KR20160104275A - Distributed device type-intelligent robot system based on real-time abnormality judgment and response capabilities software, intelligent management method for abnormality condition of robot distributed device unit based on the same - Google Patents

Abstract

The present invention relates to an intelligent type robot system, comprising: a main processing device (120); another sensor device (100); a driving device (110); and a distributed device of a communication device (130) and a power device (140). The present invention provides the distributed device structure intelligent type robot system having real-time abnormality sensing and handling software; performing various services and missions through the intelligent type robot system; and enabling various intelligent robot systems to be assembled.

Description

[0001] The present invention relates to an intelligent robot system for real-time fault detection and coping software, and an intelligent coping method for each robot based on the intelligent robot system. , intelligent management method for abnormality condition of robot distributed device unit based on the same}

The present invention relates to a robot system having a real-time anomaly detection and coping software structure for an intelligent robot system, and more particularly, to a robot system having a real-time anomaly detection and coping software structure for an intelligent robot system, Intelligent robot system with real-time anomaly detection and coping software for intelligent robot to detect and cope with real-time abnormality in device for robot mission data file and robot abnormality management file Intelligent robot system and each robot based on it The present invention relates to an intelligent coping method according to a situation of a distributed device unit.

The constituent units constituting the intelligent robot system include a main device (main processing device) for processing information to determine and controlling information of an interlocked device, a sensor device capable of recognizing the surrounding situation, A driving device to be operated, a communication device for internal / external communication of the system, and a power device for supplying power to the system.

Such an intelligent robot system can be applied as an intelligent robot system. In this case, a general intelligent robot system can respond to an operator's abnormal situation of a sensor device or a driving device other than the main processing device, It is difficult to cope with the abnormal situation more actively.

Accordingly, when designing and developing an intelligent robot system in the related technology field, it is necessary to avoid the conventional design method of a single device type centered on the main processing device, and to construct a process module, a memory, a communication interface, Distributed device structure composed of distributed devices Intelligent robot system is urgently required.

[Related Technical Literature]

1. METHOD AND DEVICES FOR DEVELOPING ROBOT SOFTWARE COMPONENTS IN INTELLIGENCE ROBOT SYSTEM IN AN INTELLIGENT ROBOT SYSTEM (Patent Application No. 10-2009-0048043)

2. SYSTEM AND METHOD FOR COOPERATIVE CONTROL OF A INTELLIGENT MOBILE ROBOT BASED MULTI-AGENT (Patent Application No. 10-2012-0149165)

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an intelligent system capable of detecting and handling anomalies in real time for each distributed device configurable as main processing device, sensor device, driving device, communication device, And a distributed intelligent robot system equipped with a real-time anomaly detection and coping software for allowing a robot abnormality management file to be applied to an intelligent robot, and to provide an intelligent coping method according to the situation of each robot distributed device unit based on the intelligent robot system .

In addition, the present invention provides a system and method for real-time abnormal detection and real-time abnormal detection to maximize the efficiency of a specific service or mission by systematically responding to abnormal situations and action scenarios of each unit in an intelligent robot system, This paper proposes a distributed intelligent robot system with coping software and an intelligent coping method based on the intelligent robot system and each robot distributed device unit based on the intelligent robot system.

In addition, the present invention is equipped with a real-time anomaly detection and coping software for enabling an intelligent robot system operator to actively cope with situations of each distributed device on an intelligent robot system by installing real-time anomaly detection and coping software in the intelligent robot system Based distributed intelligent robot system based on the distributed device structure, and an intelligent coping method according to the abnormal situation of each robot distributed device unit based on the distributed intelligent robot system.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

In order to accomplish the above object, a distributed device architecture intelligent robot system equipped with real-time abnormality detection and coping software according to an embodiment of the present invention includes a real-time abnormality detection software 100a and a real- An intelligent robot system composed of a main processing device 120 including the software 100b, other sensor devices 100, a driving device 110, a communication device 130 and a distributed device of the power device 140, The robot distribution device units 100 to 140 are provided with a " Robot Mission Data File " (MDF) 102, 112, 122, 132 and 142 for performing predetermined services and tasks, (AMF: Abnormality case Management File) 103, 113, 123, 133, 143 for performing a coping scenario, and the robot mission data The file and the robot abnormality management file are formed in XML (eXtensible Markup Language) standard document format, and can be downloaded and uploaded between the respective robot distribution device units 100 to 140.

In the distributed intelligent robot system equipped with real-time anomaly detection and coping software according to another embodiment of the present invention, a robot mission data file (MDF) 102, 112, 122, 132, Of the intelligent robot system with the configuration of the robot mission data file 12 in order to define the tasks to be performed by the respective robot distributed device units 100, 110, 130 and 140 of the intelligent robot system 1, Quot ;, " distributed device configuration information 12a ", "robot distribution device individual task content 12b "," sensor device operation range and reaction information 12c ", "drive device drive procedure, drive speed and travel path 12d" .

In a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to another embodiment of the present invention, the robot distributed device configuration information 12a includes sensor device 100, driving device 110, A distributed device structure composed of a main processing device 120, a communication device 130 and a power device 140 includes information about an identification ID for the configuration of the intelligent robot system 1, But also configuration information on the detailed configuration of the device 110, the main processing device 120, the communication device 130, and the power supply device 140. [

In the intelligent robot system of the distributed device architecture equipped with the real-time abnormality detection and coping software according to another embodiment of the present invention, the individual task contents 12b of the robot dispersing device include real-time abnormality detection software 100a and real- Distributed Device Structure by the Situation Corresponding Software 100b The sensor device 100, the driving device 110, the main processing device 120, and the central processing device 120, which constitute each of the robot distribution device units 10 constituting the intelligent robot system 1, And drive process information corresponding to the task each of the communication device 130 and the power device 140 should perform.

In a distributed device architecture intelligent robot system equipped with real-time anomaly detection and coping software according to another embodiment of the present invention, the sensor device operation range and reaction information 12c are distributed among the distributed device intelligent robot system 1 The operating range of at least one of a GPS sensor, a geomagnetism sensor, a temperature / humidity sensor, a heat sensor, an illuminance sensor, a smog sensor, and a pressure sensor that can be configured as a sensor of the sensor device 100 and state information obtained by sensing by each sensor And includes threshold information for performing a mission according to a reaction.

In the distributed intelligent robot system equipped with the real-time anomaly detection and coping software according to another embodiment of the present invention, the driving device driving procedure, the driving speed, and the movement path 12d are implemented by a distributed device intelligent robot system 1) the information about the driving angle, the driving speed, and the movement route stored in the sensor device in correspondence with the sensor device operation range and reaction information 12c of the driving device 110.

In a distributed device structure intelligent robot system equipped with real-time abnormality detection and coping software according to another embodiment of the present invention, the robot abnormality case management file (AMF) 103, 113, 123, 133 And 143 are information indicating an abnormality detection standard to be performed by the sensor modules 14a, 104, 114, 124, 134, and 144 of the respective robot distribution device units 100 to 140 of the intelligent robot system 1, The abnormal situation detection range 13a "and the" coping scenario 13b "according to the abnormal situation detection are configured in the configuration of the robot abnormal situation management file 13 in order to have a profile structure in which coping scenarios for the abnormality signals which have been defined are defined .

In order to achieve the above object, according to an embodiment of the present invention, a distributed device structure equipped with a real-time abnormality detection and coping software is provided. Each robot distributed device unit based on an intelligent robot system includes: The state information of the distributed devices collected by the sensor modules 104, 114, 124, 134, and 144 individually provided in the robot abnormality management file 13 (10: 100, 110, 120, (110, 120, 130, 140) in real time based on the abnormal situation determination criterion information of the distributed device unit (10, 100, 110, 120, 130, 140). And a second step of extracting and executing the action scenario included in the robot abnormal situation management file (13) loaded on the robot dispersing device unit, in which the robot dispersing device unit in which the abnormal signal is detected in real time is detected; And a control unit.

A distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to an embodiment of the present invention, and an intelligent coping method according to abnormal situation of each robot distributed device unit based on the intelligent robot system, The robot mission data file and the robot abnormality management file can be applied to the intelligent robot in real time for detecting and responding to the abnormality in real time for each distributed device configurable as a driving device, a communication device, and a power device.

In addition, the distributed device structure intelligent robot system equipped with the real-time abnormality detection and coping software according to another embodiment of the present invention, and the intelligent coping methods according to the abnormal situation of each robot distributed device unit based on the intelligent robot system, It is possible to combine various intelligent robot systems by applying distributed devices with a technical paradigm that can be integrated into Things (IoT) / Internet of Everything (IoE). In order to perform various services and tasks through this intelligent robot system And a distributed device structure intelligent robot system equipped with real-time fault detection and coping software.

In addition, a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to another embodiment of the present invention, and an intelligent coping method according to a situation of each robot distributed device unit based on the intelligent robot system, In the process of performing the task, it is possible to increase efficiency of service and mission execution by applying distributed device with low-level process.

In addition, a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to another embodiment of the present invention, and an intelligent coping method according to abnormal situation of each robot distributed device unit based thereon, (ICT) field and the object (all) internet field by providing an intelligent robot system platform capable of responding to a system level problem as much as possible.

1 is a diagram showing a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to an embodiment of the present invention.
2 shows a distributed device structure equipped with real-time anomaly detection and coping software shown in Fig. 1; Fig. 2 is a block diagram showing a distributed device structure equipped with a real- (10).
Fig. 3 is a diagram showing a protocol architecture structure included in the distributed device structure intelligent robot system 1 of Fig. 1. Fig.
Fig. 4A is a diagram showing the distribution of the robot mission data files 102, 112, 122, 132 and 142 of the respective distributed devices 100, 110, 130 and 140 of the distributed device structure intelligent robot system 1 of Fig. FIG. 8 is a diagram showing a structure of a robot mission data file 12 included in the distributed device unit 10. FIG.
Fig. 4B is a diagram showing the distribution of the robot mission data files 103, 113, 123, 133 and 143 of the distributed devices 100, 110, 130 and 140 of the intelligent robot system 1 of the distributed device structure of Fig. Fig. 8 is a diagram showing the structure of the robot abnormality management file 13 included in the distributed device unit 10. Fig. Fig. 4B illustrates the robot abnormal situation management file 13 shown in Fig. 2 as a center for unifying the reference numerals.
5 is a diagram showing a structure of a real-time abnormality detection and coping software based on a protocol architecture included in the distributed device structure intelligent robot system 1 of FIG.
FIG. 6 is a flowchart illustrating an intelligent coping method according to a situation of each distributed device using a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a detailed description of preferred embodiments of the present invention will be given with reference to the accompanying drawings. In the following description of the present invention, detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In the present specification, when any one element 'transmits' data or signals to another element, the element can transmit the data or signal directly to the other element, and through at least one other element Data or signal can be transmitted to another component.

1 is a diagram showing a distributed device structure intelligent robot system (distributed intelligent robot system 1) equipped with real-time anomaly detection and coping software according to an embodiment of the present invention. 2 is a block diagram showing the structure of a distributed robot device system 10 in which each of the distributed devices 100, 110, 120, 130 and 140 of the intelligent robot system 1 shown in FIG. 1 is represented as one unit unit. to be.

1, an intelligent robot system 1 includes a sensor device 100 connected to a system message bus 2, a driving device 110, a main processing device 120, A plurality of robot distribution device units 10 corresponding to the communication device 130 and the power source device 140 are provided. Each of the distributed devices 100 to 140 constituting the intelligent robot system includes the processes 101, 111, 121, 131 and 141, the robot mission data files 102, 112, 122, 132 and 142, And the communication modules 105, 115, 125, 135, and 145. The sensor modules 104, 114, 124, 134,

2, each distributed device is referred to as a single unified unit, the robot distributed device unit 10 includes a process 11, a robot mission data file 12, A user defined module 14 and a communication module 15. The user defined module 14 includes a sensor module 14a, a driver module 14b and a user interface module 14c Can be distinguished.

That is, the user defined module 14 of FIG. 2 corresponds to another embodiment of the present invention in a generic concept including the sensor modules 104, 114, 124, 134, 144 of FIG.

Hereinafter, for convenience of description and clarity of the present invention, the configuration of FIG. 1 will be described with reference to the configuration of FIG. 2. However, the scope of right of the present invention can be applied to both of FIG. 1 and FIG.

Fig. 3 is a diagram showing a protocol architecture structure included in the distributed device structure intelligent robot system 1 of Fig. 1. Fig.

1 and 3, an intelligent robot system platform provided in an intelligent robot system 1 according to an embodiment of the present invention includes a distributed device (main processing device 120 Corresponding to the service and mission information to be performed by the robot device 110, the sensor device 100, the drive device 110, the power device 140, and the communication device 130, (Abnormality Case Management File) (103, 113, 123) corresponding to the abnormal situation judgment criterion and the coping scenario information , The status monitoring protocol 1b, the alarm protocol 1c, and the data transmission protocol 1d, in addition to the control information 133, do.

Here, a " robot mission data file "(MDF: Mission Data File) 102, 112, 122, 132, and 142 for performing a predetermined service and mission, (AMF) 103, 113, 123, 133 and 143 are created in XML (Extensible Markup Language) standard document format, and each of the distributed devices 100, 110, 130, Can be mutually downloaded and uploaded.

Hereinafter, each component of the intelligent robot system platform provided by the distributed device structure intelligent robot system 1 will be described in detail.

[Structure of Robot Mission Data File (12, 102, 112, 122, 132, 142)

Fig. 4A is a diagram showing the distribution of the robot mission data files 102, 112, 122, 132 and 142 of the respective distributed devices 100, 110, 130 and 140 of the distributed device structure intelligent robot system 1 of Fig. FIG. 8 is a diagram showing a structure of a robot mission data file 12 included in the distributed device unit 10. FIG. FIG. 4A illustrates the robot mission data file 12 shown in FIG. 2 as a center for unifying the reference numerals.

Referring to FIG. 4A, the Mission Data File (MDF) 12 is used to define a task to be performed by each of the distributed devices 100, 110, 130, and 140 of the distributed device structure intelligent robot system 1 "Robot distribution device configuration information 12a", "robot distributed device individual task content 12b", "sensor device operation range and reaction information 12c", "drive device drive procedure, drive Speed and movement path 12d "and the like.

More specifically, the robot distributing device configuration information 12a includes a distributed device structure intelligent robot 12 configured by a sensor device 100, a driving device 110, a main processing device 120, a communication device 130 and a power device 140 And may include information on the identification ID for the configuration of the system 1.

The detailed configuration of the sensor device 100, the driving device 110, the main processing device 120, the communication device 130, and the power device 140 may be as shown in FIG. 1, Is preferably included in the robot distribution device configuration information 12a.

The individual task contents 12b of the robot distribution device are distributed by the real-time abnormality detection software 100a and the real-time abnormality situation correspondence software 100b configured as real-time abnormality detection and coping software as shown in FIG. Each of the sensor device 100, the driving device 110, the main processing device 120, the communication device 130, and the power source device 140 constituting each of the robot distribution device units 10 constituting the robot 1 performs It is desirable to include drive process information corresponding to the task to be performed. The task to be performed here can be defined as shown in FIG. 6 as an embodiment of the present invention.

The sensor device operation range and reaction information 12c are information of the sensor device 100 of the distributed intelligent robot system 1 shown in Fig. 1, such as a GPS sensor, a geomagnetism sensor, a temperature / humidity sensor, a heat sensor, A sensor, a pressure sensor, and the like, and threshold information for performing a mission according to a response to state information obtained by sensing by each sensor.

The driving device driving procedure, the driving speed, and the movement path 12d correspond to the sensor device operation range and reaction information 12c for the driving device 110 in the intelligent robot system 1 of FIG. 1, The driving speed, and the movement path.

[Structure of robot abnormality management file (13, 103, 113, 123, 133, 143)] [

Fig. 4B is a diagram showing the distribution of the robot mission data files 103, 113, 123, 133 and 143 of the distributed devices 100, 110, 130 and 140 of the intelligent robot system 1 of the distributed device structure of Fig. Fig. 8 is a diagram showing the structure of the robot abnormality management file 13 included in the distributed device unit 10. Fig. Fig. 4B illustrates the robot abnormal situation management file 13 shown in Fig. 2 as a center for unifying the reference numerals.

Referring to FIG. 4B, the robot abnormality case management file 13 (AMF: Abnormality Case Management File) includes a distributed device structure, a sensor module 14a of each distributed device 100, 110, 130, 140 of the intelligent robot system 1 , The robot abnormality management file 13 has a profile structure in which an abnormality detection standard to be performed by the robot abnormality management server 104, 114, 124, 134, and 144 and a coping scenario for the detected abnormality signal are defined, The detection range 13a "and the " coping scenario 13b" in accordance with the detection of the abnormal situation, the predetermined process according to the abnormal situation for the intelligent robot can be performed. That is, abnormal situation detection reference information including an abnormal situation detection range and action scenario information of the distributed intelligent intelligent robot system 1 when the abnormal situation detection is determined according to the abnormal situation judgment reference information are included.

The robot mission data files 12, 102, 112, 122, 132 and 142 and the robot abnormality management files 103, 113, 123, 133 and 143 are loaded in the XML file structure as described above, It is easy to edit and redistribute among the devices 10, 110, 120, 130 and 140.

[Distributed Device Control Protocol (1a)]

Distributed Device Structure The distributed device control protocol 1a in the intelligent robot system 1 includes an actuator (not shown) of each of the distributed devices 100, 110, 120, 130, 140 and the robot distributed device unit 10, It is possible to control the actuator by using information capable of operating the actuator.

[Protocol for status check (1b)]

The status confirmation protocol 1b in the embodiment of the present invention is a distributed device configuration in which the sensor modules 104, 114, 124, 134 among the distributed devices 100, 110, 120, 130, 140 of the intelligent robot system 1 115, 125, 135, and 145 are controlled so as to mutually share the information including the state information acquired by controlling the distributed devices 100, 110, 120, 130, and 140, can do.

[Alarm protocol (1c)]

In one embodiment of the present invention, the alarm protocol 1c is configured to detect an abnormal condition when abnormal information is shared by at least one of the status verifying protocols 1b of the respective distributed devices 100, 110, 120, 130, The coping process using the robot abnormal situation management file 13, 103, 113, 123, 133, and 143 can be performed.

[Data transmission protocol (1d)]

The data transfer protocol 1d is a standard protocol for sharing a still image and an image in real time between each of the distributed devices 100, 110, 120, 130, and 140. The standard protocol is jpeg, mjpeg , Real-time streaming protocol (RTSP), and the like. Here, the still image and the image may be acquired by the CMOS sensor of the sensor module 14a of the user-defined module 14, and may be implemented by the user interface module 14c, 1d can be shared by controlling the communication module 15. [

Meanwhile, FIG. 5 is a diagram showing the structure of a real-time anomaly detection and coping software based on a protocol architecture included in the distributed device structure intelligent robot system 1 of FIG. Referring to FIG. 5, the real-time abnormality detection and coping software includes real-time abnormality detection software 100a and real-time abnormality response software 100b. Here, the real-time abnormality detection and coping software is essentially formed in the main processing device 120 in the configuration of FIG. 1 and can be selectively formed in the main processing device 120, the communication device 130, and the power source device 140 have.

The real-time abnormality detection software 100a is interconnected by a real-time network between each of the distributed devices 100, 110, 120, 130 and 140 to exchange abnormal states of the respective distributed devices 100, 110, 120, 130 and 140 . To this end, the real-time abnormality detection software 100a performs mutual data transmission / reception by the communication modules 15, 105, 115, 125, 135, and 145 mounted on the respective distributed devices 100, 110, 120, And analyzes the collected state information of each of the distributed devices 100, 110, 120, 130, and 140 in real time based on the abnormal situation detection range 13a in the abnormal situation determination criteria included in the robot abnormal situation management file 13 Thereby detecting an abnormality.

The real-time abnormality-response software 100b is a software abnormality detection system that detects abnormality detection standards of the robot abnormality management file 103, 113, 123, 133, 143 mounted on each of the distributed devices 100, 110, 120, And performs a coping scenario according to the abnormal situation detection state collected in real time according to the coping scenario 13b for the signal.

The real-time abnormal situation response software 100b defines a reporting device that reports an abnormal situation to an operator terminal among the distributed devices 100, 110, 120, 130, and 140. [ To this end, the real-time abnormality response software 100b generates a master / slave concept in accordance with the rules contained in the robot abnormality management file 103, 113, 123, 133, 130, and 140, when a failure occurs in the master device, the slave device corresponding to the reporting device can report an abnormal situation to the operator terminal. In this case, the operator terminal may be a separate terminal, server, and system.

FIG. 6 is a flowchart illustrating an intelligent coping method according to a situation of each distributed device using a distributed device structure intelligent robot system equipped with real-time anomaly detection and coping software according to an embodiment of the present invention. 6, each of the robot distribution device units 10 (100, 110, 120, 130, 140) has a status of the distributed devices collected by the sensor modules 104, 114, 124, 134, Information is analyzed in real time based on the abnormal situation judgment reference information in the robot abnormality management file 13 to detect an abnormality and is shared with each of the distributed device units 10: 100, 110, 120, 130, and 140 ).

After step S10, the robot distributing device unit in which an abnormal signal is detected in real time extracts a coping scenario included in the robot abnormality management file 13 loaded on the robot distributing device unit and performs it (S20).

After step S20, each of the robot distributing device units 10: 100, 110, 120, 130, and 140 sharing the detection of the abnormality informs the operator terminal of the abnormal situation management file 13 In the master / slave concept generated by the rule, when a failure occurs in the master device among the respective robot distribution device units 10 (100, 110, 120, 130, 140), the slave device defined as the reporting device issues an abnormal situation to the operator terminal (S30).

The present invention can also be embodied as computer-readable codes on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored.

Examples of the computer-readable recording medium include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device and the like, and also implemented in the form of a carrier wave (for example, transmission over the Internet) .

The computer readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner. And functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers skilled in the art to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms have been used, they have been used only in a general sense to easily describe the technical contents of the present invention and to facilitate understanding of the invention , And are not intended to limit the scope of the present invention. It is to be understood by those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

1: Distributed device structure equipped with real-time fault detection and coping software Intelligent robot system
1a: Distributed Device Control Protocol
1b: Protocol for checking status
1c: Alarm protocol
1d: Protocol for data transmission
2: System message bus
10: Robotic dispersing device unit
11: Process
12: Robot Mission Data File
12a: Robot distribution device configuration information
12b: Individual task contents of robot distributed device
12c: Sensor device operating range and reaction information
12d: driving device driving procedure, driving speed, moving path
13: Robot abnormal situation management file
13a: Abnormal situation detection range
13b: Countermeasure scenario based on abnormal situation detection
14: Custom modules
14a: Sensor module
14b:
14c: User interface module
15: Communication module
100: sensor device
100a: Real-time fault detection software
100b: Real-time abnormal situation response software
110: Driving device
120: main processing device
130: communication device
140: power device
101, 111, 121, 131, 141: process
102, 112, 122, 132, 142: Robot Mission Data File
103, 113, 123, 133, 143: Robot abnormal situation management file
104, 114, 124, 134, 144: a sensor module
105, 115, 125, 135, 145: communication module

Claims (8)

The main processing device 120 including the real-time abnormality detection software 100a and the real-time abnormality response software 100b as the real-time abnormality detection and coping software, other sensor devices 100, the driving device 110, 130) and a power device (140). The intelligent robot system
Each of the robot distribution device units 100 to 140 includes a "Mission Data File" (MDF) 102, 112, 122, 132, 142 for performing predetermined services and tasks, And a robot abnormality management file (AMF: Abnormality case Management File) 103, 113, 123, 133 and 143 for performing a coping scenario, eXtensible Markup Language) standard document format, and each of the robot distribution device units (100 to 140) can be downloaded and uploaded to each other.
The robot system according to claim 1, wherein the robot mission data file (MDF) (102, 112, 122, 132, 142)
Distributed Device Structure In order to define a task to be performed by each of the robot distribution device units 100, 110, 130, and 140 of the intelligent robot system 1, Including the configuration information 12a, the robot distribution device individual task content 12b, and the sensor device operation range and reaction information 12c, the driving device driving procedure, the driving speed and the movement path 12d, A distributed intelligent robot system with real - time fault detection and coping software.
The method of claim 2,
The robot distribution device configuration information 12a includes a distributed device structure intelligent robot system 1 (hereinafter, referred to as " robot device configuration information ") composed of a sensor device 100, a driving device 110, a main processing device 120, a communication device 130, and a power device 140 0.0 > ID < / RTI >
And further includes configuration information on detailed configurations of the sensor device (100), the driving device (110), the main processing device (120), the communication device (130), and the power device (140) Distributed Device Architecture Intelligent Robot System.
The method of claim 2,
The individual task contents 12b of the robot distribution device are distributed by the real-time abnormality detection software 100a and the real-time abnormal situation correspondence software 100b to the respective robot distribution device units 10 constituting the intelligent robot system 1 The information processing apparatus includes driving process information corresponding to a task to be performed by the sensor device 100, the driving device 110, the main processing device 120, the communication device 130, and the power device 140, Distributed device structure intelligent robot system equipped with real - time fault detection and coping software.
The method of claim 2,
The sensor device operation range and response information 12c are information on the operation range of the sensor device 100 such as a GPS sensor, a geomagnetism sensor, a temperature and humidity sensor, a heat sensor, an illuminance sensor, a smog sensor, And a threshold value information for performing a task according to a response to at least one operating range of the pressure sensor and state information obtained by sensing by each sensor. Device Structure Intelligent Robot System.
The method of claim 2,
The driving device driving procedure, the driving speed and the movement path 12d match the sensor device operation range and reaction information 12c for the driving device 110 of the distributed intelligent intelligent robot system 1, And information on a movement path of the intelligent robot system.
The robot abnormal situation management file (AMF) (103, 113, 123, 133, 143) according to claim 1,
Distributed Device Structure An anomaly detection standard to be performed by the sensor modules 14a, 104, 114, 124, 134, and 144 of each of the robot distribution device units 100 to 140 of the intelligent robot system 1, The robot abnormal situation management file 13 includes the " abnormal situation detection range 13a "and the " coping scenario 13b " in response to the abnormal situation detection in order to have a profile structure in which the coping scenario is defined Distributed device structure intelligent robot system equipped with real - time fault detection and coping software.
The status information of the distributed devices collected by the sensor modules 104, 114, 124, 134, and 144 individually provided by the respective robot distribution device units 10: 100, 110, 120, A first step of analyzing in real time based on the abnormal situation judgment reference information in the file 13 to detect an abnormality and sharing the same with each of the distributed device units 10: 100, 110, 120, 130 and 140; And
A second step of extracting and executing a coping scenario included in the robot abnormal situation management file (13) loaded on the robot distributing device unit, wherein the robot dispersing device unit in which an abnormal signal is detected in real time; And an intelligent coping method according to an abnormal state of each robot distributed device unit based on an intelligent robot system.

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