KR20170112453A - Robot System - Google Patents

Abstract

The present invention relates to a robot system.
The robot system according to the present invention comprises a movable robot, a first controller incorporated in the robot, having a first robot control program stored therein, a second controller storing a second robot control program, And a third control unit for remotely controlling the robot.

Description

Robot System {Robot System}

The present invention relates to a robot system.

In general, robots are used primarily in industrial environments where human tasks are difficult to perform, such as carrying heavy objects, requiring high precision, or performing tasks in a high / low temperature working environment .

In recent years, non-industrial robots such as home robots, pet robots, lifesaving robots, and humanoid robots have emerged from industrial robots that perform industrial tasks determined in the industrial field. Among them, researches on interactive robots that act to communicate with users or to help users' work while living with people in an environment where people live are actively being conducted.

Compared to industrial robots, humanoid robots are developed to have similar shape and freedom of movement. In particular, an artificial human robot has a shape similar to that of a human, such as a head and a torso, and both arms and legs.

Such an artificial human robot requires a lot of skill because it has to move by itself, and more precise attitude control technique of the robot is required to control the motion.

In addition, because of the limitation of the size of the robot, the information processing capacity of the processor embedded in the robot is also limited.

An object of the present invention is to provide a robot system in which a control method of a robot is changed according to a situation.

The robot system according to the present invention comprises a movable robot, a first controller incorporated in the robot, having a first robot control program stored therein, a second controller storing a second robot control program, And a third control unit for remotely controlling the robot.

In addition, the robot is controlled by the first controller in a first mode, controlled by the second controller in a second mode, and is controlled by the second controller in a third mode, And can be controlled by a control unit.

The size of the second robot control program may be larger than the size of the first robot control program.

In addition, the operation mode of the robot may include a first mode, a second mode, and a third mode.

In addition, the number of tasks for which the robot is controlled by the first control unit in the first mode may be greater than the number of tasks for which the robot is controlled by the first control unit in the second mode.

The number of tasks for which the robot is controlled by the second control unit in the first mode may be smaller than the number of tasks for which the robot is controlled by the second control unit in the second mode.

In addition, the number of tasks for which the robot is controlled by the first control unit in the first mode may be greater than the number of tasks for which the robot is controlled by the second control unit in the first mode.

The number of tasks for which the robot is controlled by the first control unit in the second mode may be smaller than the number of tasks for which the robot is controlled by the second control unit in the second mode.

In addition, in the third mode, the robot can be manually controlled by the user.

The operation mode of the robot may include an autonomous mode in which the first control unit has control of the robot.

At least one of the first mode, the second mode, and the third mode may be set by the determination of the first control unit.

At least one of the first mode, the second mode, and the third mode may be set by an instruction input from the third control unit.

In addition, in the first mode, the rate of duty in which the robot is controlled by the first control unit is larger than a rate at which the robot is controlled by the second control unit, and in the second mode, the robot is controlled by the second control unit The rate of duty may be greater than the rate controlled by the first control unit.

In addition, in the first mode, the second mode, and the third mode, the robot can transmit information acquired by the third control unit.

In addition, the second control unit can remotely control the robot.

The second control unit may be embedded in the robot.

The robot system according to the present invention can control the robot more effectively by differently controlling the robot according to the situation.

1 to 3 are views for explaining a configuration of a robot system according to the present invention,
4 to 12 are views for explaining a method of operating the robot system.

Hereinafter, a robot system according to the present invention will be described in detail with reference to the accompanying drawings.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It is to be understood that the present invention is not intended to be limited to the specific embodiments but includes all changes, equivalents, and alternatives falling within the spirit and scope of the present invention.

In describing the present invention, the terms first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The terms may only be used for the purpose of distinguishing one element from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The term " and / or " may include any combination of a plurality of related listed items or any of a plurality of related listed items.

When an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may be present in between Can be understood. On the other hand, when it is mentioned that an element is "directly connected" or "directly connected" to another element, it can be understood that no other element exists in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions may include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used interchangeably to designate one or more of the features, numbers, steps, operations, elements, components, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries can be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are, unless expressly defined in the present application, interpreted in an ideal or overly formal sense .

In addition, the following embodiments are provided to explain more fully to the average person skilled in the art. The shapes and sizes of the elements in the drawings and the like can be exaggerated for clarity.

1 to 3 are views for explaining a configuration of a robot system according to the present invention.

Referring to FIG. 1, the robot system 10 according to the present invention may include a robot RT, a second controller 200, and a third controller 300.

The robot RT may include a first controller 100, as shown in FIG. That is, the first control unit 100 may be embedded in the robot RT.

The first control unit 100 may control the arm portion 110, the leg portion 120 and / or the head portion 130 of the robot RT according to circumstances.

The robot RT may be movable. To this end, the robot RT may comprise a moving means. Here, it is assumed that the robot RT is a humanoid robot. However, in the present invention, the robot RT may be a robot in the form of a vehicle such as Opportunity, which is a Mars probe.

In addition, although not shown, the robot RT may include at least one camera, a scanner, and a sensor. Using this equipment, the robot (RT) can acquire various information.

In addition, the robot RT can transmit various sensed information, such as image information, to the third controller 300. When the robot RT transmits information sensed by the robot RT, the second control unit 200 receives the information and then the second control unit 200 transmits the information to the third control unit 300. That is, the information transmitted by the robot RT can be transmitted to the third control unit 300 through the second control unit 200.

The first control unit 100 is embedded in the robot RT, and the first robot control program can be stored.

The first control unit 100 can implement the operation of the robot RT using a predetermined control command. For example, it is possible to control functions such as movement of the robot RT and sensing of information.

The second control unit 200 may store a second robot control program.

The second control unit 200 can perform an insufficient calculation in the first control unit 100. [ In other words, the second control unit 200 may perform operations, functions, and calculations that are difficult to be performed by the first control unit 100 alone or may be performed by the first control unit 100 You can help to do that.

Here, the size of the second robot control program can be larger than the size of the first robot control program. Accordingly, the second control unit 200 can control the robot RT relatively accurately compared to the first control unit 100.

The second control unit 200 can remotely control the robot RT, unlike the case where the first control unit 100 is embedded in the robot RT. In this case, the second control unit 200 can communicate with the first control unit 100, and it is possible to control the robot RT remotely by transmitting a predetermined control signal to the first control unit 100 .

If the second controller 200 transmits a predetermined control signal to the first controller 100 to control the robot RT, the robot RT may be controlled by the second controller 100, not the first controller 100, 200). ≪ / RTI >

Alternatively, when the size of the second control unit 200 is sufficiently small, the second control unit 200 may be embedded in the robot RT.

The third controller 300 can remotely control the robot RT according to a user's command input.

The third control unit 300 may be included in an operation control system (OSC) as shown in FIG.

In addition, the operation control system (OSC) may include a display unit 310, a voice output unit 320, and an instruction input unit 330.

The image data acquired by the robot RT is transmitted to the operation control system OCS and may be displayed on the display unit 310 under the control of the third control unit 300. [

The voice data acquired by the robot RT may be transmitted to the operation control system OCS and output through the voice output unit 320 under the control of the third control unit 300. [

When the user (robot (RT) exerciser) inputs a predetermined command through the command input unit 330, the third control unit 300 can transmit the command of the user. To this end, although not shown, the third control unit 300 may include a communication unit capable of performing communication. In addition, the robot RT and the second controller 200 may include a communication unit.

Thus, the user can grasp the state of the robot RT through the operation control system (OCS) and transmit a predetermined command to the robot RT.

The third control unit 300 may provide an efficient operation method for the robot RT to perform a given task. That is, the third controller 300 can transmit an effective command so that the robot RT can effectively perform its mission.

When the third control unit 300 transmits a predetermined command, the second control unit 200 receives the command and can transmit the received command to the robot RT.

In this way, the second controller 200 can not only control the robot RT itself, but also can transmit the command transmitted by the third controller 300 to the robot RT.

In addition, the first control unit 100 may transmit the information acquired by the robot RT to the second control unit 200. Then, the second control unit 200 can transmit the information transmitted by the first control unit 100 to the third control unit 300, that is, the operation control system (OCS).

In this way, the second controller 200 can serve as a repeater between the first controller 100 and the third controller 300.

4 to 12 are views for explaining a method of operating the robot system. In the following, the description of the parts described above may be omitted.

4, the operation mode of the robot RT in the robot system 10 according to the present invention includes at least a first mode, a second mode, and a third mode ).

Here, the first mode, the second mode and the third mode can be regarded as different modes of controlling the robot RT.

In the first mode, the second mode and the third mode, the participating ratios of the first control unit 100, the second control unit 200, and the third control unit 300 are different from each other in the control of the robot RT Mode is also possible.

Alternatively, the numbers and / or types of tasks of the robot RT performed in the first mode, the second mode, and the third mode may be different from each other.

4, the control of the robot RT is controlled by the first control unit 100 in the first mode, by the second control unit 200 in the second mode, and by the third control unit 300 in the third mode It is possible.

In other words, the robot RT is controlled by the first control unit 100 in the first mode, is controlled by the second control unit 200 in the second mode, and is controlled by the third control unit 300 in the third mode As shown in FIG.

In other words, the robot RT is operated by the first controller 100 in the first mode, by the second controller 200 in the second mode, and by the third controller 300 in the third mode, As shown in Fig.

In the third mode, the robot RT can perform most of the tasks according to commands inputted by the user (operator) directly through the third control unit 300.

In this case, the second control unit 200 can deliver the command input by the third control unit 300 to the robot RT. At this time, the second control unit 200 may not be involved in the control of the robot RT.

In addition, the first control unit 100 may operate the robot RT according to a command transmitted from the third control unit 300. At this time, the first control unit 100 may operate only the robot RT according to the command inputted by the third control unit 300, but may not be involved in the control by the robot RT.

Such a third mode may be referred to as a manual control mode.

Alternatively, it is possible for the first control unit 100 to participate in an essential part necessary for the operation of the robot RT regardless of the operation mode. For example, the functions of the management of the power system, the transmission of the emergency signal, and the transmission of the status information of the robot RT can be implemented under the control of the first control unit 100.

In the first mode, the robot RT can perform most of the tasks according to the control of the first controller 100 itself. That is, autonomous operation at the robot (RT) level is possible in the first mode.

In this case, the user can transmit the contents of the mission through the third control unit 300, and the second control unit 200 can deliver it to the robot RT. In this case, it is possible for the robot RT to determine itself according to the control of the first control unit 100 and perform the task.

The task performed by the robot (RT) in the first mode is not only a simple instruction but also a continuous operation or branch according to the situation.

In this first mode, most of the operations and their execution rights can be owned by the robot (RT), i.e., the first control unit 100.

This first mode may be referred to as an autonomous control mode by the artificial intelligence of the first control unit 100. [

In the second mode, autonomous operation at the level of the second control unit 200 is possible.

In this second mode, it is difficult for the robot RT to operate by its own judgment, but it may correspond to a situation where manual control of the user (operator) is not necessary.

In the second mode, the user can transmit the mission to the second control unit 200 through the third control unit 300.

In the second mode, the second control unit 200 can transmit a predetermined control command to the first control unit 100 by its own judgment. Then, the first controller 100 can control the operation of the robot RT according to the command transmitted by the second controller 200. [ That is, the second control unit 200 can control the robot RT. At this time, the first control unit 100 may operate the robot RT according to the command inputted by the second control unit 200, but may not be involved in the control of the robot RT.

In the second mode, the second control unit 200 may include autonomous operation at the level of the robot (RT), so that it can determine and execute most of the operations for a given task at the level of the second control unit 200.

This second mode can be referred to as an autonomous control mode by the artificial intelligence of the second control unit 100. [

Various information such as image information, audio information, sensing information, and the like obtained by the robot RT while the robot RT is operating in the first mode, the second mode and the third mode described above are transmitted to the second controller 200, To the operational control system (OCS).

In addition, the operation control system (OCS), that is, the third control unit 300, can stop the autonomous operation at the level of the robot (RT) or the autonomous operation at the level of the second control unit 200 at any time. That is, the third control unit 300 can have the authority for emergency stop regardless of the operation mode.

The functions of the first, second and third controllers 100, 200 and 300 in each mode will be described in more detail as follows.

Referring to FIG. 5, in the first mode, the first control unit 100 can have a control right of the robot RT by 100% as shown in (A). This case can be regarded as a pure autonomous operation mode by the first control unit 100. [

For example, in the first mode, all tasks and operations such as the movement of the robot RT and the path change can be executed by the control of the first control unit 100. [

(B), it is possible for the second control unit 100 to have the control right of the robot RT at 100% in the second mode. Accordingly, in the second mode, all tasks and operations of the robot RT can be executed by the control of the second control unit 200. [

(C), in the third mode, it is possible for the third controller 300 to have a control right of the robot RT by 100%. Accordingly, in the third mode, all tasks and operations of the robot RT can be executed by the control of the third controller 200. [ This third mode can be said to be pure passive mode.

Meanwhile, in each mode, the first, second, and third control units 100, 200, and 300 may be involved in some degree of control.

6 (A), in the first mode, when the first control unit 100 has the main control right (control right 80%) of the robot RT, the second control unit 200 and the third control unit (15%, 5%), respectively.

The fact that the control authority of the first control unit 100 is greater than the control authority of the second control unit 200 means that the determination of the first control unit 100 is more important than the determination of the second control unit 200 Can be handled as if they were not. This can also be applied to the relationship between the first control unit 100 and the third control unit 300 as well.

For example, suppose that in the first mode, the robot RT moves to the intersection and selects either the left road or the right road. In this case, if the first control unit 100 selects the left path and the second control unit 200 selects the right path, the first control unit 100 selects the left path according to the characteristics of the first mode, RT) will select the left path and move to the left path.

The control authority of the first control unit 100 is greater than the control authority of the second control unit 200 because the number of tasks for which the robot RT is controlled by the first control unit 100 in the first mode, (RT) is greater than the number of missions controlled by the second control unit 200. This can also be applied to the relationship between the first control unit 100 and the third control unit 300 as well.

For example, in the first mode, the first control unit 100 performs four functions of movement of the robot RT, speed control, obstacle avoidance, and camera adjustment, and the touch of the object of the robot RT ), And acquisition can be handled by the second control unit 200. For convenience of explanation, it is described by way of example and the present invention is not limited thereto.

The fact that the control right of the first control unit 100 is greater than the control right of the second control unit 200 means that the ratio of the duty that the robot RT is controlled by the first control unit 100, 2 < / RTI > This can also be applied to the relationship between the first control unit 100 and the third control unit 300 as well.

6B, when the second control unit 200 has the main control right (control right 75%) of the robot RT in the second mode, the first control unit 100 and the third control unit 300 ) Can have some degree of control (20%, 5%), respectively.

The fact that the control authority of the second control unit 200 is greater than the control authority of the first control unit 100 means that the determination of the second control unit 200 is more important than the determination of the first control unit 100 Can be handled as if they were not. The same can be applied to the relationship between the second control unit 200 and the third control unit 300 as well.

The control authority of the second control unit 200 is greater than the control authority of the first control unit 100 because the number of tasks for which the robot RT is controlled by the second control unit 200 in the second mode, (RT) is greater than the number of tasks controlled by the first control unit 100. [ This can also be applied to the relationship between the second control unit 100 and the third control unit 300 as well.

The fact that the control right of the second control unit 200 is greater than the control right of the first control unit 100 means that the ratio of the duty controlled by the second control unit 200 to the robot RT 1 < / RTI > The same can be applied to the relationship between the second control unit 200 and the third control unit 300 as well.

When comparing the first mode of FIG. 6A with the second mode of FIG. 6B, the number of tasks for which the robot RT is controlled by the first control unit 100 in the first mode, May be greater than the number of missions controlled by the first control unit 100 in the second mode.

Alternatively, the number of tasks for which the robot RT is controlled by the second control unit 200 in the first mode is smaller than the number of tasks for which the robot RT is controlled by the second control unit 200 in the second mode It can mean.

Alternatively, in the first mode, the ratio of the duty that the robot RT is controlled by the first control unit 100 is larger than the ratio of the duty controlled by the first control unit 100 in the second mode. In the first mode, (RT) is controlled by the second control unit 200 is smaller than the ratio of the duty controlled by the second control unit 200 in the second mode.

6C, in the third mode, the third controller 300 controls the first controller 100 and the second controller 200 (i.e., the first controller 100 and the second controller 200) ) Can have some degree of control (15%, 20%), respectively.

The operation in the third mode of FIG. 6 (C) can be fully explained through the operation in the first mode of FIG. 6 (A) and the operation in the second mode of FIG. 6 (B) It is omitted.

7, in the first mode of (A), the first control unit 100 has the control right of the robot RT at 100%, and in the third mode of (C), the third control unit 300 It is possible to have the control right of the robot RT at 100%.

On the other hand, in the second mode of (B), the first, second, and third control units 100, 200, and 300 may be involved in some degree of control. For example, in the second mode, when the second controller 200 has the main control right (control right of 75%) of the robot RT, the first controller 100 and the third controller 300 can determine how much It is possible to have control (20%, 5%).

The functions of the first, second, and third control units 100, 200, and 300 in the respective modes in FIG. 7 can be fully described with reference to the above-described detailed description, and will not be described further.

Alternatively, as in the case of FIG. 8, in the third mode of (C), it is possible for the third controller 300 to have 100% control of the robot RT.

On the other hand, in the first mode of (A) and the second mode of (B), the first, second, and third control units 100, 200, and 300 may respectively be involved in control.

For example, in the first mode, when the first control unit 100 has the main control right (control right of 80%) of the robot RT, the second control unit 200 and the third control unit 300 respectively It is possible to have control (15%, 5%).

In the second mode, the first controller 100 and the third controller 300 can control the degree of control of the robot RT in a state in which the second controller 200 has the main control right (control right 75% 20%, 5%).

The functions of the first, second, and third control units 100, 200, and 300 in each mode in FIG. 8 can be fully described with reference to the above-described detailed description, and will not be described further.

9, in the third mode of (C), the third control unit 300 has the control right of the robot RT at 100%, and the first mode of (A) and the second mode of (B) The first control unit 100 and the second control unit 200 except for the third control unit 300 may be involved in some degree of control.

For example, in the first mode, it is possible for the second control unit 200 to have the auxiliary control right (20%) in a state where the first control unit 100 has the main control right (control right 80%) of the robot RT .

Alternatively, in the second mode, the first control unit 100 can have the auxiliary control right (20%) in a state where the second control unit 200 has the main control right (control right 80%) of the robot RT.

The first mode of FIG. 9A and the second mode of FIG. 9B can be regarded as an autonomous operation mode by the first control unit 100 and the second control unit 200, respectively.

As described above, it is possible to set different ratios of the control rights of the first control unit 100 and the second control unit 200 in the autonomous motion mode.

On the other hand, it is possible to set the operation mode of the robot RT to four stages instead of three stages.

For example, as in the case of Fig. 10, setting the operation mode of the robot RT to the first mode A, the second mode B, the third mode B and the fourth mode D It is possible.

As shown in FIG. 10 (A), in the first mode, the first control unit 100 can have a control right of 100%.

In the fourth mode (D), it is possible that the third control unit 300 has the control right of the robot RT at 100%.

In the second mode B and the third mode C, the first control unit 100 and the second control unit 200 can divide control rights of the robot RT.

For example, in the second mode (B), when the first control unit 100 has the main control right (control right 80%) of the robot RT and the second control unit 200 has the auxiliary control right It is possible.

In the third mode (C), the first control unit 100 can have the auxiliary control right (20%) in a state where the second control unit 200 has the main control right (control right 80%) of the robot RT Do.

On the other hand, it is possible to set the operation mode according to the judgment of the robot RT itself, that is, according to the judgment of the first control unit 100. [ In other words, at least one of the first mode, the second mode or the third mode can be set by the judgment of the first control unit 100. [ An example of such a method will be described with reference to FIG. 11 attached hereto.

Referring to FIG. 11, it can be determined whether an obstacle is detected in operation S100 of the robot RT (S110).

As a result of the determination, if an obstacle is found, the risk of the obstacle can be analyzed (S120).

According to the result of analyzing the risk, it can be determined whether to set the first mode (S130).

As a result of the determination, if the first mode is suitable, the first mode may be set (S140).

On the other hand, if the first mode is not suitable as a result of analyzing the risk, it may be determined whether to set the second mode (S150).

As a result of the determination, if the second mode is suitable, the second mode can be set (S160).

On the other hand, if the second mode is not suitable as a result of analyzing the risk, it may be determined whether to set the third mode (S170).

As a result of the determination, if the third mode is suitable, the third mode can be set (S160).

On the other hand, if the third mode is not suitable as a result of analyzing the risk, another predetermined function (Default) may be performed (S190).

11, an obstacle is detected as an example. However, it is possible for the robot RT to judge and select an operation mode in various environments such as a case of selecting a movement route, a case of acquiring a specific object, and the like.

On the other hand, it is possible to request the user (the third control unit 300) to select the operation mode without setting the operation mode according to the judgment of the robot RT itself. In other words, at least one of the first mode, the second mode, and the third mode may be set by an instruction input from the third control unit 300. An example of such a method will be described with reference to FIG. 12 attached hereto.

Referring to FIG. 12, it can be determined whether an obstacle is found in operation S300 of the robot RT (S310).

As a result of the determination, if an obstacle is found, the risk of the obstacle can be analyzed (S320).

It is possible to determine whether the value exceeds the preset reference risk level (S330).

As a result of the determination, if the reference risk is not exceeded, it is determined whether the obstacle is ignored (S340).

If it is determined that the obstacle can be ignored as a result of the determination, it can be ignored (S350).

On the other hand, if the obstacle is not ignored, a preset first function (Default 1) may be performed (S360).

If it is determined in operation S330 that the risk level exceeds a preset reference risk level, the second controller 200 and / or the third controller 300 may request the operating mode to be checked in operation S370 .

Thereafter, the command can be received from the second control unit 200 and / or the third control unit 300 (S380).

It is determined whether the received command is an instruction to set the first mode (S390).

As a result of the determination, the first mode, which is an instruction to set the received command to the first mode, may be set (S400).

On the other hand, if the received command is not an instruction to set the first mode, it may be determined whether or not the received command is an instruction to set the second mode (S410).

As a result of the determination, the second mode, which is an instruction to set the received command to the second mode, may be set (S420).

On the other hand, if the received command is not an instruction to set the second mode, it can be determined whether or not the received command is an instruction to set the third mode (S430).

As a result of the determination, it is possible to set a third mode, which is an instruction to set the received command to the third mode (S440).

On the other hand, when the received command is not an instruction to set the third mode, the second function (Default 2) set in advance may be performed (S450).

However, the robot RT may be controlled by the second control unit 200 and / or the third control unit 300 (for example, ) To set the operating mode.

As described above, it is to be understood that the technical structure of the present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention.

It should be understood, therefore, that the embodiments described above are to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than the foregoing description, And all changes or modifications derived from equivalents thereof should be construed as being included within the scope of the present invention.

Claims (16)

A movable robot (Robot);
A first control unit built in the robot and storing a first robot control program;
A second controller for storing a second robot control program; And
A third controller for remotely controlling the robot according to a user's command input;
. The method according to claim 1,
The robot
In the first mode, the first control unit is controlled by the first control unit,
In the second mode, it is controlled by the second control unit,
And is controlled by the third control unit in a third mode. 3. The method of claim 2,
Wherein the size of the second robot control program is larger than the size of the first robot control program. The method according to claim 1,
Wherein the operation mode of the robot includes a first mode, a second mode, and a third mode. 5. The method of claim 4,
Wherein the number of tasks for which the robot is controlled by the first control unit in the first mode is greater than the number of tasks for which the robot is controlled by the first control unit in the second mode. 5. The method of claim 4,
Wherein the number of tasks for which the robot is controlled by the second control unit in the first mode is smaller than the number of tasks for which the robot is controlled by the second control unit in the second mode. 5. The method of claim 4,
Wherein the number of tasks for which the robot is controlled by the first control unit in the first mode is greater than the number of tasks for which the robot is controlled by the second control unit in the first mode. 5. The method of claim 4,
Wherein the number of tasks for which the robot is controlled by the first control unit in the second mode is smaller than the number of tasks for which the robot is controlled by the second control unit in the second mode. 5. The method of claim 4,
And the robot is manually controlled by the user in the third mode. 5. The method of claim 4,
Wherein the operation mode of the robot includes an autonomous operation mode in which the first control unit has control of the robot. 5. The method of claim 4,
Wherein at least one of the first mode, the second mode, and the third mode is set by a determination of the first control unit. 5. The method of claim 4,
Wherein at least one of the first mode, the second mode or the third mode is set by command input from the third control unit. 5. The method of claim 4,
Wherein in the first mode, a ratio of the duty that the robot is controlled by the first control unit is larger than a ratio that the robot is controlled by the second control unit,
And the ratio of the duty in which the robot is controlled by the second control unit is greater than a rate at which the robot is controlled by the first control unit in the second mode. 5. The method of claim 4,
Wherein the robot transmits information acquired by the third control unit in the first mode, the second mode, and the third mode. The method according to claim 1,
And the second control unit remotely controls the robot. The method according to claim 1,
And the second control unit is built in the robot.

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