KR-20260067125-A - APPARATUS AND METHOD FOR DIAGNOSING AUTONOMOUS DRIVING ROBOT

Abstract

The present invention relates to a device and method for diagnosing a fault in an autonomous driving robot. It comprises a communication unit that communicates with the robot and receives location data of the robot from a UWB positioning system, and a processor that verifies the location of the robot based on the location data, determines the operating state of the robot based on robot data received through the communication unit to control the operation of the robot, and diagnoses a fault in the robot. By measuring the location of the robot based on a UWB network and controlling the robot to autonomously drive, the operating state of the robot can be effectively monitored by receiving data about the robot, and faults in the robot can be detected and the robot can be remotely controlled to prevent damage to the robot.

Inventors

• 이준수
• 윤삼진

Assignees

• 주식회사 웨이브에이아이

Dates

Publication Date

20260512

Application Date

20241105

Claims (10)

1. A communication unit that communicates with a robot and receives position data of the robot from a UWB positioning system; and A device for diagnosing a fault in an autonomous driving robot, comprising: a processor that checks the position of the robot based on the above location data, determines the operating state of the robot based on robot data received through the above communication unit to control the operation of the robot, and diagnoses a fault in the robot.
2. In Article 1, A device for diagnosing a fault in an autonomous driving robot, characterized in that the processor diagnoses a fault in the robot when the position of the robot in motion does not change for a certain period of time or longer, and controls the robot to stop operation if a fault is determined.
3. In Article 1, A device for diagnosing a fault in an autonomous driving robot, characterized in that the processor determines whether the current applied to the motor of the robot is an overcurrent based on current data included in the robot data, thereby diagnosing a fault in the robot.
4. In Article 1, A device for diagnosing a failure of an autonomous driving robot, characterized in that the processor determines whether the motor or battery included in the robot is overheated based on temperature data included in the robot data.
5. In Article 1, The above processor determines the operating state of the robot based on current data, temperature data, and battery SOC included in the robot data, and A device for diagnosing a fault in an autonomous driving robot, characterized by outputting the above current data, the above temperature data, and the above battery SOC through a monitoring screen.
6. A step in which a processor determines the position of a robot based on position data received from a UWB positioning system; The step of the processor determining the operating state of the robot based on robot data received from the robot; and A method for diagnosing a fault in an autonomous driving robot, comprising the step of the processor diagnosing a fault in response to the operating state of the robot.
7. In Article 6, The step of diagnosing a failure of the above-mentioned robot is, The above processor performs the step of diagnosing a fault in the robot when the position of the moving robot does not change for a certain period of time or longer; and A method for diagnosing a fault in an autonomous driving robot, comprising the step of: if a fault is determined, the processor sending a stop command to the robot to control the robot to stop its operation.
8. In Article 7, In the step of diagnosing the failure of the above robot, A method for diagnosing a fault in an autonomous driving robot, characterized in that the processor determines whether the current applied to the motor of the robot is an overcurrent based on current data included in the robot data, thereby diagnosing a fault in the robot.
9. In Article 7, In the step of diagnosing the failure of the above robot, A method for diagnosing a failure of an autonomous driving robot, characterized in that the processor determines whether the motor or battery included in the robot is overheated based on temperature data included in the robot data to diagnose the failure of the robot.
10. In Article 6, In the step of determining the operating state of the above robot, A method for diagnosing a fault in an autonomous driving robot, characterized in that the processor determines the operating state of the robot based on current data, temperature data, and battery SOC included in the robot data, and outputs it through a monitoring screen.

Description

Apparatus and Method for Diagnosing Failures in Autonomous Driving Robot The present invention relates to a device and method for diagnosing a fault in an autonomous driving robot, which monitors a plurality of autonomous driving robots and diagnoses a fault. In general, industrial robots are used to improve productivity or reduce labor costs in large-scale facilities such as heavy industry, aviation, and ports, as well as in semiconductor and small-scale manufacturing facilities. These industrial robots are used in automated processes, where a small number of managers monitor a large number of robots. A system for monitoring industrial robots includes multiple cameras installed in a workspace, detects industrial robots based on acquired images to obtain location information, and is configured to detect events according to the movement of industrial robots. However, since this method is video-based, it is difficult to identify the cause even if events resulting from the movement of industrial robots are detected. Accordingly, a method for effectively monitoring industrial robots is required. Furthermore, with the recent advancement of artificial intelligence technology, there is a trend of applying technologies for autonomous driving, remote control, and intelligent control to industrial robots. Accordingly, there is a need for a method to effectively manage and control industrial robots by tracking their location and monitoring their movements. Korean Registered Patent Publication No. 10-2405594 (May 31, 2022) is a related technology. The present invention is the result of the research project 'Digital Twin-based Predictive Preservation Service Platform and Autonomous Transport Robot Commercialization,' which was conducted by Wave AI Co., Ltd., the lead research institution, during the research period from June 1, 2024 to November 30, 2024, as part of the research project '2024 AI Prototype and Service Commercialization Support Project' funded by the AI Industry Convergence Business Group in 2024. The AI Industry Convergence Business Group served as the research management agency. FIG. 1 is a diagram showing the configuration of an autonomous driving robot and a control device according to one embodiment of the present invention. FIG. 2 is a block diagram briefly illustrating the control configuration of a control device for diagnosing a fault of an autonomous driving robot according to one embodiment of the present invention. FIG. 3 is a diagram briefly illustrating the configuration of an autonomous driving robot according to one embodiment of the present invention. FIG. 4 is a diagram briefly illustrating the configuration of a UWB positioning system according to one embodiment of the present invention. FIG. 5 is an exemplary diagram showing a monitoring screen of a control device according to one embodiment of the present invention. FIG. 6 is a flowchart illustrating a fault diagnosis method for an autonomous driving robot of a control device according to one embodiment of the present invention. The present invention will be described below with reference to the attached drawings. In this process, the thickness of lines or the size of components depicted in the drawings may be exaggerated for the sake of clarity and convenience of explanation. Furthermore, the terms described below are defined considering their functions in the present invention, and these may vary depending on the intent or convention of the user or operator. Therefore, the definitions of these terms should be based on the content throughout this specification. FIG. 1 is a diagram showing the configuration of an autonomous driving robot and a control device according to one embodiment of the present invention. As illustrated in FIG. 1, a control device (10) according to one embodiment of the present invention communicates with a plurality of robots (21 to 29) to monitor the status of the plurality of robots (21 to 29) and diagnose faults. A plurality of robots (21 to 23) are robots placed in a designated space at an industrial site, and may include industrial robots fixedly installed on a workbench and robots that autonomously navigate within the space. The robot (20) can determine the position of the robot (20) body in space based on the UWB positioning system (50). The control device (10) can communicate with a plurality of robots (21 to 29) through a communication network (60). For example, the communication network (60) may use a mobile communication network or wireless internet. The control device (10) can measure the position of a plurality of robots (21 to 29) and track their positions based on the UWB positioning system (50). In addition, the control device (10) can determine the status of each robot (20) and control its operation based on robot data received through the communication network (60). The control device (10) transmits a control command to the robot (20) to control the robot (20) to move to a specific location or