Mobile manipulator and safety control method thereof

Abstract

The present invention provides a mobile manipulator and a control method thereof. In an embodiment, the mobile manipulator comprises: a mobile robot including a first controller and a driving means; and a manipulator connected to the mobile robot and including a second controller. The mobile robot further includes an integrated safety control module which collects state information of the manipulator, collects state information of the mobile robot, and performs an integrated safety inspection on the basis of the state information of the manipulator and the state information of the mobile robot.

Description

Mobile manipulator and its safety control method

[0001] The present invention relates to a mobile manipulator and a safety control method thereof.

[0002] A mobile manipulator is a combination of a manipulator for work and a mobile robot for movement.

[0003] Conventional manipulators that are fixedly installed at a specific location can only perform tasks within a limited area within the radius accessible to the manipulator from the installation location, but mobile manipulators can perform various tasks while moving within a relatively wide spatial area.

[0004] In order to improve the safety during the operation of a mobile manipulator with mobility, a technology was needed that could effectively implement the safety functions of the mobile manipulator.

[0005] The purpose of the present invention is to provide a mobile manipulator capable of performing integrated safety control of a manipulator and a mobile robot in a mobile manipulator in which the manipulator and the mobile robot are combined, and a safety control method thereof.

[0006] The present invention, in one embodiment, aims to provide a mobile manipulator and a safety control method thereof capable of collecting status information of a manipulator and status information of a mobile robot, and performing an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot.

[0007] In one embodiment, the present invention aims to provide a mobile manipulator and a safety control method thereof capable of processing information collected by a vision sensor of the manipulator in a mobile robot controller.

[0008] The objectives of the present invention are not limited to the above-described scope. Those skilled in the art will have no difficulty understanding the additional objectives of the present invention from the overall content of this specification.

[0009] In order to achieve the above-mentioned purpose, the present invention provides the following mobile manipulator and its safety control method.

[0010] In one embodiment, the present invention provides a mobile manipulator comprising a mobile robot including a first controller and a driving means, and a manipulator connected to the mobile robot and including a second controller, wherein the mobile robot further includes an integrated safety control module that collects status information of the manipulator, collects status information of the mobile robot, and performs an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot.

[0011] The present invention provides a method for safety control of a mobile manipulator, comprising, in one embodiment, a method performed in a computing device including a processor and a storage medium storing instructions executable by the processor, the method comprising the steps of collecting status information of the manipulator, collecting status information of a mobile robot connected to a lower portion of the manipulator, performing an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot, and controlling the manipulator and the mobile robot based on a result of performing the integrated safety inspection.

[0012] The present invention can provide a mobile manipulator and a safety control method thereof capable of performing integrated safety control of a manipulator and a mobile robot in a mobile manipulator in which the manipulator and the mobile robot are combined.

[0013] In one embodiment, the present invention can provide a mobile manipulator and a safety control method thereof capable of collecting status information of a manipulator and status information of a mobile robot, and performing an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot.

[0014] In one embodiment, the present invention can provide a mobile manipulator and a safety control method thereof capable of processing information collected by a vision sensor of the manipulator in a mobile robot controller.

[0015] The present invention can improve the operational safety of a mobile manipulator and has the effect of simplifying the system.

[0016] FIG. 1 illustrates a mobile manipulator according to one embodiment of the present invention.

[0017] FIG. 2 is a block diagram of a mobile manipulator according to one embodiment of the present invention.

[0018] Figure 3 is a flowchart of a safety control method of a mobile manipulator according to one embodiment of the present invention.

[0019] Fig. 4 is a block diagram of a mobile manipulator according to a comparative example.

[0020] Figure 5a is a flowchart of a safety control method of a mobile manipulator according to a comparative example.

[0021] Figure 5b is a flowchart of a safety control method of a mobile manipulator according to a comparative example.

[0022] FIG. 6 is a block diagram of a computing device capable of fully or partially implementing an integrated safety control module of a mobile manipulator according to one embodiment of the present invention.

[0023] FIG. 7 illustrates the configuration of a mobile manipulator according to one embodiment of the present invention and the operation and data flow of each configuration.

[0024] Hereinafter, preferred embodiments of the present invention will be described with reference to the attached drawings. However, the embodiments of the present invention may be modified in various other forms, and the scope of the present invention is not limited to the embodiments described below.

[0025] In addition, the embodiments of the present invention are provided to more completely explain the present invention to a person having average knowledge in the relevant technical field.

[0026] The shape and size of elements in the drawing may be exaggerated for clearer explanation.

[0027] In describing the embodiments of the present invention, if a detailed description of a known technology related to the present invention is judged to unnecessarily obscure the gist of the present invention, such detailed description will be omitted. In addition, the terms described below are terms defined in consideration of their functions in the present invention, and these may vary depending on the intention or custom of the user or operator. Therefore, the definitions should be made based on the contents throughout this specification. The terminology used in the detailed description is only for the purpose of describing the embodiments of the present invention and should in no way be limiting. Unless clearly defined otherwise, expressions in the singular form include plural meanings.

[0028] In this description, expressions such as "including" or "having" are intended to indicate certain features, numbers, steps, operations, elements, portions or combinations thereof, and should not be construed to exclude the presence or possibility of one or more other features, numbers, steps, operations, elements, portions or combinations thereof other than those described.

[0029] Unless otherwise specified in the specification of the present invention, the % unit means weight %.

[0030] In this specification, terms such as 'top', 'upper part', 'top surface', 'bottom', 'lower part', 'bottom', 'side', etc. are based on the drawings, and in reality, they may vary depending on the direction in which the elements or components are arranged.

[0031] Additionally, throughout the specification, when we say that a part is 'connected' to another part, this includes not only cases where it is 'directly connected', but also cases where it is 'indirectly connected' with other elements in between.

[0032] Below, the present invention will be described in detail through each embodiment or example of the present invention. It should be noted that each embodiment or example described in this specification is not limited to a single embodiment or example, but may be combined with other embodiments or examples. Therefore, the citation of a claim in the patent claims is only an example of an embodiment, and the technical concept of the present invention should not be interpreted solely as a combination with the cited claim, and combinations with various claims also fall within the scope of the technical concept of the present invention.

[0033] Fig. 1 illustrates a mobile manipulator according to one embodiment of the present invention. Unlike conventional manipulators that are fixedly installed and can only perform work within a limited radius, the mobile manipulator (100) according to one embodiment of the present invention can move the working position of the manipulator by a mobile robot.

[0034] A mobile manipulator (100) can perform a task of transporting an item received at one location to another location, or can perform a task while moving between multiple work locations.

[0035] Hereinafter, the configuration and operation of a mobile manipulator (100) according to one embodiment of the present invention will be described in detail with reference to FIGS. 1 and 2.

[0036] Referring to FIGS. 1 and 2, the mobile manipulator (100) may include a manipulator (110) and a mobile robot (120).

[0037] The manipulator (110) is configured to perform a task and may include a robot arm (111), a vision sensor (112), a base (113), a manipulator controller (114), and a manipulator safety component (115). The manipulator (110) may be connected to a mobile robot (120).

[0038] The robot arm (111) may include one or more joint members. A gripping mechanism for gripping an object may be connected to one end of the robot arm (111).

[0039] The manipulator (110) may further include a motor for driving a robot arm (111) and a gripping mechanism. The robot arm (111) can move the position of a gripping mechanism connected to one end of the robot arm (111) by adjusting the rotation angle of one or more joint members.

[0040] The manipulator (110) can engage or disengage an item by means of a gripping mechanism.

[0041] A vision sensor (112) may be installed on one end of a robot arm (111). For example, the vision sensor (112) may include at least one of a camera, a laser scanner, and an infrared camera.

[0042] The vision sensor (112) can obtain manipulator vision information by capturing an image near one end of the robot arm (111).

[0043] The base portion (113) can support the robot arm (111). In addition, a portion of the base portion (113) can be fixedly or detachably connected to the upper portion of the mobile robot (120).

[0044] For example, as shown in Fig. 1, a robot arm (111) may be connected to the upper surface of the base portion (113), and the lower surface of the base portion (113) may be connected to the upper portion of the mobile robot (120).

[0045] The manipulator controller (114) can control the operation of the components included in the manipulator (110). For example, the manipulator controller (114) can adjust the angle of one or more joint members of the robot arm (111).

[0046] The manipulator controller (114) can transmit and receive data to and from other configurations of the mobile manipulator (100).

[0047] The manipulator (110) may further include a manipulator safety component (115) for implementing a safety function. The manipulator safety component (115) may include, for example, an emergency stop switch of the manipulator (110) and a servo of the manipulator (110).

[0048] The mobile robot (120) can drive according to a separate driving command to move the manipulator (110) to the work position, or can drive by an autonomous driving function.

[0049] A mobile robot (120) may include a robot body (121), a driving means (122), a battery (123), a mobile robot controller (124), a mobile robot safety component (125), and an integrated safety control module (126).

[0050] The robot body (121) may include a housing that supports the manipulator (110).

[0051] The driving means (122) may include, for example, a motor that generates power to drive the mobile robot (120) and one or more driving wheels.

[0052] By means of the driving means (122), the robot body (121) and the manipulator (110) can be moved in all directions on the floor surface where the mobile manipulator (100) is located.

[0053] The mobile robot (120) may further include a battery (123) that supplies power to the mobile robot (120) and the manipulator (110). The battery (123) of the mobile robot (120) may supply power to the motor of the mobile robot (120) and the motor of the manipulator (110).

[0054] The mobile robot controller (124) can control the operation of the components included in the mobile robot (120). For example, the mobile robot controller (124) can control the driving speed and driving direction of the driving means (122).

[0055] The mobile robot controller (124) can transmit and receive data with other components of the mobile manipulator (100). For example, the mobile robot controller (124) can directly receive manipulator vision information from the vision sensor (112) via Ethernet communication.

[0056] Additionally, the manipulator controller (114) and the mobile robot controller (124) can transmit and receive data to each other.

[0057] The mobile robot (120) may further include a mobile robot safety component (125) for implementing a safety function. The mobile robot safety component (125) may include, for example, an emergency stop switch of the mobile robot (120) and a servo of the mobile robot (120).

[0058] Referring to FIG. 2, the mobile robot (120) may further include an integrated safety control module (126) for comprehensively controlling the safety functions of the mobile manipulator (100).

[0059] The integrated safety control module (126) can control the manipulator safety component (115) and the mobile robot safety component (125). The integrated safety control module (126) can improve the operational safety of the mobile manipulator by directly controlling both the manipulator safety component (115) and the mobile robot safety component (125) based on the result of determining whether the mobile manipulator is integrated safe.

[0060] The integrated safety control module (126) can operate the emergency stop switch of the manipulator (110) and the servo of the manipulator (110). In addition, the integrated safety control module (126) can operate the emergency stop switch of the mobile robot (120) and the servo of the mobile robot (120).

[0061] The integrated safety control module (126) can collect status information of the manipulator (110). The integrated safety control module (126) can receive status information of the manipulator (110) from the manipulator (110) via Ethernet communication.

[0062] The status information of the manipulator (110) may include, for example, whether the safety components of the manipulator (110) are operating normally, whether one or more joint members included in the robot arm (111) are operating normally, whether the drive of the manipulator (110) is faulty, and information on the operation mode of the manipulator (110). The operation mode of the manipulator (110) may be either an auto mode or a teaching mode.

[0063] The integrated safety control module (126) can collect status information of the mobile robot (120). The integrated safety control module (126) can receive status information of the mobile robot (120) from other components of the mobile robot (120) via wired communication or EtherCAT communication.

[0064] Status information of the mobile robot (120) may include, for example, whether the safety components of the mobile robot (120) are operating normally, whether the driving means (122) is operating normally, whether the drive of the mobile robot (120) is broken, and driving mode information of the mobile robot (120). The driving mode of the mobile robot (120) may be either an autonomous driving mode or a manual driving mode.

[0065] The integrated safety control module (126) can perform an integrated safety inspection based on the status information of the manipulator (110) and the status information of the mobile robot (120). The integrated safety control module (126) can comprehensively inspect the safety of the operation of the mobile manipulator (100) based on the status information of the manipulator (110) and the status information of the mobile robot (120).

[0066] The integrated safety control module (126) can control the motor power of the manipulator (110) and the motor power of the mobile robot (120) based on the results of the integrated safety test.

[0067] The integrated safety control module (126) can control the battery (123) to supply motor power to the manipulator (110) and also to supply motor power to the mobile robot (120) when the integrated safety test results show that both the manipulator (110) and the mobile robot (120) are normal.

[0068] The present invention can improve the operational safety of a mobile manipulator (100) by integratedly managing and controlling the safety functions of a manipulator (110) and a mobile robot (120) included in the mobile manipulator (100) by an integrated safety control module (126).

[0069] The mobile robot controller (124) can directly receive manipulator vision information from the vision sensor (112). The mobile robot controller (124) can process the manipulator vision information received from the vision sensor (112).

[0070] The integrated safety control module (126) can perform integrated safety inspection based on the manipulator vision information.

[0071] The mobile manipulator (100) according to the present invention may further include an integrated teaching mechanism for teaching the movements of the manipulator (110) and the mobile robot (120). The integrated teaching mechanism may be connected to either the manipulator (110) or the mobile robot (120).

[0072] The integrated teaching mechanism may include one or more of an integrated jog stick or an integrated teaching pendant capable of controlling both the manipulator (110) and the mobile robot (120).

[0073] The mobile manipulator (100) according to the present invention can adjust the position of some components of the manipulator (110) and the mobile robot (120) or control the movement by teaching them using one integrated teaching mechanism connected to either the manipulator (110) or the mobile robot (120).

[0074] FIG. 3 is a flowchart of a safety control method for a mobile manipulator according to one embodiment of the present invention. The safety control method (S300) for a mobile manipulator illustrated in FIG. 3 may be performed in whole or in part by an integrated safety control module (126).

[0075] Referring to FIG. 3, the safety control method (S300) of a mobile manipulator may include a step of operating safety components of the manipulator and the mobile robot (S310), a step of collecting status information of the manipulator and the mobile robot (S320), and a step of performing an integrated safety inspection of the mobile manipulator (S330).

[0076] In the step (S310) of operating the safety components of the manipulator and the mobile robot, the safety components of the manipulator may include an emergency stop switch of the manipulator and a servo of the manipulator. In addition, the safety components of the mobile robot may include an emergency stop switch of the mobile robot and a servo of the mobile robot.

[0077] In the step of collecting status information of the manipulator and mobile robot (S320), the status information of the manipulator can be transmitted via Ethernet communication.

[0078] Status information of the manipulator may include, for example, whether the safety components of the manipulator are functioning normally, whether one or more joint members of the robot arm included in the manipulator are functioning normally, whether the drive of the manipulator is faulty, and information on the operating mode of the manipulator. The operating mode of the manipulator may be either an auto mode or a teaching mode.

[0079] In the step of collecting status information of the manipulator and mobile robot (S320), the status information of the mobile robot can be transmitted via wired communication or EtherCAT communication.

[0080] Status information for a mobile robot may include, for example, whether the mobile robot's safety components are functioning normally, whether the mobile robot's driving mechanism is functioning normally, whether the mobile robot's drive is malfunctioning, and information about the mobile robot's driving mode. The mobile robot's driving mode may be either an autonomous driving mode or a manual driving mode.

[0081] In the step (S330) of performing an integrated safety test of a mobile manipulator, an integrated safety test of the mobile manipulator can be performed based on the status information of the manipulator and the status information of the mobile robot.

[0082] If it is determined that there is no abnormality in the operation of the mobile manipulator as a result of the judgment on the integrated safety of the mobile manipulator in S330, the process can proceed to the step (S340) of supplying power to the motor of the manipulator and the motor of the mobile robot.

[0083] Meanwhile, if it is determined that there is an abnormality in the operation of the mobile manipulator as a result of the judgment of the integrated safety of the mobile manipulator in S330, the process can proceed to the step (S310) of operating the safety components of the manipulator and mobile robot.

[0084] The present invention can improve the operational safety of a mobile manipulator and simplify the system configuration by performing integrated safety control of a manipulator and a mobile robot.

[0085] Fig. 4 is a block diagram illustrating the configuration of a mobile manipulator according to a comparative example, and Figs. 5a and 5b illustrate a flowchart of a safety control method of a mobile manipulator according to a comparative example.

[0086] Referring to FIG. 4, the mobile manipulator (400) of the comparative example includes a manipulator (410) and a mobile robot (420). Hereinafter, a description of the configuration of the mobile manipulator (400) of the comparative example that is identical or similar to the configuration of the mobile manipulator (100) according to an embodiment of the present invention illustrated in FIGS. 1 and 2 will be omitted.

[0087] The manipulator (410) may include a manipulator safety control module (416) for controlling the safety function of the manipulator (410) and a vision control module (417) for processing information collected by the vision sensor (412).

[0088] FIG. 5a is a flowchart of a safety control method of a manipulator (410) performed by a manipulator safety control module (416).

[0089] A safety control method (S510) of a manipulator performed by a manipulator safety control module (416) may include a step of operating a safety component of the manipulator (S511), a step of collecting status information of the manipulator (S512), and a step of performing a safety inspection of the manipulator (S513).

[0090] In the step (S513) of performing a safety inspection of the manipulator, information on the status of the mobile robot connected to the manipulator and information on whether there is an error in the mobile robot may be requested.

[0091] If it is determined in S513 that there is no abnormality in the operation of the manipulator as a result of the judgment on the safety of the manipulator, the process can proceed to the step of supplying power to the motor of the manipulator (S514).

[0092] Meanwhile, if it is determined in S513 that there is an abnormality in the operation of the manipulator as a result of the judgment on the safety of the manipulator, the process can proceed to the step (S511) of operating the safety components of the manipulator.

[0093] Referring again to FIG. 4, the mobile robot (420) may include a mobile robot safety control module (426) for controlling the safety functions of the mobile robot.

[0094] Figure 5b is a flowchart of a safety control method of a mobile robot (420) performed by a mobile robot safety control module (426).

[0095] A safety control method (S520) of a mobile robot performed by a mobile robot safety control module (426) may include a step of operating a safety component of the mobile robot (S521), a step of collecting status information of the mobile robot (S522), and a step of performing a safety inspection of the mobile robot (S523).

[0096] In the step (S513) of performing a safety inspection of a mobile robot, information on the status of a manipulator connected to the mobile robot and information on whether there is an error in the manipulator may be requested.

[0097] If it is determined in S513 that there is no abnormality in the operation of the mobile robot as a result of the determination of the safety of the mobile robot, the process can proceed to the step of supplying power to the motor of the mobile robot (S514).

[0098] Meanwhile, if it is determined in S513 that there is an abnormality in the operation of the mobile robot as a result of the determination of the safety of the mobile robot, the process may proceed to the step (S511) of operating the safety components of the mobile robot.

[0099] In the comparative example, the safety functions of the manipulator and the mobile robot are independently controlled in a mobile manipulator that combines a manipulator and a mobile robot. Therefore, the comparative example increases the likelihood of errors in the mobile manipulator's safety functions and increases system complexity.

[0100] In comparison, the present invention can improve the operational safety of a mobile manipulator and simplify the system configuration by performing integrated safety control of a manipulator and a mobile robot by an integrated safety control module as described above with reference to FIGS. 1 to 3.

[0101] FIG. 6 is a block diagram of a computing device (600) that can fully or partially implement an integrated safety control module according to one embodiment of the present invention, and can implement all or part of a mobile robot controller (124) included in the mobile manipulator (100) illustrated in FIG. 1.

[0102] As illustrated in FIG. 6, the computing device (600) includes at least one processor (601), a computer-readable storage medium (602), and a communication bus (603).

[0103] The processor (601) may cause the computing device (600) to operate according to the exemplary embodiments described above. For example, the processor (601) may execute one or more programs stored in a computer-readable storage medium (602). The one or more programs may include one or more computer-executable instructions, which, when executed by the processor (601), may be configured to cause the computing device (600) to perform operations according to the exemplary embodiments.

[0104] The computer-readable storage medium (602) is configured to store computer-executable instructions or program code, program data, and / or other suitable forms of information. A program (602a) stored in the computer-readable storage medium (602) includes a set of instructions executable by the processor (601). In one embodiment, the computer-readable storage medium (602) may be a memory (volatile memory such as random access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash memory devices, any other form of storage medium that can be accessed by the computing device (600) and capable of storing desired information, or a suitable combination thereof.

[0105] A communication bus (603) interconnects various other components of the computing device (600), including the processor (601) and computer-readable storage medium (602).

[0106] The computing device (600) may also include one or more input / output interfaces (605) that provide interfaces for one or more input / output devices (604) and one or more network communication interfaces (606). The input / output interfaces (605) and the network communication interfaces (606) are connected to a communication bus (603).

[0107] The input / output device (604) may be connected to other components of the computing device (600) via an input / output interface (605). Exemplary input / output devices (604) may include input devices such as a pointing device (such as a mouse or a trackpad), a keyboard, a touch input device (such as a touchpad or a touchscreen), a voice or sound input device, various types of sensor devices and / or photographing devices, and / or output devices such as a display device, a printer, a speaker, and / or a network card. The exemplary input / output device (604) may be included within the computing device (600) as a component constituting the computing device (600), or may be connected to the computing device (600) as a separate device distinct from the computing device (600).

[0108] FIG. 7 illustrates an example of a configuration of a mobile manipulator according to one embodiment of the present invention and the operation and data flow of each configuration.

[0109] For example, power can be supplied to at least one of the manipulator and the mobile robot using a battery and converter placed on the mobile robot side.

[0110] An emergency stop switch and servo are operated on the manipulator side, and status information of the emergency stop switch and servo can be transmitted to the IO module. Operating status information of the manipulator can be transmitted from the MCS module to the IO module.

[0111] Manipulator status information, including status information of the emergency stop switch and servo and driving status information of the manipulator, can be transmitted from the IO module to the integrated safety control module on the mobile robot side.

[0112] An emergency stop switch and servo are operated on the mobile robot side, and status information of the emergency stop switch and servo can be transmitted to the integrated safety control module.

[0113] The integrated safety control module performs integrated safety tests for the mobile manipulator and can control the battery to control power supply to the manipulator's motors and the mobile robot's motors. For example, if integrated safety requirements are not met, a relay can be controlled to prevent power supply to the manipulator's motors or the mobile robot's motors.

[0114] The configuration of the mobile manipulator and the operation of each configuration illustrated in FIG. 7 are exemplary, and the mobile manipulator according to the present invention may further include other configurations or may be configured by omitting some of the configurations illustrated in FIG. 7.

[0115] Meanwhile, embodiments of the present invention may include a program for performing the methods described herein on a computer, and a computer-readable recording medium including the program. The computer-readable recording medium may include program commands, local data files, local data structures, etc., alone or in combination. The medium may be specially designed and configured for the present invention, or may be one commonly used in the field of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of the program may include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0116] While representative embodiments of the present invention have been described in detail above, those skilled in the art will appreciate that various modifications to the above-described embodiments are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the claims set forth below but also by equivalents thereof.

Claims

1. A mobile robot including a first controller and a driving means; and A manipulator connected to the above mobile robot and including a second controller Including, The above mobile robot, A mobile manipulator further comprising an integrated safety control module that collects status information of the manipulator, collects status information of the mobile robot, and performs an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot.

2. In paragraph 1, The above integrated safety control module, A mobile manipulator configured to supply motor power of the manipulator and motor power of the mobile robot when both the manipulator and the mobile robot are free of abnormalities based on the results of the above integrated safety inspection.

3. In paragraph 1, The above manipulator is installed on the upper part of the mobile robot, The above manipulator further includes a vision sensor installed at one end of the manipulator, The above first controller, A mobile manipulator that receives manipulator vision information collected using the above vision sensor from the above vision sensor.

4. In paragraph 1, The above integrated safety control module, Operate the emergency stop switch and servo of the above mobile robot, A mobile manipulator that operates the emergency stop switch and servo of the above manipulator.

5. In paragraph 1, The above integrated safety control module, A mobile manipulator that receives status information of the manipulator from the manipulator via Ethernet communication.

6. In paragraph 5, A mobile manipulator, wherein the status information of the manipulator includes information on whether one or more joint members included in the manipulator are operating, whether a drive of the manipulator is faulty, and information on the operation mode of the manipulator.

7. Processor; and A method performed in a computing device including a storage medium storing instructions executable by the processor, Step of collecting status information of the manipulator; A step of collecting status information of a mobile robot connected to the lower part of the above manipulator; A step of performing an integrated safety inspection based on the status information of the manipulator and the status information of the mobile robot; and A step of controlling the manipulator and the mobile robot based on the results of performing the above integrated safety test. A method for safety control of a mobile manipulator including a .

8. In paragraph 7, The step of controlling the above manipulator and the above mobile robot is: A step of supplying motor power to the manipulator and motor power to the mobile robot when both the manipulator and the mobile robot are not abnormal based on the results of the above integrated safety inspection. A method for safety control of a mobile manipulator including a .

9. In paragraph 7, The above manipulator further includes a vision sensor installed at one end of the manipulator, The safety control method of the above mobile manipulator is: A step of receiving manipulator vision information collected using the above vision sensor from the above vision sensor. A method for safety control of a mobile manipulator further comprising:

10. In paragraph 7, A step of operating an emergency stop switch and servo of the above mobile robot; and Step of operating the emergency stop switch and servo of the above manipulator A method for safety control of a mobile manipulator further comprising:

11. In paragraph 7, The step of collecting status information of the above manipulator is: A step of receiving status information of the manipulator via Ethernet communication from the manipulator. A method for safety control of a mobile manipulator including a .

12. In paragraph 11, A safety control method for a mobile manipulator, wherein the status information of the manipulator includes information on whether one or more joint members included in the manipulator are operating, whether a drive of the manipulator is faulty, and information on the operation mode of the manipulator.

Images