KR20230088169A - Quarantine system using heterogeneous multi-robot - Google Patents

Abstract

The present invention relates to a quarantine system using heterogeneous multi-robots that plan quarantine operations based on the degree of contamination of objects to be disinfected,
The quarantine system using heterogeneous multi-robots according to an embodiment of the present invention,
An initial information input unit that receives quarantine target information including a quarantine space, a quarantine segment, and a quarantine object, station information, map information, and initial information about a robot to be quarantined; a task creation unit for generating a task by selecting quarantine segments having a representative pollution level of the quarantine segments equal to or greater than a reference contamination level and arranging them in ascending order of contamination; A work planning unit that sets or changes a work order based on the quarantine space to minimize the unusable time of the space; and a task assigning unit for allocating robots capable of quickly performing tasks in consideration of robot-related parameters to the tasks arranged based on the quarantine space.

Description

Quarantine system using heterogeneous multi-robot}

The present invention relates to a quarantine system for virus prevention for multi-use facilities, and relates to a quarantine system using heterogeneous multi-robots that plan quarantine operations based on the degree of contamination of objects to be disinfected.

Currently, most multi-robot task planning methods organize all tasks into individual tasks to improve robot operation efficiency or allocate tasks to robots in a way that reduces the time required for the entire task.

However, in the case of quarantine work, rather than reducing the efficiency of robot operation and the time required for overall work, it should be conducted in the direction of prioritizing quarantine of highly contaminated objects, and since space cannot be used during quarantine, individual quarantine units There is a special feature that needs to consider information about space so that quarantine work can be done in a specific space unit rather than in a specific space.

In addition, in the case of quarantine work, the method of wiping the quarantine target is more effective than the simple disinfectant spray method. need to do

Therefore, in order to operate heterogeneous multi-robots, it is necessary to configure a work plan for setting a work area and determining a work order, and the present invention discloses this.

Korean Patent Publication No. 2021-0147685

An object of the present invention is to provide a quarantine system using heterogeneous multi-robots that plans quarantine work for virus prevention for multi-use facilities based on the degree of contamination of objects to be disinfected.

The quarantine system using heterogeneous multi-robots according to an embodiment of the present invention,

Initial information to receive quarantine target information including at least one quarantine space, quarantine segments, and quarantine objects, station information, map information, and initial information about the robot to be quarantined input unit; a task generating unit for generating a segment list by selecting quarantine segments having a representative pollution level of the quarantine segments equal to or higher than a reference pollution level and arranging them in ascending order of contamination; A work planning unit that sets or changes a work order based on the quarantine space to minimize the unusable time of the space; and a task assigning unit for allocating robots capable of quickly performing tasks in consideration of robot-related parameters to the tasks arranged based on the quarantine space.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the quarantine space is a physical space to be quarantined, the quarantine object is an object to be treated for quarantine, and the quarantine segment is one within the quarantine space. It may be an area divided into a range that can be processed by the robot, or an object group in which the quarantine objects form one group.

In the quarantine system using heterogeneous robots according to an embodiment of the present invention, the station information includes a station type and a disinfection time, and the station type includes a charging station for charging the battery of the robot and a disinfection station for disinfecting the robot. A time required to disinfect the robot at the disinfection station may be allocated to the disinfection time.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the map information includes node information and edge information used to calculate the path the robot moves and the time required for the movement, and the node information It includes robot movement destination information, a type that is route information to the corresponding destination, and a state value indicating whether a node is occupied, and the edge information includes an ID of a start node and an ID of an end node. It may include the robot speed value when moving to the end node.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task generating unit provides UIDs (Uuique IDs) of quarantine segments whose representative pollution level is equal to or greater than the reference pollution level in the first segment list composed of the quarantine segments. A list of 2 segments is stored, and a third segment list is created by arranging the order of the second segment list in ascending order of representative pollution degree, and a standard contamination level among quarantine objects included in each quarantine segment stored in the third segment list. A first quarantine object list including the UIDs of the above quarantine objects can be created, and a second quarantine object list can be created by sorting the quarantine objects included in the first quarantine object list in order of contamination. .

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the second quarantine object list is a tuple list composed of tuples consisting of a quarantine segment and a list of quarantine objects in the corresponding quarantine segment. A first work list including a first work list, wherein the work planner creates a second work list composed of work groups generated by grouping quarantine segment tasks corresponding to the same quarantine space using the quarantine space in the first work list, A third task list arranged in order so that the floor disinfection task is performed last among the tasks in each quarantine space belonging to the second task list may be created.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task allocator calculates the task completion time of all robots for each quarantine task in the third task list, selects the optimal robot, and performs assignment. Proceeding, it is determined whether the calculation of the completion time for all robots has been completed, and if the calculation of the completion time for all robots has been completed, a robot matching the quarantine segment type may be assigned.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, before assigning a task to the robot, the task assigning unit first determines whether a robot state recovery task including robot disinfection, robot charging, and robot tool replacement is necessary. and after the robot state recovery task is completed, it may be determined whether the robot type matches the quarantine segment type of the third task list.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, when the robot type and the quarantine segment type are matched, the task allocator calculates the scheduled end time of the existing task of the matched robot, and completes the existing task. With the location as the starting location, the required time of the newly matched task may be calculated, and the execution completion time of the new task may be calculated by adding the expected completion time of the existing task.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the task allocator determines whether the segment type of the newly matched task is floor disinfection, and if it is a floor, within the same quarantine space to which the floor belongs. A robot with the smallest absolute value of the time difference between the completion time of the disinfection task excluding the floor in and the start of the floor disinfection task can be assigned.

In the quarantine system using heterogeneous multi-robots according to an embodiment of the present invention, the information update unit for updating the pollution level by reflecting the pollution level model built by collecting pollution-related data in the real environment, wherein the job generation unit updates the updated Based on the degree of contamination, a list of segments may be created by rearranging the segments in the order of highest degree of contamination.

Other specific details of implementations according to various aspects of the present invention are included in the detailed description below.

According to an embodiment of the present invention, it is possible to plan a quarantine work for virus prevention for multi-use facilities based on the degree of contamination of objects to be disinfected.

1 is a block diagram illustrating a quarantine system using heterogeneous multi-robots according to an embodiment of the present invention.
2 is a table showing initial information about quarantine targets, stations, maps, and robots input from the initial information input unit.
3 is a flowchart illustrating a process of creating a job in a job creation unit and arranging the jobs in order of contamination.
4 is a flowchart illustrating a process of reconstructing a task based on spatial information in a task planning unit.
5 is a flowchart illustrating a process of allocating a robot that can quickly perform a task in consideration of parameters related to the robot in the task allocator.
6 is a diagram illustrating a computing device according to an embodiment of the present invention.

Since the present invention can apply various transformations and have various embodiments, specific embodiments will be exemplified and described in detail in the detailed description. However, it should be understood that this is not intended to limit the present invention to specific embodiments, and includes all transformations, equivalents, and substitutes included in the spirit and scope of the present invention.

Terms used in the present invention are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In the present invention, terms such as 'include' or 'having' are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof. Hereinafter, a quarantine system using a heterogeneous multi-robot according to an embodiment of the present invention will be described with reference to the drawings.

1 is a block diagram illustrating a quarantine system using heterogeneous multi-robots according to an embodiment of the present invention.

As shown in FIG. 1, the quarantine system (100, hereinafter also referred to as the "quarantine system") using heterogeneous multi-robots according to an embodiment of the present invention includes an initial information input unit 110, a task generator 120, It includes a task planning unit 130, a task assigning unit 140, and an information updating unit 150.

In the quarantine system of the present invention, the quarantine target has a hierarchical structure in the order of quarantine space (Zone), quarantine segment (Segment), and quarantine object (Object), and the quarantine system of the present invention uses this hierarchical structure to efficiently quarantine the order Decide.

The quarantine space (Zone) means a physical space to be quarantined, the quarantine segment (Segment) means an area where one robot can be quarantined, and the quarantine object (Object) means an object to be quarantined. The quarantine segment includes an object group in which quarantine objects form one group. For example, individual quarantine objects such as a bed, a table, and a wardrobe may form one object group and become one quarantine segment.

The initial information input unit 110 receives initial information about quarantine target (Zone, Segment, Object) information, map information, and a robot to be quarantined.

The task creation unit 120 selects quarantine segments whose representative contamination levels of the quarantine segments are equal to or greater than the standard contamination level, and sorts them in ascending order of contamination to create a task. The representative contamination level of the quarantine segment is set to the highest value among contamination levels of quarantine objects in the corresponding quarantine segment.

The work planner 130 sets or changes the order of work based on the quarantine space (Zone), which is physical space information, to minimize the unusable time of the space.

The task allocator 140 assigns a robot capable of performing the task quickly in consideration of parameters related to the robot to the tasks arranged based on the quarantine space.

Meanwhile, the contamination level may increase over time or may increase according to event situations such as human contact, and such information is included in the contamination level model. Pollution level models can be built by collecting pollution-related data in real environments. The information updating unit 150 may update the pollution level by reflecting the pollution level model. When the contamination level is updated by the information updating unit 150, the task creation unit 120 creates/changes the tasks based on the updated contamination level by rearranging them in order of highest contamination level.

The initial information input unit 110 will be described with reference to FIG. 2 . 2 is a table showing initial information about quarantine targets, stations, maps, and robots received from the initial information input unit 110.

Referring to FIG. 2, the initial information input to the initial information input unit 110 includes initial information about quarantine target information 111 to 113, station information 114, map information 115, 116, robot information 117, and the like. includes

The quarantine target information 111 to 113 includes a quarantine space 111 (Zone), a quarantine segment 112 (Segment), and a quarantine object 113 (Object).

The quarantine space 111 refers to a physical space such as a room, corridor, or hall.

The quarantine segment 112 refers to an area divided into a range within which one robot can be disinfected within a quarantine space, and may be, for example, a group of objects such as a floor, a bed, a table, a closet, etc. in a certain area. there is.

The quarantine object 113 includes the time required to disinfect the quarantine object (Time), the robot type used for disinfection (Matching Robot Type), and the degree of contamination of the quarantine object (Disinfection), and this information is used when assigning robots. do.

The station information 114 (Station) includes the station type and disinfection time. Types of stations include charging stations that charge the robot's battery and disinfection stations that disinfect the robot. In the disinfection time, the time required to disinfect the robot at the disinfection station is allocated, and the remaining robots that do not require disinfection are assigned a value of 0.

The map information 115 and 116 includes node information 115 (Node) and edge information 116 (Edge), and these information are used to calculate the path the robot moves and the time required for the movement.

The node information 115 includes a type and a state value, and the types of types include robot moving destination information and moving point information to the corresponding destination. Specifically, the robot's movement destination information includes location information of a quarantine object for the robot's quarantine work, location information of a floor, location information of a station for the robot's recovery work, and the like. And, the state value indicates information about whether the corresponding node is occupied.

The edge information 116 represents a connection relationship between nodes. The edge information 116 includes a start node ID (Start Node UID) and an end node ID (End Node UID), and includes a robot speed value (Speed) when moving from the start node to the end node.

The robot information 117 includes information about the type of robot, current speed, current target point, battery, contamination level, and remaining amount of disinfection tool, and this information is used when assigning a robot.

Next, referring to FIG. 3 , the task generating unit 120 will be described. 3 is a flowchart illustrating a process of creating a job in a job creation unit and arranging the jobs in order of contamination.

First, the task generation unit 120 calls a first segment list composed of quarantine segments transmitted from the initial information input unit 110 . (S121)

Next, the task generation unit 120 stores UIDs (Uuique IDs) of quarantine segments having a representative contamination level higher than the quarantine standard contamination level as a second segment list. (S122) The disinfection standard pollution level may vary depending on the quarantine target space, and this can be changed by a user variable.

Next, the job generator 120 generates a third segment list by arranging the order of the second segment list stored in step S122 in ascending order of representative contamination. (S123)

Next, the task generating unit 120 creates a first quarantine object list (Object List) including UIDs of quarantine objects having a standard contamination level or higher among quarantine objects included in each quarantine segment stored in the third segment list. . (S124)

Next, the task generating unit 120 creates a second quarantine object list so that the quarantine objects included in the first quarantine object list are sorted in order of contamination. (S125)

Next, the task generating unit 120 transfers a task list (second quarantine object list) including segments and quarantine objects arranged in order of contamination to the task planning unit 130 . (S126)

Next, the work planning unit 130 will be described with reference to FIG. 4 . 4 is a flowchart illustrating a process of reconstructing a task based on spatial information in order to improve the quarantine effect and minimize space unusable time in the task planning unit.

First, the task planning unit 130 calls the second quarantine object list transmitted from the task generating unit 120 . (S131) At this time, the transferred second quarantine object list is referred to as a first work list. The first task list is [(segment, [object list]), ?? ] form, and includes a tuple list composed of tuples consisting of a quarantine segment and a list of quarantine objects in the corresponding segment. An example of a list of tuples is given in block 131. Here, a tuple is a data structure used to enumerate and store several pieces of data.

Next, the task planning unit 130 performs a process of grouping tasks corresponding to the same space in order to minimize space unusable time. Specifically, the task planner 130 creates a task group by grouping quarantine segment tasks corresponding to the same quarantine space using the quarantine space (Zone) in the first task list. (S132)

Referring to the example described in block 132, [[Segment5, segment2, segment8]] corresponding to the same quarantine space constitutes one work group, and the work groups of each quarantine space are configured in the form of a list to form a second work list. make up

On the other hand, in order to increase the quarantine effect, the quarantine work by the robot must proceed from top to bottom. To this end, the task planning unit 130 creates a third task list arranged in order so that the floor disinfection task can be performed last among the tasks in each quarantine space belonging to the second task list. (S133)

Referring to the example described in block 133, it can be seen that the order of "Segment2", which is the floor disinfection task in the first task group, is located behind other disinfection segments.

Next, the task planner 130 transfers the third task list generated in step S133 to the task allocator 140 . (S134)

Next, referring to FIG. 5 , the task assigning unit 140 will be described. 5 is a flowchart illustrating a process of allocating a robot that can quickly perform a task in consideration of parameters related to the robot in the task allocator.

First, the task assigning unit 140 calls the third task list generated by the task planning unit 130 and sequentially assigns robots to all the quarantine tasks in the third task list based on the quarantine segment. . (S141, S142) At this time, for each quarantine task in the third task list, task completion time of all robots is calculated, and an optimal robot is selected and assigned.

When the robot allocation for all tasks is not completed, the task allocator 140 determines whether the task completion time calculation for all robots has been completed (S143), and when the task completion time calculation is completed, the quarantine segment ( According to the Segment type, the matching robot is assigned. (S147 ~ S149)

The task allocation unit 140 calculates the task completion time when the calculation of the task completion time for all robots is not completed. At this time, the task assigning unit 140 first determines whether or not the robot state recovery task is required before allocating the task to the robot. (S144) The robot state recovery task includes robot disinfection/robot charging/robot tool replacement tasks.

The job assigning unit 140 determines the degree of contamination of the robot itself, and assigns a disinfection task to the robot when the degree of contamination is greater than or equal to a reference value. (S144_11, S144_12)

In addition, the task assigning unit 140 determines the battery state of the robot, and assigns a robot charging task when the battery of the robot is below a reference value. (S144_21, S144_22)

In addition, the task allocator 140 determines the remaining amount of the robot tool, and assigns a robot tool replacement task when the remaining amount of the robot tool is less than a reference value. (S144_31, S144_32)

The steps (S144_11, S144_12), (S144_21, S144_22), and (S144_31, S144_32) steps do not necessarily proceed in this order, and the order of judgment may be combined differently.

After the robot state recovery task is completed, the task allocation unit 140 determines whether the robot type matches the quarantine segment type of the third task list. (S145) For example, if the quarantine segment type is an object group (Object List), a robot that wipes a quarantine object with a tool is matched, and if the quarantine segment type is a floor, a floor disinfection robot is matched.

When the robot type and the quarantine segment type are matched, the task allocator 140 calculates the expected task end time of the matched robot. Here, the “expected task end time” includes the expected end time of the current task and the expected end time of a task scheduled after the current task. Next, the task allocator 140 calculates the required time of the newly matched task using the completion position of the previously reserved task as the starting point, and adds the expected completion time of the previously scheduled task to complete the new task. Calculate time. (S146)

The task allocation unit 140 repeats steps S144 to S146 until the calculation of the task completion time for all robots is completed, and when the calculation of the task completion time for all robots is completed, Depending on the segment type of the job, assign the corresponding robot to it. (S147 ~ S149) At this time, the task assigning unit 140 determines whether the segment type of the task is floor disinfection (S147), and if it is a floor, the disinfection task is completed within the same quarantine space (Zone) to which the floor belongs. The robot (floor disinfection robot) with the smallest absolute value of the difference between the time (object and segment completion time excluding the floor) and the floor disinfection work start time is assigned (S148), and if the segment type is not floor, the task completion time is Allocate the fastest robot. (S149)

The reason why it is first determined whether the type of work is the floor is that the disinfection effect increases when the disinfection work is performed from the top to the bottom, and the contamination level of the floor increases as dust falls to the floor while disinfecting objects located above. In other words, after disinfection of quarantine objects is completed, floor disinfection must be performed to increase the disinfection effect. Therefore, if the segment type is floor, the rest of the quarantine except for the floor is completed within the same quarantine space (Zone). A robot must be assigned so that it can proceed later.

However, if you simply assign a robot whose task start time is later than the object or segment disinfection completion point, there may be a large empty time between the two tasks, and in this case, the time when the space cannot be used may become longer. To prevent this, even if the robot waits for a while, it is desirable to assign the robot with the smallest absolute value of the difference between the two points in time.

When robot allocation is completed for all tasks in the list, the task of the task allocator 140 is finished, and the information update unit 150 updates the completed assignment information.

6 is a diagram illustrating a computing device according to an embodiment of the present invention. The computing device TN100 of FIG. 6 may be a device for performing quarantine using the heterogeneous multi-robot described in this specification.

In the embodiment of FIG. 6 , the computing device TN100 may include at least one processor TN110, a transceiver TN120, and a memory TN130. In addition, the computing device TN100 may further include a storage device TN140, an input interface device TN150, and an output interface device TN160. Elements included in the computing device TN100 may communicate with each other by being connected by a bus TN170.

The processor TN110 may execute program commands stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may mean a central processing unit (CPU), a graphics processing unit (GPU), or a dedicated processor on which methods according to embodiments of the present invention are performed. Processor TN110 may be configured to implement procedures, functions, methods, and the like described in relation to embodiments of the present invention. The processor TN110 may control each component of the computing device TN100.

Each of the memory TN130 and the storage device TN140 may store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may include at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may include at least one of read only memory (ROM) and random access memory (RAM).

The transmitting/receiving device TN120 may transmit or receive a wired signal or a wireless signal. The transmitting/receiving device TN120 may perform communication by being connected to a network.

Meanwhile, the present invention may be implemented as a computer program. The present invention can be combined with hardware and implemented as a computer program stored in a computer-readable recording medium.

Methods according to embodiments of the present invention may be implemented in the form of programs readable by various computer means and recorded on computer-readable recording media. Here, the recording medium may include program commands, data files, data structures, etc. alone or in combination.

Program instructions recorded on the recording medium may be those specially designed and configured for the present invention, or those known and usable to those skilled in computer software.

For example, recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical media such as CDROMs and DVDs, and magneto-optical media such as floptical disks. optical media), and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like.

Examples of the program command may include a high-level language that can be executed by a computer using an interpreter, as well as a machine language generated by a compiler.

These hardware devices may be configured to act as one or more software modules to perform the operations of the present invention, and vice versa.

Although one embodiment of the present invention has been described above, those skilled in the art can add, change, delete, or add components within the scope not departing from the spirit of the present invention described in the claims. The present invention can be variously modified and changed by the like, and this will also be said to be included within the scope of the present invention.

110: initial information input unit 120: job creation unit
130: work planning unit 140: work allocation unit
150: information update unit

Claims (11)

Initial information to receive quarantine target information including at least one quarantine space, quarantine segments, and quarantine objects, station information, map information, and initial information about the robot to be quarantined input unit;
a task generating unit for generating a segment list by selecting quarantine segments having a representative pollution level of the quarantine segments equal to or higher than a reference pollution level and arranging them in ascending order of contamination;
A work planning unit that sets or changes a work order based on the quarantine space to minimize the unusable time of the space;
a task assigning unit for allocating a robot capable of quickly performing tasks in consideration of robot-related parameters to the tasks arranged based on the quarantine space;
Containing, quarantine system using heterogeneous multi-robot.
The method of claim 1,
The quarantine space is a physical space to be quarantined,
The quarantine object is an object to be treated for quarantine,
The quarantine segment is an area divided into a range that can be processed by one robot in the quarantine space or an object group in which the quarantine objects form a group.
The method of claim 1,
The station information includes a station type and disinfection time,
The station type includes a charging station for charging the battery of the robot and a disinfection station for disinfecting the robot,
In the disinfection time, the time required to disinfect the robot at the disinfection station is allocated.
A quarantine system using heterogeneous multi-robots.
The method of claim 1,
The map information includes node information and edge information used to calculate the route the robot moves and the time required for the movement,
The node information includes type of robot movement destination information and route information to the destination, and a state value indicating whether the node is occupied,
The edge information includes an ID of a start node and an ID of an end node, and includes a robot speed value when moving from the start node to the end node.
The method according to claim 1, wherein the task generating unit,
In the first segment list composed of the quarantine segments, UIDs (Uuique IDs) of quarantine segments having a representative contamination level equal to or greater than the reference pollution level are stored as a second segment list,
generating a third segment list by arranging the order of the second segment list in ascending order of representative contamination;
Creating a first quarantine object list (Object List) including UIDs of quarantine objects having a standard contamination level or higher among quarantine objects included in each quarantine segment stored in the third segment list;
Generating a second quarantine object list by arranging the quarantine objects included in the first quarantine object list in order of contamination.
A quarantine system using heterogeneous multi-robots.
The method of claim 5,
The second quarantine object list is a first work list including a tuple list composed of tuples consisting of a quarantine segment and a list of quarantine objects in the corresponding quarantine segment,
The task planning unit creates a second task list composed of task groups created by grouping quarantine segment tasks corresponding to the same quarantine space using the quarantine space in the first task list;
Generating a third work list arranged in order so that the floor disinfection work is performed last among the tasks in each quarantine space belonging to the second work list,
A quarantine system using heterogeneous multi-robots.
The method of claim 6,
The task allocator calculates the task completion time of all robots for each quarantine task in the third task list, selects the optimal robot, and proceeds with the assignment,
Determining whether the calculation of the task completion time for all robots has been completed, and assigning a matching robot according to the quarantine segment type when the task completion time calculation is completed,
A quarantine system using heterogeneous multi-robots.
The method of claim 7,
The task allocator first determines whether or not a robot state recovery task is required, including robot disinfection, robot charging, and robot tool replacement tasks, before allocating tasks to the robot;
After the robot state recovery task is completed, it is determined whether the robot type and the quarantine segment type of the third task list match.
The method of claim 8,
When the robot type and the quarantine segment type match,
The task allocator calculates the expected end time of the existing task of the matched robot, calculates the required time of the newly matched task using the completion location of the existing task as the starting location, and calculates the time required for the new task in addition to the expected completion time of the existing task. A quarantine system using heterogeneous multi-robots that calculates execution completion time.
The method according to claim 9, wherein the task assignment unit,
It is determined whether the segment type of the newly matched task is floor disinfection, and if it is a floor, the absolute value of the time difference between the completion time of the disinfection task excluding the floor and the start of the floor disinfection task within the same quarantine space to which the floor belongs is the largest. A quarantine system using heterogeneous multi-robots that assign small robots.
The method according to any one of claims 1 to 10,
Further comprising an information update unit for updating the pollution level by reflecting the pollution level model built by collecting pollution-related data in the real environment,
The task generator generates a list of segments by rearranging them in order of high contamination based on the updated contamination level.

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