Path search system for robot and path search method for robot

Abstract

Disclosed is a path search system for a robot, wherein the path search system includes a simulation unit, a starting point changing unit, and a data analysis unit, and can set a task-specific starting point for a robot in a smart factory so that the robot can have an efficient movement path. According to the path search system for a robot and the like of the present invention, a task-specific starting point for a robot can be set so that the robot can have an efficient movement path.

Description

Path finding system for robot and path finding method for robot

[0001] The present invention relates to a path search system for a robot and a path search method for a robot, and more particularly, to setting a starting point for starting work of a robot in a production plant such as a smart factory.

[0002]

[0003] As communication, sensing, and information processing technologies become more advanced, research is continuing on smart factories where unmanned robots produce products or assist in their production.

[0004] Within smart factories, there are unmanned robots that assemble products on their own or transport parts needed for assembly.

[0005] In particular, unmanned robots that transport parts required for assembly transport the necessary parts when a task is assigned. Since there are multiple unmanned robots in a smart factory, technology is needed to search for the robot's path so that the unmanned robot can move along an efficient path.

[0006]

[0007] The matters described as background technology above are only intended to enhance understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those of ordinary skill in the art.

[0008]

[0009] The present invention is to provide a path search system for a robot that sets a starting point for each task of a robot moving within a smart factory and sets a starting point for each task of the robot so that the robot can have an efficient movement path.

[0010]

[0011] In order to achieve the above object, the path search system of the robot according to the present invention includes a simulation unit that performs a movement simulation of a robot assigned a task; a starting point changing unit that searches for a possible starting point of the robot, changes the starting point of the robot, and transmits the changed starting point of the robot to the simulation unit; and a data analysis unit that receives a simulation result from the simulation unit and determines whether the starting point of the robot needs to be changed based on the moving distance of the robot, thereby determining the starting point of the robot.

[0012] The starting point change unit searches for possible starting points for the robot for each task, and the data analysis unit can determine the starting point for the robot for each task.

[0013] The data analysis unit calculates the robot's movement distance for each task, and compares the robot's movement distance for each task based on the current simulation result and the previous simulation result. If the robot's movement distance based on the current simulation result is longer than the robot's movement distance based on the previous simulation result, there is no need to change the starting point of the robot performing the task, and the starting point of the robot performing the task can be determined as the previous starting point.

[0014] The data analysis unit calculates the robot's movement distance for each task, and compares the robot's movement distance for each task based on the current simulation result and the previous simulation result. If the robot's movement distance based on the current simulation result is shorter than or equal to the robot's movement distance based on the previous simulation result, it can be determined that the robot performing the task needs to change its starting point.

[0015] The simulation unit implements a possible path for a robot to move within a production plant through multiple nodes, and the starting point change unit can search for a possible starting point for the robot based on multiple nodes implemented by the simulation unit.

[0016] The starting point change unit sequentially searches for a possible starting point by searching the remaining nodes starting from the node corresponding to the initial starting position of the robot among multiple nodes, and changes the search direction along either a clockwise or counterclockwise direction each time each node is searched. However, if the node to be searched next is a node that has already been searched according to the change in the search direction, the current search direction can be maintained.

[0017] It further includes a starting point setting unit that sets the initial starting point of the robot; the simulation unit transmits simulation results based on the initial starting point of the robot set by the starting point setting unit to the data analysis unit, and the data analysis unit can generate initial comparison data by calculating the moving distance of the robot for each task based on the simulation results.

[0018] The data analysis unit calculates the robot's movement distance for each task, and compares the calculated movement distance with the initial comparison data. If the calculated movement distance is shorter than or equal to the initial comparison data, it can be determined that the starting point of the robot performing the task needs to be changed.

[0019] If it is determined that a change in the starting point of a robot performing the task is necessary, the starting point change unit changes the starting point of the robot and transmits the change to the simulation unit, the simulation unit performs a movement simulation to the changed starting point, and transmits the simulation result to the data analysis unit, and the data analysis unit compares the current simulation result with the previous simulation result, and if the movement distance of the robot according to the current simulation result is longer than the movement distance of the robot according to the previous simulation result, there is no need to change the starting point of the robot performing the task, and the starting point of the robot performing the task can be determined as the previous starting point.

[0020] If it is determined that a change in the starting point of a robot performing the task is necessary, the starting point change unit changes the starting point of the robot and transmits the change to the simulation unit, the simulation unit performs a simulation with the changed starting point and transmits the simulation result to the data analysis unit, and the data analysis unit compares the current simulation result with the previous simulation result, and if the moving distance of the robot according to the current simulation result is shorter or equal to the moving distance of the robot according to the previous simulation result, it can determine that a change in the starting point of the robot performing the task is necessary.

[0021] A robot control system that controls and operates the movement of robots within a production plant; further comprising a data analysis unit that determines the starting point of the robot for each task and transmits it to the simulation unit; and once the starting point of the robot for all tasks is determined, the simulation unit can transmit the starting point of the robot for each task to the robot control system.

[0022]

[0023] A path search method for a robot according to the present invention includes: a step in which a simulation unit performs a movement simulation of a robot assigned a task; a step in which a data analysis unit receives simulation results from the simulation unit and determines whether a change in the starting point of the robot is necessary based on the movement distance of the robot; and a step in which, if a change in the starting point of the robot is determined to be necessary, a step in which a starting point change unit changes the starting point of the robot and transmits the changed starting point of the robot to the simulation unit.

[0024] The data analysis unit determines whether the robot's starting point needs to be changed for each task, and the starting point change unit can search for possible starting points for the robot for each task.

[0025] The step of determining whether or not a change in the starting point of the robot is necessary is as follows: the data analysis unit calculates the movement distance of the robot for each task, compares the movement distance of the robot for each task based on the current simulation result and the previous simulation result, and if the movement distance of the robot based on the current simulation result is longer than the movement distance of the robot based on the previous simulation result, there is no need to change the starting point of the robot performing the task, and the starting point of the robot performing the task can be determined as the previous starting point.

[0026] The step of determining whether or not a change in the starting point of the robot is necessary is as follows: the data analysis unit calculates the robot's movement distance for each task, compares the robot's movement distance for each task based on the current simulation result and the previous simulation result, and if the robot's movement distance based on the current simulation result is shorter than or equal to the robot's movement distance based on the previous simulation result, it can be determined that a change in the starting point of the robot performing the task is necessary.

[0027]

[0028] According to the path search system of the robot of the present invention, the starting point of the robot for each task can be set so as to have an efficient movement path.

[0029]

[0030] FIG. 1 is a block diagram of a robot path search system according to one embodiment of the present invention.

[0031] Figure 2 is a simplified illustration of the interior of a smart factory, and Figure 3 shows the product production schedule within the smart factory.

[0032] Figure 4 is a simplified illustration of the interior of a smart factory.

[0033] Figure 5 illustrates multiple nodes to explain the starting point search of the starting point setting section.

[0034] Figure 6 is a flowchart of a path search method of a robot according to one embodiment of the present invention.

[0035]

[0036] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components are given the same reference numbers and redundant descriptions thereof will be omitted.

[0037] In describing the embodiments disclosed in this specification, detailed descriptions of related known technologies will be omitted if it is determined that such detailed descriptions may obscure the gist of the embodiments disclosed in this specification. In addition, the attached drawings are provided solely to facilitate understanding of the embodiments disclosed in this specification, and the technical concepts disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included within the spirit and technical scope of the present invention.

[0038] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0039] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0040] In this specification, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0041] The simulation unit, starting point setting unit, starting point change unit, and data analysis unit may include a communication device that communicates with other controllers or sensors to control the functions in charge, a memory that stores operating systems or logic commands and input / output information, and one or more processors that perform judgments, calculations, decisions, etc. necessary for controlling the functions in charge.

[0042] Additionally, in this specification, the term robot is used as a general term for smart logistics vehicles such as autonomous mobile robots (AMRs), automated guided vehicles (AGVs), and unmanned forklifts.

[0043]

[0044] Figure 1 is a block diagram of a robot path search system according to one embodiment of the present invention. Referring to Figure 1, the robot path search system includes a simulation unit (100), a starting point change unit (300), and a data analysis unit (500).

[0045] Before detailing the functions of each component, the present invention can be applied to exploring the paths of robots within a smart factory. Within a smart factory, multiple robots exist to produce products, and each robot can be assigned a task. For example, the task might be transporting parts necessary for product production, and the product might be a vehicle.

[0046] Multiple robots can move from a starting point to a destination to perform assigned tasks. The destination may be a work area where parts transported by the robots are assembled, and the work area may be a fixed location within the smart factory.

[0047] On the other hand, a robot's starting point can be variable. In other words, the robot's starting point can vary depending on the situation and the task it is performing. Depending on the robot's starting point, the distance it travels to its destination can vary.

[0048] Therefore, a system is needed that allows the robot to determine the starting point from which it can move most efficiently to perform a task.

[0049]

[0050] To achieve the above purpose, the simulation unit (100) can perform a simulation of the movement of a robot assigned a task. That is, the simulation unit can receive information on product production plans, parts required for product production, parts inventory, etc. from the APS system (11), ERP system (12), and HALO system (13), and assign tasks to the robot.

[0051] Additionally, the simulation unit (100) can implement a virtual space identical to a real-world smart factory and perform a simulation in which robots perform assigned tasks. Upon completion of the simulation, simulation results are generated, which may include information such as UPH (Unit Per Hour), the time required to complete all tasks, robot operating time, robot operating rate, and robot standby time.

[0052] Meanwhile, the data analysis unit (500) receives simulation results from the simulation unit and determines whether the robot's starting point needs to be changed based on the robot's movement distance, thereby determining the robot's starting point.

[0053] That is, the data analysis unit (500) determines whether the starting point of the robot needs to be changed or not depending on the movement distance of the robot, and if the starting point of the robot does not need to be changed, the starting point of the robot can be determined.

[0054] The starting point change unit (300), when the data analysis unit (500) determines that the starting point of the robot needs to be changed, searches for possible starting points of the robot, changes the starting point of the robot, and transmits the changed starting point of the robot to the simulation unit (100).

[0055] And, the simulation unit (100) performs simulation again based on the data with the changed starting point and transmits the simulation result to the data analysis unit (500), so that the data analysis unit (500) can determine whether or not it is necessary to change the starting point of the robot based on this.

[0056]

[0057] Figure 2 schematically illustrates the interior of a smart factory, and Figure 3 illustrates a product production schedule within the smart factory. The present invention will be described in more detail with reference to Figures 2 and 3.

[0058] A smart factory may employ multiple robots to perform tasks, and the types of tasks performed within the smart factory may also vary. For example, a smart factory may perform three types of tasks (TE, CM, and FD), and a total of five robots may be operated to perform these three tasks.

[0059] Since there may be various types of tasks, the starting point change unit (300) searches for possible starting points for the robot for each task. That is, referring to FIG. 3, the unit can search for possible starting points for a robot performing a TE task, a possible starting point for a robot performing a CM task, and a possible starting point for a robot performing an FD task. In addition, the starting point change unit can change the starting point of the robot for the corresponding task to one of the searched points according to the command of the data analysis unit (500).

[0060] Additionally, the data analysis unit (500) can also determine the starting point of the robot for each task.

[0061] For example, there are robots performing each task from task No. 1 to task No. 6, and since each robot needs information about the starting point when performing each task, the starting point of the robot must be determined for each task.

[0062] Assuming that the starting point of a robot performing CM work, which is task No. 2, is determined, the starting point change unit (300) can search for a point from which the robot performing CM work can start.

[0063] When one of the explored points is selected and transmitted to the simulation unit (100), the simulation unit (100) reflects this and performs a simulation, transmits the simulation result to the data analysis unit (500), and the data analysis unit (500) determines whether it is necessary to change the starting point for the CM task.

[0064] Referring to Figure 3, while Task No. 2 is in progress, Task No. 4, the TE task, can be in progress at the same time. However, the simulation unit can determine the starting point for Task No. 4 after confirming the starting point for Task No. 2.

[0065] That is, before the robot's starting point for the CM task is determined, the robot's starting point for the CM task can be changed, but the robot's starting point for the TE task remains unchanged. Furthermore, until the robot's starting point for the CM task is determined, the starting point is controlled so that the simulation is performed at starting point a.

[0066] After the starting point y' of the robot for the CM task has been confirmed, the starting point of the robot for the CM task is fixed to y', and the task for confirming the starting point for the TE task can be performed in the same manner as that performed for the CM task.

[0067] Through the above-described series of processes, the present invention allows the robot's starting point to be sequentially determined for each task. In other words, if there are 100 tasks to be performed, the starting point for each of the 100 tasks can be sequentially determined.

[0068]

[0069] The data analysis unit (500) receives simulation results, calculates the robot's movement distance for each task, and determines whether a change in the robot's starting point for the corresponding task is necessary. This will be described in detail with reference to Fig. 4.

[0070] As a specific example, let us assume that the data analysis unit (500) determines that the starting point x needs to be changed for the CM task No. 2, and the starting point change unit (300) changes the starting point y for the CM task.

[0071] As a result of the simulation, if the movement distance is calculated as 7 when the starting point is changed to y, and the movement distance is calculated as 6 in the previous simulation result of the starting point x, the data analysis unit (500) determines that there is no need to change the starting point of the robot performing the task, and can confirm the starting point of the robot performing the task as the previous starting point, that is, the starting point x.

[0072] If, as a result of the simulation, the movement distance is calculated as 5 when the starting point is changed to y' and the movement distance is calculated as 6 in the previous simulation result for the starting point x, the data analysis unit (500) may determine that the starting point of the robot performing the task needs to be changed.

[0073] If, as a result of the simulation, the movement distance is calculated as 6 when the starting point is changed to y'' and the movement distance is calculated as 6 in the previous simulation result of the starting point x, the data analysis unit (500) may determine that the starting point of the robot performing the task needs to be changed.

[0074] That is, by comparing the movement distance of the robot for each task according to the current simulation result and the previous simulation result, if the movement distance of the robot according to the current simulation result is shorter or equal to the movement distance of the robot according to the previous simulation result, it can be determined that the starting point of the robot performing the task needs to be changed.

[0075] Conversely, if the moving distance of the robot for each task according to the current simulation result and the previous simulation result is compared and the moving distance of the robot according to the current simulation result is longer than the moving distance of the robot according to the previous simulation result, there is no need to change the starting point of the robot performing the task, and the starting point of the robot performing the task can be determined as the previous starting point.

[0076] Accordingly, when the starting point is changed to y' or y'', if the movement distance is calculated as 5 or 6, and the starting point is x, and the movement distance is calculated as 6 in the previous simulation result, the data analysis unit (500) determines that the starting point of the robot performing the corresponding task needs to be changed, and the starting point change unit (300) can change the starting point of the robot performing the corresponding task to the starting point z. Then, the simulation unit performs a simulation reflecting the starting point z, and transmits the simulation result to the data analysis unit (500).

[0077] The data judgment unit compares the previous simulation result at starting point y' with the current simulation result at starting point z to determine whether the starting point needs to be changed again.

[0078] If the previous simulation result, that is, the movement distance from the starting point y', was 5, and the current simulation result, that is, the movement distance from the starting point z, is calculated as 6, the data analysis unit (500) determines that there is no need to change the starting point, and can determine the starting point of the robot performing the task as the previous starting point, that is, the starting point y'.

[0079]

[0080] Meanwhile, the simulation unit (100) can implement a possible movement path of a robot within a smart factory (production plant) through multiple nodes. As shown in FIG. 2, the simulation unit (100) can implement a possible movement path of the robot through multiple nodes, and the starting point change unit (300) can search for a possible starting point of the robot based on the multiple nodes implemented by the simulation unit (100).

[0081] Specifically, the starting point change unit (300) can search for a possible starting point by sequentially searching the remaining nodes starting from the node corresponding to the initial starting position of the robot among a plurality of nodes. In this case, the starting point change unit (300) can change the search direction along either the clockwise or counterclockwise direction each time each node is searched, but can maintain the current search direction if the node to be searched next is a previously searched node according to the change in the search direction.

[0082] For example, the starting point change unit (300) can search for possible starting points of the robot in the order of north, east, south, and west in a clockwise direction, and if it searches for possible starting nodes in the order of north, east, south, and west, it has a search order as shown in Fig. 5, and through this, it is possible to search for possible starting nodes without missing a single one.

[0083] Specifically, nodes are explored in the order of north, east, south, and west. However, if a node has already been explored, the search for the node is performed by moving forward in the same direction once more, so that nodes can be explored in a spiral shape.

[0084] If the data analysis unit (500) determines that a change in the starting point of a robot for a task is necessary, the starting point change unit (300) can randomly select one of the searched possible starting nodes and transmit it to the simulation unit (100), and the simulation unit (100) can reflect this and perform a simulation.

[0085]

[0086] Meanwhile, the data analysis unit (500) requires initial data to compare the task-specific movement distances of the current simulation with the previous simulation. To this end, the robot's path search system may further include a starting point setting unit (700) that sets the robot's initial starting point.

[0087] The starting point setting unit (700) can arbitrarily set the initial starting point of the robot for each task, or the administrator can input the initial starting point of the robot for each task into the starting point setting unit (700).

[0088] That is, referring to Fig. 2, it can be seen that the initial starting point for the TE task is selected as a, and the initial starting point for the CM task is selected as x.

[0089] When the initial starting point of the robot for each task is selected, the simulation unit (100) transmits the simulation results based on the initial starting point of the robot for each task to the data analysis unit (500), and the data analysis unit (500) calculates the movement distance of the robot for each task based on the simulation results to generate initial comparison data.

[0090] Afterwards, the starting point change unit (300) selects one of the searched possible starting nodes and transmits it to the simulation unit (100), and the data analysis unit (500) receives the simulation result from the simulation unit (100) and can compare the calculated movement distance with the initial comparison data.

[0091] If the calculated movement distance is shorter than or equal to the initial comparison data, it may be determined that the starting point of the robot performing the task needs to be changed.

[0092] If the calculated movement distance is longer than the initial comparison data, it is determined that there is no need to change the starting point of the robot performing the task.

[0093] If the calculated movement distance is shorter than or equal to the initial comparison data and it is determined that a change in the starting point of the robot performing the task is necessary, the starting point change unit (300) changes the starting point of the robot and transmits it to the simulation unit (100).

[0094] Then, the simulation unit (100) performs a simulation with the changed starting point and transmits the simulation results to the data analysis unit (500).

[0095] Thereafter, the data analysis unit (500) compares the current simulation result with the previous simulation result, and if the moving distance of the robot according to the current simulation result is longer than the moving distance of the robot according to the previous simulation result, there is no need to change the starting point of the robot performing the task, and the starting point of the robot performing the task can be determined as the previous starting point.

[0096] If the movement distance of the robot according to the current simulation result is shorter or equal to the movement distance of the robot according to the previous simulation result, it may be determined that the starting point of the robot performing the task needs to be changed.

[0097]

[0098] Through a series of processes such as this, the path search system of the robot according to the present invention can search for an efficient movement path of the robot for each task.

[0099]

[0100] Meanwhile, the robot path search system may further include a robot control system (900) that controls and operates the movement of the robot within the production plant.

[0101] The data analysis unit (500) determines the starting point of the robot for each task and transmits it to the simulation unit (100). Once the starting point of the robot for all tasks is determined, the simulation unit (100) can transmit the starting point of the robot for each task to the robot control system (900).

[0102] In addition, the robot control system (900) reflects the starting point of the robot for each task received from the simulation unit (100) so that the robot can move efficiently for each task as in the simulation.

[0103]

[0104] Figure 6 is a flowchart of a path search method of a robot according to one embodiment of the present invention.

[0105] The path search method of a robot according to the present invention includes a step (S101) in which a simulation unit performs a movement simulation of a robot assigned a task; a step (S102) in which a data analysis unit receives simulation results from the simulation unit and determines whether a change in the starting point of the robot is necessary based on the movement distance of the robot; and a step (S104) in which a starting point change unit changes the starting point of the robot and transmits the changed starting point of the robot to the simulation unit if it is determined that a change in the starting point of the robot is necessary.

[0106] Specifically, the step (S102) for determining whether a change in the starting point of the robot is necessary is performed by having the data analysis unit calculate the robot's movement distance for each task and compare the robot's movement distance for each task based on the current simulation result and the previous simulation result.

[0107] If the movement distance of the robot according to the current simulation result is longer than the movement distance of the robot according to the previous simulation result, it is determined that there is no need to change the starting point of the robot performing the task, and thus the starting point of the robot performing the task can be determined as the previous starting point (S105).

[0108] If the movement distance of the robot according to the current simulation result is shorter than or equal to the movement distance of the robot according to the previous simulation result, it is determined that the starting point of the robot performing the task needs to be changed, and the starting point change unit changes the starting point for the task (S103).

[0109] If a starting point has been determined for one task, the simulation unit can perform a movement simulation for another task and repeat the above process to determine the starting point for all tasks.

[0110] The starting point change unit can search for possible starting points for the robot for each task, and the data analysis unit determines whether the starting point of the robot needs to be changed for each task, and determines the starting point of the robot for each task.

[0111] Once the robot's starting point for each task is determined, the simulation unit transmits this information to the robot control system, allowing the robot to move efficiently.

[0112]

[0113] Although the present invention has been illustrated and described with respect to specific embodiments thereof, it will be apparent to those skilled in the art that the present invention may be variously improved and modified without departing from the technical spirit of the invention as defined by the following claims.

[0114]

[0115] [Explanation of symbols]

[0116] 100: Simulation Department

[0117] 300: Change of starting point

[0118] 500: Data Analysis Department

[0119] 700: Starting point setting section

[0120] 900: Robot Control System

Claims

1. A simulation section that performs movement simulation of robots assigned to tasks; A starting point changing unit that searches for possible starting points of the robot, changes the starting point of the robot, and transmits the changed starting point of the robot to the simulation unit; and A robot path search system including a data analysis unit that receives simulation results from a simulation unit and determines whether the robot's starting point needs to be changed based on the distance the robot has moved, thereby determining the robot's starting point.

2. In claim 1, The starting point change section searches for possible starting points for the robot for each task. A robot path finding system characterized by a data analysis unit that determines the starting point of the robot for each task.

3. In claim 1, The data analysis unit calculates the robot's movement distance for each task and compares the robot's movement distance for each task based on the current simulation results and the previous simulation results. If the robot's movement distance according to the current simulation result is longer than the robot's movement distance according to the previous simulation result, A path search system for a robot, characterized in that the starting point of the robot performing the task is determined as the previous starting point without requiring a change in the starting point of the robot performing the task.

4. In claim 1, The data analysis unit calculates the robot's movement distance for each task and compares the robot's movement distance for each task based on the current simulation results and the previous simulation results. If the robot's movement distance according to the current simulation result is shorter or equal to the robot's movement distance according to the previous simulation result, A path finding system for a robot, characterized in that it determines that a change in the starting point of a robot performing a task is necessary.

5. In claim 1, The simulation section implements the possible movement paths of robots within a production plant through multiple nodes. A path search system for a robot, characterized in that the starting point change unit searches for a possible starting point for the robot based on multiple nodes implemented by the simulation unit.

6. In claim 5, A path search system for a robot, characterized in that the starting point changing unit sequentially searches the remaining nodes starting from the node corresponding to the initial starting position of the robot among a plurality of nodes to search for a possible starting point, and changes the search direction along either a clockwise or counterclockwise direction each time each node is searched, but maintains the current search direction if the node to be searched next is a node that has already been searched according to the change in the search direction.

7. In claim 1, It further includes a starting point setting unit for setting the initial starting point of the robot; The simulation section transmits simulation results based on the initial starting point of the robot set by the starting point setting section to the data analysis section. A robot path search system characterized in that the data analysis unit calculates the movement distance of the robot for each task based on simulation results and creates initial comparison data.

8. In claim 7, The data analysis unit calculates the robot's movement distance for each task. If the calculated moving distance is compared with the initial comparison data and the calculated moving distance is shorter than or equal to the initial comparison data, A path finding system for a robot, characterized in that it determines that a change in the starting point of a robot performing a task is necessary.

9. In claim 8, If you determine that it is necessary to change the starting point of the robot performing the task, The starting point change section changes the starting point of the robot and transmits it to the simulation section. The simulation department performs a simulation with a changed starting point and transmits the simulation results to the data analysis department. The data analysis department compares the current simulation results with the previous simulation results. If the robot's movement distance according to the current simulation result is longer than the robot's movement distance according to the previous simulation result, A path search system for a robot, characterized in that the starting point of the robot performing the task is determined as the previous starting point without requiring a change in the starting point of the robot performing the task.

10. In claim 8, If you determine that it is necessary to change the starting point of the robot performing the task, The starting point change section changes the starting point of the robot and transmits it to the simulation section. The simulation department performs simulations with changed starting points and transmits the simulation results to the data analysis department. The data analysis department compares the current simulation results with the previous simulation results. If the robot's movement distance according to the current simulation result is shorter or equal to the robot's movement distance according to the previous simulation result, A path finding system for a robot, characterized in that it determines that a change in the starting point of a robot performing a task is necessary.

11. In claim 1, It further includes a robot control system that controls and operates the movement of robots within a production plant; The data analysis department determines the starting point of each robot for each task and transmits it to the simulation department. A robot path search system characterized in that once the starting point of the robot for each task is determined, the simulation unit transmits the starting point of the robot for each task to the robot control system.

12. A step in which the simulation department performs a movement simulation of a robot assigned a task; A step in which the data analysis unit receives simulation results from the simulation unit and determines whether the robot's starting point needs to be changed based on the robot's movement distance; A method for searching a path for a robot, comprising: a step of a starting point changing unit changing the starting point of the robot and transmitting the changed starting point of the robot to a simulation unit when it is determined that a change in the starting point of the robot is necessary; 13. In claim 12, The data analysis unit determines whether the robot's starting point needs to be changed for each task. A path search method for a robot, characterized in that the starting point change unit searches for a possible starting point for the robot for each task.

14. In claim 12, The step to determine whether the robot's starting point needs to be changed is: The data analysis unit calculates the robot's movement distance for each task and compares the robot's movement distance for each task based on the current simulation results and the previous simulation results. If the robot's movement distance according to the current simulation result is longer than the robot's movement distance according to the previous simulation result, A path search method for a robot, characterized in that the starting point of the robot performing the task is determined as the previous starting point without requiring a change in the starting point of the robot performing the task.

15. In claim 12, The step to determine whether the robot's starting point needs to be changed is: The data analysis unit calculates the robot's movement distance for each task and compares the robot's movement distance for each task based on the current simulation results and the previous simulation results. If the robot's movement distance according to the current simulation result is shorter or equal to the robot's movement distance according to the previous simulation result, A path search method for a robot, characterized in that it is determined that a change in the starting point of a robot performing a task is necessary.

Images