KR20190061961A - Integrated Platform - Google Patents

Abstract

The present invention relates to an integrated platform capable of correctly controlling a motion simulated by a game engine in a robot arm in real-time. According to the present invention, the integrated platform comprises: a user interface platform (100); a bridge platform (200); and a control-target unit platform (300) including one or more unit control targets (2) performing a motion based on inputted data.

Description

Integrated Platform {Integrated Platform}

The present invention relates to an integrated platform in which a game engine and a robot arm are combined to perform a real-time movement path and control of a robot arm using a UI (user interface) of a 3D game engine .

Generally, automated robots are used in automated production lines or manufacturing sites where repetitive operations are performed.

The manufacturing robot is used in a variety of industrial fields such as automobiles, semiconductors, and electric appliances. However, the manufacturing robot is used under various conditions in order to prevent collision with an operator or breakage of the robot arm.

In recent years, robots have been used for various purposes in a variety of industrial fields such as medical, performance, movie, amusement arcade, and advertisement fields beyond the manufacturing site. For example, robot arms for promoting advertisement are used.

It is also used in virtual reality equipment that provides physical motion with the robot arm images. Virtual Reality (VR) is a term used to describe the interface between a person and a computer that creates a specific environment or situation as a computer and makes the person experiencing the virtual reality interact with the surrounding environment or environment. do.

Such virtual reality is also called artificial reality, cyber space, virtual world, virtual environment, synthetic environment, artificial environment and so on.

The purpose of using virtual reality is to be able to show and manipulate the virtual environment as if it is in a real environment without experiencing the environment which is difficult for people to experience on a daily basis. Recently, it has been applied to education, advanced programming and remote operation .

For example, when the robot arm is used at a manufacturing site, the robot arm performs repetitive operations while moving along a predetermined path in a predetermined section.

In this case, the robot arm may be advantageous for the simple repetition work, but the robot arm is limited in various motions according to various situations such as various performances, movies, playgrounds, and advertisements.

Therefore, in order to drive the robot arm in various motions according to various situations as described above, it is necessary to develop various platforms in order to securely generate various paths corresponding to the intention of the operator in real time and accurately generate and control the movement path in real time .

Korean Patent No. 10-1673978 (November 2, 1026)

Embodiments of the present invention provide an integrated platform that can safely perform real-time control on a single or multiple robot arms and control over simulated motion data.

The integrated platform according to an exemplary embodiment of the present invention includes a first input unit 110 for performing data transmission in a communication mode; A first controller 120 for setting an initial set value by a motion generated by a simulation in a workspace of the unit control object 2 and determining whether there is an abnormality of the set initial set value; A user interface platform (100) including a first output (130) for transmitting the set initialization data; A second input unit 210 receiving data transmitted from the first output unit 130; A second controller 220 for determining whether there is an abnormality in the data input from the second input unit 210; And a second output unit (230) for transmitting data controlled by the second control unit (220); A third input unit 310 receiving data transmitted from the second output unit 230; A third output unit 330 for determining whether data input from the third input unit 310 is abnormal and transmitting the data to the second input unit 210 of the bridge platform 200; And a control object unit platform 300 including at least one or more unit control objects 2 so that motion is performed by the data input from the third input unit 310. [

A 3D game engine is used as the user interface platform 100. The first input unit 110 is a unit for inputting the unit area of the unit control object 2 to be simulated based on the limit area data of the work space, A limit operating area data according to the motion of the control object 2 and data indicating a movement speed at which the unit control object 2 moves in the work space, a height and a relative position, a rotation angle and a rotation number, The angle and the allowable weight are input.

The unit control object 2 is constituted by at least one robot arm 2a and when the experimenter is loaded on the robot arm 2a, state information of the experimenter is inputted to the first input unit 110 .

The work space is provided with a plurality of sensor units 10 around at least one robot arm 2a and sensing data sensed by the sensor unit 10 is input to the second input unit 210 .

The robot arm 2a includes an image unit 1100 for providing an image to the user; And a boarding unit 1200 for providing a space for boarding the experiente.

The robot arm 2a is connected to the gyro mechanism 1300 for generating at least one of pitching, yawing, rolling, and reciprocating motion in the boarding part 1200 so as to transmit and receive data.

The boarding unit 1200 includes a first module S1 for sensing the status information of the experiencer as an image; A second module (S2) for detecting the voice of the experiencer; And a third module (S3) for sensing the body temperature and pulse of the experiencer.

The second control unit 220 of the bridge platform 200 controls the motion of the unit control object 2 based on the motion data input through the first output unit 130 of the user interface platform 100, And if motion data of the unit control object 2 is transmitted to the third input unit 310 if possible, and if the motion data is not valid data in the work space, 3 input unit 310 so that motion data is not transmitted.

The second control unit 220 of the bridge platform 200 may control the movement of the control object unit platform 300 out of the operating range of the control object unit platform 300, ) Is close to the impact region (R) in operation in the work space, it is determined that the collision is possible, and a control signal is transmitted to the second output unit (230) so that the unit control object (2) .

The control object unit platform 300 is controlled such that the unit control object 2 is controlled to be in an emergency state by the control signal transmitted from the second control unit 220 or the speed of the unit control object 2 is firstly reduced And then is stopped in an emergency stop state.

When the data transmission is performed between the user interface platform 100, the bridge platform 200, and the control object unit platform 300 by a communication method selected by either wire or wireless, The calibration is performed periodically.

The real-time communication period of data transmitted or received between the user interface platform 100, the bridge platform 200, and the control object unit platform 300 is kept constant at the first period.

The first period is repeated at a cycle of 12 m / s, and when the first period is exceeded or not exceeded, the operation of the unit control object 2 is forcibly stopped.

The user interface platform 100 real time inputs at least one external device and an external input unit 20 selected from either a wired or wireless communication method.

The bridge platform 200 includes an external input unit 20 selected from at least one of external equipment and a wired or wireless communication system, and an external input unit 20 connected to the control object unit 100 via a real- A connection with the platform 300 is made.

Embodiments of the present invention can be safely used in various industrial fields in which the robot arm can be applied through pre-simulation of various motions of a single or a plurality of robot arms.

Embodiments of the present invention can safely experience the experience of a person in a theme park or a playground through a robotic arm, and can safely cope with an emergency in the emergency by detecting the state of the person in advance.

Embodiments of the present invention can control a plurality of robot arms in motion with improved positional accuracy and time accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a detailed configuration of an integrated platform according to an embodiment of the present invention; FIG.
2 illustrates a detailed configuration of an integrated platform according to another embodiment of the present invention;
3 is a diagram showing a motion state of a plurality of robot arms as an example.
Figs. 4 to 5 are views showing an example in which an experient is boarded on a robot arm; Fig.
6 is a perspective view showing a configuration in which a robot arm is connected to a gyro mechanism according to another embodiment of the present invention.
7 is a diagram showing the configurations of first to third modules of the present invention;

An integrated platform according to an embodiment of the present invention will be described with reference to the drawings. FIG. 2 is a view illustrating a detailed configuration of an integrated platform according to another embodiment of the present invention. FIG. 3 is a block diagram illustrating a configuration of an integrated platform according to an embodiment of the present invention. Are diagrams showing the motion states of the robot arms as an example.

1 to 3, the integrated platform according to the present embodiment includes a game engine and a robot arm. For example, a 3D game engine may be used as a user interface platform 100 to be described later, and a robot arm 2a may be used as a control object unit platform 300. A 3D game engine is used for the user interface platform 100. It is easy for the user or the developer to use or access and the motion of the robot arm can be easily performed through various graphic screens and simulations, Is used.

The present embodiment is characterized in that motion data is not directly transferred from the user interface platform 100 to the control object unit platform 300 to control the robot arm 2a provided in the control object unit platform 300 The bridge platform 200 is configured between the user interface platform 100 and the control object unit platform 300 so that the motion data set in the user interface platform 100 is transmitted to the bridge 100. [ After the robot 200 is once again controlled by the platform 200, motion control of the robot arm 2a provided in the control object unit platform 300 is performed.

In addition, the bridge platform 200 can be controlled not to transmit data to the control object unit platform 300 when data that can not be motion is input in the user interface platform 100, Operation and safety accidents can be prevented.

When the bridge platform 200 is provided as described above, the stability of the robot arm 2a provided in the control object unit platform 300 is improved and the occurrence of safety accidents of the participants can be minimized in various emergency situations .

In addition, even if the robot arm 2a is two or three or more, motion control is possible in real time, and it is possible to safely control the robot arm 2a before the collision occurs in the motion and the limit according to the motion of the individual robot arm 2a .

For reference, the motion refers to a movement or an operation in which the robot arm 2a composed of multiple axes is moved or rotated at a predetermined speed with time.

To this end, the integrated platform according to the present embodiment includes a first input unit 110 for transmitting data in a communication manner; A first controller 120 for setting an initial set value by a motion generated by a simulation in a workspace of the unit control object 2 and determining whether there is an abnormality of the set initial set value; A user interface platform 100 including a first output unit 130 for transmitting the set initialization data is provided.

A second input unit 210 receiving data transmitted from the first output unit 130; A second controller 220 for determining whether there is an abnormality in the data input from the second input unit 210; And a second output unit (230) for transmitting data controlled by the second control unit (220); A third input unit 310 receiving data transmitted from the second output unit 230; A third output unit 330 for determining whether data input from the third input unit 310 is abnormal and transmitting the data to the second input unit 210 of the bridge platform 200; And a control object unit platform 300 including at least one or more unit control objects 2 so that motion is performed by the data input from the third input unit 310. [

A 3D game engine is used as the user interface platform 100. The first input unit 110 is a unit for inputting the unit area of the unit control object 2 to be simulated based on the limit area data of the work space, A limit operating area data according to the motion of the control object 2 and data indicating a movement speed at which the unit control object 2 moves in the work space, a height and a relative position, a rotation angle and a rotation number, The angle and the allowable weight are input.

The user interface platform 100 may be configured to allow the operator to input specific motion data for motion of the robot arm 2a, in addition to the above-described data, various data not previously described may be pre-input.

The unit control object 2 is moved in an area within a predetermined limit area when motion is performed in the work space. The limit area corresponds to an area including the minimum motion and the maximum motion as an area where the unit control object 2 realizes motion by the motion data.

For example, the limit area corresponds to an area corresponding to a distance at which no collision with the experimenter occurs when motion is performed in a state where the robot arm 2a is fully extended. That is, the robot arm 2a extends for a length of 2 m, and when it is stretched to a maximum length of about 4 m, the limit region is determined in consideration of rotational motion.

The present embodiment is safely controlled through the bridge platform 200 to be described later so that the robot arm 2a does not move beyond the limit area.

It is preferable that the robot arm 2a is configured such that the path that moves to the beginning and the end of the motion is matched with the correct time. In this embodiment, the path in accordance with the movement of the robot arm 2a in real time in the user interface platform 100 You can simulate the creation and modification of.

Therefore, it is possible to visually and accurately confirm and correct whether the robot arm 2a is normally and safely motion-driven.

In order to move the robot arm 2a, the moving speed, the height, and the relative position data are input in advance, and the data are variable according to the specification of the robot arm 2a.

For example, data on a link length, a joint limit, a position, a rotation, or a current joint angle of the robot arm 2a is input.

In addition, the first controller 120 may display the simulated graphic screen to the operator through a separate display device (not shown) after calculating whether the input data is normally motion-enabled in the actual limit area. For reference, the initial setting value corresponds to the setting value of the various data described above.

The first controller 120 calculates joint limit values that can be operated in the optimal motion according to the data actually input by the robot arm 2a and outputs the calculated joint limit values to the first output unit 130 and simultaneously visually recognizes .

In this embodiment, the first input unit 110 and the first output unit 130 are configured to perform data transmission in a communication mode selected by either wire or wireless.

The communication method can be applied to most wired or wireless methods currently used, and can be combined with an Internet connection method.

In the bridge platform 200, the second input unit 210 receives the data transmitted from the first output unit 130, and the second control unit 220 performs an operation. The second control unit 220 determines whether the unit control object 2 is motion-enabled data based on motion data input through the first output unit 130 of the user interface platform 100, Transmits the motion data of the unit control object (2) to the third input unit (310) if possible.

In this case, the motion of the robot arm 2a as the unit control object 2 due to movement and rotation is stably performed within the limit region.

The second controller 220 controls the third input unit 310 not to transmit the motion data if the motion data is not valid data or is not valid in the work space.

In this case, since the robot arm 2a is kept in a stopped state without motion, the occurrence of a safety accident is prevented, and the user who boarded the robot arm 2a can be safely protected.

When the robot arm 2a is constituted by a plurality of robot arm 2a or more, the second control unit 220 determines whether the control object unit platform 300 is out of the operating range of the control object unit platform 300 ) Is close to the collision area (R) in operation in the work space, it is determined that the unit control object (2) is in the collision possible state. And transmits a control signal to the second output unit 230 so that the unit control object 2 is urgently stopped.

When a plurality of control object unit platforms 300 are provided, reference numerals 300a, 300, and 300b are displayed on the drawing from the upper side, and the detailed components are also distinguished from each other by attaching a or b to the end of the drawing.

Referring to FIG. 2 or FIG. 3, when the robot arm 2a has a plurality of motions, motions in the states a to b may be generated.

Even if the simulated motion data input from the user interface platform 100 is normal, the second controller 220 may be configured such that when a plurality of robot arms 2a are actually approaching the collision region R during motion It is possible to improve the safety by controlling the motion to stop without being performed.

The plurality of robot arms 2a are moved by the simulation motion data. Even when the motion data is input at the time of input, when the motions are performed in the actual work space, collision Motion can be made in the region R. [

The collision area R is a region where the probability of actual collision is high, and each of the robot arms 2a is formed in a region where movement trajectories along the motion overlap each other. In order to prevent a situation in which a robot arm 2a collides with each other in advance, the collision region R is generated in the second control unit 220, regardless of the motion data controlled by the first control unit 120, So that safe motion can be maintained.

The robot arm 2a may be, for example, an advertisement or a manufacturing site, but may be a robot arm capable of experiencing a virtual reality by being loaded with a plurality of experienced persons as in a theme park or amusement park. In this case, even when the robot arm on which the experimenter is carried is approaching the collision region R, the motion is stopped so that safety can be improved by preventing human accidents in advance.

The work space is provided with a plurality of sensor units 10 around at least one robot arm 2a and sensing data sensed by the sensor unit 10 is input to the second input unit 210 .

The work space is provided with a plurality of sensor units 10 around at least one robot arm 2a and sensed data sensed by the sensor unit 10 is input to the second input unit 210. [

Since the robot arm 2a is moved and rotated in various directions, sensors having various functions are installed in advance at movable points of the robot arm 2a.

The second input unit 210 receives various sensor data transmitted from the sensor unit 10 and transmits the sensor data to the second controller 220. The second controller 220 controls the robot arm 2a Whether or not the motion data coincides with the simulation data and whether the motion is accurately performed in the motion locus of the normal motion is determined.

The second control unit 220 transmits an alarm signal to the first input unit 110 of the user interface platform 100 when the robot arm 2a is stopped in the vicinity of the impact region R, State can be notified.

The unit control object 2 is composed of at least one robot arm 2a. When the experimenter is loaded on the robot arm 2a, state information of the experimenter is input to the first input unit 110. [

Referring to FIGS. 4 to 7, the robot arm 2a includes an image unit 1100 for providing an image to an experiencer, and a boarding unit 1200 for providing a space on which the experience can be boarded.

The video unit 1100 is provided with an image that surrounds the experiencer so that the viewer can see the same image as the actual environment. For example, a head mount display device (HMD) Display) can be used, but it is also possible that other equipment is used.

The robot arm 2a is connected to a gyro mechanism 1300 that generates at least one of pitching, yawing, rolling, and reciprocating motion in the boarding section 1200. Here, the reciprocating movement means that the boarding portion 1200 is moved in a direction away from the structure supporting the gyro mechanism 1300.

The robot arm 2a includes a first module S1 for sensing the status information of the experiencer as an image on the boarding part 1200 for safety during the motion because at least one person is aboard, A second module S2 for detecting the voice of the user and a third module S3 for sensing the body temperature and pulse of the user.

The first to third modules S1 to S3 continuously monitor the video, audio, and vital signs of the state information of the experiencer during the motion of the robot arm 2a to detect motion of the robot arm 2a The state information of the individual experient can be confirmed separately.

That is, the robot arm 2a is controlled to perform safe motion by the first control unit 120 of the user interface platform 100 and the second control unit 220 of the bridge platform 200, The second controller 220 receives the state information of the experimenter by the first to third modules S1 to S3 and controls the robot arm 2a.

In this case, the robot arm 2a connected to the gyro mechanism 1300 can control the motion to be stopped immediately when the experimenter loses consciousness, vomits, or dizziness, so that safety and reliability for the robot arm 2a Is improved at the same time.

The first module S1 is provided in the HMD to photograph the front face of the experiencer and transmit it to the second input unit 210, and the second control unit 220 determines the input data.

The second control unit 220 inputs facial expression data according to various facial expressions of the experiencer in advance. For example, when the robot arm 2a connected to the gyro mechanism 1300 experiences a variety of facial muscle movements The facial muscle movement data corresponding to the facial muscle movement data is inputted in advance.

The facial muscle movement data can be applied to any person or an individual who is an experienced person of a child or an elderly person because the movement trajectory of the facial muscle mainly used in joy, surprise, and joy is variously classified according to sex, age, and race .

It can also be applied to foreigners experiencing it, so it can be applied regardless of race.

The facial muscle movement data includes various kinds of data according to movement of the facial muscles, which are mainly used when fear occurs, when fear occurs, or when fear occurs, so that the current state of the experiencer can be accurately determined .

The present embodiment determines that the facial muscles are temporarily fears or fears according to the motion before the facial muscles are used more than a certain number of times by fear or fear,

In the present embodiment, the second module S2 is input at the same time as the first module S1, and the second module S2 receives the voice and uses the data as data for determining the direct current state of the experiencer do.

The second module S2 may be a microphone built in the HMD. When the experiencing person feels an extreme fear feeling during the motion and screams or a voice signal corresponding to the emergency structure is input, the motion is stopped. Therefore, It is possible to secure safety.

The third module S3 is provided on the handlebar 1210 of the boarding unit 1200 on which the experiencer is mounted in order to detect body temperature and pulse of the experiencer. The third module (S3) senses the body temperature and pulse of the experiencer and senses the state of change during the motion.

For example, when the gyro mechanism 1300 is operated, the pulse of the user is generally raised. However, when the gyroscope 1300 is continuously raised beyond the predetermined variation range, the motion can be controlled to stop in consideration of the safety of the user.

Therefore, the present embodiment can precisely control the motion of the robot arm 2a or the motion stop of the robot arm 2a according to the accurate state information of the experiencer by the first to third modules S1 to S3.

The control object unit platform 300 is controlled such that the unit control object 2 is controlled to be in an emergency state by the control signal transmitted from the second control unit 220 or the speed of the unit control object 2 is firstly reduced And then is stopped in an emergency stop state.

For example, as described above, when the experient is boarded, it is controlled to be in an emergency stop, and in the case of a manufacturing site, the speed is firstly reduced and then controlled to be an emergency stop.

In this case, safety is improved irrespective of whether or not the occupant is on board, and safe motion is achieved by reducing the probability of direct collision with nearby structures or facilities.

The real-time communication period of data transmitted or received between the user interface platform 100, the bridge platform 200, and the control object unit platform 300 is kept constant at the first period.

The first period is repeated at a cycle of 12 m / s, and when the first period is exceeded or not exceeded, the operation of the unit control object 2 is forcibly stopped. The first period is described as an example and may be varied at different periods, and is not necessarily limited to the above-described numerical values.

In particular, when a plurality of robotic arms 2a are made to perform motions, stable motion is performed when the first period is maintained constant.

When the data transmission is performed between the user interface platform 100, the bridge platform 200, and the control object unit platform 300 by a communication method selected by either wire or wireless, The calibration is performed periodically.

The correction method is a method of pinging the first to third input units 110, 210, and 310 and the first to third output units 130, 230, and 330 with a predetermined number of times, Test method.

For example, between the first input unit 110 and the second input unit 210, or between the second input unit 210 and the third input unit 310, Whether or not it is possible to accurately check whether or not it exists.

The user interface platform 100 real time inputs at least one external device and an external input unit 20 selected from either a wired or wireless communication method.

The external input unit 20 may be, for example, a joystick or a robot hand which is inserted into a finger, but it is also possible that another VR equipment is used.

The bridge platform 200 includes an external input unit 20 selected from at least one of external equipment and a wired or wireless communication system, and an external input unit 20 connected to the control object unit 100 via a real- A connection with the platform 300 is made.

For example, the operator may be connected to the second input 210 of the bridge platform 200 via a wired or wireless communication scheme even if the operator is not located in the field, but is located remotely at distances of several kilometers or tens of kilometers.

In this case, although the robot arm may be different depending on the application, it can stably perform various assembling work and medical operation work even when the worker is overseas or at a remote place.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit of the invention as set forth in the appended claims. The present invention can be variously modified and changed by those skilled in the art, and it is also within the scope of the present invention.

100: User Interface Platform
110: first input unit
120: first control section
130: first output section
200: Bridge Platform
210:
220:
230: second output section
300: Control target unit platform
310: third input section
320:
330: third output section
S1: First module
S2: Second module
S3: third module

Claims (15)

A first input unit 110 for transmitting data by a communication method; A first controller 120 for setting an initial set value by a motion generated by a simulation in a workspace of the unit control object 2 and determining whether there is an abnormality of the set initial set value; A user interface platform (100) including a first output (130) for transmitting the set initialization data;
A second input unit 210 receiving data transmitted from the first output unit 130; A second controller 220 for determining whether there is an abnormality in the data input from the second input unit 210; And a second output unit (230) for transmitting data controlled by the second control unit (220); And
A third input unit 310 receiving data transmitted from the second output unit 230; A third output unit 330 for determining whether data input from the third input unit 310 is abnormal and transmitting the data to the second input unit 210 of the bridge platform 200; And a control object unit platform (300) including at least one or more unit control objects (2) so that motion is performed by data input from the third input unit (310). The method according to claim 1,
A 3D game engine is used as the user interface platform 100. The first input unit 110 is a unit for inputting the unit area of the unit control object 2 to be simulated based on the limit area data of the work space, A limit operating area data according to the motion of the control object 2 and data indicating a movement speed at which the unit control object 2 moves in the work space, a height and a relative position, a rotation angle and a rotation number, An integrated platform that accepts angles and allowable weight. The method according to claim 1,
The unit control object 2 includes at least one robot arm 2a. When the experimenter is loaded on the robot arm 2a, state information of the experimenter is integrated into the first input unit 110 platform. The method of claim 3,
The work space is provided with a plurality of sensor units 10 around at least one robot arm 2a and sensed data sensed by the sensor unit 10 is input to the integrated platform . The method of claim 3,
The robot arm 2a includes an image unit 1100 for providing an image to the user;
And a boarding section (1200) for providing a space available for the passengers to board. 6. The method of claim 5,
The robot arm 2a is connected to the gyro mechanism 1300 that generates at least one of pitching, yawing, rolling, and reciprocating motion in the boarding part 1200 so as to transmit and receive data. 6. The method of claim 5,
The boarding unit 1200 includes a first module S1 for sensing the status information of the experiencer as an image;
A second module (S2) for detecting the voice of the experiencer;
And a third module (S3) for detecting body temperature and pulse of the experiencer. The method according to claim 1,
The second control unit 220 of the bridge platform 200 controls the motion of the unit control object 2 based on the motion data input through the first output unit 130 of the user interface platform 100, The motion data of the unit control object 2 is transmitted to the third input unit 310 if possible,
Wherein the motion data is controlled so as not to be transmitted to the third input unit (310) when the motion data is not valid or not available in the work space. The method according to claim 1,
The second control unit 220 of the bridge platform 200 may control the movement of the control object unit platform 300 out of the operating range of the control object unit platform 300, ) Is close to the impact region (R) in operation in the work space, it is determined that the collision is possible, and a control signal is transmitted to the second output unit (230) so that the unit control object (2) Integrated transport platform. 10. The method of claim 9,
The control object unit platform 300 is controlled such that the unit control object 2 is controlled to be in an emergency state by the control signal transmitted from the second control unit 220 or the speed of the unit control object 2 is firstly reduced Lt; RTI ID = 0.0 > and / or < / RTI > emergency stop. The method according to claim 1,
When the data transmission is performed between the user interface platform 100, the bridge platform 200, and the control object unit platform 300 by a communication method selected by either wire or wireless, An integrated platform in which corrections are periodically made. 12. The method of claim 11,
The user interface platform 100, the bridge platform 200, and the control object unit platform 300 are connected to each other in such a manner that a real-time communication cycle of data transmitted or received between them is maintained constant at a first cycle, platform. 13. The method of claim 12,
Wherein the first period is repeated at a cycle of 12 m / s, and when the first period is exceeded or not exceeded, the operation of the unit control object (2) is forcibly stopped. The method according to claim 1,
The user interface platform 100 includes an external input unit 20 and at least one external device and a wired or wireless communication method. The method according to claim 1,
The bridge platform 200 includes an external input unit 20 selected from at least one of external equipment and a wired or wireless communication system, and an external input unit 20 connected to the control object unit 100 via a real- An integrated platform in which the platform 300 is connected.

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