Autonomous working system, method and computer readable recording medium

1. An autonomous working system comprising a master working robot and at least one slave working robot, wherein

the master working robot comprises:

a data receiving unit to receive information on space targeted for working;

a sensing unit to sense the space targeted for working;

a sensing setting unit to set a movement path of the master working robot, a sensing position, and a sensing angle of the sensing unit; and

a first position determination unit to determine a position of the master working robot by comparing sensing data obtained through the sensing unit at the sensing position with reference map data, and

the at least one slave working robot comprises

a second position determination unit that determines a position of the at least one slave working robot,

the master working robot further comprises an information display unit to display task information on the space targeted for working,

the at least one slave working robot further comprises a working unit to recognize the task information and perform a task corresponding to the recognition result, and

a position at which the task information is displayed exists on the movement path of the master working robot.

2. The autonomous working system of claim 1 , wherein

the second position determination unit receives the information on the position of the master working robot, and determines the position of the at least one slave working robot in consideration of the received position and the distance and angle between the at least one slave working robot and the master working robot.

3. The autonomous working system of claim 2 , wherein

the at least one slave working robot further comprises a distance calculation unit to calculate a distance to the master working robot and a distance to a specific point of the space targeted for working.

4. The autonomous working system of claim 2 , further comprising

a position information management unit to receive information on the position of the master working robot from the first position determination unit, wherein

the second position determination unit receives the information on the position of the master working robot from the position information management unit.

5. The autonomous working system of claim 1 , wherein

the second position determination unit receives a position signal output from a transceiver provided at an arbitrary position, and determines the position of the at least one slave working robot from the position signal.

6. The autonomous working system of claim 1 , wherein

the task information further comprises position information corresponding to the position at which the task information is displayed, and

the second position determination unit determines the position of the at least one slave working robot by using the position information.

7. The autonomous working system of claim 1 , wherein

the sensing setting unit sets the sensing position for sensing the space targeted for working in consideration of reference map data corresponding to the space targeted for working.

8. The autonomous working system of claim 7 , wherein

the master working robot further comprises

a map generating unit to generate the reference map from sensing data obtained through the sensing unit at an arbitrary reference position.

9. An autonomous working method using an autonomous working system comprising a master working robot and at least one slave working robot, the autonomous working method comprising:

receiving information regarding space targeted for working;

setting a movement path of the master working robot, a sensing position, and a sensing angle at the sensing position;

determining a position of the master working robot by comparing sensing data obtained at the sensing position with reference map data, and

determining a position of the at least one slave working robot

wherein the autonomous working method further comprises:

displaying, by the master working robot, task information on the space targeted for working; and

recognizing the task information and performing a task corresponding to the recognition result, by the at least one slave working robot, and

wherein a position at which the task information is displayed exists on the movement path of the master working robot.

10. The autonomous working method of claim 9 , wherein

the determining a position of the at least one slave working robot comprises:

receiving information on the position of the master working robot; and

calculating the received position and a distance and angle between the slave working robot and the master working robot.

11. The autonomous working method of claim 9 , wherein

in the determining the position of the at least one slave working robot,

a position signal output from a transceiver provided at an arbitrary position is received, and the position of the at least one slave working robot is determined from the position signal.

12. The autonomous working method of claim 9 , wherein

the task information further comprises position information corresponding to the position at which the task information is displayed, and

in the determining of the position of the at least one slave working robot, the position of the at least one slave working robot is determined by using the position information.

13. A computer-readable recording medium having recorded thereon a program for performing the autonomous working method of claim 9 .