KR20220099311A - Apparatus and method of an unmanned moving object that operates in consideration of a state of a driving command apparatus - Google Patents

Abstract

The present disclosure relates to an unmanned moving object which identifies whether a driving command apparatus is in a fixed state and determines a driving mode based on the state of the driving command apparatus. According to the present disclosure, an operation method of the remotely operated unmanned object includes: a step of receiving a first signal commanding driving of the unmanned moving object from the driving command apparatus; a step of receiving a second signal commanding driving of the unmanned moving object from the driving command apparatus; a step of identifying whether a first difference value of a command value of the second signal and a command value of the first signal is a first threshold value or lower; a step of changing an error count value if the difference value is the first threshold value or lower; a step of identifying whether the error count value is higher than a second threshold value; and a step of reducing a driving speed of the unmanned moving object if the error count value is higher than the second threshold value. The present invention enables the unmanned moving object to be stably operated.

Description

An unmanned moving object that operates in consideration of the state of the driving command device and an operating method of the unmanned mobile object

The present disclosure generally relates to a driving system of an unmanned mobile body, and more specifically, an unmanned mobile body and an unmanned vehicle that identifies a state related to whether a drive command device is stuck, and determines a driving mode based on the state of the drive command device It relates to a method of operating a moving object.

Unmanned robots (robots) are used to perform tasks performed in extreme environments on behalf of humans. Unmanned robots can safely protect workers and improve work efficiency and accuracy, and accordingly, the need for unmanned robots that perform sophisticated tasks is rapidly emerging.

Such an unmanned robot may be manually driven by an operator or remotely driven using a drive command device. Currently, in order to remotely drive an unmanned robot, a method of operating an accelerator pedal using a remote station, a method of operating a joystick using a remote control device, and a method of using a wired follower mounted on a platform Various operating methods are being used, such as a method and a method of operating an autonomous driving system.

When the unmanned robot is controlled based on a separate drive command device, the drive command device may become stuck in the drive command device for reasons such as being mechanically pinched or rusted. In the case of a stuck situation in the drive command device, an unmanned robot or platform may suddenly start or become out of control until an appropriate action is completed in the drive command device, which may cause additional problem situations.

Based on the above discussion, the present disclosure identifies a state regarding whether the drive command device is stuck, and determines the driving mode based on the state of the drive command device, and an operation method of the unmanned mobile device. to provide.

In addition, the present disclosure provides an unmanned moving object and an operating method of the unmanned moving object for increasing the stability of the unmanned moving object and the operator when a stuck situation occurs in the driving command device.

In addition, the present disclosure provides an unmanned moving object and an operating method of the unmanned moving object for improving the coping ability of the unmanned moving object when a stuck situation occurs in a driving command device.

According to various embodiments of the present disclosure, a method of operating an unmanned moving object remotely operated includes receiving a first signal for instructing driving of the unmanned mobile body from a driving command device, and driving the unmanned mobile body from a driving command device. receiving a second commanding signal, identifying whether a first difference value between a command value of the second signal and a command value of the first signal is less than or equal to a first threshold value, the difference value being equal to or less than the first changing the error count value when it is less than or equal to a threshold value, identifying whether the error count value exceeds a second threshold value, and when the error count value is greater than the second threshold value, driving speed of the unmanned moving object including reducing the

According to another embodiment, the command value of the first signal and the command value of the second signal include an acceleration control value for controlling the speed of the unmanned moving object.

According to another embodiment, the method of operating an unmanned moving object includes receiving a third signal for instructing an increase in the driving speed of the unmanned moving object from the driving command device, and setting the driving command device to a normal state based on the third signal. and increasing the driving speed of the unmanned moving object based on the command value included in the third signal.

According to another embodiment, the method of operating an unmanned moving object includes: identifying an operation period of reducing the driving speed; identifying whether the operation period exceeds a third threshold value; The method further includes transmitting, to the drive command device, a response signal requesting a normal drive command signal when the 3 threshold value is exceeded.

According to another embodiment, the method of operating the unmanned moving object includes receiving a third signal for instructing the driving of the unmanned moving object from the driving command device when the error count value is less than a second threshold value, the third signal identifying whether a second difference value between the command value of the second signal and the command value of the second signal is less than or equal to the first threshold value, and if the second difference value is less than or equal to the first threshold value, changing the error count value further comprising the step of

According to another embodiment, the drive command device includes at least one of a simulated accelerator pedal remotely controlling the unmanned moving object, a simulated joystick, and a wired tracking device connected to a platform for controlling the unmanned moving object.

Various respective aspects and features of the invention are defined in the appended claims. Combinations of features of the dependent claims may be combined with features of the independent claims as appropriate, not just expressly set forth in the claims.

In addition, one or more features selected in any one embodiment described in this disclosure may be combined with one or more features selected in any other embodiment described in this disclosure, and alternatives to these features a combination of at least partially alleviates one or more technical problems discussed in the present disclosure, or at least partially alleviates technical problems that can be discerned by a person skilled in the art from the present disclosure, and furthermore features of embodiments ( The combination is possible, provided that a specific combination or permutation so formed of the embodiment features is not understood by a person skilled in the art as incompatible.

In any described example implementation, two or more physically separate components may alternatively be integrated into a single component if their integration is possible, and the single component so formed If the same function is performed by , the integration is possible. Conversely, a single component of any embodiment described in the present disclosure may alternatively be implemented with two or more separate components that achieve the same function, where appropriate.

It is an object of certain embodiments of the present invention to solve, mitigate, or eliminate, at least in part, at least one of the problems and/or disadvantages associated with the prior art. Certain embodiments aim to provide at least one of the advantages described below.

The apparatus and method according to various embodiments of the present disclosure allow the unmanned mobile body to be stably operated by identifying the state of the driving command device and determining the driving mode based on the state of the driving command device.

In addition, the present disclosure enables the unmanned moving object to improve the ability to cope with the driving command device by identifying the state of the driving command device and determining the driving mode based on the state of the driving command device.

Effects obtainable in the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

1 illustrates a driving system of an unmanned moving object according to various embodiments of the present disclosure.
FIG. 2 is a flowchart illustrating an operation method of an unmanned moving object for identifying a fixed state of a driving command device in a driving system of an unmanned moving object according to various embodiments of the present disclosure.
3 is a graph illustrating a fixed state signal in a driving system of an unmanned moving object according to various embodiments of the present disclosure.
4 is a graph illustrating a steady state signal in a driving system for an unmanned moving object according to various embodiments of the present disclosure.
5 is a flowchart illustrating a method of operating an unmanned moving object in the driving system of the unmanned moving object according to various embodiments of the present disclosure.

Terms used in the present disclosure are used only to describe specific embodiments, and may not be intended to limit the scope of other embodiments. The singular expression may include the plural expression unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meanings as commonly understood by one of ordinary skill in the art described in the present disclosure. Among the terms used in the present disclosure, terms defined in a general dictionary may be interpreted with the same or similar meaning as the meaning in the context of the related art, and unless explicitly defined in the present disclosure, ideal or excessively formal meanings is not interpreted as In some cases, even terms defined in the present disclosure cannot be construed to exclude embodiments of the present disclosure.

In various embodiments of the present disclosure described below, a hardware access method will be described as an example. However, since various embodiments of the present disclosure include technology using both hardware and software, various embodiments of the present disclosure do not exclude a software-based approach.

Hereinafter, the present disclosure relates to an unmanned moving object and an operating method of the unmanned moving object for identifying a state of a driving command device in a driving system of an unmanned moving object and determining a driving mode based on the state of the driving command device. Specifically, the present disclosure describes a technique for operating an unmanned moving object in response to the fixed state of the driving command device.

Hereinafter, various embodiments will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art to which the present disclosure pertains can easily implement it. However, since the technical spirit of the present disclosure may be modified and implemented in various forms, it is not limited to the embodiments described herein. In the description of the embodiments disclosed in the present specification, when it is determined that a detailed description of a related known technology may obscure the gist of the present disclosure, a detailed description of the known technology will be omitted. The same or similar components are given the same reference numerals, and overlapping descriptions thereof will be omitted.

In the present specification, when an element is described as being "connected" with another element, it includes not only the case of being "directly connected" but also the case of being "indirectly connected" with another element interposed therebetween. When an element "includes" another element, it means that another element may be further included without excluding another element in addition to other elements unless otherwise stated.

Some embodiments may be described in terms of functional block configurations and various processing steps. Some or all of these functional blocks may be implemented in various numbers of hardware and/or software configurations that perform specific functions. For example, the functional blocks of the present disclosure may be implemented by one or more microprocessors, or by circuit configurations for a given function. The functional blocks of the present disclosure may be implemented in various programming or scripting languages. The functional blocks of the present disclosure may be implemented as an algorithm running on one or more processors. Functions performed by a functional block of the present disclosure may be performed by a plurality of functional blocks, or functions performed by a plurality of functional blocks in the present disclosure may be performed by one functional block. Also, the present disclosure may employ prior art for electronic configuration, signal processing, and/or data processing, and the like.

In addition, in the present disclosure, in order to determine whether a specific condition is satisfied or fulfilled, an expression of more than or less than is used, but this is only a description to express an example, and more or less description is excluded. not to do Conditions described as 'more than' may be replaced with 'more than', conditions described as 'less than', and conditions described as 'more than and less than' may be replaced with 'more than and less than'.

1 illustrates a driving system 100 of an unmanned moving object according to various embodiments of the present disclosure. Referring to FIG. 1 , the driving system 100 of an unmanned moving object includes a driving command device 110 and an unmanned moving object 160 . Hereinafter used '… wealth', '… The term 'group' means a unit for processing at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. The driving command device 110 and the unmanned moving object 160 may include a communication unit that transmits or receives a signal, a storage unit that stores data, and a control unit that controls the overall operation of the device. At least one of the storage unit, the communication unit, and the control unit may be operatively coupled to at least one processor.

The driving command device 110 generates a driving command signal so that the unmanned moving object can be driven and performs a function of transmitting the driving command signal to the unmanned moving object. According to an embodiment of the present disclosure, the drive command device generates a drive command by pulling a simulated accelerator pedal when using a remote station, a joystick when using a remote control device, or a wire follower that generates a driving command. includes the device.

The unmanned mobile unit 160 receives a drive command signal from the drive command device and instructs the device to be driven based on the drive command signal. According to an embodiment of the present disclosure, the unmanned moving object may include an unmanned robot and an unmanned vehicle. The unmanned moving object 160 includes a fixed state identification unit 161 , a driving mode determination unit 169 , and a driving speed control unit 171 .

The stuck state identification unit 161 performs a function of identifying whether the driving command device is in a stuck state. According to an embodiment of the present disclosure, the stuck state identification unit 161 identifies whether an abnormality has occurred in the driving command device by using the command value of the driving command signal received from the driving command device. The stuck state identification unit 161 includes a stuck signal determiner 163 , an error count determiner 165 , and a stickiness determiner 167 .

The stuck signal determiner 163 compares the command value of the driving command signal with the command value of the previous driving command signal to identify whether the received driving command signal corresponds to the stuck signal. According to an embodiment of the present disclosure, the stuck signal determiner 163 determines a difference value between the command value of the previous driving command signal and the command value of the received driving command signal, and sets the determined difference value with the first threshold value. Compare. When it is identified that the difference value is equal to or less than the first threshold value, the stuck signal determiner 163 determines the received driving command signal as the stuck signal. According to an embodiment of the present disclosure, the first threshold value includes a value predefined according to a user's setting.

The error count determining unit 165 performs a function of determining an error count value. The error count value indicates the number of times the stuck signal is received. The error count determination unit 165 increases the error count value when the received driving command signal is determined to be a stuck signal. According to an embodiment of the present disclosure, the error count determiner 165 may increase the error count value by adding the same value to the error count value whenever the fixed signal determiner 163 identifies the stuck signal. .

The stickiness determination unit 167 performs a function of determining whether the driving command device is in a stuck state. According to an embodiment of the present disclosure, the stickiness determining unit 167 determines the sticking state of the driving command device by comparing the determined error count value with the second threshold value. When it is identified that the error count value is greater than the second threshold value, the stuck determination unit 167 determines the drive command device to be stuck. According to an embodiment of the present disclosure, the second threshold value includes a value predefined according to a user's setting.

The driving mode determining unit 169 determines the driving mode of the unmanned moving object based on the identification result of the fixed state identification unit 161 . The driving mode includes a normal driving mode that operates to correspond to a command signal of the driving command device, and a safe driving mode in which the driving of the unmanned moving object is stopped or the driving speed is reduced. According to an embodiment of the present disclosure, the driving mode determiner 169 may change the operation mode to operate in the safe driving mode when the driving command device is identified as being stuck while operating in the normal driving mode.

The driving speed controller 171 performs a function of controlling the driving speed of the unmanned moving object. The driving speed of the unmanned moving object is controlled based on the driving mode determined by the driving mode determining unit 169 . According to an embodiment of the present disclosure, when the driving mode is determined to be the safe driving mode, the driving speed controller 171 reduces the driving speed of the unmanned moving object. The driving speed controller 171 may control the driving speed to be 0. According to another embodiment of the present disclosure, when the driving mode is determined to be the normal driving mode, the driving speed controller 171 controls the driving speed based on the driving command signal of the unmanned moving object.

FIG. 2 is a flowchart 200 illustrating an operation method of an unmanned moving object for identifying a fixed state of a driving command device in a driving system of an unmanned moving object according to various embodiments of the present disclosure. FIG. 2 illustrates an operation method of the unmanned moving body 160 of FIG. 1 .

Referring to FIG. 2 , in step 201 , the unmanned moving object 160 receives a driving command signal. The unmanned moving object 160 receives a plurality of driving command signals from the driving command device. The driving command signal may include a command value for controlling the speed of driving.

In step 203 , the unmanned moving object 160 determines a difference value between command values of the driving command signal. According to an embodiment of the present disclosure, the unmanned moving object 160 may check a command value included in the driving command signal. The unmanned mobile unit 160 acquires a first command value from the previous driving command signal and a second command value from the received driving command signal. The unmanned moving object 160 determines a difference value between the acquired second command value and the first command value.

In step 205 , the unmanned moving object 160 identifies whether the difference value is equal to or less than a first threshold value. The unmanned moving object 160 compares the difference value determined in step 203 with a preset first threshold value. According to an embodiment of the present disclosure, when it is identified that the difference value is equal to or less than the first threshold value, the unmanned moving object 160 proceeds to step 207 to change the error count value. According to another embodiment of the present disclosure, when it is identified that the difference value is greater than the first threshold value, the unmanned moving object 160 proceeds to step 201 to receive a driving command signal.

In step 207 , the unmanned moving object 160 changes the error count value. When it is identified that the difference value with respect to the command value is equal to or less than the first threshold value, the unmanned mobile unit 160 identifies the received driving command signal as a stuck signal and increases the error count value. According to an embodiment of the present disclosure, the unmanned moving object 160 may increase the error count value by adding the same value to the error count value whenever the stuck signal is identified.

In step 209 , the unmanned moving object 160 identifies whether the error count value exceeds a second threshold value. The unmanned moving object 160 may determine whether the driving command device is stuck by comparing the error count value with the second threshold value. According to an embodiment of the present disclosure, when it is identified that the error count value is greater than the second threshold value, the unmanned moving object 160 proceeds to step 211 and identifies that a stuck state has occurred in the driving command device. According to another embodiment of the present disclosure, when it is identified that the error count value is less than or equal to the second threshold value, the unmanned moving object 160 proceeds to step 201 to receive a driving command signal.

In step 211 , the unmanned mobile unit 160 identifies the drive command device as a fixed state. The unmanned moving object 160 may change the driving mode when it is identified that the driving command device is in a fixed state.

3 illustrates a fixed state signal graph 300 in a driving system for an unmanned moving object according to various embodiments of the present disclosure. 3 shows the change in command value and speed over time, with respect to the stuck situation. Referring to FIG. 3 , the stuck state signal graph 300 includes a command value graph 310 and a speed graph 360 .

Referring to the command value graph 310 , the horizontal axis indicates time and the vertical axis indicates the command value. Referring to the speed graph 360 , the horizontal axis indicates time, and the vertical axis indicates speed.

According to an embodiment of the present disclosure, the command value includes an acceleration control value used to control the speed of the unmanned moving object. According to an embodiment of the present disclosure, the acceleration control value includes an accelerator value related to intensity input through an accelerator. In the command value graph 310, the command value is exemplified as a percentage value input through the accelerator.

In the period 0 to t1, the operator may increase the command value in order to increase the speed of the unmanned moving object. Correspondingly, according to the command value graph 310 , the command value of the driving command signal increases with time, and according to the speed graph 360 , the speed increases with time.

In the period t1 to t2, the operator may remotely control the command value to be maintained within a predetermined range. As the operator remotely operates the driving command device, command values are changed within a certain range due to a slight vibration or the like. In the case of an error due to the operation of the operator's driving command device, the difference value between command values is generally larger than the threshold value. Accordingly, the unmanned moving object identifies that the drive command device is in a normal state and is driven to correspond to the command value of the drive command signal. Correspondingly, according to the command value graph 310, the command value of the driving command signal is changed within a certain range over time, and according to the speed graph 360, the speed is maintained over time.

In a section after t2, a sticking may occur in the driving command device at time t2. As the stuck condition occurs, the command value remains constant. In the case of a stuck situation, the difference value between the command values is less than the threshold value. Accordingly, the unmanned moving body 160 identifies that the driving command device is in a fixed state, and operates in a safe driving mode to reduce the driving speed. Correspondingly, according to the command value graph 310, the command value of the driving command signal is maintained at a constant value over time, and according to the speed graph 360, the speed increases over time as the vehicle is driven in the safe mode. decreases.

4 illustrates a steady-state signal graph 400 in a driving system for an unmanned moving object according to various embodiments of the present disclosure. 4 shows the change in command value and speed with time. Referring to FIG. 4 , the steady state signal graph 400 includes a command value graph 410 and a speed graph 460 . FIG. 4 illustrates a signal graph for recovering the driving command device after the unmanned moving object identifies the drive command device as being stuck in the same situation as FIG. 3 .

Referring to FIG. 4 , the difference between command values before t3 is maintained to be smaller than the threshold value, and the speed of the unmanned moving object decreases until just before t3. The operator may detect a decrease in the speed of the unmanned moving object at time t3 and transmit a driving command signal having an increased command value to the unmanned moving object. When the unmanned moving object receives a drive command signal having an increased command value, the drive command device is identified as a normal state and is controlled based on the drive command signal. Correspondingly, the command value increases according to the command value graph 410 , and the speed increases according to the speed graph 460 .

After that, even when the driving command signal is changed within a certain range, the driving speed of the unmanned moving object is not reduced because the driving command device identifies it as a normal state. Correspondingly, according to the command value graph 410 , the command value is maintained within a certain range, and according to the speed graph 460 , the speed is maintained.

5 is a flowchart 500 of a method of operating an unmanned moving object in a driving system of an unmanned moving object according to various embodiments of the present disclosure. 5 exemplifies an operation method of the unmanned moving body 160 of FIG. 1 .

Referring to FIG. 5 , in step 501 , the unmanned moving object 160 receives a first signal for instructing the driving of the unmanned moving object from the driving command device. The driving command signal may include a command value indicating the driving command. According to an embodiment of the present disclosure, the command value includes an acceleration control value used to control the speed of the unmanned moving object. According to an embodiment of the present disclosure, the acceleration control value includes an intensity value input through an accelerator to increase the speed of the unmanned moving object. According to an embodiment of the present disclosure, the driving command device may include at least one of a simulated accelerator pedal remotely controlling an unmanned moving object, a simulated joystick, and a wired tracking device connected to a platform for controlling the unmanned moving object.

In step 503 , the unmanned moving object 160 receives a second signal for instructing the driving of the unmanned moving object from the driving command device. According to an embodiment of the present disclosure, the unmanned moving object 160 may receive a driving command signal including a command value of the same form as the first signal.

In step 505 , the unmanned mobile unit 160 identifies whether a first difference value between the command value of the second signal and the command value of the first signal is equal to or less than a first threshold value. The unmanned mobile unit 160 determines whether the received second signal is a fixed signal based on the difference between the command values. According to an embodiment of the present disclosure, the unmanned moving object 160 may acquire a first command value from the first signal and acquire a second command value from the second signal. The unmanned moving object 160 determines a first difference value between the second command value and the first command value, and identifies whether the determined first difference value is less than or equal to a first threshold value. According to an embodiment of the present disclosure, the first threshold value includes a value predefined according to a user's setting.

In step 507 , when the first difference value is less than or equal to the first threshold value, the unmanned moving object 160 changes the error count value. When it is identified that the difference value determined in step 505 is equal to or less than the first threshold value, the unmanned mobile unit 160 may increase the error count value by adding a preset value to the previous error count value.

In step 509 , the unmanned moving object 160 identifies whether the error count value exceeds a second threshold value. The unmanned moving object 160 may identify whether a stuck situation has occurred in the driving command device based on the error count value. According to an embodiment of the present disclosure, when it is identified that the error count value is smaller than the second threshold value, the unmanned moving object 160 receives a third signal for instructing the driving of the unmanned moving object from the driving command device, and the command value can be used to repeat the procedure to change the error count value. According to an embodiment of the present disclosure, the second threshold value includes a value predefined according to a user's setting.

In step 511 , when the error count value exceeds the second threshold value, the unmanned moving object 160 reduces the driving speed of the unmanned moving object. The unmanned moving object 160 may operate in a safe driving mode based on a comparison result of the error count value and the second threshold value. According to an embodiment of the present disclosure, when it is identified that the error count value determined in step 509 is greater than the second threshold value, the unmanned mobile unit 160 identifies that a stuck situation has occurred in the driving command device, and the unmanned mobile unit 160 . control so that the driving speed of

After the unmanned moving object 160 operates in the safe driving mode and the driving speed is reduced, an additional procedure may be performed.

According to an embodiment of the present disclosure, the unmanned moving object 160 may perform a procedure for restoring the operation mode to the normal operation mode after operating in the safe operation mode. While operating in the safe driving mode, the unmanned moving object 160 may receive a third signal for instructing an increase in the driving speed of the unmanned moving object from the driving command device. The unmanned moving object 160 may determine that the driving command device is in a normal state based on the third signal. Thereafter, the unmanned moving object 160 may operate in the normal driving mode by increasing the speed based on the command value included in the third signal.

According to an embodiment of the present disclosure, while operating in the safe driving mode, the unmanned moving object 160 may transmit a response signal for notifying the driving command device of the stuck situation and requesting a normal driving command signal. The unmanned moving object 160 identifies a period of operation in the safe driving mode. The unmanned moving object 160 may identify the period of operation in the safe driving mode by checking the operation period of the step of reducing the driving speed. Thereafter, the unmanned moving object 160 identifies whether the operation period exceeds the third threshold value. When it is identified that the operation period is greater than the third threshold value, the unmanned mobile unit 160 may transmit a response signal requesting a normal driving command signal.

According to an embodiment of the present disclosure, an operator may stably operate an unmanned moving object. Unmanned moving objects include robots and vehicles. Methods according to the embodiments described in the claims or specifications of the present disclosure may be implemented in the form of hardware, software, or a combination of hardware and software.

When implemented in software, a computer-readable storage medium storing one or more programs (software modules) may be provided. One or more programs stored in the computer-readable storage medium are configured to be executable by one or more processors in an electronic device (device). One or more programs include instructions for causing an electronic device to execute methods according to embodiments described in a claim or specification of the present disclosure.

Such programs (software modules, software) include random access memory, non-volatile memory including flash memory, read only memory (ROM), electrically erasable programmable ROM (electrically erasable programmable read only memory, EEPROM), magnetic disc storage device, compact disc-ROM (CD-ROM), digital versatile discs (DVDs), or other It may be stored in an optical storage device or a magnetic cassette. Alternatively, it may be stored in a memory composed of a combination of some or all thereof. In addition, each configuration memory may be included in plurality.

In addition, the program is transmitted through a communication network consisting of a communication network such as the Internet, an intranet, a local area network (LAN), a wide area network (WAN), or a storage area network (SAN), or a combination thereof. It may be stored on an attachable storage device that can be accessed. Such a storage device may be connected to a device implementing an embodiment of the present disclosure through an external port. In addition, a separate storage device on the communication network may be connected to the device implementing the embodiment of the present disclosure.

In the specific embodiments of the present disclosure described above, components included in the disclosure are expressed in the singular or plural according to the specific embodiments presented. However, the singular or plural expression is appropriately selected for the context presented for convenience of description, and the present disclosure is not limited to the singular or plural component, and even if the component is expressed in plural, it is composed of a singular or singular. Even an expressed component may be composed of a plurality of components.

Meanwhile, although specific embodiments have been described in the detailed description of the present disclosure, various modifications are possible without departing from the scope of the present disclosure. Therefore, the scope of the present disclosure should not be limited to the described embodiments and should be defined by the claims described below as well as the claims and equivalents.

Claims (6)

In the operating method of an unmanned moving object operated remotely,
receiving a first signal for instructing driving of the unmanned moving object from a driving command device;
receiving a second signal for instructing driving of the unmanned moving object from a driving command device;
identifying whether a first difference value between a command value of the second signal and a command value of the first signal is less than or equal to a first threshold value;
changing an error count value when the difference value is equal to or less than the first threshold value;
identifying whether the error count value is greater than a second threshold; and
and decreasing a driving speed of the unmanned mobile device when the error count value exceeds a second threshold value.
The method according to claim 1,
The command value of the first signal and the command value of the second signal include an acceleration control value for controlling the speed of the unmanned moving object.
3. The method according to claim 2,
receiving a third signal for instructing an increase in the driving speed of the unmanned moving object from the driving command device; and
and identifying the driving command device as a normal state based on the third signal, and increasing the driving speed of the unmanned mobile body based on a command value included in the third signal.
3. The method according to claim 2,
identifying an operation period of the step of reducing the drive speed;
identifying whether the duration of operation is greater than a third threshold; and
and transmitting a response signal requesting a normal driving command signal to the driving command device when the operating period exceeds a third threshold value.
The method according to claim 1,
When the error count value is less than the second threshold value
receiving a third signal for instructing driving of the unmanned moving object from the driving command device;
identifying whether a second difference value between a command value of the third signal and a command value of the second signal is equal to or less than the first threshold value; and
and changing an error count value when the second difference value is equal to or less than the first threshold value.
The method according to claim 1,
and the drive command device includes at least one of a simulated accelerator pedal for remotely controlling the unmanned mobile body, a simulated joystick, and a wired follower connected to a platform for controlling the unmanned mobile body.

Images