KR20210156413A - Server and method for managing driving considering traffic conditions between multiple mobile robots - Google Patents

Abstract

Provided is a method for managing driving in consideration of a traffic condition between a plurality of mobile robots. The method comprises: a step of receiving state information comprising location information and driving availability information from a plurality of mobile robots; a step of determining whether or not a failure condition occurs for at least one mobile robot based on the state information; a step of setting an area for which the first mobile robot is located as a dangerous area based on the state information of the mobile robot (hereinafter, a first mobile robot) determined that the failure condition has occurred; a step of generating a path that bypasses the dangerous area for a mobile robot (hereinafter, a second mobile robot) scheduled to move on a path comprising the dangerous area among the plurality of mobile robots; and a step of providing the generated bypass path to the second mobile robot. Therefore, the present invention is capable of solving a problem of congestion between the mobile robots.

Description

A driving management server and method considering the traffic situation between multiple mobile robots

The present invention relates to a driving management server and method, and more particularly, to a driving management server and method in consideration of traffic conditions between a plurality of mobile robots.

With the development of artificial intelligence in various industries such as distribution, hotel, and logistics in the era of the 4th industrial revolution, the introduction of service robots is increasing.

These service robots perform services while moving within the service space. In this case, when a plurality of mobile robots perform their assigned missions in the same space, a deadlock situation may occur between the mobile robots.

Conventionally, in order to control this, a driving management system is built in a server, priorities are assigned among mobile robots, and control of suspending or resuming mobile robots is performed based on this.

However, in the prior art, when a failure situation occurs due to a network failure or a short circuit of an internal sensor in the mobile robot, the path in which the mobile robot is located is not controlled, so that the path overlaps between a plurality of mobile robots or the path of the mobile robot There was a problem in that a traffic jam phenomenon such as being blocked occurs or is aggravated.

Laid-Open Patent Publication No. 10-2014-0114650, 2014.09.29

The problem to be solved by the present invention is to set a danger area based on the status information of the mobile robot determined that a failure situation has occurred, and create a path that bypasses the danger area for other mobile robots passing through the set danger area. It is to provide a driving management server and method to provide.

However, the problems to be solved by the present invention are not limited to the problems described above, and other problems may exist.

A driving management method according to a first aspect of the present invention for solving the above-described problems includes receiving state information including location information and driving availability information from a plurality of mobile robots; determining whether a failure condition has occurred for at least one mobile robot based on the status information; setting an area in which the first mobile robot is located as a dangerous area based on status information of the mobile robot (hereinafter, referred to as the first mobile robot) determined that the failure situation has occurred; generating a path that bypasses the danger area for a mobile robot (hereinafter, referred to as a second mobile robot) scheduled to move on a path including the danger area among the plurality of mobile robots; and providing the generated detour route to a second mobile robot.

In an embodiment of the present invention, the step of determining whether a failure condition has occurred for at least one mobile robot based on the state information may include when the state information is not received from the plurality of mobile robots for a preset time period. and a case in which the received driving availability information is in a driving disabled state may be determined based on at least one of the following.

In an embodiment of the present invention, the step of setting the area in which the first mobile robot is located as the dangerous area includes: generating size area data corresponding to size information of the first mobile robot; increasing a route cost of a local area map corresponding to the size area data among local area maps in which the entire area map is divided into a constant size; and setting one or more local area maps in which the route cost is equal to or greater than a preset threshold value as a dangerous area.

In an embodiment of the present invention, the full area map may include an obstacle area, a free area, and an area not detected by a sensor, which are distinguished by pixel values.

In an embodiment of the present invention, the generating of the path bypassing the danger area includes: generating a first path connecting a start point and an end point of the second mobile robot; generating a plurality of second paths connecting by selecting any two points in the first path; extracting a second path that does not pass through the dangerous area among the second paths; and extracting a second route that satisfies at least one of a minimum cost and a shortest distance from among the extracted second routes and generating the second route as a detour route of the second mobile robot.

In an embodiment of the present invention, the entire area map indicating the paths of the plurality of mobile robots may include node information and link information to which path costs are allocated, respectively.

In an embodiment of the present invention, the step of setting the area in which the first mobile robot is located as a dangerous area includes: increasing a path cost to a node or link in which the first mobile robot is located; and setting a node or link having the path cost equal to or greater than a preset threshold as a risk area.

In an embodiment of the present invention, the step of generating a path bypassing the danger zone includes selecting a link that satisfies at least one of a minimum cost and a shortest distance among links connecting a start node and a destination node of the second mobile robot. It can be extracted and generated as a detour path of the second mobile robot.

In an embodiment of the present invention, as the failure situation occurs, the first mobile robot is switched from the master mode to the slave mode, and according to a control command from the driving management server, at least one mobile robot among a plurality of mobile robots (hereinafter, referred to as a third mobile robot) may receive status information of the first mobile robot as it enters a communication radius with the first mobile robot and transmit it to the driving management server.

In an embodiment of the present invention, the receiving of the state information including the location information and the driving status information from the plurality of mobile robots includes: receiving the state information of the first mobile robot from the third mobile robot; comparing the received status information with recent status information directly received from the first mobile robot; and storing the most recent state information of the first mobile robot based on the comparison result.

In addition, the driving management server according to the second aspect of the present invention includes a communication module for transmitting and receiving data to and from the plurality of mobile robots, and a program for determining failure conditions of the plurality of mobile robots based on the data and generating a detour route. It includes a stored memory and a processor that executes the program stored in the memory. In this case, as the program is executed, the processor determines whether a failure condition has occurred for at least one mobile robot based on the status information received from the plurality of mobile robots, and the mobile robot determined that the failure condition has occurred Based on the state information of (hereinafter, the first mobile robot), the area in which the first mobile robot is located is set as a dangerous area, and among the plurality of mobile robots, a mobile robot scheduled to move along a path including the dangerous area (hereinafter, The second mobile robot) creates and provides a route that bypasses the danger area.

A computer program according to another aspect of the present invention for solving the above-described problems is combined with a computer, which is hardware, to execute the driving management method, and is stored in a computer-readable recording medium.

Other specific details of the invention are included in the detailed description and drawings.

According to the present invention described above, when a failure occurs in a mobile robot, it is possible to solve the problem of congestion between mobile robots by setting the area in which the mobile robot is located as a dangerous area and allowing other mobile robots to bypass the dangerous area.

In particular, there is an advantage in that it is possible to recognize a failure situation in which the mobile robot itself cannot drive or a case in which the mobile robot itself is normal or a network state has a failure, and each subsequent process can be performed.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a view for explaining a driving management system according to an embodiment of the present invention.
2 is a block diagram of a driving management server according to an embodiment of the present invention.
3 is a flowchart of a driving management method according to an embodiment of the present invention.
4A to 4E are diagrams illustrating an example for explaining a case in which a failure situation occurs.
5A to 5D are diagrams illustrating another example for explaining a case in which a failure situation occurs.
6A to 6C are diagrams illustrating another example for explaining a case in which a failure situation occurs.
7 is a diagram for explaining a failure situation in which a network is abnormal.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining a driving management system 1 according to an embodiment of the present invention. 2 is a block diagram of the driving management server 100 according to an embodiment of the present invention.

Referring to FIG. 1 , the driving management system 1 includes a driving management server 100 and a plurality of mobile robots 200 .

The plurality of mobile robots 200 are robots that perform a service designated by a user, but move a route calculated based on a route cost and perform a service. These mobile robots can regenerate paths while avoiding obstacles by an internal autonomous driving process. However, when creating a route, the mobile robot does not reflect the status or driving route of other mobile robots, and creates an avoidance route when approaching an obstacle.

Meanwhile, in an embodiment of the present invention, the mobile robot determined to have a failure is the first mobile robot R1 and the mobile robot scheduled to move to a path overlapping the danger area among the paths of the first mobile robot R1 is the second movement The robot R2 is referred to, and when the first mobile robot R1 operates in the slave mode, the mobile robot that operates in the master mode corresponding to the first mobile robot R1 is referred to as a third mobile robot R3.

The driving management server 100 (hereinafter, the server) creates a detour route of the plurality of mobile robots 200 in consideration of the failure situation of the mobile robot 200, and the communication module 110, the memory 120, and the processor 130. includes

The communication module 110 transmits and receives data to and from the plurality of mobile robots 200 . In this case, the communication module 110 transmits/receives data directly to and from the plurality of mobile robots 200 or indirectly transmits/receives data through a repeater. In an embodiment of the present invention, the communication method is not particularly limited.

The memory 120 stores a program for determining failure conditions of the plurality of mobile robots 200 based on data received from the communication module 110 and generating a detour route based thereon.

As the processor 130 executes the program stored in the memory 120 , based on the status information received from the plurality of mobile robots 200 , the processor 130 determines whether a failure condition has occurred for at least one mobile robot, and the failure condition Based on the state information of the first mobile robot R1 determined to have occurred, an area in which the first mobile robot R1 is located is set as a dangerous area.

In addition, the processor 130 generates and provides a path that bypasses the danger area for the second mobile robot R2 scheduled to move on a path including the danger area among the plurality of mobile robots 200 .

In addition, the processor 130 may generate and deliver an optimized detour route according to a failure situation by further considering not only the status information of the plurality of mobile robots 200 but also the priority of the mobile robots.

Hereinafter, the driving management method performed by the above-described server 100 will be described in more detail with reference to FIGS. 3 to 7 .

3 is a flowchart of a driving management method according to an embodiment of the present invention.

First, the server 100 receives status information including location information and driving availability information from the plurality of mobile robots 200 ( S310 ).

As an embodiment, the state information generated by the mobile robot 200 may include various types of information, representative location information or driving availability information may correspond to this.

The server 100 may receive the current location of the mobile robot 200 in real time through location information, or may receive the current location at regular intervals or receive movement route information.

The driving status information is information generated by being determined by the mobile robot 200, for example, when there is no output of a sensor value for a predetermined time or when an abnormal sensor value is output, a signal is short-circuited or a physical stuck (stuck) When the motor is not controlled due to the occurrence, when a sub-process of the system is abnormally terminated, etc., the mobile robot 200 determines that the vehicle is in a state of inability to drive and generates information about whether to allow or not to drive, and transmits it to the server 100 do.

Next, the server 100 determines whether a failure condition has occurred for at least one mobile robot based on the state information received from the plurality of mobile robots 200 ( S320 ).

In one embodiment, the server 100 may be configured among a case in which status information is not received from the plurality of mobile robots 200 for a predetermined time period, and when the driving availability information received from the mobile robot 200 is in a driving disabled state. It may be determined whether the mobile robot 200 has a failure condition based on one or more.

That is, in an embodiment of the present invention, when the network between the server 100 and the first mobile robot R1 is normal due to a failure situation, but the driving of the first mobile robot R1 is impossible, and the first mobile robot ( R1) is in a drivable state, but there may be a situation in which the network between the server 100 and the first mobile robot R1 is abnormal.

Hereinafter, a case in which driving is impossible due to a failure of the first mobile robot R1 will be first described, and then a situation in which the network is abnormal will be separately described.

When a failure situation in which the driving of the first mobile robot R1 is impossible occurs, the server 100 sets the area in which the first mobile robot R1 is located based on the state information of the first mobile robot R1 as a dangerous area. set to (S330).

Next, the server 100 selects a path that bypasses the danger area for the second mobile robot R2 scheduled to move to a path including the danger area of the first mobile robot R1 among the plurality of mobile robots 200 . is generated (S340), and the generated detour route is provided to the second mobile robot R2 (S350).

As an embodiment, the server 100 may generate size area data corresponding to the size information of the first mobile robot R1 in which a failure has occurred, and set the corresponding size area data as a dangerous area.

For example, the server 100 increases the route cost of the local area map corresponding to the size area data of the first mobile robot R1 among a plurality of local area maps in which the entire area map is divided into a constant size, and then One or more local area maps whose cost is greater than or equal to a preset threshold may be set as a risk area.

If the size area data of the first mobile robot R1 and one local area map match, or if the size area data is smaller than one local area map, the danger area is set as one corresponding local area map do. On the other hand, when the size area data is larger than the local area map, a plurality of local area data to which the size area data belongs may be set as a dangerous area.

The total area map generated or updated in this way is distributed to each mobile robot. Upon receiving this, the second mobile robot R2 can create a detour route by recognizing the danger area without directly scanning the danger area.

Meanwhile, in the present invention, the entire area map is composed of an obstacle area, a free area, and an undetected area by a sensor, which are distinguished by pixel values. At this time, the dangerous area was a free area or an area in which the route cost was low before being set, and the mobile robot was able to travel.

4A to 4E are diagrams illustrating an example for explaining a case in which a failure situation occurs.

In an embodiment of the present invention, the entire area map may be generated in a form for 2D or 3D autonomous driving through sensing of the mobile robot 200 or by using various SLAM (Simultaneous Localization And Mapping) techniques in advance. For example, the entire area map may be generated as a 2D map in the form of an image file such as png or pgm, or as a 3D map through point cloud data including 3-axis spatial information.

4A is an example of a full-area map P1 generated in the form of 2D navigation. The full-area map P1 includes an obstacle area Pa and a free area detected using sensor values such as ultrasound, radar, and lidar. (Pb) and an undetected area (Pc) not detected by the sensor. Each region of the entire region map P1 may be identified through a pixel value when a corresponding file is read.

In addition, in an embodiment of the present invention, in order to provide optimal navigation, an additional cost value may be assigned to each pixel (P2) as shown in FIG. 4B , such as by applying padding to an obstacle using a cost function. .

4C to 4E are diagrams for explaining a case in which a failure situation occurs. When a failure situation occurs for the first mobile robot R1, the server 100 risks the area in which the first mobile robot R1 is located. area P3 (Fig. 4c). In this case, as described above, the dangerous area P6 may be set through a method of increasing the route cost of the local area map corresponding to the size area data of the first mobile robot R1.

When the danger area is set in this way, the existing path P4 of the second mobile robot R2 scheduled to move to the danger area P3 of the first mobile robot R1 is changed to a path P5 that bypasses the danger area (FIGS. 4D and 4E).

5A to 5D are diagrams illustrating another example for explaining a case in which a failure situation occurs.

In an embodiment of the present invention, the entire area map indicating the paths of the plurality of mobile robots 200 may include node information and link information as shown in FIG. 5A . In this case, a path cost may be assigned to each of the node information and the link information. Such node information and link information may be used as auxiliary data of the SLAM-based full-area map described with reference to FIGS. 4A to 4E, but is not limited thereto.

For example, node information and link information may be set on a free area of the full area map. In addition, node information and link information may be set on a traveling path and a drivable path of the mobile robot according to a user's request.

The node information may include specific coordinate values on the entire area map, and the link information may include drivable connection information between each node.

Thereafter, when a failure situation occurs in the first mobile robot R1, the server 100 increases the route cost to the node or link in which the first mobile robot R1 is located, and the route cost is greater than or equal to a preset threshold or Links can be set as danger zones.

Then, the server 100 extracts a link that satisfies at least one of the minimum cost and the shortest distance among the links connecting the start node and the destination node of the second mobile robot R2 to determine a detour path of the second mobile robot R2. can create

Referring to FIG. 5B , when a failure situation occurs in the first mobile robot R1, the server 100 increases the path cost to the node P6 corresponding to the region in which the first mobile robot R1 is located, thereby increasing the risk area. , and mark the node P6 to be distinguished from other nodes.

When the node P6 corresponding to the danger area is set in this way, the server 100 bypasses the node P6 in the existing path P7 of the second mobile robot R2 scheduled to move to the node P6. and change to the path P8 (FIGS. 5C and 5D). In this case, the detour path P8 of the second mobile robot R2 may be set by extracting a link satisfying at least one of the minimum cost and the shortest distance among a plurality of links connecting the start node and the destination node.

If there is no node in direct contact with the area in which the first mobile robot R1 is located, the server 100 increases the path cost for the link itself in which the first mobile robot R1 is located and sets it as a dangerous area. and change the existing path of the second mobile robot R2 scheduled to move to the corresponding link to bypass the corresponding link.

6A to 6C are diagrams illustrating another example for explaining a case in which a failure situation occurs.

In one embodiment, after setting the area in which the faulty first mobile robot R1 is located as the dangerous area P9 (FIG. 6a), the server 100 determines the starting point and the destination point of the second mobile robot R2. A first path to connect is generated, and a plurality of second paths to connect by selecting two points from the first path are generated.

Then, the server 100 extracts a second path that does not go through the dangerous area, and extracts a second path that satisfies at least one of the minimum cost and the shortest distance from the extracted second path to obtain the second mobile robot R2. create a detour route for

Referring to FIG. 6B , a first route is a route that connects a start point (A) and an end point (B), and refers to a route in which route cost and distance can be flexibly changed. The server 100 generates a plurality of second paths (ab, cd, ef) connecting by selecting any two points on the first path, and among them, the second path (cd, ef) not passing through the danger area. ) is extracted.

Thereafter, the server 100 may extract a second path e-f that satisfies at least one of the minimum cost and the shortest distance from among the extracted second paths, and may generate it as a detour path of the second mobile robot R2.

After the detour route of the second mobile robot R2 is generated in this way, the server 100 transmits the detour route to the second mobile robot R2 and the remaining mobile robots 200 ( FIG. 6C ).

Hereinafter, a situation in which the driving function is normal but the network is abnormal as a failure situation of the first mobile robot R1 will be described.

7 is a diagram for explaining a failure situation in which a network is abnormal.

In an embodiment, when a network connection breakage occurs between the server 100 and the first mobile robot R1, the first mobile robot R1 is switched from the master mode to the slave mode.

The server 100 for mediation of data transmission/reception with the first mobile robot R1 to the third mobile robot R3 moving to the corresponding area based on the state information last received from the first mobile robot R1 transmit control commands.

Upon receiving the control command, the third mobile robot R3 receives the state information of the first mobile robot R1 and transmits it to the server 100 as it enters the communication radius with the first mobile robot R1.

When the server 100 receives the state information of the first mobile robot R1 through the third mobile robot R3, the server 100 compares the received state information with the last state information directly received from the first mobile robot R1. and the most recent state information of the first mobile robot R1 is determined and stored based on the comparison result.

As described above, when the most recent state information of the first mobile robot R1 is processed as received, the server 100 sets the area in which the first mobile robot R1 is located as a dangerous area as described in FIG. 3 , Based on this, a detour route for the second mobile robot R2 may be generated and distributed.

On the other hand, in an embodiment of the present invention, the third mobile robot R3 operating in the master mode is a mobile robot that does not have a failure situation, and may be a mobile robot scheduled to move to the danger area of the first mobile robot R1. have. If there is no mobile robot scheduled to move to the danger area of the first mobile robot R1, the server 100 separately designates a third mobile robot R3 from among a plurality of mobile robots to control the first mobile robot R1. It can be controlled to move within the communication radius.

As described above, the third mobile robot R3 operating in the master mode may receive the state information of the first mobile robot R1 and transmit it to the server 100, and also transmit its own state information to the server. have.

The third mobile robot R3 can serve as an intermediate node, and as it receives and transmits state information of the first mobile robot R1, it receives a response signal from the server 100 to receive the first mobile robot (R1) can be passed.

Accordingly, direct data communication with the server 100 is impossible between the server 100 and the first mobile robot R1 in a network failure state, but indirect data communication is possible through the third mobile robot R3. The first mobile robot R1 may be switched from a stationary state to a moving state. In this case, the movement of the first mobile robot R1 may be limited only when it is within a communicable radius with the third mobile robot R3.

The first mobile robot R1 operating in the slave mode immediately stops driving and switches to a stop state as it confirms that the network connection with the server 100 is not possible, or moves at a speed of 30% of the existing speed. You can move after changing to a low speed state.

As the first mobile robot R1 is switched to the slave mode, the first mobile robot R1 transmits the state information transmitted to the server 100 so that the third mobile robot R3 operating in the master mode can receive the communication. The method can be switched to a short-distance data method such as Bluetooth. At this time, if the data destination address is designated so that only the server 100 can receive it, it may be changed and transmitted so that the mobile robot operating in the master mode can receive it.

While maintained in the slave mode, the first mobile robot R1 may transmit/receive data to and from the server through the third mobile robot R3, and may maintain a stationary state or a low-speed state while data is transmitted/received.

Meanwhile, in the above description, steps S310 to S350 may be further divided into additional steps or combined into fewer steps according to an embodiment of the present invention. In addition, some steps may be omitted if necessary, and the order between the steps may be changed. In addition, even if other omitted contents, the above-described contents of FIGS. 1 and 2 may also be applied to the driving management method of FIGS. 3 to 7 .

The driving management method according to an embodiment of the present invention described above may be implemented as a program (or application) to be executed in combination with a computer, which is hardware, and stored in a medium.

The above-mentioned program, in order for the computer to read the program and execute the methods implemented as a program, C, C++, JAVA, Ruby, which the processor (CPU) of the computer can read through the device interface of the computer; It may include code coded in a computer language such as machine language. Such code may include functional code related to a function defining functions necessary for executing the methods, etc., and includes an execution procedure related control code necessary for the processor of the computer to execute the functions according to a predetermined procedure. can do. In addition, this code may further include additional information necessary for the processor of the computer to execute the functions or code related to memory reference for which location (address address) in the internal or external memory of the computer should be referenced. have. In addition, when the processor of the computer needs to communicate with any other computer or server located remotely in order to execute the functions, the code uses the communication module of the computer to determine how to communicate with any other computer or server remotely. It may further include a communication-related code for whether to communicate and what information or media to transmit and receive during communication.

The storage medium is not a medium that stores data for a short moment, such as a register, a cache, a memory, etc., but a medium that stores data semi-permanently and can be read by a device. Specifically, examples of the storage medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage device. That is, the program may be stored in various recording media on various servers accessible by the computer or in various recording media on the computer of the user. In addition, the medium may be distributed in a computer system connected to a network, and a computer-readable code may be stored in a distributed manner.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

1: Driving management system
100: driving management server
110: communication module
120: memory
130: processor
200: mobile robot

Claims (11)

A method performed by a computer comprising:
Receiving state information including location information and driving availability information from a plurality of mobile robots;
determining whether a failure condition has occurred for at least one mobile robot based on the status information;
setting an area in which the first mobile robot is located as a dangerous area based on status information of the mobile robot (hereinafter, referred to as a first mobile robot) determined to have the failure situation;
generating a path that bypasses the danger area for a mobile robot (hereinafter, referred to as a second mobile robot) scheduled to move on a path including the danger area among the plurality of mobile robots; and
and providing the generated detour route to a second mobile robot.
According to claim 1,
The step of determining whether a failure condition has occurred for at least one mobile robot based on the state information,
The driving management method of determining based on at least one of a case in which status information is not received from the plurality of mobile robots for a predetermined time period and a case in which the received driving permission information is in a driving disabled state.
According to claim 1,
The step of setting the area in which the first mobile robot is located as a dangerous area comprises:
generating size area data corresponding to the size information of the first mobile robot;
increasing a route cost of a local area map corresponding to the size area data among local area maps in which the entire area map is divided into a constant size; and
and setting one or more local area maps in which the route cost is greater than or equal to a preset threshold as a dangerous area.
4. The method of claim 3,
The total area map includes an obstacle area, a free area, and an undetected area by a sensor, which are distinguished by pixel values.
4. The method of claim 3,
The step of creating a path that bypasses the danger area comprises:
generating a first path connecting a start point and an end point of the second mobile robot;
generating a plurality of second paths connecting by selecting any two points in the first path;
extracting a second path that does not pass through the dangerous area among the second paths; and
and extracting a second route that satisfies at least one of a minimum cost and a shortest distance from among the extracted second routes and generating the second route as a detour route of the second mobile robot.
According to claim 1,
The driving management method, wherein the entire area map indicating the routes of the plurality of mobile robots includes node information and link information to which route costs are allocated, respectively.
7. The method of claim 6,
The step of setting the area in which the first mobile robot is located as a dangerous area comprises:
increasing a path cost to a node or link in which the first mobile robot is located; and
and setting a node or link in which the route cost is equal to or greater than a preset threshold as a dangerous area.
8. The method of claim 7,
The step of creating a path that bypasses the danger area comprises:
and extracting a link that satisfies at least one of a minimum cost and a shortest distance among links connecting a start node and a destination node of the second mobile robot and generating the link as a detour route of the second mobile robot.
According to claim 1,
As the failure situation occurs, the first mobile robot is switched from the master mode to the slave mode,
In response to a control command from the driving management server, at least one mobile robot (hereinafter, referred to as a third mobile robot) among a plurality of mobile robots enters a communication radius with the first mobile robot, and thus the state information of the first mobile robot A driving management method that receives and transmits to the driving management server.
10. The method of claim 9,
Receiving status information including location information and driving availability information from a plurality of mobile robots includes:
receiving status information of the first mobile robot from the third mobile robot;
comparing the received status information with recent status information directly received from the first mobile robot; and
and storing the most recent state information of the first mobile robot based on the comparison result.
In the driving management server considering the traffic situation between a plurality of mobile robots,
a communication module for transmitting and receiving data to and from the plurality of mobile robots;
a memory storing a program for determining the failure status of a plurality of mobile robots based on the data and generating a detour route; and
Including a processor for executing the program stored in the memory,
As the program is executed, the processor determines whether a failure condition has occurred for at least one mobile robot based on the status information received from the plurality of mobile robots, and the mobile robot determined that the failure condition has occurred (hereinafter , a mobile robot (hereinafter, referred to as a second mobile robot that is scheduled to move in a path including the dangerous region among the plurality of mobile robots) is set as a dangerous region based on the state information of the first mobile robot. A driving management server that creates and provides a route that bypasses the danger area for mobile robots).

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