Apparatus for automatic restoration control of multi-object autonomous robot method for the same and computer recordable medium storing program to perform the method
An apparatus for automatic restoration control of a multi-object autonomous robot system of the present invention includes: a failure status determination unit which receives a failure status index indicating a degree of failure of each of a plurality of robots included in a robot group performing o...
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Format | Patent |
Language | English Korean |
Published |
23.04.2020
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Abstract | An apparatus for automatic restoration control of a multi-object autonomous robot system of the present invention includes: a failure status determination unit which receives a failure status index indicating a degree of failure of each of a plurality of robots included in a robot group performing one task and fault information including additional information about fault, and outputs a health status index of the robot group through a plurality of calculations of artificial neural networks having learned weights; a task achievement estimation unit which receives the failure status index, the health status index, and difficulty of the task, and derives a task achievement index through fuzzy inference calculation; and a restoration control unit for determining whether to perform automatic restoration control for the robot group (100) according to the task achievement index.
본 발명의 다개체 자율로봇 시스템의 자동 복원 제어를 위한 장치는 하나의 임무를 수행하는 로봇그룹에 포함된 복수의 로봇 각각의 고장의 정도를 나타내는 고장상태지수 및 고장에 대한 부가 정보를 포함하는 고장 정보를 입력 받고, 가중치가 학습된 인공신경망의 복수의 연산을 통해 로봇그룹의 건강상태지수를 출력하는 고장상태판단부와, 상기 고장상태지수, 상기 건강상태지수 및 상기 임무의 난이도를 입력받고, 퍼지 추론 연산을 통해 임무달성지수를 도출하는 임무달성추정부와, 상기 임무달성지수에 따라 상기 로봇그룹(100)에 대한 자동 복원 제어 여부를 결정하는 복원제어부를 포함한다. |
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AbstractList | An apparatus for automatic restoration control of a multi-object autonomous robot system of the present invention includes: a failure status determination unit which receives a failure status index indicating a degree of failure of each of a plurality of robots included in a robot group performing one task and fault information including additional information about fault, and outputs a health status index of the robot group through a plurality of calculations of artificial neural networks having learned weights; a task achievement estimation unit which receives the failure status index, the health status index, and difficulty of the task, and derives a task achievement index through fuzzy inference calculation; and a restoration control unit for determining whether to perform automatic restoration control for the robot group (100) according to the task achievement index.
본 발명의 다개체 자율로봇 시스템의 자동 복원 제어를 위한 장치는 하나의 임무를 수행하는 로봇그룹에 포함된 복수의 로봇 각각의 고장의 정도를 나타내는 고장상태지수 및 고장에 대한 부가 정보를 포함하는 고장 정보를 입력 받고, 가중치가 학습된 인공신경망의 복수의 연산을 통해 로봇그룹의 건강상태지수를 출력하는 고장상태판단부와, 상기 고장상태지수, 상기 건강상태지수 및 상기 임무의 난이도를 입력받고, 퍼지 추론 연산을 통해 임무달성지수를 도출하는 임무달성추정부와, 상기 임무달성지수에 따라 상기 로봇그룹(100)에 대한 자동 복원 제어 여부를 결정하는 복원제어부를 포함한다. |
Author | KIM DONG GIL |
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DocumentTitleAlternate | 다개체 자율로봇의 자동 복원 제어를 위한 장치, 이를 위한 방법 및 이 방법을 수행하는 프로그램이 기록된 컴퓨터 판독 가능한 기록매체 |
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Title | Apparatus for automatic restoration control of multi-object autonomous robot method for the same and computer recordable medium storing program to perform the method |
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