Patent Publication Number: US-2011054684-A1

Title: Method and system for transferring/acquiring operation right of moving robot in multi-operator multi-robot environment

Description:
CROSS-REFERENCE(S) TO RELATED APPLICATIONS 
     The present invention claims priority of Korean Patent Application No. 10-2009-0081952, filed on Sep. 1, 2009, which is incorporated herein by reference in its entirety. 
     BACKGROUND OF THE INVENTION 
     1. Field of the Invention 
     The present invention relates to a method and system for transferring/acquiring an operation right of a moving robot; and, more particularly, to a method and system for transferring/acquiring an operating right of a moving robot in a multi-operator multi-robot environment. 
     2. Description of Related Art 
     Early robots have been implemented with mechanical operations such as motors, and they are evolving into intelligent robots which have human being&#39;s learning ability. Robots may be classified into industrial robots and personal robots according to their purposes. Industrial robots may be used in manufacturing fields represented by factory automation such as welding, assembly, and so on, and non-manufacturing fields represented by field automation such as underwater works, medical services, and so on. Personal robots refer to robots used for housework, life support, leisure support, public welfare, and so on. Those robot technologies are developing toward a complex industry in which various fields such as a machinery industry for driving robots, an electronic industry such as sensors for detection and measurement, a communication industry for communication with other individuals, and a material industry for implementation of robots are combined together. 
     In the early robot operation technology, one controller connected to a cable controls one robot. With the advance of mobile robots, the robot operation technology is developing to enable a remote control through a wireless medium. Furthermore, technologies capable of controlling a plurality of robots through one controller have been developed. 
       FIG. 1  is a configuration diagram of a system in which one controller (remote operation station, hereinafter, referred to as an “ROS”) is provided for one robot. 
     Referring to  FIG. 1 , one ROS  120  is provided for controlling one robot  110 . The ROS  120  may be connected to the robot  110  through a wired network such as a wired internet, or a wireless network such as a Wibro network. 
       FIG. 2  is a configuration diagram of a system for enabling a single operator to control a single robot and to assign a mission to the single robot in a single-operator single-robot access control (hereinafter, referred to as an “SSAC”) environment. 
     Referring to  FIG. 2 , an SSAC system is a system that requires n ROSs for n robots. A control domain  210  for controlling one robot exists in an SSAC environment. The SSAC environment includes a robot # 1   211  configured to move under the control domain  210 , and an ROS # 1   212  configured to control the robot # 1   211 . The SSAC environment requires a plurality of ROSs so as to control a plurality of robots. Since the ROSs operate not organically but individually, there are limitations in accepting flexible system organizations according to purpose, operations and their hierarchical command control and symmetry according to mission structures. 
       FIG. 3  illustrates a hierarchical structure for enabling multi-operators to operate multi-robots in a multi-operator multi-robot access control environment. 
     Referring to  FIG. 3 , N robots and M ROSs configured to manage the N robots exist in an N-operator M-robot access control (hereinafter, referred to as an “NMAC”) environment. Also, an upper-level controller (remote mission station, hereinafter referred to as an “RMS”) configured to control the M ROSs is provided in the NMAC environment. The following detailed description will be made about an NMAC environment, on the assumption that that two ROSs configured to control N robots, and an RMS configured to control the two ROSs are provided in the NMAC environment. An RMS  310  checks operation information of ROSs  320  and  330  and status information of currently operating robots. The ROS  320  manages and operates a robot a 1   341  to a robot aN  343 , and the ROS  330  manages and operates a robot b 1   351  to a robot  353 . The operation and structure of the RMS and the ROSs will be described later in more detail with reference to  FIGS. 5 and 6 . 
       FIG. 4  is a configuration diagram of a system for enabling N operators to flexibly control and access M robots in an NMAC environment. In  FIG. 4 , a change from an SSAC environment to an NMAC environment is illustrated. Specifically,  FIG. 4  illustrates a system architecture for enabling multi-operators to control multi-robots and assign missions to the multi-robots in order to overcome limitations set forth above in  FIG. 1 . In  FIG. 4 , a robot management domain may be divided into three types, that is, a mission domain  400 , operation domains  420  and  460 , and control domains  430  and  470 . The mission domain  400  refers to a domain that controls an overall operation of the RMS  410  in a current NMAC environment. The operation domains  420  and  460  refer to a domain that has a capability of receiving an operation right from the RMS  410  and managing a robot on the basis of the operation right. The control domains  430  and  470  refer to a domain that controls a robot by using the actual ROSs  432  and  472 . That is, robots that are not actually controllable but will be controllable may exist in the operation domains  420  and  460 , and only robots that are actually controllable exist in the control domains  430  and  470 . In other words, it means that the control domains  430  and  470  are a subset of the operation domains  420  and  460 . The ROS # 1   432  and the ROS # 2   472  are in a state that holds a control right, and the robot # 2   440 , the robot #k  450 , the robot # 6   480 , and the robot #j  490  are in a state that has an operation right but does not have a control right. 
     A system of an NMAC environment will be described below in more detail with reference to  FIG. 4 . The RMS  410  transmits an operation right plan to the ROS # 1   432  and the ROS # 2   472 . The ROS # 1   432  and the ROS # 2   472  can control the operation right robot belonging to them by using the received operation right information. The RMS  410  has a flexible structure that may configure a system for an operating robot existing in other operation right by passing through an operation right transferring procedure with respect to the operation right robots operated by the ROS # 1   432  and the ROS # 2   472 . The ROSs  432  and  472  enables the operator to give a remote traveling and mission assignment role to the control right robot through a setting of the control right. Remote control units (hereinafter, referred to as “RCUs”)  433  and  473  are portable remote control systems that may assign missions to the robots existing within the operation right. For example, the RCU  433  may assign a mission by setting an operation right of the robot # 2 . The RCU  433  may or may not be implemented in the system according to needs. 
       FIG. 5  is a configuration diagram of an ROS system operating in an NMAC environment. 
     Referring to  FIG. 5 , the ROS system includes an ROS processor  500  and a plurality of robots  511  to  513  controlled by the ROS processor  500 . The ROS processor  500  includes a remote controller  521 , an information processor  530 , an image processor  540 , a state processor  550 , and a haptic processor  560 . Specifically, the remote controller  521  controls the robots  511  to  513  through a wireless medium, and the information processor  530  receives information of the remote controller  521 , or provides execution information to the remote controller  521 . In addition, the image processor  540  displays a current status in a form of 2D/3D image, and the state processor  550  receives current information and changes a system mode to a mode appropriate to a current state. The haptic processor  560  has a wheel and a pedal and is a mechanism for actually operating the robots in remote. The remote controller  521  has a switch panel to select one of the robots, and acquires a control right of one robot by pressing a number switch assigned to the robot, 
       FIG. 6  is a configuration diagram of an RMS system based on two ROSs. 
     Referring to  FIG. 6 , the RMS system includes an image processor # 1   610  and an information processor # 1   620  configured to manage an ROS # 1   630 , an image processor # 2   650  and an information processor # 2   660  configured to manage an ROS # 2   670 , and a state monitor (a state processor)  640  configured to monitor a state in a 2D/3D manner. The ROS # 1   630  transmits its own current image information and status information to the image processor # 1   610  and the information processor # 1   620 , respectively. In addition, the ROS # 2   670  transmits its own image information and status information to the image processor # 2   650  and the information processor # 2   660 , respectively. The image information and the status information received from the ROSs  630  and  670  are analyzed by the image processors  610  and  650  and the information processors  620  and  660 , transmitted to the state monitor (state processor)  640 , and then controlled by the RMS operator. 
     In the SSAC environment as shown in  FIG. 2 , the system enables the single operator to control the single robot and assign a mission to the single robot. In the SSAC environment, there is no description on operation and synchronization of the multi-robots, which are required in an unmanned self-control system. Accordingly, the operator in remote area can operate only the single robot through real-time monitoring, remote traveling and self-control traveling. In the unmanned self-control system, which is a multi-operators to multi-robots operation basis system, the NMAC system must ensure multi-operators&#39; flexible operability such as mission assignment with respect to the multi-robots. Therefore, there is a need for synchronization between an ROS processor and multi-robots in the NMAC system by changing operation rights of the multi-robots. 
     SUMMARY OF THE INVENTION 
     An embodiment of the present invention is directed to providing a method and system for transferring/acquiring an operation right of a moving robot, capable of supporting a wider area. 
     Another embodiment of the present invention is directed to providing a method and system for transferring/acquiring an operation right of a moving robot, capable of increasing a mutual compatibility between systems. 
     Another embodiment of the present invention is directed to providing a method and system for transferring/acquiring an operation right of a moving robot, capable of flexibly modifying a system configuration. 
     In accordance with an aspect of the present invention, there is provided, in an operating system having a first controller configured to manage one or more robots included in a first region, and a second controller configured to manage one or more robots included in a second region adjacent to the first region, a method for enabling the second controller to acquire an operation right of N robots (where N is a natural number equal to or greater than 1) operated by the first controller, the method including: transmitting a control mapping status (CMS) containing an operation right change message to the first controller, upon reception of an operation right request signal from a user of the N robots; and checking a connection status of the N robots, upon reception of the CMS containing the operation right change message from the first controller, and acquiring an operation right by providing CMS acquisition information and control mapping information to the robots included in the second region. 
     In accordance with another aspect of the present invention, there is provided in an operating system having a first controller configured to manage one or more robots included in a first region, and a second controller configured to manage one or more robots included in a second region adjacent to the first region, a method for transferring an operation right of N robots (where N is a natural number equal to or greater than 1) operated by the first controller to the second controller, the method including: transmitting a latest control mapping status (CMS) message to the N robots, upon reception of an operation right change CMS connection from the second controller; and transmitting a CMS containing an operation right change message corresponding to the operation right change CMS connection received from the second controller. 
     In accordance with another aspect of the present invention, there is provided in an operating system having a first controller configured to manage one or more robots included in a first region, and a second controller configured to manage one or more robots included in a second region adjacent to the first region, a system for transferring an operation right of a first robot operated by the first controller to the second controller, the system including: a first control unit configured to transmit an operation right change control mapping status (CMS) connection to an upper-level controller when an operator requests an operation right change through the upper-level controller, the first controller or the second controller, and transmitting a CMS message when an operation right information share message is received from the upper-level controller; a second controller configured to transmit the operation right information share message to the upper-level controller when the operation right change CMS connection is received from the upper-level controller, and transmit the CMS message to the upper-level controller; and the upper-level controller configured to transmit the CMS containing operation right change message to the second controller when the CMS containing the operation right change message is received from the first controller, and transmit the operation right information share message to the first controller when the operation right information share message is received from the second controller. 
     Other objects and advantages of the present invention can be understood by the following description, and become apparent with reference to the embodiments of the present invention. Also, it is obvious to those skilled in the art to which the present invention pertains that the objects and advantages of the present invention can be realized by the means as claimed and combinations thereof. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a configuration diagram of a system in which one controller (remote operation station, “ROS”) is provided for one robot. 
         FIG. 2  is a configuration diagram of a system for enabling a single operator to control the single robot and to assign a mission to the single robot in a single-operator single-robot access control (SSAC) environment. 
         FIG. 3  illustrates a hierarchical structure for enabling N operators to operate M robots in an N-operator M-robot access control (NMAC) environment. 
         FIG. 4  is a configuration diagram of a system for enabling N operators to flexibly control and access M robots in an NMAC environment. 
         FIG. 5  is a configuration diagram of an ROS system operating in an NMAC environment. 
         FIG. 6  is a configuration diagram of an RMS system based on two ROSs. 
         FIG. 7  is a flowchart illustrating an operating procedure of a control right based on initial operation right plan information in order for synchronization between an ROS processor and multi-robots. 
         FIG. 8  is a flowchart illustrating a synchronization operation between multi-robots through an operation right change between an ROS  1  and an ROS  2  in accordance with an embodiment of the present invention. 
         FIGS. 9A and 9B  are flowcharts illustrating an operation for synchronization between multi-robots through an operation right transfer among an ROS  1 , an ROS  2 , and an RMS, in case where an RMS is provided, in accordance with another embodiment of the present invention. 
     
    
    
     DESCRIPTION OF SPECIFIC EMBODIMENTS 
     The advantages, features and aspects of the invention will become apparent from the following description of the embodiments with reference to the accompanying drawings, which is set forth hereinafter. 
       FIG. 7  is a flowchart illustrating an operating procedure of a control right based on initial operation right plan information in order for synchronization between an ROS processor and multi-robots. 
     Like the ROS of  FIG. 5 , the ROS processor  704  of  FIG. 7  includes a remote controller, an information processor, an image processor, a state processor and a haptic processor. The remote controller receives a signal from a robot and transmits information generated within the ROS processor  704  to the robot. The remote controller sets a control mapping status (hereinafter, referred to as a “CMS”) information connection to the image processor, the state processor and the haptic processor (which is referred to as “the processors inside the ROS”), and the processors inside the ROS sets a CMS information connection to the remote controller. The remote controller achieves an initial synchronization between the processors inside the ROS by transmitting initially planned CMS information to the processors inside the ROS. The CMS refers to information necessary to operate the robots, such as non-operation/operation information, operation right belonging information, control right belonging information, and movement and mission mode status information with respect to the multi-robots. The processors inside the ROS generate objects with respect to the multi-robots within the operation right, based on the CMS information, and establish a connection related to the operation information. The remote controller receives CMS acquisition information from the multi-robots within the operation right, and updates CMS message with respect to the robots that are in an operating state. Since the updated CMS message is transmitted to the processors inside the ROS and the multi-robots, the synchronization between the multi-robots and the processors inside the ROS is achieved. Through the above-described procedures in the normal operation environment, the operator performs a control right acquisition procedure with respect to the robots selected among the multi-robots within the operation right, and synchronizes the updated CMS message. Upon occurrence of an event of an operation change message, such as a movement mode change and a mission mode change of a control right robot, a movement and mission mode change of an operation right robot, and a request of a control right for an operation right robot from the RCU, the CMS message is also updated and thereafter the synchronization between the systems is achieved by sharing the CMS message with the multi-robots and the processors inside the ROS. 
     The control and operation between the ROS processor  704  and the currently operating robots  701  to  703  will be described below with reference to  FIG. 7 . The robot  1   703 , the robot  2   702 , and the robot  3   701  are in an operation right state, but not in a control right state. At step S 711 , if the ROS processor  704  and the robots  701  to  703  are powered on, the ROS processor  704  acquires CMS message of the currently operating robots and transmits the acquired CMS message to the robot  1   703 , the robot  2   702 , and the robot  3   701 . At step S 712 , the ROS processor  704  transmits the updated latest CMS message to the robot  1   703 , the robot  2   702 , and the robot  3   701 . The latest CMS message is used to transmit the latest operation information before or after performing an operation such an operation right or a control right. 
     Steps S 713  to S 715  are procedures of acquiring a control right in order for the ROS processor  704  to control the robot  1   703  that is in an operation right state. At the step S 713 , the ROS processor  704  selects the robot  1   703 . The step S 713  may be performed by turning on the remote controller of the ROS processor  704  that manages the robot  1   703 . At the step S 714 , the ROS processor  704  transmits a control right request message to the robot  1   703  selected at the step S 713 . At the step S 715 , the robot  1   703  transmits a control right approval message in response to the control right request message of the step S 714 . If the steps S 713  to S 715  are completed, the robot  1   703  changes from the operation right state to the control right state. At step S 716 , the ROS processor  704  transmits the latest CMS message to the robot  1   703 . 
     Steps S 717  to S 723  are procedures of changing the robot mode. Specifically, the steps S 717  to S 720  are procedures of changing the robot being in a control right state to a movement mode, and the steps S 721  to S 723  are procedures of changing the robot being in an operation right state to a mission mode. At the step S 717 , the ROS processor  704  determines to change the mode of the robot  1   703  to the movement mode. At the step S 718 , a movement mode change request message is transmitted to the robot  1   703  that is in a control right state. At the step S 719 , the robot  1   703  transmits a movement mode change approval message to the ROS processor  704  in response to the movement mode change request message received at the step S 718 . At the step S 720 , the ROS processor  704  transmits the latest CMS message to the robot  1   703 . At the step S 721 , the ROS processor  704  determines to change the robot  2   702  being in an operation right state to a mission mode. At the step S 722 , a mission mode change request message is transmitted to the robot  2   702 . At the step S 723 , the robot  2   702  transmits a mission mode change approval message to the ROS processor  704  in response to the mission mode change request message of the step S 722 . 
     Steps S 724  to S 726  are procedures of changing the robot  2   702  being in an operation right state to a control right state. The steps S 724  to S 726  are substantially identical to the described-above steps S 713  to S 715 . When the step S 726  is completed, the robot  2   702  changes to a control right state. At step S 727 , the ROS processor  704  returns the control right by transmitting a control right return request message to the robot  1   703  in order to change the robot from the control right state to an operation right state. When the step S 727  is completed, the robot  1   703  changes from the control right state to the operation right state. At step S 728 , the ROS processor  704  transmits the latest CMS message to the robot  2   702 . 
       FIG. 8  is a flowchart illustrating a synchronization procedure between multi-robots through an operation right change between an ROS  1  and an ROS  2  in accordance with an embodiment of the present invention. 
     Referring to  FIG. 8 , two ROSs  803  and  804  are provided. Two robots, that is, a robot  1   802  and a robot  2   801  belong to the ROS  1   803 , and a robot  5   805  belongs to the ROS  2   804 . In the following description, it is assumed that the ROS  1   803  operates as a master and the ROS  2   804  operates as a slave. Unlike the environment of  FIG. 7  in which the ROS processor  704  operates solely, the CMS message is synchronized through an operation right change in two ROS systems. To this end, the remote controller of the ROS  2   804  confirms existence/nonexistence of the RMS through a network connection state. When the RMS does not exist, an object of the remote controller of the ROS  1   803  is generated, and an operation right change message and an operation right information request connection are established. In the respective ROS systems, the synchronization is achieved by sharing the CMS message provided in  FIG. 7 . The remote controller of the ROS  804  transmits the initial CMS message to the remote controller of the ROS  1   803  by using the operation right change message between the ROSs. The remote controllers of the ROSs  803  and  804  update the operation right change message to the CMS message and transmits the updated CMS message to the processors inside the ROS and the operating multi-robots. The operators of the ROS  1   803  and the ROS  2   804  may request robot operation information to each other, and the synchronization may be achieved by sharing the CMS message of the opposite side whenever the received CMS message or the operation information is generated. The operators may confirm the operation status of the multi-robots operated in the ROS systems. The operator of the ROS  2   804  may configure the system by transmitting the operation right change message to the multi-robots operated in the ROS  1   803 . The processors inside the respective ROSs and the multi-robots are synchronized by sharing the changed CMS message between the remote controllers of the ROS  1   803  and the ROS  2   804 . 
     The operation right change between the ROSs will be described below with reference to  FIG. 8 . Steps S 811  to S 814  are procedures of setting a connection for sharing operation right information each other and acquiring initial operation right information. At the step S 811 , the ROS  2   804  transmits the operation right change CMS connection to the ROS  1   803  in order to set a connection for transmitting the operation right change CMS. At the step S 812 , the ROS  2   804  transmits the operation right information request CMS connection to the ROS  803 . At the step S 813 , the ROS  2   804  transmits the initially planned operation right information change message to the ROS  1   803 . At the step S 814 , the ROS  1   803  transmits the CMS containing the operation right change message to the ROS  2   804 . In this manner, the connection for transmitting the initial operation right information is set and the initial operation right information is acquired. 
     At step S 815 , the ROSs  803  and  804  acquire and transmit the currently operating CMS message to the robots that are in an operation right state. At step S 816 , the latest CMS message is transmitted to the robots. 
     Steps S 817  to S 827  are procedures of transferring the operation right when the robot  2   801  moves from the ROS  1   803  to the ROS  2   804 . At the step S 817 , the ROS  2   804  transmits the latest operation right information request message. At the step S 818 , the ROS  1   803  transmits the CMS containing operation right change message to the ROS  2   804 . At the step S 819 , the ROS  1   804  transmits the operation right information request CMS to the ROS  1   803 . At the step S 820 , the ROS  2   804  transmits the operation right information share change CMS to the ROS  1   803  in response to the step S 819 . At the steps S 821  and S 822 , when the user requests the use of the robot  2   801 , the newly entered ROS, that is, the ROS  2   804  transmits the CMS containing the operation right change message to the existing ROS, that is, the ROS  1   803 . At the step S 823 , the ROS  1   803  transmits the latest CMS message to the robot  2   801 . At the step S 824 , the ROS  1   803  transmits the operation right change CMS to the ROS  2   804  in response to the step S 822 . At the step S 825 , the ROS  2   804  checks the connection status of the robot  2   801 . At the step S 826 , the ROS  2   804  acquires the CMS message of the currently operating robot and transmits the acquired CMS message to the robot  2   801 . At the step S 827 , the ROS  2   804  transmits the latest CMS message. The ROS may be expanded to two or more according to expansion and necessity of the network. 
       FIGS. 9A and 9B  are flowcharts illustrating an operation for synchronization between multi-robots through an operation right transfer among an ROS  1 , an ROS  2 , and an RMS, in case where an RMS is provided, in accordance with another embodiment of the present invention. 
     Unlike the operation environment of  FIG. 8 , since an RMS system is provided, the operator can configure the system more flexibly and operate according to a mission structure. A state processor of an RMS  904  connects operation right information related methods to remote controllers of ROSs  903  and  905 . The remote controllers of the ROSs  903  and  905  transmit initial CMS message to the state processor of the RMS  904 . The state processor of the RMS  904  updates CMS message collected at the ROS  1   903  and the ROS  2   905 , and transmits the updated CMS message through an operation right change CMS. The remote controllers of the ROSs  903  and  905  transmit the updated CMS message to the processors inside the ROS and the initially planned multi-robots. In this way, the initial synchronization is achieved. The operator of the RMS  904  may confirm the operation information state with respect to the multi-robots operated at the ROS  1   903  and the ROS  2   904 , and may configure the system for the multi-robots operated within the ROSs  903  and  905  through the operation right transfer. The operators of the ROSs  903  and  905  may also configure the system for multi-robots existing in other operation right. 
     A synchronization procedure of the ROS  1   903 , the ROS  2   905 , and the RMS  904  when the robot moves will be described below with reference to  FIG. 9 . Steps S 911  to S 914  are procedures of setting a connection for interlocking the ROS  1   903  and the ROS  2   905 , centering on the RMS  904 . At the step S 911 , the RMS  904  sets an operation right information share CMS connection to the ROS  1   903  and the ROS  2   905 . At the step S 912 , the RMS  904  sets an operation right information request CMS connection to the ROS  1   903  and the ROS  2   905 . At the step S 913 , the RMS  904  sets an operation right change CMS connection to the ROS  1   903  and the ROS  2   905 . At the step S 914 , the RMS  904  sets a CMS message connection to the ROS  1   903  and the ROS  2   905 . At step S 915 , the ROS  1   903  and the ROS  2   905  transmit current CMS message to the RMS  904 . At step S 916 , the RMS  904  transmits operation right information share message to the ROS  1   903  and the ROS  2   905  in order to share the operation right, based on the CMS message received at the step S 915 . 
     Steps S 917  to S 927  are operation procedures in case where the robot  1   902  moves from the ROS  1  domain to the ROS  2  domain. In the following description, it is assumed that the robot  1   902  is in a control right state. At the steps S 917  and S 918 , when a new operator (an operator of the ROS  2   905  in  FIG. 9 ) requests an operation right of the robot  1   902 , the RMS  904  transmits the CMS containing the operation right change message to the ROS  1   903 . At the step S 919 , since the robot  1   902  is in a control right state, the ROS  1   903  transmits a control right return request message to the robot  1   902  in order to cancel the control right. At the step S 920 , the ROS  1   903  transmits the latest CMS information to the robot  1   902 . At the step S 921 , the ROS  1   903  transmits an operation right information share message to the RMS  904 . At the step S 922 , the RMS  904  transmits the operation right information share message received from the ROS  1   903  to the ROS  2   905 . At the step S 923 , the ROS  2   905  transmits its own CMS information to the RMS  904 . At the step S 924 , the ROS  2   905  confirms the status of the robot  1   902 , acquires the CMS information of the currently operating robot, and transmits the acquired CMS information to the robot  1   902 . At the step S 925 , the ROS  2   905  transmits the latest CMS message to the robot  1   902 . 
     Steps S 928  to S 940  are procedures of a case where the robot  5   906  moves from the ROS  2  domain to the ROS  1  domain. This case is substantially similar to the above-described case of the robot  1   902 , where a new operator (an operator of the ROS  1   903  in  FIG. 9 ) requests a robot operation right. Since the robot  5   906  is currently in an operation right state, a process of canceling a control right is unnecessary, and the other processes are identical to the processes of the step S 917  to S 927 . Through the above-described processes, the ROS  1   903 , the ROS  2   905 , the RMS  904 , and the multi-robots may be synchronized. The multi-robots within the operation right may be flexibly controlled by continuously updating a CMS config file through the operation right procedure and sharing the CMS information. The RMS and the ROS may be expanded to two or more according to expansion and necessity of the network. 
     In accordance with the embodiments of the present invention, the method and system for transferring/acquiring the operation right of the moving robot can support a wider area, increase a mutual compatibility between systems, and easily modify a system configuration. 
     While the present invention has been described with respect to the specific embodiments, it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.