, the distance sensor of the master mobile unit and Obtaining distance and bearing information about the slave mobile unit by using the orientation sensor, the slave mobile unit receives commands from the master mobile unit through the communication unit of the slave mobile unit by the control unit of the slave mobile unit by data and programs stored in the memory of the slave mobile unit. The distance and bearing information measured by the distance sensor and the direction sensor is sent to the master moving object, and the control unit of the master moving object grasps the relative position based on the distance and the bearing information of the slave moving object to locate the slave moving object. Simultaneous control of multiple mobile devices of controlling the same. The apparatus of claim 10, wherein the control signal sent from the user to the mobile body may be DTMF using a wired or wireless telephone, or a VoIP telephone signal, which is an internet telephone signal from a PC. The apparatus of claim 10, wherein the control signal sent from the user to the moving object is a control signal by a remote controller (remote control). The apparatus of claim 10, wherein the distance sensor is an infrared sensor or an ultrasonic sensor, and the orientation sensor is a GPS receiver that receives a position signal from a geomagnetic sensor or a satellite. In a computer-readable recording medium storing a software program for performing a method of simultaneously controlling a plurality of moving objects, the software program
Program code for configuring the multiple moving objects into one master moving object and a slave moving object;
Program code for a user to transmit user commands to moving objects;
Program code for the master mobile to transmit a user command to the slave mobiles;
Program code for slave mobile units to execute a user command by a cooperative position recognition algorithm with the master mobile object and to transmit a user command execution completion message to the master mobile object; And
And a program code for receiving a command completion message from the slave moving objects and transmitting a message to the user indicating that the execution of the user command is completed. 15. The recording medium of claim 14, wherein the user command is a cooperative position recognition command that moves the master moving object to the slave moving objects to form a large size relative to the master moving object. 16. The recording medium of claim 15, wherein the program code for transmitting the user command is a user command for the master moving object to calculate a distance and an angle (orientation) between the slave moving objects to the slave moving object. The program code of claim 16, wherein the slave mobile devices execute a user command by a cooperative position recognition algorithm with the master mobile device and transmit a user command execution completion message to the master mobile device. Program code for storing the current angle of the;
The slave moving objects may include: program code for calculating a relative angle and distance with respect to the position of the master moving object and transmitting the calculated relative angle and distance to the master moving object;
The master moving object may include: program code for calculating a destination to which each slave moving object moves, an optimum angle and distance to move, and transmitting the calculated values to the slave moving object to execute a user command received from a user;
The slave mobile unit may include: program code for receiving a calculated value for a destination to be moved from the master mobile unit and then moving to the corresponding destination;
The slave mobile unit includes a program code for measuring a relative distance from the master mobile unit to determine whether a user command is completed and transmitting a completion message to the master mobile unit. 18. The program code according to any one of claims 14 to 17, wherein the program code for transmitting a user command to the moving objects by the user further comprises a program code for checking whether the moving objects receiving the user command are master moving objects. Record carrier. 19. The method of claim 18, wherein the cooperative position recognition algorithm between the moving objects
Receiving a command from the user moving object is a program code for parsing the command;
Program code for determining whether the command is for cooperative position recognition;
If the received command is a command for cooperative position recognition, the moving object comprises: program code for checking whether it is a master moving object;
A program code for transmitting a command received by the master mobile device to the slave mobile device and confirming whether the transmission is successful;
The master moving object has a program code that sets a status flag to "1" and waits for receiving relative angle and distance information from slave moving objects;
The master moving object includes program code for checking whether or not the relative angle and distance information are received;
The master moving object includes a program code for calculating and transmitting a moving angle and a distance to a destination to which the slave moving objects should move to receive the relative angle and distance information to form a large size. 20. The method of claim 19, wherein in the master moving object inspection program code, if the moving object is a slave moving object, the state flag value is “0”. If the moving object value is “0”, the relative moving angle of the moving object is changed to “1”. And a program code for calculating a distance, transmitting the calculated value to the master moving object, and if the transmission is successful, setting the status flag value to "2" and receiving information on a destination to be moved from the master moving object. And
And program code for checking whether the destination information to be moved from the master moving object has been received, and if so, moving to the destination, setting the status flag to "0", and ending the cooperative position recognition algorithm.

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