KR20160020278A - Operation mode assignment method for remote control based robot - Google Patents

Operation mode assignment method for remote control based robot Download PDF

Info

Publication number
KR20160020278A
KR20160020278A KR1020140105402A KR20140105402A KR20160020278A KR 20160020278 A KR20160020278 A KR 20160020278A KR 1020140105402 A KR1020140105402 A KR 1020140105402A KR 20140105402 A KR20140105402 A KR 20140105402A KR 20160020278 A KR20160020278 A KR 20160020278A
Authority
KR
South Korea
Prior art keywords
mode
robot
emergency
operator
operation mode
Prior art date
Application number
KR1020140105402A
Other languages
Korean (ko)
Inventor
장원범
강홍구
김도종
이준희
Original Assignee
국방과학연구소
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 국방과학연구소 filed Critical 국방과학연구소
Priority to KR1020140105402A priority Critical patent/KR20160020278A/en
Publication of KR20160020278A publication Critical patent/KR20160020278A/en

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention relates to a method of allocating an operation mode of a remote control based unmanned robot, and more particularly, it relates to a method of allocating an operation mode of a remote control based unmanned robot to a traveling standby mode in which an unmanned robot enters a traveling standby mode, An operation mode input step in which the operator selects and inputs an operation mode to the unmanned robot; and an autonomous drive mode in which the unmanned robot travels through previously entered information and monitors the running state in real time if the operation mode is the autonomous mode, An emergency type determination step of discriminating an emergency state when an emergency state is detected in a traveling state, an emergency return mode in which the robot travels in a position where the unmanned robot can travel in an emergency state and communication with an operator is possible, And an emergency return mode step in which the operation mode is shifted to the unauthorized robot, And the operation mode of the unmanned robot based on the assigned mode transition result is implemented so that the remote robot operator can more effectively improve the remote driving control performance of the unmanned robot. Provides an allocation method.

Description

TECHNICAL FIELD [0001] The present invention relates to an operation mode allocation method for an unmanned robot,

[0001] The present invention relates to a remote control based unmanned robot operating mode, and more particularly, to an efficient operation of a vehicle in which an unmanned robot is installed, an operation mode of the robot is appropriately allocated according to the status of the operator, And a method of assigning an operation mode of the remote control based unmanned robot.

Conventional manned vehicles, which are manually operated by an operator on a vehicle and operated manually, are not limited to situations in which various functions necessary for vehicle operation such as starting and stopping a vehicle, determining a destination, selecting a driving route, The driver who has carried all the functions related to the driving of the vehicle directly to the vehicle himself or herself can comprehensively determine the state of the vehicle, the road conditions, and the surrounding conditions, There is no need for a separate mode allocation or a related operating method for driving according to the scenario.

However, in the case of an unmanned robot operated on the basis of the remote control information of the wireless communication at the remote control station remote from the unmanned robot without the operator directly boarding the vehicle, a remote driving mode similar to the manual driving mode The autonomous travel mode (consisting of the path travel and the subordinate travel mode) is required to allow the robot to travel by itself.

In this regard, it is also necessary to have a method of effectively controlling the running of the unmanned robot by making the bidirectional state transition smooth between the remote driving mode and the autonomous driving mode according to the operation of the operator taking into account the state of the unmanned robot and various operating conditions .

In addition, due to the nature of the unmanned robot, the operator does not directly ride on the robot, so that mode allocation that can quickly cope with various emergency and malfunction situations between the robot running is a necessary function in order to increase the survivability of the robot.

Therefore, in order for the vehicle equipped with the unmanned robot to be effectively driven, the traveling mode of the robot should be appropriately allocated according to the status of the operator and the state of the robot, and the assigned mode should be smoothly operated.

Korean Patent Publication No. 10-1994-0014057 (July 16, 1994) Korean Patent Publication No. 10-1998-0083920 (December, 1998)

In view of the above, it is an object of the present invention to provide a remote control-based unmanned robot in which an operation mode of an operator is appropriately allocated according to a status of an operator and a state of the robot in order to effectively run the vehicle on which the unmanned robot is installed And to provide an operating mode allocation method.

According to an operation mode allocation method of a remote control based unmanned robot according to the present invention, when an operator inputs power to a driving and communication related device of an unmanned robot provided in an unmanned robot, An operation mode input step in which an operator selects and inputs an operation mode to an unmanned robot, and if the operation mode is an autonomous mode, the unmanned robot travels through pre-inputted information, An emergency type determination step of discriminating an emergency state when an emergency state is detected in a running state; and an emergency type determination step of, when the unmanned robot is able to run in an emergency state and unable to communicate with an operator, And an emergency return mode step in which the operation mode is shifted to the emergency return mode in which the vehicle travels to a possible position. A method of assigning an operating mode of the robot is provided.

According to one aspect of the present invention, the autonomous mode may include a path driving mode in which the vehicle travels toward the target point and a dependent driving mode in which the vehicle travels in front of the vehicle. When the operation mode is the remote driving mode, A remote driving mode step may be performed in which the unmanned robot receives a driving command from the operator through the communication related device. In the autonomous driving mode state, the operation mode is changed to the remote driving mode according to the operation of the operator. It can be changed to the autonomous mode according to the operation.

According to another aspect of the present invention, when the unmanned robot arrives at a position where the robot can communicate with the operator in the emergency return mode step, the travel standby mode step can be performed again. If the emergency state is in the non-travelable state, The emergency stop mode step may be performed in which the operation mode is shifted to the emergency stop mode awaiting the action of the unmanned robot. In the emergency stop mode step, if the unavailability factor of the unmanned robot is eliminated, the run standby mode step may be performed again.

According to another aspect of the present invention, when the unmanned robot arrives at the arrival point, the running standby mode step can be performed again. If the operation mode is inputted in the running check mode, the state of the robot and the failure are checked, The standby mode step can be performed again.

According to the method for allocating an operation mode of a remote control based unmanned robot according to the present invention, a mode necessary for remote and autonomous travel of an unmanned robot is allocated, and the operation method is implemented based on the assigned state transition identification result, The robot operator of the unmanned robot can more effectively improve the remote driving control performance of the unmanned robot.

FIG. 1 is a flowchart of a method of assigning an operation mode of a remote control-based unmanned robot according to an embodiment of the present invention.
FIG. 2 is an autonomous moving mode state transition diagram of the operation mode allocation method of the remote control based unmanned robot of FIG. 1;
FIG. 3 is a state transition diagram of the remote driving mode of the method of assigning an operation mode of the remote control based unmanned robot of FIG.
FIG. 4 is a state transition diagram of a running standby mode and a running check mode of the method for assigning an operation mode of the remote control based unmanned robot of FIG. 1;
FIG. 5 is a state transition diagram of the emergency return mode of the method of allocating the operation mode of the remote control based unmanned robot of FIG. 1;
FIG. 6 is a state transition diagram of the emergency stop mode of the method for allocating the operation mode of the remote control based unmanned robot of FIG. 1;
7 is a schematic diagram of a method of assigning an operation mode of a remote control-based unmanned robot according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. The exemplary embodiments of the present invention may be embodied in many different forms without departing from the scope of the present invention. It is not limited to the embodiment.

As shown in FIG. 1, a method for assigning an operation mode of a remote control based unmanned robot according to the present invention is a method in which an unmanned robot moves from a running standby mode An operation mode input step S200 in which the operator selects and inputs the operation mode 200 to the unmanned robot and an operation mode input step S200 in which the operation mode 200 is set to the autonomous mode 210, An autonomous driving mode step S300 in which the unmanned robot travels through information previously input and monitors the driving state in real time, and an emergency type plate step S400 for discriminating the emergency state when the emergency state is detected in the driving state And an emergency return mode step S500 in which the operation mode 200 transits to the emergency return mode 240 in which the robot travels in an emergency state and the robot travels to a position communicable with the operator when the robot is unable to communicate with the operator The.

If the operation mode 200 is the remote driving mode 220, the remote driving mode step S300 'is performed in which the unmanned robot receives the driving command from the operator through the communication related device, and the emergency return mode step S500 The emergency stop mode (S100) is resumed and the emergency stop mode (250) stops at the current position and waits for an action by the operator if the emergency state is in a state in which the robot can not travel. The emergency stop mode step S500 'is performed in which the operation mode 200 is shifted to the emergency stop mode step S500'.

The travel-related mode assignment of the unmanned robot includes a remote driving mode 220, a slave driving mode 212 and a path driving mode 211 for directly driving the robot, a running standby mode 100 for assisting the driving, Mode 230 and an emergency stop mode 250 and an emergency return mode 240 that are operated in an emergency.

As shown in Table 1 below, the unmanned robot operation mode 200 of the present invention is selected based on the judgment of the operator or the state of the vehicle.

division Mode assignment Driving target Driving Select mode One Remote driving Operator Judgment Goal Driving Operator 2 Path driving Path point or target point Driving Operator 3 Dependent driving Leading robot Driving Operator 4 Waiting Waiting for current position stop Operator / Robot 5 Emergency return Final communication possible location Driving robot 6 emergency stop Waiting for current position stop Operator / Robot 7 Driving check Waiting for current position stop Operator

2, the path running mode 211 and the dependent running mode 212, which are the autonomous running mode 210, are bi-directional transitions to the remote running mode 220 and the running standby mode 100, Mode 240 and the emergency stop mode 250 is possible.

The path running mode 211 is a type of autonomous running mode in which the robot itself runs without the operator intervention, and is a mode in which the robot is controlled based on the digital terrain information at a remote control station and travels on the basis of the path or target point input to the robot .

The subordinate traveling mode 212 is also a mode of autonomous traveling mode in which the position of a specific robot is traced in real time without operator intervention.

3, the remote driving mode 220 is a one-way transition to the emergency stop mode 250 in which bidirectional transition is possible with the running standby mode 100, the path driving mode 211, the subordinate driving mode 212, Is possible. The remote driving mode (220) is a remotely implemented concept that an operator manages to ride on an existing manned vehicle for driving an unmanned robot. The operator manages the unmanned robot located at a remote location, Is a mode in which the robot travels on the basis of wireless communication using a control device within the robot.

As shown in FIG. 4, bidirectional transitions are possible with the running check mode 230, the remote running mode 220, the path running mode 211, and the dependent running mode 212 in the running standby mode 100. It is also possible to make a unidirectional transition from the emergency return mode 240 and the emergency stop mode 250.

The traveling standby mode 100 is a mode in which the remote control unit 220 forcibly controls the remote driving mode 220, the subordinate driving mode 212 and the path driving mode 211 by the remote operator, And is operated when the vehicle waits for traveling and transits from the emergency stop mode 250 and the emergency return mode 240 and waits for a re-run.

In the running standby mode 100, one of the four modes of the remote running mode 220, the running check mode 230 and the autonomous running mode 210, that is, the path running mode 211 and the dependent running mode 212, The mode transition through the operator selection is in a waiting state. If necessary, the power of the unmanned robot may be cut off through the selection of the operator.

The travel check mode 230 is a mode for confirming the running related state of the unmanned robot and the failure of the components before running the robot, and is performed by operating the control device of the operator.

As shown in FIG. 5, in the emergency return mode 240, unidirectional transition is possible in the running standby mode 100 and the emergency stop mode 250. It is also possible to make a one-way transition from the dependent running mode 212 and the path running mode 211. [

The emergency return mode 240 is a mode in which the unmanned robot is autonomously returned to the position where the communication was last connected when the wireless communication with the remote control center is disconnected during the autonomous running, and the operation of the robot within the control of the operator located at the remote location is guaranteed It is for this reason.

6, the emergency stop mode 250 is capable of unidirectional transition from the remote driving mode 220, the slave driving mode 212, the path driving mode 211, and the emergency return mode 240. [ Further, unidirectional transition to the running standby mode 100 is possible.

Emergency stop mode (250) is a mode that occurs when a catastrophic failure occurs in a category defined beforehand between unmanned robots or when an operator located at a remote location forcibly stops the unmanned robot in a specific situation. Without solving one factor, the unmanned robot can no longer continue to run.

The mode transition of the present invention will now be described in more detail with reference to FIG.

If the autonomous running mode 210 is selected as the operation mode 200 in the running standby mode 100, the unmanned robot transitions to the selected mode and starts running to the previously entered path point (or target / head robot) .

Also, it monitors whether the selected operation mode 200 is continued, whether communication is established with the control center, whether the robot is broken, and the like.

The autonomous running mode 210 includes a path running mode 211 for running toward a target point and a dependent running mode 212 for following another robot running in front of the autonomous robot.

Meanwhile, when the remote driving mode 220 is selected as the operation mode 200 in the running standby mode 100, the unmanned robot receives the running command from the operator through the communication related apparatus.

In the remote driving mode (220), it is monitored whether the selected operation mode (200) is continued, whether communication is established with the control station, whether the robot is broken or not.

The mode may be changed to the remote driving mode 220 according to the operation of the operator in the autonomous mode 210 or may be changed to the autonomous mode 210 according to the operation of the operator in the remote driving mode 220.

That is, when the operator selects the remote driving mode 220 in the path driving mode 211 and the dependent driving mode 212, the current autonomous driving mode 210 is stopped and the remote driving mode 220 is immediately changed to the remote Driving begins.

When the operator selects any one of the path driving mode 211 and the dependent driving mode 212 or the autonomous driving mode 210 in the remote driving mode 220, 220 is stopped and the operation mode 200 is shifted to the autonomous drive mode 210. [

When the self-running mode 210 or the remote running mode 220 in operation is released by the operator, the vehicle transits to the standby mode 100 and waits.

At this time, the emergency return mode 240 or the emergency stop mode 250 is performed according to the traveling state being monitored.

When the vehicle is judged to be in the running state as an emergency state in which the vehicle is in a running state during the running state monitoring, the vehicle is allowed to change from the running operation mode 200, i.e., the autonomous running mode 210 or the remote running mode 220 to the emergency return mode 240 do.

In the emergency return mode 240, the unmanned robot is moved to a position capable of communicating with the operator, and when the robot arrives at a position capable of communicating with the operator, the robot moves to the standby mode 100.

At this time, the unmanned robot is moved to a position where it can finally communicate with the control station based on the pre-stored route information.

If it is determined that an emergency state in which the vehicle can not run during the running state monitoring is detected, the transition is made from the running operation mode 200, that is, from the autonomous drive mode 210 or the remote drive mode 220 to the emergency stop mode 250 .

In the emergency stop mode 250, the unmanned robot is stopped at the current position and waits for the operator's action.

In the emergency stop mode 250, when the unavailability factor of the unmanned robot is solved, the transition is made to the running standby mode 100. [

When the operation mode 200 is input to the travel inspection mode 230, the state of the robot and the presence or absence of a failure are checked and then the transition to the travel standby mode 100 is made.

S100: Running standby mode step S200: Operation mode input step
S300: Autonomous driving mode step S300 ': Remote driving mode step
S400: Emergency type determination step S500: Emergency return mode step
S500 ': Emergency stop mode step
100: Standby mode 200: Operation mode
210: autonomous driving mode 211: path driving mode
212: Dependent driving mode 220: Remote driving mode
230: Running check mode 240: Emergency return mode
250: Emergency stop mode

Claims (9)

A sleep waiting mode step (S100) in which the unmanned robot enters a traveling standby mode (100) as an operator inputs power to a traveling and communication related device of the unmanned robot provided in the vehicle;
An operation mode input step (S200) in which the operator selects and inputs the operation mode (200) to the unmanned robot;
An autonomous driving mode step (S300) for, when the operation mode (200) is the autonomous driving mode (210), monitoring the driving state in real time while the unmanned robot is traveling through information previously input;
An emergency type plate step (S400) for distinguishing the emergency state when the emergency state is detected in the running state;
An emergency return mode step (200) in which the operation mode (200) transits to an emergency return mode (240) in which the robot travels in a position communicable with the operator when the robot is able to travel in the emergency state and the robot S500) of a remote control based unmanned robot. The method according to claim 1,
In the autonomous mode 210,
A route running mode 211 for traveling toward a target point,
And a subordinate driving mode (212) for following another vehicle traveling in front of the vehicle. The method according to claim 1,
When the operation mode 200 is the remote driving mode 220, a remote driving mode step S300 'is performed in which the unmanned robot receives a driving command from the operator through the communication related device. A Method of Assigning Operation Mode of Controlled Unmanned Robot. The method of claim 3,
The mode is changed to the remote driving mode 220 according to the operation of the operator in the autonomous mode 210,
Wherein the mode is changed to the autonomous mode (210) according to an operation of the operator in the remote running mode (220). The method according to claim 1,
When the vehicle arrives at a position where the vehicle can communicate with the operator in the emergency return mode step S500,
Wherein the step S100 is executed again. The method according to claim 1,
And an emergency stop mode step (S500 ') in which the operation mode (200) is shifted to the emergency stop mode (250), which stops at the current position and waits for the action of the operator, is performed when the emergency state is not possible to run A method of assigning an operation mode of a remote control based unmanned robot. The method according to claim 6,
If the non-running factor of the vehicle is eliminated in the emergency stop mode step 500 '
Wherein the step S100 is executed again. The method according to claim 1,
When the vehicle arrives at the destination,
Wherein the step S100 is executed again. The method according to claim 1,
When the operation mode (S200) is inputted to the travel inspection mode (230)
(S100) is executed again after checking the state of the robot and the presence or absence of a failure.
KR1020140105402A 2014-08-13 2014-08-13 Operation mode assignment method for remote control based robot KR20160020278A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020140105402A KR20160020278A (en) 2014-08-13 2014-08-13 Operation mode assignment method for remote control based robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020140105402A KR20160020278A (en) 2014-08-13 2014-08-13 Operation mode assignment method for remote control based robot

Publications (1)

Publication Number Publication Date
KR20160020278A true KR20160020278A (en) 2016-02-23

Family

ID=55449202

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020140105402A KR20160020278A (en) 2014-08-13 2014-08-13 Operation mode assignment method for remote control based robot

Country Status (1)

Country Link
KR (1) KR20160020278A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019021200A (en) * 2017-07-20 2019-02-07 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Control device, control method, control program and control system
KR20190109338A (en) 2019-09-06 2019-09-25 엘지전자 주식회사 Robot control method and robot
KR102112684B1 (en) * 2019-07-31 2020-06-03 엘지전자 주식회사 Method for transmitting control information for remote control in automated vehicle and highway systems and apparatus therefor
WO2021010612A1 (en) * 2019-07-15 2021-01-21 (주)로보티즈 Mobile robot platform system and operation method therefor

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR940014057A (en) 1992-12-31 1994-07-16 박태준 Unmanned vehicle and steering
KR19980083920A (en) 1997-05-20 1998-12-05 홍종만 Vehicle remote control device and method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR940014057A (en) 1992-12-31 1994-07-16 박태준 Unmanned vehicle and steering
KR19980083920A (en) 1997-05-20 1998-12-05 홍종만 Vehicle remote control device and method

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019021200A (en) * 2017-07-20 2019-02-07 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ Control device, control method, control program and control system
JP2021144732A (en) * 2017-07-20 2021-09-24 パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカPanasonic Intellectual Property Corporation of America Control device, control method, control program and control system
WO2021010612A1 (en) * 2019-07-15 2021-01-21 (주)로보티즈 Mobile robot platform system and operation method therefor
KR102112684B1 (en) * 2019-07-31 2020-06-03 엘지전자 주식회사 Method for transmitting control information for remote control in automated vehicle and highway systems and apparatus therefor
KR20190109338A (en) 2019-09-06 2019-09-25 엘지전자 주식회사 Robot control method and robot

Similar Documents

Publication Publication Date Title
KR20160020278A (en) Operation mode assignment method for remote control based robot
US10062289B2 (en) Device and method for assisting a driver in driving his vehicle into and out of a parking space in a parking facility
KR101562296B1 (en) Managing remote control of an elevator system
JP6556259B2 (en) Method and apparatus for automated valet parking service
JP6657436B1 (en) Group management control device and method of assigning car number to autonomous mobile unit
JP5302584B2 (en) Autonomous vehicle moving system by elevator
CN105501261B (en) Full-automatic driving method, apparatus and system under a kind of bad weather
US9561588B2 (en) Robot system including plurality of robot control devices
JP6812733B2 (en) How to operate the unmanned driving system outside the vehicle and the operation device outside the vehicle
JP2009051617A (en) Elevator control system
JP2018063615A (en) Remote control method of unmanned driving system and remote control apparatus
CN110304505B (en) Elevator control interaction device, robot and elevator control interaction system
CN108885458B (en) Method for operating a production facility and production facility
CN108333997A (en) A kind of Driverless site vehicle scheduling system and method based on car networking
CN105676760A (en) Unmanned electric locomotive multi-mode control structure and switching method
US20170305714A1 (en) Elevator control system overlay system
US11656625B2 (en) System for evacuating one or more mobile robots
CN107710095A (en) For vehicle to be transferred to the scheme of target location from original position
US10515490B2 (en) Method and device for determining whether a motor vehicle is instantaneously driven manually or automatically
JP5433606B2 (en) Group management elevator
US20200164716A1 (en) Method And Mobile Terminal For Controlling At Least One Air-Conditioning Device
EP3929133A1 (en) Elevator cars
KR101232877B1 (en) Unmanned driving system having relief function for train
US20190310657A1 (en) Method for Operating a Parking Environment in Alarm States and Autonomous Motor Vehicle with a Control System for Controlling the Method
CN109795366A (en) A kind of battery change system and its control method

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E601 Decision to refuse application