Control system for controlling autonomous operations of multiple unmanned work objects, and method for controlling autonomous operations of multiple unmanned work objects

Abstract

To provide a control system that can effectively manage a special-purpose multiple platform in real time.SOLUTION: A control system for controlling an autonomous work of a plurality of unmanned target work objects, comprises: a work information generation unit; a work instruction control unit; and a data processing unit that acquires status information data of the plurality of unmanned target work objects in real time and processes the data. The data processing unit includes: an event information generating unit that judges the acquired status information data and generates event information about an abnormality occurrence when the abnormality occurs while working on any unmanned target work object that is performing an autonomous work; and an event information processing unit which transmits an autonomous work confirmation signal to the work information generation unit so that the work route in a workspace can be confirmed and modified according to the generated event information, or which transmits an alternative work instruction signal to the work instruction control unit so as to control another unmanned target work object adjacent to any one of the unmanned target work objects to perform the interrupted work continuously.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control system for controlling autonomous work and a control method for autonomous work, and more particularly to a control system for controlling autonomous work of a plurality of unmanned work objects and a method for controlling autonomous work of a plurality of unmanned work objects. [Background technology]

[0002] Many autonomous vehicles generate wide-area routes based on the destination selected by the passenger or driver, and generate local routes for obstacle avoidance and overtaking, and perform route tracking. All of these processes are performed inside the vehicle.

[0003] However, autonomous operation systems must apply technology that is differentiated from existing autonomous vehicle methods. Autonomous operation is defined as a system that automatically drives a designated route defined for the task and performs the task itself, or has a human operator assist it in the task.

[0004] To achieve this, the control system will be used to generate work routes for each autonomous work vehicle, which will then be transmitted to the platform via wireless communication, allowing the autonomous work to be carried out through route tracking. Furthermore, multiple autonomous work vehicles will need to work simultaneously or in coordination with each other.

[0005] In particular, for vehicles with special purposes that perform autonomous driving and autonomous work, such as shuttle buses, special-purpose vehicles, construction and agricultural machinery, and golf carts, real-time route regeneration technology must be applied to hand over work to other platforms depending on the work status of each autonomous work system, such as battery discharge or a cleaning vehicle's collection bin being full.

[0006] However, conventional technology only controlled operations by simply maintaining a certain distance between each platform based on their positions, and there was no control system that could control specific events occurring on multiple platforms in real time. Summary of the Invention [Problem to be solved by the invention]

[0007] The present invention has been devised to solve the above-mentioned problems, and its object is to provide a control system that can effectively manage multiple special-purpose platforms in real time. However, these problems are merely examples and are not intended to limit the scope of the present invention. [Means for solving the problem]

[0008] According to one embodiment of the present invention, there is provided a control system for controlling autonomous work of a plurality of unmanned work objects, the control system including: a work information generation unit that receives information about a work area and generates and modifies work paths for the plurality of unmanned work objects in the work area; a work instruction control unit that transmits autonomous work command information to at least one of the plurality of unmanned work objects so that the unmanned work objects can perform autonomous work along the work path generated based on the work area; and a data processing unit that collects status information data of the plurality of unmanned work objects in real time and processes the collected status information data, wherein the data processing unit may include an event information generation unit that interprets the collected status information data and generates event information when an abnormality occurs in any of the unmanned work objects performing autonomous work, and an event information processing unit that transmits an autonomous work confirmation signal to the work information generation unit in accordance with the generated event information so that the work path in the work area can be confirmed and modified, or transmits an alternative work command signal to the work instruction control unit so that another unmanned work object adjacent to any of the unmanned work objects can continue the interrupted work.

[0009] According to an embodiment of the present invention, the event information generation unit can determine whether the status information data provided in real time from the unmanned work object performing autonomous work is a temporary sensor error or an inoperable state of the unmanned work object.

[0010] According to an embodiment of the present invention, if a temporary sensor error is determined based on the status information data, the event information generation unit can instruct the work instruction control unit to continue the work or to perform maintenance on the unmanned work object to replace the sensor of the unmanned work object.

[0011] According to an embodiment of the present invention, when it is determined that the unmanned work object is in an inoperable state based on the status information data, the event information generation unit generates event information including the status information data of the unmanned work object, and information on the work area and work route in which the unmanned work object was operating, and transmits this to the event information processing unit.

[0012] According to an embodiment of the present invention, the status information data may include information on the positions, work speeds, work amounts, operations, and functions of the plurality of unmanned work objects.

[0013] According to an embodiment of the present invention, the status information data of the plurality of unmanned operation objects may be transmitted using a wireless communication method.

[0014] According to an embodiment of the present invention, in the work instruction control unit, when the unmanned work object performing the autonomous work is accompanied by a worker, the work instruction control unit can control the unmanned work object to perform a function of assisting the worker in the work by recognizing the worker using the worker recognition device provided on the unmanned work object.

[0015] According to an embodiment of the present invention, the data processing unit can compare the initial work information of the unmanned work object with the status information data of the unmanned work object performing the autonomous work in real time to determine the work error of the unmanned work object.

[0016] According to an embodiment of the present invention, when a work error occurs, the work instruction control unit can be controlled to instruct the unmanned work object to perform the work again so that the unmanned work object can complete the work.

[0017] According to an embodiment of the present invention, when a work error occurs, the work information generation unit complements the initial work information, and the work instruction control unit controls the unmanned work object so that the unmanned work object can perform autonomous work along the regenerated work area and work path based on the point where the work error occurred by the unmanned work object.

[0018] According to another embodiment of the present invention, there is provided a method for controlling autonomous work of a plurality of unmanned work objects, the method including the steps of receiving information about a work area and generating and modifying work paths for the plurality of unmanned work objects in the work area, transmitting autonomous work command information to at least one of the plurality of unmanned work objects so that the unmanned work objects can perform autonomous work along the work path generated based on the work area, and collecting status information data of the plurality of unmanned work objects in real time and processing the collected status information data, wherein the data processing step may include an event information generating step of determining the collected status information data and generating event information when an abnormality occurs in any of the unmanned work objects performing autonomous work, and an event information processing step of transmitting an autonomous work confirmation signal to a work information generating unit so that the work path in the work area can be confirmed and modified, or transmitting an alternative work command signal to a work instruction control unit so that another unmanned work object adjacent to any of the unmanned work objects can be controlled to continuously perform the interrupted work.

[0019] According to an embodiment of the present invention, if a temporary sensor error is determined based on the status information data in the event information generation step, the unmanned work object can be controlled to continue performing its work or to perform maintenance on the unmanned work object.

[0020] According to an embodiment of the present invention, if it is determined in the event information generation step that the unmanned work object is in an inoperable state based on the status information data, event information can be generated in accordance with the generated event information, including status information data of the unmanned work object, and information on the work area and work route that the unmanned work object was performing.

[0021] According to an embodiment of the present invention, the status information data may include information on the positions, work speeds, work amounts, operations, and functions of the plurality of unmanned work objects.

[0022] According to an embodiment of the present invention, the status information data of the plurality of unmanned operation objects may be transmitted using a wireless communication method.

[0023] According to an embodiment of the present invention, in the work instruction control unit, when the unmanned work object performing the autonomous work is accompanied by a worker, the work instruction control unit can control the unmanned work object to perform a function of assisting the worker in the work by recognizing the worker using the worker recognition device provided on the unmanned work object.

[0024] According to an embodiment of the present invention, in the step of processing the data, the initial work information of the unmanned work object and the status information data of the unmanned work object performing the autonomous work can be compared in real time to determine the work error of the unmanned work object.

[0025] According to an embodiment of the present invention, when a work error occurs, the work instruction control unit can be controlled to instruct the unmanned work object to perform the work again so that the unmanned work object can complete the work.

[0026] According to an embodiment of the present invention, when a work error occurs, the work information generation unit complements the initial work information, and the work instruction control unit controls the unmanned work object so that the unmanned work object can perform autonomous work along the regenerated work area and work path based on the point where the work error occurred by the unmanned work object. [Effects of the Invention]

[0027] According to one embodiment of the present invention, a control system capable of effectively managing multiple special-purpose platforms in real time is provided, thereby managing multiple unmanned work objects in real time and efficiently performing predetermined autonomous tasks. Of course, the scope of the present invention is not limited to these effects. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a diagram illustrating the structure of a control system for controlling the autonomous operations of multiple unmanned operation objects according to an embodiment of the present invention; [Figure 2] 10A and 10B are diagrams illustrating a method for generating a work area and a work path in a work information generating unit according to an embodiment of the present invention; [Figure 3] 1 is a diagram illustrating a control system for controlling autonomous operations of a plurality of unmanned work objects according to an embodiment of the present invention, and a structure for controlling a plurality of unmanned work objects; [Figure 4] 1 is a diagram illustrating a control system for controlling the autonomous work of a plurality of unmanned work objects according to an embodiment of the present invention, and a structure for controlling a plurality of unmanned work objects; [Figure 5] 1 is a process flowchart schematically illustrating a method for controlling autonomous operations of a plurality of unmanned work objects according to an embodiment of the present invention. BEST MODE FOR CARRYING OUT THE INVENTION

[0029] Various preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0030] The following examples are provided to more completely explain the present invention to those skilled in the art, and the following examples may be modified into various other forms, and the scope of the present invention is not limited to the following examples. Rather, these examples are provided to make the present disclosure more complete and complete, and to fully convey the concept of the present invention to those skilled in the art. Hereinafter, the present invention will be described with reference to the drawings, which schematically show ideal embodiments of the present invention.

[0031] Hereinafter, a special-purpose multi-platform may be defined as a vehicle that receives route and operation information from a control system, performs autonomous driving and operations based on the route and operation information, and transmits the operation results to the control system. For example, the special-purpose multi-platform may include a golf cart, an unmanned vacuum cleaner, a shuttle bus, a special-purpose vehicle, construction or agricultural machinery, etc.

[0032] Hereinafter, the special-purpose multiple platform can be defined as a group of vehicles that receive route and operation information transmitted by a single control system, and differentiated from vehicles outside the group.

[0033] FIG. 1 is a diagram illustrating the structure of a control system for controlling the autonomous work of multiple unmanned work objects according to one embodiment of the present invention, and FIG. 2 is a diagram for explaining a method for generating a work area and a work path by a work information generation unit according to one embodiment of the present invention.

[0034] Referring to Fig. 1, a control system 100 for controlling autonomous operations of a plurality of unmanned work objects according to an embodiment of the present invention includes a work information generation unit 10, a work instruction control unit 20, and a data processing unit 30. Here, the plurality of unmanned work objects refer to vehicles or platforms capable of autonomous driving and autonomous operations for special purposes, such as shuttle buses, special-purpose vehicles, construction and agricultural machinery, and golf carts. All data processed by the control system 100 and status information data of the plurality of unmanned work objects are transmitted and received with each component using wireless communication.

[0035] The work information generating unit 10 selects and divides a work area as shown in (a) of Fig. 2. Then, the work information generating unit 10 determines the number of unmanned work objects that will actually perform autonomous work simultaneously among the plurality of unmanned work objects. Depending on the determined number of unmanned work objects, the work information generating unit 10 divides the area in which each unmanned work object will perform work and generates a work path so that each unmanned work object can efficiently perform its autonomous work.

[0036] In addition, the work information generating unit 10 performs the function of correcting the work area and work path when an event occurs in any one of the unmanned work objects performing autonomous work. The work instruction control unit 20 and the data processing unit 30 will be described below, and the work information generating unit 10 will be described in detail later.

[0037] The work area may be an image stored using a web server. The image may include a satellite image or an aerial image captured via a satellite. The image may include location information consisting of the outermost coordinate points. An autonomous work start point may be selected based on the location information, and a work path may be generated based on the start point. The work path may be generated so that the unmanned work object proceeds sequentially. Alternatively, multiple autonomous work start points may be set, and then multiple work paths for the unmanned work object may be generated based on each start point, allowing the unmanned work object to perform autonomous work simultaneously.

[0038] The work instruction control unit 20 can control the entire plurality of unmanned work objects, and can also control any part of the plurality of unmanned work objects so that they perform autonomous work along the work path generated by the work information generation unit 10. At this time, the work instruction control unit 20 collects position information of the unmanned work objects in real time while they are working. The collected position information of the unmanned work objects is transmitted to the data processing unit 30 in real time.

[0039] Specifically, the work instruction control unit 20 transmits autonomous work command information to at least one of the plurality of unmanned work objects so that the autonomous work can be performed along a work path generated based on the work area determined by the work information generation unit 10.

[0040] The unmanned work object receives the autonomous work command information and performs autonomous work along the predetermined work path. The unmanned work object performing autonomous work transmits status information data of the unmanned work object in real time to the data processing unit 30, along with information on the work area and work path currently being worked on. Here, the status information data includes the position, work speed, work amount, operation, and function information of the unmanned work object, and the function information includes functional information of the platform itself, such as the remaining battery level of the platform, malfunctions, etc. All status information data of not only the unmanned work object currently working but also all unmanned work objects on standby for autonomous work managed by the control system 100 is transmitted to the data processing unit 30.

[0041] Furthermore, in the work instruction control unit 20, when an unmanned work object performing the autonomous work is accompanied by a worker, the unmanned work object can be controlled to perform a function of assisting the worker in the work by recognizing the worker using the worker recognition device provided on the unmanned work object.

[0042] The data processing unit 30 includes an event information generating unit 32 and an event information processing unit 34, and collects status information data of the plurality of unmanned operation objects in real time and processes the collected status information data.

[0043] The event information generation unit 32 judges the status information data collected in real time, and when an abnormality occurs in any of the unmanned work objects performing autonomous work, generates this as event information.

[0044] The event information processing unit 34 performs a function of transmitting an autonomous work confirmation signal to the work information generating unit so that the work path in the work area can be confirmed and corrected according to the event information generated by the event information generating unit 32, or transmitting an alternative work command signal to the work instruction control unit so that another unmanned work object adjacent to any one of the unmanned work objects can be controlled to continuously perform the interrupted work.

[0045] Specifically, the event information generation unit 32 performs the function of determining whether the status information data provided in real time from the unmanned work object performing autonomous work is a temporary sensor error or an inoperable state of the unmanned work object.

[0046] For example, if it is determined that the sensor error is temporary based on the status information data, the event information generation unit 32 can instruct the work instruction control unit 20 to continue the work, or can instruct maintenance of the unmanned work object to replace the sensor of the unmanned work object.

[0047] If it is determined based on the status information data that the unmanned work object is in an inoperable state, the event information generation unit 32 can generate event information including the status information data of the unmanned work object and information on the work area and work route that the unmanned work object was performing, and transmit this to the event information processing unit 34.

[0048] The data processing unit 30 can compare the initial work information of the unmanned work object with the status information data of the unmanned work object performing the autonomous work in real time to determine the work error of the unmanned work object.

[0049] If a work error occurs, the data processing unit 30 can transmit work error occurrence information to the work instruction control unit 20, and the work instruction control unit 20 can control the unmanned work object to re-perform the work so that the unmanned work object completes the work. Alternatively, if a work error occurs, the data processing unit 30 can transmit work error occurrence information to the work information generation unit 10, and the work information generation unit 10 can complement the initial work information and regenerate a complemented work area and work path based on the point where the work error by the unmanned work object occurred. Thereafter, the regenerated work area and work path information can be transmitted to the work instruction control unit 20, and the work instruction control unit 20 can control the unmanned work object to perform autonomous work along the complemented work area and work path.

[0050] The functions performed by the control system 100 will be described in detail below with reference to FIGS.

[0051] 3 and 4 are diagrams illustrating a control system for controlling the autonomous work of a plurality of unmanned work objects according to an embodiment of the present invention, and a structure for controlling a plurality of unmanned work objects.

[0052] For example, the control system 100 may collect, in real time, status information data of a first unmanned work object 210 performing an autonomous operation and a second unmanned work object 220 not performing an autonomous operation, as shown in Fig. 3, and process the collected status information data. Alternatively, the control system 100 may collect, in real time, status information data of a first unmanned work object 210 performing an autonomous operation and a second unmanned work object 220 performing an autonomous operation at a certain distance from the first unmanned work object 210, and process the collected status information data.

[0053] When a specific event occurs in the first unmanned work object 210, the data processing unit 30 can analyze the collected status information data of the first unmanned work object 210 in the event information generating unit 32, and generate event information through a discrimination process based on the status information data. Based on the generated event information, the event information processing unit 34 transmits an autonomous work confirmation signal to the work information generating unit 10 to check and correct the work path in the work area. In response to the transmitted autonomous work confirmation signal, the work information generating unit 10 complements and corrects the work area and work path and transmits the corrections to the work instruction control unit 20. The work instruction control unit 20 can control the second unmanned work object 220 adjacent to the first unmanned work object 210 along the transmitted work area and work path to resume the interrupted work.

[0054] Alternatively, based on the generated event information, the event information processing unit 34 can directly transmit an alternative work command signal to the work instruction control unit 20, and the work instruction control unit 20 can control the second unmanned work object 220 adjacent to the first unmanned work object 210 to continuously perform the interrupted work.

[0055] 4, the control system 100 can control not only a platform for one specific purpose but also a mixture of platforms for various specific purposes. For example, the control system 100 can simultaneously control cleaning vehicles, special-purpose vehicles, construction / agricultural machinery vehicles, golf carts, etc., and can generate different work areas and autonomous work routes according to the type of autonomous work each vehicle performs, and efficiently control the vehicles based on these.

[0056] Since the status information data of each platform is transmitted and received wirelessly, the control system 100 can be located anywhere. The control system 100 according to an embodiment of the present invention is a host system for small-scale control systems divided according to specific purposes, and can be configured to build a central control system to monitor and control the small-scale control systems in real time.

[0057] FIG. 5 is a process flowchart schematically illustrating a method for controlling the autonomous operations of a plurality of unmanned work objects according to one embodiment of the present invention.

[0058] Referring to FIG. 5, a method for controlling autonomous work of a plurality of unmanned work objects (S100) according to one embodiment of the present invention may include a step of generating and modifying a work path (S110), a step of transmitting autonomous work command information (S120), and a step of processing status information data (S130).

[0059] Specifically, the method is a method for controlling the autonomous work of multiple unmanned work objects using a control system, and first, a step (S110) of receiving information about a work area and generating and modifying work paths for the multiple unmanned work objects in the work area can be performed.

[0060] Then, a step (S120) can be performed of transmitting autonomous work command information to at least one of the plurality of unmanned work objects so that the autonomous work can be performed along the work path generated based on the work area.

[0061] A step (S130) of collecting status information data of the plurality of unmanned operation targets in real time and processing the collected status information data may be performed.

[0062] The step of processing the data (S130) may include an event information generating step of determining the collected status information data and generating the collected status information data as event information when an abnormality occurs in any of the unmanned work objects performing autonomous work, and an event information processing step of transmitting an autonomous work confirmation signal to the work information generating unit so that the work path in the work area can be confirmed and corrected according to the generated event information, or transmitting an alternative work command signal to the work instruction control unit so that another unmanned work object adjacent to any of the unmanned work objects can be controlled to continuously perform the interrupted work.

[0063] In the event information generation step, if a temporary sensor error is determined based on the status information data, the unmanned work object can be controlled to continue performing its work or to perform maintenance on the unmanned work object.

[0064] In the event information generation step, if it is determined that the unmanned work object is in an inoperable state based on the status information data, event information can be generated according to the generated event information, including status information data of the unmanned work object, and information on the work area and work route that the unmanned work object was performing.

[0065] The status information data includes information on the positions, work speeds, work amounts, operations, and functions of the plurality of unmanned work objects, and is transmitted using a wireless communication method.

[0066] In the work instruction control unit, when the unmanned work object performing the autonomous work is accompanied by a worker, the unmanned work object can be controlled to perform a function of assisting the worker in the work by recognizing the worker using the worker recognition device provided on the unmanned work object.

[0067] In the step of processing the data, the initial work information of the unmanned work object and the status information data of the unmanned work object performing the autonomous work can be compared in real time to determine the work error of the unmanned work object.

[0068] If the work error occurs, the work instruction control unit can be controlled to instruct the unmanned work object to retry the work so that the unmanned work object completes the work. Alternatively, if the work error occurs, the work information generation unit can complement the initial work information, regenerate the complemented work area and work path based on the point where the work error occurred by the unmanned work object, and control the unmanned work object to perform autonomous work along the regenerated work area and work path.

[0069] As described above, the control system 100 according to an embodiment of the present invention can select a work area and generate a work route depending on the number of work platforms. Each platform transmits its status (battery, malfunction, etc.) and work status to the control system 100 via wireless communication. In addition, the control system 100 can also share location information of other platforms.

[0070] Furthermore, the platform performing autonomous work receives an autonomous work route from the control system 100, performs autonomous work through path tracking, and transmits the platform status and work status to the control system 100. The control system 100 monitors the traveling status of the autonomous work platform, recognizes situations where charging is required or work can no longer be performed, and regenerates and transmits the route in real time so that work can be assigned to another platform.

[0071] Multiple autonomous work platforms can recognize each other's positions through the control system 100 and can control the distance and speed of each other based on this to prevent collisions. In the case of autonomous work with a special purpose such as road cleaning and garbage collection, the autonomous work platform follows the worker through a device that recognizes the worker and assists the worker in the work. The driving route for the autonomous work can also be configured manually so that the autonomous work can be performed based on the trajectory and speed information through the driver's driving.

[0072] The control system 100 having such functions can maximize the efficiency of work and driving in fields where control-based autonomous work can be applied, such as unmanned road sweeping, unmanned garbage collection, autonomous shuttles, and golf carts. In addition, the driving and working status of all autonomous work platforms can be monitored in real time by the control system 100, which can increase the convenience of operation through maintenance and charging management.

[0073] The present invention has been described with reference to the embodiments shown in the drawings, but these are merely illustrative, and those skilled in the art will recognize that various modifications and equivalent embodiments are possible. Therefore, the true technical scope of protection of the present invention should be determined by the technical spirit of the appended claims. [Explanation of symbols]

[0074] 10 Work information generation section 20 Work instruction control unit 30 Data Processing Unit 32 Event information generation unit 34 Event Information Processing Unit 100 Control System

Claims

1. a work information generating unit that receives information about a work area and generates and modifies work paths for a plurality of unmanned work objects in the work area; a work instruction control unit that transmits autonomous work command information to at least one of the plurality of unmanned work objects so that the autonomous work can be performed along the work path generated based on the work area; and a data processing unit that collects status information data of the plurality of unmanned operation objects in real time and processes the collected status information data, The data processing unit an event information generation unit that determines the collected state information data and generates event information when an abnormality occurs in any of the unmanned work objects performing autonomous work; an event information processing unit that transmits an autonomous work confirmation signal to the work information generating unit so that the work path in the work area can be confirmed and corrected according to the generated event information, or transmits an alternative work command signal to the work instruction control unit so that another unmanned work object adjacent to any one of the unmanned work objects can be controlled to continuously perform the interrupted work, The event information generation unit determines whether status information data provided in real time from the unmanned work object performing autonomous work is a temporary sensor error or an inoperable state of the unmanned work object; When it is determined that the sensor error is temporary based on the status information data, the event information generation unit instructs maintenance of the unmanned work object to replace the sensor of the unmanned work object, or instructs the work instruction control unit to continue the work; If the unmanned work object is determined to be in an inoperable state based on the status information data, the event information generation unit generates event information including status information data of the unmanned work object, and information on the work area and work route that the unmanned work object was performing, and transmits this to the event information processing unit, a control system for controlling the autonomous work of multiple unmanned work objects.

2. The control system for controlling autonomous operations of a plurality of unmanned work objects according to claim 1 , wherein the state information data includes information on the positions, work speeds, work amounts, operations, and functions of the plurality of unmanned work objects.

3. 2. The control system for controlling autonomous operations of a plurality of unmanned operation objects according to claim 1, wherein the state information data of the plurality of unmanned operation objects is transmitted using a wireless communication system.

4. A method for controlling autonomous operations of a plurality of unmanned work objects using a control system, comprising: receiving information about a work area and generating and modifying work paths for a plurality of unmanned work objects in the work area; transmitting autonomous work command information to at least one of the plurality of unmanned work objects so that the autonomous work can be performed along the work path generated based on the work area; collecting status information data of the plurality of unmanned operation objects in real time, and processing the collected status information data; The step of processing the state information data includes: an event information generating step of determining the collected status information data and generating the status information data as event information when an abnormality occurs in any of the unmanned operation objects performing autonomous operation; and an event information processing step of transmitting an autonomous work confirmation signal to a work information generating unit so that the work path in the work area can be confirmed and corrected according to the generated event information, or transmitting an alternative work command signal to a work instruction control unit so that another unmanned work object adjacent to any one of the unmanned work objects can be controlled to continuously perform the interrupted work, In the event information generating step, when it is determined that the sensor error is temporary based on the state information data, control is performed to perform maintenance on the unmanned work object, or the unmanned work object continues to perform work; A method for controlling the autonomous work of multiple unmanned work objects, which, when it is determined that the unmanned work object is in an inoperable state based on the status information data, generates event information including status information data of the unmanned work object and information on the work area and work route that the unmanned work object was performing, in accordance with the generated event information.

5. The method for controlling autonomous work of a plurality of unmanned work objects according to claim 4 , wherein the state information data includes information on positions, work speeds, work amounts, motions, and functions of the plurality of unmanned work objects.

6. The status information data of the plurality of unmanned operation objects is transmitted using a wireless communication system. A method for controlling autonomous operations of a plurality of unmanned work objects according to claim 4.

Images