An Emergency Cross-Control Method and Integrated Operation System for a Disaster-Safety Robot

This study introduces an emergency cross-control method for a disaster-safety robot to ensure safe and flexible operation in complex disaster environments and to improve the operational reliability and efficiency of disaster response efforts. The proposed method enables safe transfer of control authority between local and remote operators in emergency situations. The control architecture was implemented in an integrated operation system (IOS) centered on an integrated control monitoring computer (ICMC). The IOS coordinates multiple subsystems, including a vehicle control module (VCM) and a hydraulic arm control module (HARC), and applies a mutual-exclusion logic to prevent command conflicts during transitions between modes. The results of scenario-based experiments demonstrated that the proposed system achieved stable operation without command conflicts and reduced the total time required to perform the specified operations by approximately 25% compared to manual switching methods. These results verify its effectiveness and applicability in complex disaster environments.