WO2024085276A1

WO2024085276A1 - Robotic device performing construction work and synchronization control system comprising same

Info

Publication number: WO2024085276A1
Application number: PCT/KR2022/016014
Authority: WO
Inventors: 김종찬; 김효곤; 박지현; 황정환; 박정우; 최영호; 노경석; 이효준; 박인규
Original assignee: 한국로봇융합연구원
Priority date: 2022-10-18
Filing date: 2022-10-20
Publication date: 2024-04-25
Also published as: KR20240054094A

Abstract

Disclosed are a robotic device performing construction work and a synchronization control system comprising same. The robotic device comprises: a transport unit which has a plurality of wheels and, which, by means of the plurality of wheels, moves on a rail structured to have a curvature; a camera which generates image information by capturing markers displayed on the rail at predetermined intervals; a sensor unit which generates measurement information by detecting the driving and posture of the transport unit; a work unit which performs construction work via multiple-degrees-of-freedom motions; and a control unit which controls so that the transport unit moves to a target location by using the image information and the measurement information, and corresponding construction work is performed by means of the work unit.

Description

Robotic devices performing construction tasks and synchronous control systems comprising the same

The present invention relates to a robotic device, and more specifically, to a robotic device that performs construction work by compensating for errors in position and posture that occur while moving a curved rail for construction work, and a synchronous control system including the same. It's about.

In the conventional bridge construction work, workers climbed the railings of formwork several meters high, wore safety rings, and constructed the bridge. However, this resulted in large and small safety accidents occurring every year.

To solve these problems, there is a movement to use robots to perform bridge construction work. However, as the robots moving for bridge construction slip on the rails, a problem arises in which precise control is not possible, and research for safer and more precise robot control is needed.

The problem to be solved by the present invention is to provide a robot device that performs construction work by compensating for errors in position and posture due to slippage occurring while moving a curved rail, and a synchronous control system including the same.

Another problem to be solved by the present invention is to provide a robot device that performs construction work that minimizes operational constraints on power supply and data communication that occur while moving on rails, and a synchronous control system including the same.

Another problem to be solved by the present invention is to provide a robot device that performs construction work that supports synchronization control for driving a plurality of robot devices on the same rail and a synchronization control system including the same.

In order to solve the above problem, the robot device according to the present invention is provided with a plurality of wheels, a transfer unit that moves on a rail having a curvature structure through the plurality of wheels, and the transfer unit is provided with the rail at preset intervals. A camera that generates image information by photographing the marker displayed on the transfer unit, a sensor unit that is provided on the transfer unit and generates measurement information by detecting the drive and posture of the transfer unit, and is provided on the top of the transfer unit and has many degrees of freedom. of freedom) moves the transfer unit to the target position using a work unit that performs construction work while exercising and the image information and the measurement information, and controls the work unit to perform the construction work, wherein the plurality of wheels When at least one of the rails slips and the position and posture of the transfer unit differ from the preset standard, it includes a control unit that compensates for errors in the position and attitude of each wheel and controls the transfer unit to reach the target position. .

In addition, it further includes a communication unit that communicates with a monitoring device that monitors the movement and the construction work, and a power unit that receives power from an external power source, wherein the communication unit and the power unit are in the form of a trolley-bar and send a control signal and It is characterized by being provided with power.

In addition, the control unit detects only control commands corresponding to a preset protocol among a plurality of control commands included in the control signal, and controls the operation of the transfer unit and the working unit according to the detected control command.

In addition, the control unit generates a position profile and a velocity profile considering the target position and the current position, and applies the generated position profile and velocity profile to an anti-windup control technique to compensate for the error in the position. It is characterized by:

In addition, the control unit compares absolute position information calculated using the image information and driving position information calculated using the driving states of the plurality of wheels, and when the compared difference value is greater than a preset standard. , characterized in that it is determined that there is an abnormality in marker recognition included in the image information and the operation of the transfer unit is restricted.

The control method of a robot device that performs construction work while moving on a rail having a curvature structure through a plurality of wheels according to the present invention includes receiving a control signal related to the construction work, and moving to a target position according to the control signal. determining whether a slip phenomenon has occurred during the movement; compensating for errors in the position and posture of each wheel when at least one of the plurality of wheels slips on the rail and the position and posture are different from a preset standard. and reaching the target location and performing the construction work.

The synchronous control system according to the present invention includes a rail that has a curvature structure and displays markers at preset intervals, a plurality of robot devices that perform construction work while moving on the rail, and the construction work while synchronizing the plurality of robot devices. and a monitoring device that transmits a control signal to perform work and monitors a state related to the construction work, wherein the robot device has a plurality of wheels and moves on the rail through the plurality of wheels. A transfer unit, a camera provided in the transfer unit and generating image information by photographing markers displayed on the rail at preset intervals, a sensor unit provided in the transfer unit and generating measurement information by detecting the drive and posture of the transfer unit, A work unit is provided on the upper part of the transfer unit and performs construction work while performing multi-degree-of-freedom movement, and the transfer unit is moved to the target location using the image information and the measurement information, and the construction work is performed through the work unit. However, when at least one of the plurality of wheels slips on the rail and the position and posture of the transfer unit differ from the preset standard, errors in the position and attitude of each wheel are compensated to move the transfer unit to the target position. It is characterized by including a control unit that controls it to reach.

In addition, the rail displays the markers at regular intervals and assigns an identification number to each marker to support the robot device to calculate absolute location information.

In addition, the monitoring device is characterized in that it stops the operation of the plurality of robot devices when two neighboring robot devices among the plurality of robot devices approach less than a preset interval to prevent the plurality of robot devices from colliding with each other.

Additionally, the monitoring device is characterized in that it controls synchronization of the plurality of robot devices based on the EtherCAT protocol.

According to an embodiment of the present invention, errors in position and posture caused by slipping while moving a curved rail are compensated based on marker recognition and yaw measurements to support more precise construction work. You can.

In addition, by preventing cable tangles in advance through a trolley-bar, operational constraints on power supply and data communication that occur while moving on the rail can be minimized.

Additionally, based on EtherCAT, it can stably support synchronization control to drive multiple robot devices on the same rail.

1 is a diagram for explaining a synchronization control system according to an embodiment of the present invention.

Figure 2 is a diagram for explaining how a robot device moves on a rail according to an embodiment of the present invention.

Figure 3 is a diagram for explaining how a robot device according to an embodiment of the present invention connects reinforcing bars to a bridge pier.

Figure 4 is a block diagram for explaining a robot device according to an embodiment of the present invention.

Figure 5 is a diagram for explaining the structure of a robot device according to an embodiment of the present invention.

Figure 6 is a diagram for explaining how a robot device checks a marker according to an embodiment of the present invention.

Figure 7 is a diagram for explaining position control of a robot device according to an embodiment of the present invention.

Figure 8 is a flowchart for explaining a control method of a robot device according to an embodiment of the present invention.

Figure 9 is a block diagram for explaining a computing device according to an embodiment of the present invention.

Below, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts unrelated to the description are omitted, and similar parts are given similar reference numerals throughout the specification.

In this specification and drawings (hereinafter referred to as “this specification”), duplicate descriptions of the same components are omitted.

Also, in this specification, when a component is mentioned as being 'connected' or 'connected' to another component, it may be directly connected or connected to the other component, but may be connected to the other component in the middle. It should be understood that may exist. On the other hand, in this specification, when it is mentioned that a component is 'directly connected' or 'directly connected' to another component, it should be understood that there are no other components in between.

Additionally, the terms used in this specification are merely used to describe specific embodiments and are not intended to limit the present invention.

Also, in this specification, singular expressions may include plural expressions, unless the context clearly dictates otherwise.

In addition, in this specification, terms such as 'include' or 'have' are only intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, and one or more It should be understood that this does not exclude in advance the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Also, in this specification, the term 'and/or' includes a combination of a plurality of listed items or any of the plurality of listed items. In this specification, 'A or B' may include 'A', 'B', or 'both A and B'.

Additionally, in this specification, detailed descriptions of well-known functions and configurations that may obscure the gist of the present invention will be omitted.

FIG. 1 is a diagram illustrating a synchronization control system according to an embodiment of the present invention, FIG. 2 is a diagram illustrating a robot device moving on a rail according to an embodiment of the present invention, and FIG. 3 is a diagram illustrating a synchronization control system according to an embodiment of the present invention. This is a drawing to explain how a robot device according to an embodiment connects reinforcing bars to a bridge pier.

Referring to FIGS. 1 to 3, the synchronous control system 500 compensates for errors in position and posture due to slippage occurring while moving the rail 200. The synchronous control system 500 minimizes operational constraints on power supply and data communication that occur while moving on the rail 200. The synchronization control system 500 supports synchronization control for driving a plurality of robot devices 100 on the same rail 200. The synchronization control system 500 includes a robot device 100, a rail 200, and a monitoring device 300, and may further include a user terminal 400.

The robot device 100 performs construction work while moving on the rail 200. Here, the construction work refers to the work of constructing a bridge pier, but is not limited to this and may refer to construction work performed at a high location. A workbench 610 is installed on the pier to protect foreign substances generated during construction work from falling to the outside, and major accidents due to separation of the robot device 100 can be prevented in advance. The robot device 100 includes a plurality of

robot devices

100a, 100b, and 100c, and the drawing shows three robot devices, but is not limited thereto. Each robot device (100a, 100b, 100c) receives power and control signals through the interface 620 installed on the workbench 610 of the bridge pier, and can perform construction work while moving on the rail 200. Here, the interface 620 may be formed entirely along the inner circumferential surface of the work table 610, or may be formed in a portion.

In detail, the plurality of

robot devices

100a, 100b, and 100c can move in both directions. For example, the plurality of

robot devices

100a, 100b, and 100c may move clockwise or counterclockwise. At this time, the plurality of

robot devices

100a, 100b, and 100c can prevent collisions with each other. Additionally, when the plurality of

robot devices

100a, 100b, and 100c slip on the rail 200 while moving to the target location, they can reach the target location by compensating for errors in position and posture that occur while sliding.

A plurality of

robot devices

100a, 100b, and 100c may perform construction work on a bridge pier. A plurality of robot devices (100a, 100b, 100c) perform bridge construction work by repeatedly stacking the reinforcing bar structures (I) layer by layer along the length of the bridge. That is, each of the plurality of robot devices (100a, 100b, 100c) can pour cement, etc. in a state where the reinforcing bar structure (I) is piled up, and then connect the reinforcing bar structure (I) thereon again. For example, each of the plurality of robot devices (100a, 100b, and 100c) may perform the task of combining the stacked steel structures (I1, I2) with the coupler (C).

The rail 200 is a line along which the robot device 100 moves and has a curvature structure. Preferably, the rail 200 may be formed in a circular or ring-shaped structure. The rail 200 is formed of a double line, and one of the two lines is connected to the front wheels (2) of the robot device 100, and the other line can be connected to the rear wheels (2) of the robot device 100. . For example, the lane 200 may have a first circular rail, and a second circular rail smaller than the first circular rail may be formed within the first circular rail.

The monitoring device 300 synchronizes the plurality of robot devices 100 and transmits a control signal to perform construction work to the plurality of robot devices 100. At this time, the monitoring device 300 may transmit a control signal to a plurality of robot devices 100 through the interface 620 and receive status information from each robot device 100. The monitoring device 300 can generate monitoring information for each robot device using the received status information of each robot device 100 and monitor the state related to construction work using the generated monitoring information. In addition, the monitoring device 300 stops the operation of the plurality of robot devices 100 when two neighboring robot devices among the plurality of robot devices 100 approach less than a preset interval to prevent the plurality of robot devices 100 from colliding with each other. Control signals can be generated. Meanwhile, the monitoring device 300 can perform real-time synchronization by controlling a plurality of robot devices 100 in real time based on Ethernet. Preferably, the monitoring device 300 can perform synchronization between the plurality of robot devices 100 using the EtherCAT protocol.

The user terminal 400 is a terminal used by a user and includes at least one. The user terminal 400 communicates with the monitoring device 300 and receives monitoring information from the monitoring device 300. The user terminal 400 supports users to intuitively check information related to construction work by outputting the received monitoring information.

FIG. 4 is a block diagram for explaining a robot device according to an embodiment of the present invention, FIG. 5 is a diagram for explaining the structure of a robot device according to an embodiment of the present invention, and FIG. 6 is a block diagram for explaining the structure of a robot device according to an embodiment of the present invention. This is a diagram for explaining how a robot device according to an embodiment of the present invention checks a marker, and FIG. 7 is a diagram for explaining the position control of a robot device according to an embodiment of the present invention.

1, 4 to 7, the robot device 100 includes a camera 20, a sensor unit 30, a control unit 40, a transfer unit 50, and a work unit 60, and a communication unit ( 10), it may further include a power supply unit 70 and a storage unit 80.

The communication unit 10 communicates with the monitoring device 300. The communication unit 10 receives control signals related to movement and construction work from the monitoring device 300. The communication unit 10 transmits status information indicating driving to the monitoring device 300. The communication unit 10 may be formed in a trolley bar shape in a direction opposite to the interface 620 installed on the work table 610. That is, the communication unit 10 can communicate with the monitoring device 300 through the interface 620.

The camera 20 is provided on the transfer unit 50 and generates image information by photographing the marker 210 displayed on the rail 200 at preset intervals. Preferably, the camera 20 may be provided at the lower part of the transfer unit 50 to easily photograph the marker 210. The marker 210 is a mark indicating the absolute value of the current position of the transfer unit 50 and may include identification information. That is, the first marker 210a is displayed at a first location and includes first identification information, the second marker 210b is displayed at a second location and includes second identification information, and the third marker 210c is It is displayed at a third location and includes third identification information.

The sensor unit 30 is provided in the transfer unit 50 and generates measurement information by detecting the drive and posture of the transfer unit. In detail, the sensor unit 30 is provided with an encoder (30a, 30b) for each wheel (50a, 50b) to detect the driving of the transfer unit (50) to measure the moving distance of each wheel (50a, 50b). Detects and generates driving measurement information using the detected moving distance. In addition, the sensor unit 30 is equipped with an inertial measurement unit (IMU) (not shown) in a part of the transfer unit 50 to detect the yaw value, and Posture measurement information is generated using the detected yaw value. Here, the yaw value may represent the posture distortion caused by the transfer unit 50 slipping on the rail 200.

The control unit 40 performs overall control of the robot device 100. The control unit 40 performs driving control according to the control signal received through the communication unit 10. The control unit 40 uses image information and measurement information (drive measurement information and posture measurement information) based on the control signal to move the transfer unit 50 to the target location and perform construction work through the work unit 60. Control.

In detail, the control unit 40 detects only the control command corresponding to a preset protocol among a plurality of control commands included in the control signal received from the communication unit 10. That is, the control unit 40 detects only the control command corresponding to itself from the control signal including all control commands instructed for each robot device. The control unit 40 can control the operation of the transfer unit 50 and the work unit 60 according to the detected control command.

Here, when at least one of the plurality of

wheels

50a and 50b slips on the rail 200 and the position and posture of the transfer unit 50 change from the preset standard, the control unit 40 detects an error in the position and posture of each wheel. By compensating, the transfer unit 50 is controlled to reach the target position. That is, the control unit 40 generates a position profile and a speed profile (trapezoidal speed profile) that take into account the target position set by the control signal and the current position detected by mark recognition, and converts the generated position profile and speed profile into PID (Proportional- Errors in the position of the transfer unit 50 can be compensated for using an Integral-Differential (FIG. 7) controller. Preferably, the control unit 40 may use a PID controller equipped with an anti-windup control technique that reduces tracking error. Additionally, the control unit 40 may determine the incorrect posture of the transfer unit 50 using the yaw value, and use the determined result to compensate for the incorrect posture of the transfer unit 50 to the correct basic posture.

Meanwhile, the control unit 40 may determine whether there is an abnormality in marker recognition performed to drive the transfer unit 50. The control unit 40 compares and analyzes absolute position information calculated using image information and driving position information calculated using the driving states of the plurality of

wheels

50a and 50b. If the difference value resulting from the comparison and analysis is greater than a preset standard, the control unit 40 determines that there is an error in marker recognition included in the image information. That is, the control unit 40 may determine that an abnormality, such as the shooting direction of the camera 20 is wrong or the position of the marker 200 is changed, has occurred. If the control unit 40 determines that an error has occurred in marker recognition, it stops the operation of the transfer unit 50 and transmits an alarm message to the monitoring server 300 to help the user recognize the matter.

The transfer unit 50 is provided with a plurality of

wheels

50a and 50b and moves on the rail 200 through the plurality of

wheels

50a and 50b. Preferably, the transfer unit 50 may include four wheels, but is not limited to this. Additionally, the transfer unit 50 can move in a basically horizontal position.

The working unit 60 may be provided at the top of the transfer unit 50, and preferably at the upper center. The work unit 60 includes a plurality of joints and performs construction work while exercising with many degrees of freedom through the plurality of joints. That is, the work unit 60 can handle, assemble, install, and construct objects in various directions. Preferably, the working unit 60 may be a robot arm such as a manipulator.

The power supply unit 70 receives power from an external power source and allows the robot device 100 to be driven through the provided power source. The power supply unit 70 can receive power in a three-phase, four-wire system, and for this purpose, it may include terminals for the R phase, S phase, T phase, and N phase. Preferably, the power unit 70 may receive power in the form of a trolley bar. At this time, since the power unit 70 and the communication unit 10 are formed in the form of one trolley bar, one interface 620 installed on the work table 610 can provide control signals and power at the same time. Meanwhile, the trolley bar forms a protective film in an 'ㄱ' shape at the top, minimizing contact with the outside (water, foreign substances, etc.), which can prevent safety accidents from occurring in advance.

The storage unit 80 stores a program or algorithm for driving the robot device 100. The storage unit 80 stores image information generated from the camera 20 and measurement information generated from the sensor unit 30. Additionally, the storage unit 80 stores setting values related to markers and setting values related to construction work. The storage unit 80 includes a flash memory type, hard disk type, multimedia card micro type, card type memory (for example, SD or XD memory, etc.), Random Access Memory (RAM), Static Random Access Memory (SRAM), Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Programmable Read-Only Memory (PROM), magnetic memory, It may include at least one storage medium of a magnetic disk and an optical disk.

Referring to Figures 1 and 8, the control method of the robot device 100 compensates for errors in position and posture due to slippage occurring while moving a curved rail based on marker recognition and yaw measurement values. , can support more precise construction work. The control method can minimize operational constraints on power supply and data communication that occur while moving on the rail by preventing cable entanglement through a trolley bar.

In step S110, the robot device 100 receives a control signal and is supplied with power. The robot device 100 can receive control signals and power simultaneously in the form of a trolley bar. At this time, the robot device 100 can detect only the control command corresponding to the preset protocol among the plurality of control commands included in the control signal. Here, the control signal may include control commands for controlling a plurality of robot devices.

In step S120, the robot device 100 moves to the target location. The robot device 100 moves to a target location to perform construction work according to control commands.

In step S130, the robot device 100 determines whether a slip phenomenon has occurred while moving to the target position. The robot device 100 uses an encoder and an IMU sensor to determine whether a slipping phenomenon has occurred due to the rail 200 having a curvature structure. The robot device 100 performs step S140 when it is determined that a slip phenomenon has occurred, and performs step S150 when it determines that a slip phenomenon has not occurred.

In step S140, the robotic device 100 compensates for the position and posture. The robot device 100 uses marker recognition displayed on the rail 200 to determine whether the current position has reached the target position, and if it has not reached the target position, it compensates for this and moves to the target position. Additionally, the robot device 100 uses the yaw value to determine whether the current posture is a preset basic posture, and if the posture is incorrect, it compensates for this and corrects the posture to the default posture.

In step S150, the robotic device 100 performs construction work. When the robot device 100 reaches the target location, it performs construction work according to control commands. Here, the construction work refers to the work of constructing a bridge pier, but is not limited to this and may refer to construction work performed at a high location.

Referring to FIG. 9, the computing device TN100 may be a device described herein (eg, a robot device, a monitoring device, a user terminal, etc.).

The computing device TN100 may include at least one processor TN110, a transceiver device TN120, and a memory TN130. Additionally, the computing device TN100 may further include a storage device TN140, an input interface device TN150, an output interface device TN160, etc. Components included in the computing device TN100 may be connected by a bus TN170 and communicate with each other.

The processor TN110 may execute a program command stored in at least one of the memory TN130 and the storage device TN140. The processor TN110 may refer to 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, and methods described in connection with 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 can store various information related to the operation of the processor TN110. Each of the memory TN130 and the storage device TN140 may be comprised of at least one of a volatile storage medium and a non-volatile storage medium. For example, the memory TN130 may be comprised of at least one of read only memory (ROM) and random access memory (RAM).

The transceiving device TN120 can transmit or receive wired signals or wireless signals. The transmitting and receiving device (TN120) can be connected to a network and perform communication.

Meanwhile, the embodiments of the present invention are not only implemented through the apparatus and/or method described so far, but may also be implemented through a program that realizes the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded. This implementation can be easily implemented by anyone skilled in the art from the description of the above-described embodiments.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. It falls within the scope of invention rights.

Claims

A transfer unit having a plurality of wheels and moving on a rail having a curvature structure through the plurality of wheels;

a camera provided on the transfer unit and generating image information by photographing markers displayed on the rail at preset intervals;

A sensor unit provided in the transfer unit and generating measurement information by detecting the drive and posture of the transfer unit;

a work unit provided on the upper part of the transfer unit and performing construction work while exercising with many degrees of freedom; and

The image information and the measurement information are used to move the transfer unit to the target location and control the construction work to be performed through the work unit,

When at least one of the plurality of wheels slips on the rail and the position and posture of the transfer unit differ from a preset standard, the error in the position and attitude of each wheel is compensated to control the transfer unit to reach the target position. control unit;

A robotic device comprising:
According to clause 1,

a communication unit in communication with a monitoring device for monitoring the movement and related construction operations; and

It further includes a power supply unit that receives power from an external power source,

The communication unit and the power unit,

A robot device characterized by receiving control signals and power in the form of a trolley-bar.
According to clause 2,

The control unit,

A robot device characterized in that it detects only control commands corresponding to a preset protocol among a plurality of control commands included in the control signal, and controls the operation of the transfer unit and the working unit according to the detected control command.
According to clause 1,

The control unit,

Characterized by generating a position profile and a velocity profile considering the target position and the current position, and compensating for errors in the position by applying the generated position profile and velocity profile to an anti-windup control technique. robotic device.
According to clause 1,

The control unit,

Absolute position information calculated using the image information is compared with driving position information calculated using the driving states of the plurality of wheels, and if the compared difference value is greater than a preset standard, the image information A robot device characterized in that it determines that there is an abnormality in the included marker recognition and limits the operation of the transfer unit.
In the control method of a robot device that performs construction work while moving on a rail having a curvature structure through a plurality of wheels,

Receiving control signals related to construction work;

moving to a target position according to the control signal;

determining whether a slip phenomenon occurred during the movement;

When at least one of the plurality of wheels slips on the rail and the position and posture are different from a preset standard, compensating for errors in the position and posture of each wheel to reach the target position; and

carrying out the construction work;

A control method for a robot device comprising:
A rail that has a curvature structure and displays markers at preset intervals;

a plurality of robot devices that perform construction work while moving on the rails; and

It includes a monitoring device that transmits a control signal to perform the construction work while synchronizing the plurality of robot devices, and monitors a state related to the construction work,

The robot device is,

a transfer unit having a plurality of wheels and moving on the rail through the plurality of wheels;

a camera provided on the transfer unit and generating image information by photographing markers displayed on the rail at preset intervals;

A sensor unit provided in the transfer unit and generating measurement information by detecting the drive and posture of the transfer unit;

a work unit provided on an upper part of the transfer unit and performing construction work while performing multiple degrees of freedom movements; and

The image information and the measurement information are used to move the transfer unit to the target location and control the construction work to be performed through the work unit,

When at least one of the plurality of wheels slips on the rail and the position and posture of the transfer unit differ from a preset standard, the error in the position and attitude of each wheel is compensated to control the transfer unit to reach the target position. control unit;

A synchronous control system comprising:
According to clause 7,

The rail is,

A synchronous control system that displays the markers at regular intervals and assigns an identification number to each marker to support the robot device to calculate absolute position information.
According to clause 7,

The monitoring device is,

A synchronization control system characterized in that when two neighboring robot devices among the plurality of robot devices approach within a preset distance or less, the operation of the corresponding robot devices is stopped to prevent the plurality of robot devices from colliding with each other.
According to clause 7,

The monitoring device is,

A synchronization control system that controls synchronization of the plurality of robot devices based on the EtherCAT protocol.