KR20130060429A - Apparatus and method for executing user-oriented task - Google Patents

Abstract

PURPOSE: A device and a method for controlling a user-centered robot are provided to process a working request of a plurality of users by one robot and easily apply to plan a work according to the condition and the place. CONSTITUTION: A device for controlling a user-centered robot comprises a user request receive unit, a work property priority order designating unit, an advanced work planning unit, a real-time work planning unit, and a robot control unit. The work planning unit plans a work plan of the robot based on the working request which the robot performs. The real-time work planning unit changes the work plan of the robot set in the advanced work planning unit based on the priority order set in the property priority order designating unit. The robot control unit controls the robot based on the work planning of the robot changed in the real-time work planning unit. [Reference numerals] (AA) Start; (BB,DD,FF,HH,JJ,LL) Yes; (CC,EE,GG,II,KK,MM) No; (NN) End; (S300) Receive requests from a plurality of users; (S301) Check the priority of works; (S302) Make an advance work plan; (S303) Number of works on standby = 0 ?; (S304) Execute a work on standby; (S305) Another same work on standby exists?; (S306,S308) Change the priority of the another work; (S307) Another different work on standby in the same path exists?; (S309) Composite shortest path?; (S310) Calculate the composite shortest path; (S311) Work added?; (S312,S314) Correct the work plan in real time; (S313) Any trouble in a user-oriented work plan?

Description

Apparatus and method for executing user-oriented task}

Embodiments of the present invention relate to a user-centered robot control apparatus and method, and more particularly, to a robot control apparatus and method for a task in consideration of a plurality of users when performing a task through a robot.

Service robots must be able to overcome limited and uncertain sensor recognition information and limited robot resources and provide services according to the user's desired period in daily life. Conventional service robots have been applied to robot task plans such as robot manipulator operation plan and driving route plan, collaborative task assignment and collaborative scheduling of multi-robot targets. However, in the case of a robot providing a service in a space where a person lives, the final goal of performing a task is to enhance user convenience before improving work efficiency.

Korean Patent No. 10-0520049 is a patent for a route planning method for an autonomous mobile robot, and generates a route using an optimal route method (Dikstra algorithm) through cell decomposition using given map information on the environment. It provides a route plan generation method of a mobile robot that can avoid obstacles between feature points and drive safely and quickly to the next feature point. In addition, Korean Patent Registration 10-1048098 relates to a route planning apparatus and method for a robot, and a map preparation unit for creating a map of a surrounding environment of the robot 50 by searching the surrounding environment of the robot, and through the map preparation unit. The obstacle classification unit which classifies the created obstacle on the map as a fixed obstacle or a moving obstacle, and the movement path of the moving obstacle by applying a weight in the moving direction to the potential field of the moving obstacle among the fixed obstacle or the moving obstacle classified through the obstacle classification unit. Including a vector calculation unit for calculating a virtual force vector in a method for generating a potential field, and a path planning unit for calculating a path of the robot using the force vector calculated through the vector calculator. Start the robot route planning device. Conventional technologies such as the above-described Korean Patent No. 10-0520049 and Korean Patent No. 10-1048098 have established a work plan for autonomous driving using only a system factor and efficiency of the system using only the resources and time information of the robot. Proved.

However, in order to enhance the user's convenience, the robot service could not guarantee whether the use result gave feedback suitable for the user's convenience in terms of service quality and improved satisfaction. Therefore, there is a need for a new robot operation planning method aimed at providing a service that can be felt by convenience and satisfaction from the robot due to the substantial improvement in service speed.

Korea Patent Registration 10-0520049 Korea Patent Registration 10-1048098

According to one aspect of the invention, it is possible to set the work plan of the robot that can be organically expanded and modified.

According to another aspect of the present invention, it is possible to achieve the operation of the robot in consideration of a plurality of users.

According to another aspect of the present invention, it is possible to set a user-centered work plan in real time.

According to an aspect of the invention, the user request receiving unit for receiving a task request to be performed by the robot from the communication device of a plurality of users; A task attribute priority designation unit, which specifies a priority of the task attribute requested in the task request to be performed by the robot, received by the user request receiving unit; A pre-work planner for setting a work plan of the robot based on a work request to be performed by the robot, received by the user request receiver; A real-time task planner for changing the task plan of the robot set in the task planner based on the priority of the task attribute designated by the task attribute priority designator; And a robot controller configured to control the robot based on the task plan of the robot changed in the real-time task planner.

According to another aspect of the present invention, the real-time work planner, the robot control device includes a work-centered work planner, which changes the work plan of the robot set in the pre-work planner based on the work position of the robot. do.

According to another aspect of the present invention, the task-oriented task planning unit, when the execution position of at least one or more waiting tasks coincides with the position where the robot completes one task, the waiting priority of the matching waiting task is 1 There is provided a robot control apparatus including an identical position processing unit for changing to a rank.

According to another aspect of the present invention, when the task-oriented task planning unit, at least one execution position of the waiting task is present on the path from the position where the robot has completed one task to the execution position of the next waiting task. And, there is provided a robot control apparatus including the same position processing unit for changing the waiting priority of the matching waiting job to the first priority.

According to another aspect of the present invention, the task-oriented work planning unit, a complex shortest path plan for changing the standby work order or work path in consideration of the position where the robot has completed one task and the execution position of at least one waiting task. A robot control apparatus is provided, including a part.

According to another aspect of the present invention, the real-time job planning unit, based on the job request to be performed by the robot, received by the user request receiving unit, changing the work plan of the robot set in the pre-work planner, user-centric work A robot control apparatus is further provided, further comprising a planning unit.

According to another aspect of the present invention, the user-centered work planner is provided with a robot control device that changes the work plan of the set robot in preference to the work-centered work planner.

According to another aspect of the invention, the step of receiving a job request to be performed by the robot from the communication device of a plurality of users; Designating a priority of a job attribute requested in a job request to be performed by the robot; Presetting a work plan of the robot based on the received work request to be performed by the robot; Changing a work plan of the preset robot based on the priority of the designated work attribute; And controlling the robot based on the changed work plan.

According to another aspect of the invention, the step of changing the work plan of the predetermined robot, the robot control method is provided further comprising the step of changing the set work plan based on the work position of the robot.

According to another aspect of the present invention, the step of changing the set work plan based on the work position of the robot, the execution position of at least one or more waiting tasks, the position where the robot has completed a task In the case, the robot control method is provided, further comprising the step of changing the waiting priority of the matching waiting task to the first priority.

According to another aspect of the present invention, the step of changing the set work plan based on the work position of the robot, the execution position of at least one or more waiting tasks, the next waiting from the position where the robot has completed one task If present on the path to the execution position of the task, there is provided a robot control method comprising the step of changing the waiting priority of the matching waiting task to the first priority.

According to another aspect of the present invention, the step of changing the set work plan based on the work position of the robot, the work in consideration of the position where the robot has completed one task and the execution position of at least one waiting task A robot control method is provided, further comprising the step of changing a path.

According to another aspect of the invention, the step of changing the work plan of the predetermined robot, the robot further comprises the step of changing the work plan of the set robot based on the work request to be performed by the robot, A control method is provided.

According to another aspect of the invention, the step of changing the work plan of the set robot based on the work request to be performed by the robot, the step of changing the set work plan based on the work position of the robot First, a robot control method for changing a work plan of the set robot 50 is provided.

According to an aspect of the present invention, when setting the robot work plan, it is possible to organically expand and modify the user-related work information, and at the same time separate these functions by module and set up in an independent relationship to propose a user-oriented work plan Not only the method but also the robot work plan according to the user's needs can be applied. In other words, by specifying the priority of the job attributes, modularizing the job-related information and the user information and all the functions using it to provide a scalable work plan, it is effective to increase the user satisfaction.

According to another aspect of the present invention, since a single robot can handle the work requests of a plurality of users, the inconvenience of having to construct a control device for a plurality of robot plans, respectively, is reduced. In addition, it is easy to apply the work plan according to the situation and place, and there is an advantage that can have a time and cost saving effect.

1 is a diagram illustrating a relationship between a user-centered robot control apparatus 1000, a robot 50, and a plurality of users 10 to 13 in a schematic form according to an exemplary embodiment of the present invention.
2 is a view showing the internal configuration of the work planning unit 300 according to an embodiment of the present invention.
3 is a time-series diagram of a robot control method according to an exemplary embodiment of the present invention.

DETAILED DESCRIPTION The following detailed description of the invention refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It should be understood that the various embodiments of the present invention are different but need not be mutually exclusive. For example, certain shapes, structures, and characteristics described herein may be embodied in other embodiments without departing from the spirit and scope of the invention with respect to one embodiment. In addition, it is to be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is defined only by the appended claims, along with the full range of equivalents to which such claims are entitled. In the drawings, like reference numerals refer to the same or similar functions throughout the several views.

1 is a diagram illustrating a relationship between a user-centered robot control apparatus 1000, a robot 50, and a plurality of users 10 to 13 in a schematic form according to an exemplary embodiment of the present invention.

As shown in FIG. 1, users 10 to 13 are not single users but at least one or more users. In FIG. 1, four users are exemplarily represented, but the present invention is not limited thereto. The users 10 to 13 become subjects for requesting to perform the work of the robot 50 and request work through the robot control apparatus 1000. As used herein, the term "task" refers to any kind of action (TASK) that can be accomplished through the robot 50. For example, the operation of delivering an object through the robot 50, cleaning a specific place, storing a picture of a specific place as a photo image, storing a picture of a specific place as a video, sound of a specific place Collecting information, for example. In the present specification, for convenience of description, an operation of delivering an item is mainly described as an embodiment, but the scope of the present invention is not limited thereto. Each of the users 10 to 13 may independently request to perform the work of the robot 50. When the work request is made, whether to request the work between the users 10 to 13 does not affect each other.

In one embodiment, the user may request a job from the robot control apparatus 1000 through a communication device (not shown). The communication device 10 may include any device in which a specific application can be run, but is not limited in form. Any device that contains ubiquitous, or network functionality, can be a communication device. In an embodiment, the application is in the form of any program that can run through the device and can utilize the device's communication, content playback, and the like. For example, the communication device 10 may include a personal communication system (PCS), a global system for mobile communications (GSM), a personal digital cellular (PDC), a personal handyphone system (PHS), a personal digital assistant (PDA), and an international IMT. It includes all handheld based wireless terminals, including Mobile Telecommunication) -2000 terminals. In particular, the communication device may be a smartphone including a display, a touch sensor, a motion sensor, a vibrator, a speaker, a communication module, or the like, and a small smart pad in some cases. The communication device can also include, for example, a processing system having a processor, an operating system, and an application program interface (API) to provide communication between one or more software applications and the operating system. Furthermore, the processing system of the communication device may be configured to execute various software applications. The communication device may communicate with other objects including the robot control apparatus 1000, and any hardware or software capable of communication may be mounted therein. The communication method may include an object and all communication methods in which the object may function as a network, and are not limited to the types of 3G, 4G, or later methods. All information capable of transmission and reception including various sensor information, voice feedback information, and vibration feedback information in the communication device may be transmitted or received to an external object through the communication device.

The robot control apparatus 1000 receives a job request from a plurality of users 10 to 13, sets a work plan centered on the user 10 to 13, and controls the robot 50 based on the set work plan. It serves to allow the robot 50 to perform optimized work. The robot control apparatus 1000 may include a user request receiving unit 100, a work attribute priority setting unit 200, a work planning unit 300, a storage unit 400, and a robot control unit 500.

The user request receiving unit 100 serves to receive work requests of the plurality of users 10 to 13. The job request received by the user request receiving unit 100 may include user information, job type information (for example, object delivery job, cleaning job, etc.), job location information, and job deadline information. In one embodiment, when the job type is a goods delivery job, the job type information may include goods information to be delivered and goods delivery location information. In another embodiment, when the job type is a cleaning job, the cleaning type information may include cleaning type information (vacuum cleaning, mop cleaning, wax cleaning), and cleaning assignment time information. The user request receiving unit 100 may receive a work request from a communication device used by the plurality of users 10 to 13 through all communication methods capable of network functions. For example, wireless Local Area Network (LAN), Metropolitan Area Network (MAN), Global System for Mobile Network (GSM), Enhanced Data GSM Environment (EDGE), High Speed Downlink Packet Access (HSDPA), Wideband (W-CDMA) Code Division Multiple Access (CDMA), Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Bluetooth, Zigbee, Wi-Fi, Voice over Internet Protocol (VoIP), LTE Advanced, IEEE802.16m, WirelessMAN-Advanced, HSPA +, 3GPP Long Term Evolution (LTE), Mobile WiMAX (IEEE 802.16e), UMB (formerly EV-DO Rev. C), Flash-OFDM, iBurst and MBWA (IEEE 802.20) Communication may be performed using one or more communication methods selected from the group consisting of systems, HIPERMAN, Beam-Division Multiple Access (BDMA), World Interoperability for Microwave Access (Wi-MAX), and ultrasound utilization communication, but is not limited thereto.

The work attribute priority setting unit 200 serves to specify the priority of the attributes for establishing the work plan of the work planning unit 300. In more detail, the job attribute priority setting unit 200 designates the priority of the user-centered work attribute or the priority of the task-oriented work attribute. The priority of the work attribute can be added and changed as needed, the work attribute priority setting unit 200 has a flexible scalability.

In one embodiment, the work attribute priority setting unit 200 determines the priority for all attributes included in the work request information received from the users 10 to 13. In one embodiment, when the user information is the user's position information, the priority may be determined in the order of the president, the vice president, the executive director, the executive director, the manager, the deputy manager, the manager, the agent, and the employee. In other words, the priority is determined so that the work of the upper ranks can be processed first. In another embodiment, when the user information is the position information of the user, the priority may be determined in order of the CEO, the general manager, the department head, the team head, the TF head, and the team member. In another embodiment, if there is work location information, priority can be specified in order from the starting point of the robot 50 to the nearest order, or the plan can be set in the order farthest. In another embodiment, if there is work deadline information, the priority may be determined in order of shortest deadline.

In another embodiment, the task attribute priority setting 200 specifies the priority of task-oriented task attributes to improve the efficiency of the task itself. Priority is assigned to improve the overall work performance speed according to the work position, work environment, and work path of the current robot 50. In one embodiment, if the performing position of at least one waiting task matches the position where the robot 50 has completed one task, it may be prioritized to change the waiting priority of the matching waiting task to 1st priority. have. In another embodiment, if a performing position of at least one waiting task exists on the path from the position where the robot 50 has completed one task to the performing position of the next waiting task, Priority can be specified to change the wait priority to 1st. In another embodiment, the robot 50 may assign priorities in consideration of a position where one robot completes one task and a position where at least one waiting task is performed.

The work planning unit 300 serves to set a preliminary work plan and a real-time work plan of the robot 50 according to a work request of the plurality of users 10 to 13. Job planning unit 300 will be described in detail in FIG.

The storage unit 400 stores the data referenced by the robot control apparatus 1000 to set a work plan of the robot 50. The attribute information designated by the work attribute priority setting unit 200, the work environment information in which the robot 50 is active, and the work information requested by the user may be stored. In this embodiment, the work environment information may include map information indicating the entire work area in which the robot 50 may be active, and map information indicating a path in which the robot 50 may move within the work area.

The robot controller 500 actually controls the robot 50 based on the work plan generated by the work planner 300. In one embodiment, a series of control information for controlling the behavior of the robot 50 may be generated and transmitted to the robot 50 to control the robot 50.

The robot 50 performs a task requested by the plurality of users 10 to 13 under the control of the robot control apparatus 1000. In one embodiment, the robot 50 may move, such as walking with two feet, having the same appearance and shape as a human being. It also has two arms that allow you to manipulate something with your hands. That is, the robot 50 may be a humanoid robot and may have a plurality of joints. The humanoid robot can also change the posture of parts such as arms and legs by adjusting each joint. In other embodiments, the robot 50 may be a humanoid configuration of only a part of the robot component. For example, the upper body part is the appearance and shape of the human, but the lower body part may be connected to the wheel to facilitate the convenience of movement. In an embodiment, the robot 50 may include a controller (not shown) and an operation unit (not shown). The robot 50 may receive work plan information from the robot control apparatus 1000 and control an operation unit (not shown) through a controller (not shown) to change a position or operation of the robot 50 to perform a task. have.

2 is a view showing the internal configuration of the work planning unit 300 according to an embodiment of the present invention. The job planning unit 300 selects the attributes determined by the job attribute priority designator 200 and plans a job according to the priority of the attributes. The work planning unit 300 may include a pre-work planning unit 310 and a real-time work planning unit 310.

The pre-work planning unit 310 serves to preset the work plan of the robot 50 based on the work requests from the plurality of users 10 to 13. In an embodiment, the job order may be determined based on the user information received from the users 10 to 13 and the work deadline information with reference to the priority specified by the work attribute priority designation unit 200. The higher the rank or position of the user, the higher the deadline in order of priority, so that the entire waiting work can be ordered.

The real-time job planning unit 320 serves to change the work plan of the robot 50 set in the pre-work planner 310 in real time with reference to the priority designated by the job attribute priority designator 200. The real-time task planner 320 may include a user-centered task planner 321 and a task planner 322 during a task.

The work center work planning unit 322 serves to change the work plan of the robot 50 set in the pre-work planner 310 based on the work position or work environment of the robot 50. In more detail, the work intensive task planning unit 322 may include the same location processor 325, the same path processor 326, and the complex shortest path processor 327.

The same position processing unit 325, if the execution position of at least one waiting task coincides with the position where the robot 50 completes one task, the priority of the task to change the waiting priority of the matching waiting task to 1st priority. You can assign a rank. That is, each time the task is performed, the robot 50 searches for the task having the same position where the robot 50 last performed the task and the position of the next task to be performed at the end of the task. This is to improve the performance of the robot system by reducing the movement time of the robot by performing as much work as possible at a specific position. In general, a user who is a user may perform a task in the same manner when performing a plurality of tasks. The same path processing unit 326 may determine that at least one waiting job is performed on the path from the position where the robot 50 completes one job to the next waiting job. Jobs can be prioritized to change the wait priority to 1 priority. With reference to the work environment information stored in the storage unit 40, the robot 50 searches for a job in the waiting job list that is located on a path moving to the destination of the next job, and if the job exists, the job Does the job and resumes its movement to its original destination.

The complex shortest path processing unit 327 may designate the priority or the work path of the work in consideration of the position where the robot 50 has completed one work and the execution position of at least one waiting job. The sum of the shortest paths between two neighboring jobs does not necessarily guarantee that the entire work path is the shortest path. For example, if you process A, B, and C consecutively, the sum of the shortest paths from A-> B and B-> C is longer than the length of the other paths from A-> B-> C. Cases may occur. For example, the distance between A-> B and B-> C is considerably longer than the distance between A-> C. In this way, by using the work environment information (work environment map information) and the robot work information stored in the storage unit 400, starting from the current position of the robot 50, the next position as well as the next performing position of the task to be performed next By calculating the shortest path to reach the work position, the robot 50 sets the movement path of the robot 50 to reach the destination using the path. This is also called the Smart Detour feature.

The user-centered work planning unit 321 serves to change the work plan of the robot 50 set based on the work request of the user. When processing tasks according to the priority of task-oriented task attributes, task efficiency may increase, but a delay problem may occur in which the task deadline is exceeded due to the continuous processing order of specific tasks. In order to prevent this from happening, the user-oriented task planning unit 321 repeatedly calculates at least the point in time at which the task should start using the deadline of the highest task in the queued task list, and the current time determines the deadline. When the time is calculated, a dead line monitor event is generated to change the rank of the task to the first priority task. In one embodiment, when the deadline monitor event occurs, the above-described job-focused job planning unit 322, that is, the same location processing unit 325, the same path processing unit 326, and the compound shortest path processing unit 327. Work plan changes can be ignored and treated as the top priority.

3 is a time-series diagram of a robot control method according to an exemplary embodiment of the present invention. First, the robot control apparatus 1000 receives a job request from the plurality of users 10 to 13 (S300). The robot control apparatus 1000 may receive a work request through various devices such as a communication device used by the plurality of users 10 to 13. The communication method between the communication device and the robot control apparatus 1000 includes wired / wireless communication, and is not particularly limited. Thereafter, the job attribute priority designation unit 200 checks the specified job attribute (S301). Since the priority of the work attribute can be changed according to the setting, the priority of the most recently updated work attribute is followed. Thereafter, the work plan of the robot 50 is preset based on the work request from the plurality of users 10 to 13 (S303). In an embodiment, the job order may be determined based on the user information received from the users 10 to 13 and the work deadline information with reference to the priority specified by the work attribute priority designation unit 200. Thereafter, while changing the work plan in real time until all waiting jobs set by the work plan are processed, the robot 50 causes the work to be processed (S303). First, the processing on the highest job is processed (S304). Processed according to the job information, the job information may include a work place, job type information. After the work is completed, the robot 50 searches whether there is a job having the same position as the last job and the next job to be performed (S305). If the job exists, the job plan is changed to have a priority of the searched waiting job as the first priority (S306). Thereafter, the robot 50 searches for a job located on a path that moves to the destination of the next job, with reference to the work environment information stored in the storage 40 (S307). If the corresponding job exists, the job plan is changed to have a priority of the searched waiting job as the first priority (S308). Thereafter, it is determined whether the current work path is a complex shortest path considering all waiting jobs (S309). In the case of not the complex shortest path, the work plan or the work path is changed by specifying a priority in consideration of a position at which one work is completed and an execution position of at least one waiting job (S310). In addition, when a new job is requested from a new user 10 to 13 (s311), the work plan is modified in real time (S312). The modification of the real time work plan may be performed on the same principle as the preliminary work plan (S302). In addition, even when the work plan is changed to perform other waiting tasks through the determination process of S305, S307, and S309, when a problem may occur in the user-centered work plan, despite the work plan changes of S305, S307, and S309, Modify the real-time work plan to the user center (S314). The steps from S303 to S314 are repeated until there are no waiting jobs remaining, and when all waiting jobs are processed, the robot control method ends.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, Those skilled in the art will appreciate that various modifications, additions and substitutions are possible, without departing from the scope and spirit of the invention as disclosed in the accompanying claims.

Therefore, the spirit of the present invention should not be construed as being limited to the above-described embodiments, and all of the equivalents or equivalents of the claims, as well as the following claims, I will say.

10, 11, 12, 13: users
50: robot
100: user request receiving unit
200: job attribute priority assignment unit
300: work planning department
310: pre-work planning
320: real time job planning
321: user-centric task planning unit
322: task-oriented task planning unit
325: same position processing unit
326: same-path processing unit
327: compound shortest path processor
400: storage
500: robot control unit
1000: robot control unit

Claims (14)

A user request receiving unit to receive a work request for a robot to perform from a plurality of communication devices;
A task attribute priority designation unit, which specifies a priority of the task attribute requested in the task request to be performed by the robot, received by the user request receiving unit;
A pre-work planner for setting a work plan of the robot 50 based on the work request to be performed by the robot received by the user request receiver;
A real-time task planner for changing the task plan of the robot set in the task planner based on the priority of the task attribute designated by the task attribute priority designator; And
And a robot control unit for controlling the robot based on the work plan of the robot changed in the real-time job planning unit. The method of claim 1,
The real-time task planner, the robot control device including a task-oriented task planner for changing the task plan of the robot set in the pre-work planner based on the work position of the robot. The method of claim 2,
The task oriented task planning unit may include: an identical position processor configured to change the standby priority of the matched waiting task to the first priority when the execution position of the at least one waiting task coincides with the position where the robot completes one task. Robot control device, including. The method of claim 2,
The task-oriented task planning unit waits for the matching waiting task when the execution position of at least one waiting task exists on a path from the position where the robot has completed one task to the execution position of the next waiting task. A robot control apparatus comprising the same position processing unit for changing the rank to the first rank. The method of claim 2,
The work-oriented work planning unit,
And a complex shortest path planning unit configured to change a waiting work order or a work path in consideration of a position at which the robot has completed one task and a performing position of at least one waiting task. The method of claim 2,
The real-time task planner further includes a user-centered task planner that changes a task plan of the robot set in the task planner based on a task request to be performed by the robot, received by the user request receiver. Device. The method according to claim 6,
The user-oriented work planning unit changes the work plan of the set robot (50) in preference to the work-oriented work planning unit. Receiving a task request to be performed by a robot from a communication device of a plurality of users;
Designating a priority of a job attribute requested in a job request to be performed by the robot;
Presetting a work plan of the robot based on the received work request to be performed by the robot;
Changing a work plan of the preset robot based on the priority of the designated work attribute; And
And controlling the robot based on the changed work plan. 9. The method of claim 8,
The changing of the work plan of the preset robot further comprises changing the set work plan based on the work position of the robot. 10. The method of claim 9,
The changing of the set work plan based on the work position of the robot may include: waiting for the matching waiting work when the execution position of at least one waiting task coincides with a position where the robot has completed one work; And changing the rank to the first rank. 10. The method of claim 9,
The changing of the set work plan based on the work position of the robot may include: performing at least one waiting task on a path from a position at which the robot has completed one task to a performing position of a next waiting task; If present, changing the waiting priority of the matching waiting task to a first priority. 10. The method of claim 9,
The changing of the set work plan based on the work position of the robot may further include changing a work path in consideration of a position at which the robot has completed one task and a performance position of at least one waiting task. , Robot control method. 10. The method of claim 9,
The changing of the work plan of the preset robot further comprises changing a work plan of the set robot based on a work request to be performed by the received robot. The method of claim 13,
The step of changing the work plan of the set robot based on the work request to be performed by the robot, prior to the step of changing the set work plan based on the work position of the robot to modify the work plan of the set robot To change, the robot control method.

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