KR101959814B1 - Physical distribution system and method using indoor autonomous riding robot for handicapped person and indoor autonomous riding robot - Google Patents

Abstract

Disclosed is a logistics system, a logistics transportation method, and an on-board indoor self-propelled traveling robot utilizing an on-board indoor autonomous traveling robot for a person with developmental disabilities. The indoor self-propelled traveling robot of the inside of the facility is provided with a boarding mechanism portion for providing a boarding space of a passenger, a storage mechanism portion for storing objects, an interface mechanism portion for communication with the passenger, Controlling the self-traveling of the self-traveling robot to control movement of the self-traveling robot in the space for transporting the object through the storage mechanism in the facility, and transmitting information related to the transportation of the object through the interface mechanism And a control unit communicating with an occupant boarding the boarding mechanism.

Description

TECHNICAL FIELD [0001] The present invention relates to a logistics system and a logistics transportation method utilizing an on-board self-propelled traveling robot for a person with developmental disabilities, and a self-propelled traveling robot having an on-

The following explains the logistics system, the logistics transportation method, and the self-propelled self-propelled traveling robot using the self-propelled traveling robot for persons with developmental disabilities.

An autonomous mobile robot is a robot that looks for the optimal route to a destination by using wheels or legs while looking around itself and detecting obstacles. It is being developed and used for various fields such as autonomous vehicles, logistics, hotel service, and robot cleaner. Korean Patent Laid-Open No. 10-2005-0024840, for example, describes a route planning method for an autonomous mobile robot, in which a mobile robot autonomously moving at home or office can safely and quickly move to a target point while avoiding obstacles Lt; RTI ID = 0.0 > a < / RTI > optimal path.

1 is a diagram showing an example of a basic technique applied to a robot for indoor autonomous navigation in the prior art. 1 is a diagram illustrating mapping robots 110, localization 120, path planning 130, and obstacle avoidance 140, which are applied to the service robot 100 of the related art. And sensing (150).

The mapping 110 may include a technique for creating a peripheral map while the service robot 100 performs an autonomous running and / or a technique for importing and managing a map already prepared. For example, when the service robot 100 travels in an unknown environment, it is possible to precisely map the environment without external help by only the sensors attached to the robot, or to estimate the current position by matching the surrounding environment with the stored map , Technology such as SLAM (Simultaneous Localization And Mapping) or CML (Concurrent Mapping and Localization) can be utilized, and a technique such as SFM (Structure from motion) for converting two-dimensional data of a camera into three- And can be utilized for generation of a dimensional map.

The localization 120 may include a technique for the service robot 100 to recognize the surrounding environment and estimate its own location. For example, GPS (Global Positioning System) coordinates, sensing values of IMU (Inertial Measurement Unit), and SLAM described above can be utilized.

The path planning 130 may include a technique for setting a path for an autonomous running of the service robot 100. For example, a Rapidly-exploring Random Tree (RRT), an A star algorithm for finding a path, a D star algorithm, and a Dijkstra algorithm can be utilized.

The obstacle avoidance 140 may include a technique for avoiding an unplanned obstacle (for example, a person or an object) while the service robot 100 proceeds the autonomous travel according to the route set according to the route plan 130 have.

The sensing 150 may be implemented using various sensors included in the service robot 100 such as a camera, a lidar, an IMU, an ultrasonic sensor, a GPS module and the like and performs the mapping 110, the localization 120, (130) and obstacle avoidance (140).

The drive 160 may include a technique for actually moving the service robot 100 in accordance with the path plan 130 or by controlling the wheels, legs, etc. included in the service robot 100 for obstacle avoidance 140 have.

In this way, in the prior art, it is necessary to include various sensors for autonomous navigation of the service robot 100, process the information of these sensors, and obtain the mapping 110, localization 120, And obstacle avoidance 140 and at the same time should include components such as wheels or legs to handle the movement of the service robot 100 according to the processing results of the processor . In addition, the service robot 100 should further include specific components for providing services desired by the users of the service robot 100. For example, a cleaning robot should further include components for sucking and storing dust to suit individual characteristics, and a robot for logistics management should further include components for identifying and moving objects, and the like.

As described above, the indoor autonomous mobile robot has a problem that the manufacturing cost is very large because the robot must include various components requiring close connection.

The service provider generates an indoor map of the facilities of a user such as a large shopping mall, an airport, a hotel, and the like, communicates with the user's individual service robots through the cloud service, and generates localization and route plans for the individual service robots A control method for an indoor autonomous mobile robot which can reduce autonomous mobile robots based on result data provided by individual service robots by innovatively reducing the production cost of the service robots by processing based on indoor maps and providing the resultant data And a system.

When a plurality of service robots operate in one facility, a service plan for a plurality of service robots is controlled through the cloud service, so that a plurality of service robots share a target service more efficiently in one facility The present invention provides a control method and system for an indoor autonomous mobile robot that can be used for an indoor autonomous mobile robot.

In making indoors maps of users' facilities, it is not necessary to create indoors maps by controlling the observation equipment directly on the service provider side, but it is also possible to automatically create indoors maps including functions for indoor self-running and mapping functions The present invention also provides a system and a control method thereof for an indoor autonomous navigation mapping robot.

Provided are a distribution system utilizing an on-board indoor autonomous traveling robot for a person with developmental disabilities and the on-board indoor autonomous traveling robot.

A boarding-type self-propelled traveling robot located inside a facility, comprising: a boarding mechanism for providing a boarding space of an occupant; A storage mechanism for storing articles; An interface mechanism for communicating with the passenger; And controlling movement of the on-boarding indoor autonomous mobile robot for controlling the autonomous travel of the on-boarding indoor autonomous mobile robot using the plurality of sensors to transport the object through the storage mechanism in the facility, And a controller for communicating information related to the transportation of the object to the rider on board the riding robot.

According to one aspect of the present invention, the boarding-type indoor autonomous traveling robot further includes a docking mechanism unit for docking with the other boarding-type indoor autonomous traveling robots, and when the boarding-type indoor autonomous traveling robot is a master robot, And controls the movement of the docked indoor autonomous navigation robot in communication with the other on-boarding indoor autonomous mobile robots.

According to another aspect of the present invention, when the boarding-type indoor autonomous mobile robot is a slave robot, the controller communicates with the other on-boarding indoor self-rolling robot, which is a master robot, And controls the movement of the on-board type indoor autonomous mobile robot.

According to another aspect of the present invention, the control unit controls the movement of the article contained in the storage unit to the position for storing the article in the facility or the position of the article stored in the facility for storing the article in the storage unit, And controls the movement of the facility from the current position to the article input / output port.

According to another aspect of the present invention, the control unit controls the movement to the object input / output unit according to an instruction of the occupant through the interface mechanism unit or a position for storing the object by sensing the object contained in the storage mechanism unit, And controls the movement to the input / output port.

According to another aspect of the present invention, the control unit includes: a sensing unit including the plurality of sensors, the sensing unit generating second sensing data including an output value of the plurality of sensors; A driving unit for moving the on-boarding indoor autonomous mobile robot; A communication unit for transmitting the second sensing data to a cloud system through a network and receiving the path data generated by the cloud system using the indoor map of the facility and the second sensing data; And a control unit for controlling the driving unit to autonomously travel the inside of the facility based on the generated path data, wherein the cloud system includes a mapping robot that autonomously travels inside the facility, The indoor map of the facility can be generated using the first sensing data generated for the facility.

According to another aspect of the present invention, the mapping robot is a device operating on a service provider side that provides a cloud service for controlling indoor self-running of the on-boarding indoor autonomous mobile robot through the cloud system, And the robot is a device operating on the user side requesting the cloud service in association with the facility.

A method of carrying out a logistics transportation method using an on-board indoor autonomous mobile robot located inside a facility, comprising the steps of: confirming whether or not a passenger is boarding in the on-board type indoor autonomous mobile robot; Controlling the autonomous travel of the onboard autonomous mobile robot to a position associated with storage or transportation of the object; A command instructing that the article is stored in the storage device of the ride-on type indoor self-rolling robot or a command to indicate that the article contained in the storage device of the ride-on type indoor self-rolling robot has been unloaded from the occupant, Receiving input through an interface mechanism of the traveling robot; And processing the autonomous travel to the next position in accordance with the input command.

There is provided a computer-readable recording medium having recorded thereon a program for causing a computer to execute the above-described physical distribution method.

There is provided a computer program stored in a computer-readable recording medium for causing a computer to execute the above-described physical distribution method in combination with a computer.

The service provider generates an indoor map of the facilities of a user such as a large shopping mall, an airport, a hotel, and the like, communicates with the user's individual service robots through the cloud service, and generates localization and route plans for the individual service robots By processing based on the indoor map and providing the resultant data, the individual service robots can process the autonomous travel based on the provided result data, and the production cost of the service robot can be innovatively reduced.

When a plurality of service robots operate in one facility, a service plan for a plurality of service robots is controlled through the cloud service, so that a plurality of service robots share a target service more efficiently in one facility can do.

In making indoors maps of users' facilities, it is not necessary to create indoors maps by controlling the observation equipment directly on the service provider side, but it is also possible to automatically create indoors maps including functions for indoor self-running and mapping functions have.

It is possible to provide a logistics system utilizing an on-board indoor autonomous traveling robot for the person with developmental disabilities and the on-board indoor autonomous traveling robot.

1 is a diagram showing an example of a technique applied to a robot for indoor autonomous navigation in the prior art.
2 is a diagram illustrating an example of an overall control system for indoor self-running of a robot according to an embodiment of the present invention.
3 is a block diagram illustrating an example of a schematic configuration of a mapping robot according to an embodiment of the present invention.
4 is a block diagram illustrating an example of a schematic configuration of a cloud system according to an embodiment of the present invention.
5 is a block diagram illustrating an example of a schematic configuration of a service robot according to an embodiment of the present invention.
6 is a block diagram for explaining an internal configuration of a physical server constituting a cloud system according to an embodiment of the present invention.
7 is a flowchart for explaining a control method in an embodiment of the present invention.
8 is a diagram illustrating an example of limiting the position of a service robot in an embodiment of the present invention.
9 is a flowchart illustrating an example of a process in which a cloud system controls a service provided by a service robot, according to an embodiment of the present invention.
10 to 12 are views for explaining a distribution system utilizing an on-board type indoor autonomous mobile robot according to an embodiment of the present invention.
13 to 16 are diagrams illustrating an example of logistics management using docking between robots in an embodiment of the present invention.
17 is a diagram for explaining an internal configuration of a cabin type indoor autonomous mobile robot according to an embodiment of the present invention.
18 is a flowchart illustrating a method of conveying a logistics of an on-boarding indoor autonomous mobile robot according to an embodiment of the present invention.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings.

The overall control system for the indoor self-running of the robot according to the embodiments of the present invention includes a control system (hereinafter referred to as a 'mapping robot system') for collecting map data in a room of a facility A control system (hereinafter referred to as a "cloud system") for producing indoor maps of the facilities based on the map data, a cloud service for localization and route planning for self-running service robots operating in the facilities (Hereinafter, referred to as a " service robot system ") for providing a service targeted by the user of the facility through autonomous travel within the service robot.

2 is a diagram illustrating an example of an overall control system for indoor self-running of a robot according to an embodiment of the present invention. 2 shows the cloud system 210 and the mapping robot 220 on the service provider side, and the service robots 230 for users' facilities and the user side. First, the service provider can input the mapping robot 220 to create an indoor map of facilities of users. At this time, the service provider may generate an indoor map of various facilities such as a large-sized shopping mall, a hospital, an airport, a hotel, etc., or may generate an indoor map of facilities of a user requesting service through a separate contract have. For example, the service provider can generate the indoor map of the facility A by inputting the mapping robot 220 into the facility A at the request of the user of the facility A. The mapping robot 220 may include various sensors such as a 3D rider, a 360-degree camera, and an IMU (Inertial Measurement Unit) for autonomous navigation and guidance as an indoor autonomous mobile robot, The generated sensing data may be transmitted to the cloud system 210. At this time, the sensing data may be input to the cloud system 210 through the computer-readable recording medium in which the sensing data is stored after the self-running of the mapping robot 220 for generating the indoor map is completed, The mapping robot 220 may transmit the communication module to the cloud system 210 via the network. The sensing data generated by the mapping robot 220 may be transmitted to the cloud system 210 in real time from the mapping robot 220. After the mapping robot 220 completes the sensing of the facility, (Not shown).

The cloud system 210 can create an indoor map of the facility A based on the sensing data provided by the mapping robot 220 and communicate with the service robot 230 disposed in the facility A based on the created indoor map The service robot 230 can be controlled. For example, the cloud system 210 receives sensing data (for example, data for grasping the current position of the service robot 230) generated through the sensors included in the service robot 230, The service robot 230 processes the localization and path planning for the service robot 230 using the data and the indoor map of the facility A and outputs the resultant data (for example, route data that the service robot 230 should move in the autonomous traveling) To the robot 230. At this time, the service robot 230 can provide the desired service in the facility A while processing the autonomous running based on the result data provided by the cloud system 210. [

The mapping robot 220 can be used only when the facility A is changed for the first time only or when changes are made to the indoor map, or when the indoor map is changed at a time period (for example, one year) It works. Accordingly, since one mapping robot 220 can be used to produce an indoor map of a plurality of facilities in accordance with the number of facilities required to produce indoor maps and time scheduling, a large number of mapping robots are not required, Even if it is manufactured using the equipment, it does not place a great burden on the service provider side. On the other hand, when service robots operating individually for individual purposes are individually manufactured and used by users, service robots must be continuously operated in the corresponding one facility, and multiple services must be operated simultaneously in one facility . Therefore, there is a problem that it is difficult to use expensive equipment in terms of the user. Accordingly, in the embodiments of the present invention, the mapping robot 220 is put on the service provider side to produce an indoor map of the facility A, and the service robot 230 is controlled through the cloud system 210, ) May allow the targeted service to be processed within the facility without using expensive equipment.

For example, a lidar is a radar developed by using a laser beam having a property close to radio waves. It is an expensive sensor device mounted for autonomous driving. When utilizing such a rider, basically, two or more riders Of the vehicle. For example, assuming that a user uses 60 service robots for logistics management, more than 120 expensive riders are required in the prior art. On the other hand, in the embodiments of the present invention, when the cloud system 210 on the service provider side processes the localization and path planning required for the autonomous travel and provides the resultant data, the service robots are notified from the cloud system 210 It travels in accordance with the provided result data, so that it is possible to drive the vehicle indoors with only an inexpensive ultrasonic sensor and / or an inexpensive camera without expensive sensor equipment. The service robots according to the embodiments of the present invention substantially operate in accordance with the result data provided from the cloud system 210, and thus can travel indoors without a separate sensor for indoor self-running. However, inexpensive sensors such as low-cost ultrasonic sensors and / or low-cost cameras can be used for grasping the current position of the service robot 230 and avoiding obstacles of the service robot 230. Therefore, users can utilize service robots manufactured at low cost, and there are a large number of users who want to use service robots. Considering that each of these users can utilize a plurality of service robots, It is possible to reduce the manufacturing cost of the apparatus. For example, it is possible to handle the self-running of the service robot with the smartphone-level sensing capability alone.

The sensing data transmitted by the service robot 230 to the cloud system 210 may include information for defining the current position of the service robot 230 within the facility. The information for defining the position may include image information recognized by the low-cost camera. For example, the cloud system 210 can compare the received image information with the image of the indoor map to determine the position of the service robot 230. As another example, well known techniques may be utilized to identify existing indoor locations. For example, existing well-known technologies for identifying the indoor location by utilizing a Wi-Fi signal, a beacon recognized by the facility, a sound not recognized by a person, a Bluetooth fingerprint, etc., It will be understood by those skilled in the art that the present invention can be utilized for understanding the present invention. In addition, it is possible to grasp the approximate position of the service robot 230 through such existing technologies, and then grasp the exact position of the service robot 230 through image matching. In this case, it is not necessary to process the matching with the images corresponding to the entire indoor map, and the range of the image matching can be reduced through the roughly grasped position.

FIG. 3 is a block diagram for explaining an example of a schematic configuration of a mapping robot according to an embodiment of the present invention. FIG. 4 is a block diagram for explaining an example of a schematic configuration of a cloud system according to an embodiment of the present invention And FIG. 5 is a block diagram for explaining an example of a schematic configuration of a service robot according to an embodiment of the present invention.

3, the mapping robot may be a physical device, and may include a control unit 310, a driving unit 320, a sensor unit 330, and a communication unit 340, as shown in FIG.

3, the control unit 310 may include a path planning module 311, a mapping module 312, a drive control module 313, a local And a data processing module 315. The data processing module 315 may be a microprocessor, Here, the components included in the control unit 310 may be representations of different functions performed by the control unit 310 as a physical processor. For example, the control unit 310 may process various functions according to a control command according to a code of a computer program such as an OS or firmware.

The driving unit 320 may include physical equipment for flight of the mapping robot 220 in the form of a wheel or a bridge for moving the mapping robot 220, or a flying object such as a drones.

The sensor unit 330 may include various sensors for collecting information on the internal environment of the facility where the mapping robot 220 is located. For example, the sensor unit 330 may include sensors required among various sensors such as a lidar, a 360-degree camera, an IMU, an ultrasonic sensor, a GPS module, and a PDS (Position Sensitive Detector).

The communication unit 340 may include a communication function for transmitting the sensed data through the sensor unit 330 to the cloud system 210 through the network.

When the mapping robot 220 located inside the target facility is driven, the sensor unit 330 may generate first sensor data including output values of various sensors and transmit the generated first sensor data to the control unit 310. The data processing module 415 of the control unit 310 may transmit the received first sensor data to the localization processing module 314 for autonomous navigation of the mapping robot 220, The controller 310 may control the communication unit 340 to transmit the first sensor data to the cloud system 210 via the network so that an indoor map of the target facility can be generated.

The localization processing module 314 is a technique for the mapping robot 220 to recognize the surrounding environment and estimate its own position and can operate to determine the current position of the mapping robot 220 in the target facility . At this time, the localization processing module 314 processes the mapping between the indoor map (for example, the design blueprint of the target facility) and the current location of the pre-stored target facilities through interlocking with the mapping processing module 312, If there is no stored indoor map, the indoor map of the target facility can be generated.

At this time, the path planning processing module 311 can generate a path for the autonomous running of the mapping robot 220. In this case, the information about the path determined by the path planning processing module 311 can be transferred to the drive control module 313, and the drive control module 313 controls the drive robot 300 to move the mapping robot 220 according to the provided path. (320).

The mapping robot 220 can autonomously run the target facility while repeating the process of generating and transmitting the first sensing data, determining the autonomous travel route using the first sensing data, and moving according to the determined autonomous travel route, The first sensing data for the facilities can be continuously transmitted to the cloud system 210.

Referring to FIG. 4, the cloud system 210 may be implemented by linking one physical server device or two or more physical server devices. As shown in FIG. 4, the map generation module 410, Processing module 420, a path planning processing module 430, and a service operating module 440. The components of the cloud system 210 may be implemented in different ways by at least one processor included in the cloud system 210 in accordance with the operating system code or control instructions according to the code of the at least one computer program May be expressions of different functions.

The map generating module 410 generates an indoor map of the target facility using the first sensing data generated by the mapping robot 220 autonomously traveling within the target facility, as described in FIG. 3, with respect to the interior of the target facility Lt; / RTI >

At this time, the localization processing module 420 uses the second sensing data received through the network from the service robot 230 and the indoor map of the target facility generated through the map generation module 410, The position of the service robot 230 can be determined.

The path planning processing module 430 may generate a control signal for controlling the indoor autonomous travel of the service robot 230 using the second sensing data and the generated indoor map. For example, the path planning processing module 430 may generate path data of the service robot 230. The cloud system 210 may transmit the generated path data to the service robot 230 via the network. For example, the information for the path may include information indicating the current position of the service robot 230, information for mapping the current position and the indoor map, and path planning information.

The service operation module 440 may include a function for controlling the service provided by the service robot 230 in the target facility. For example, a service provider operating the cloud system 210 may provide an integrated development environment (IDE) for a cloud service provided by the cloud system 210 to a user or producer of the service robot 230. At this time, the user or producer of the service robot 230 can create software for controlling the service provided by the service robot 230 in the target facility through the IDE and register the software in the cloud system 210. In this case, the service operation module 440 can control the service provided by the service robot 230 using the registered software in association with the service robot 230. As a concrete example, it is assumed that the service robot 230 provides a service of delivering the goods requested by the customer to the guest room of the customer at the hotel. At this time, the cloud system 210 controls the indoor autonomous travel of the service robot 230 to control the service robot 230 to move to the guest room, and when it reaches the destination location, the cloud system 210 presses the bell of the room door, And transmit the related command to the service robot 230 so that the service robot 230 proceeds a series of services for delivering the desired object to the customer.

5, the service robot 230 may be a physical device and includes a control unit 510, a driving unit 520, a sensor unit 530, and a communication unit 540, as shown in FIG. 5 .

5, the control unit 510 may include a path planning module 511, a mapping module 512, a drive control module 513, a local Processing module 514, a data processing module 515, and a service processing module 516. The service processing module 516 may be, At this time, the path planning processing module 511, the mapping processing module 512, and the localization processing module 514 are executed in order to enable indoor autonomous travel even when communication with the cloud system 210 is not performed And may be selectively included in the control unit 510 according to the example.

The data processing module 515 may receive the second sensing data including the output value of the sensors of the sensor unit 530 and transmit the second sensing data to the cloud system 210 through the communication unit 540. As described above, the cloud system 210 can generate route data using the second sensing data and the indoor map of the target facility, and can transmit the generated route data to the service robot 230. In this case, the path data may be transmitted to the data processing module 515 through the communication unit 540. [

The drive control module 513 controls the drive unit 520 in accordance with the path data to transmit the path data to the interior of the service robot 230 Autonomous driving can be controlled.

The data processing module 515 transmits the second sensing data to the localization processing module 514 and the path planning processing module 511 and the path planning processing module 511. [ The path data may be generated through the mapping processing module 512 to directly process the indoor autonomous travel of the service robot 230. Unlike the mapping robot 220, the service robot 230 does not include an expensive sensing device. Therefore, the service robot 230 can process the indoor self-running using the output values of sensors such as a low-cost ultrasonic sensor and / have. However, if the service robot 230 has already processed indoor autonomous travel through communication with the cloud system 210, mapping data or the like included in the path data received from the cloud system 210 may be further utilized More accurate indoor autonomous travel can be achieved while using low-cost sensors.

The service processing module 516 may receive a command received through the cloud system 210 through the communication unit 540 or through the communication unit 540 and the data processing module 515. [ In this case, the driving unit 520 may further include equipment related to the service provided by the service robot 230, as well as equipment for moving the service robot 230. In the above-described hotel service, the driving unit 520 of the service robot 230 may further include a robot arm for pressing a bell of a door of a passenger compartment or a speaker for outputting a customer-facing voice. In this case, the service processing module 516 may transmit a drive command for the service to be provided to the drive control module 513, and the drive control module 513 may further include, A robot arm or a speaker can be controlled so that a service can be provided.

6 is a block diagram for explaining an internal configuration of a physical server constituting a cloud system according to an embodiment of the present invention. The cloud system 210 described above may be implemented as a single physical server device or may be implemented through interworking of two or more physical server devices. The server 600 configuring the cloud system 210 may include a memory 610, a processor 620, a communication module 630, and an input / output interface 640 as shown in FIG. The memory 610 may be a computer-readable recording medium and may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive. Here, the ROM and the non-decaying mass storage device may be separate from the memory 610 and included as a separate persistent storage device. The memory 610 may also store an operating system and at least one program code. These software components may be loaded from a computer readable recording medium separate from the memory 610. [ Such a computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card. In other embodiments, the software components may be loaded into the memory 610 via the communication module 630 rather than from a computer readable recording medium.

The processor 620 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and I / O operations. The command may be provided to the processor 620 by the memory 610 or the communication module 630. [ For example, the processor 620 may be configured to execute instructions received in accordance with the program code loaded into the memory 610. The processor 620 may be included in at least one processor included in the cloud system 210 described with reference to FIG.

The communication module 630 may provide functionality for communicating with other physical devices via an actual computer network. For example, the communication module 630 may provide a function for the server 600 to communicate with and communicate with the mapping robot 220 or the service robot 230.

The input / output interface 640 may be a means for interfacing with the input / output device 650. For example, in the input / output device 650, the input device may include a device such as a keyboard or a mouse, and the output device may include a device such as a display or a speaker. 6, the input / output device 650 is illustrated as a separate device from the server 600. However, the server 600 may be implemented such that the input / output device 650 is included in the server 600 according to the embodiment.

Also, in other embodiments, the server 600 may include more components than the components of FIG. However, there is no need to clearly illustrate most prior art components. For example, the server 600 may be implemented to further include various components such as various physical buttons, touch panels, or optical output devices.

7 is a flowchart for explaining a control method in an embodiment of the present invention.

In operation S710, the mapping robot 220 may generate the first sensing data for the interior of the target facility through the sensor while autonomously running the interior of the target facility. For example, as described with reference to FIG. 3, the mapping robot 220 may transmit the first sensing data including the output values of the sensors to the data processing module 315 through the sensing unit 330. The mapping robot 220 may be a device operating on the service provider side providing cloud services for controlling the indoor self-running of the service robot 230 through the cloud system 210. [ In addition, the service robot 230 may be a device operating on the user side requesting the cloud service in association with the target facility.

In step S720, the mapping robot 220 may transmit the generated first sensing data. For example, as described with reference to FIG. 3, the data processing module 315 may transmit the first sensing data received from the sensing unit 330 to the cloud system 210 through the communication unit 340.

In step S730, the cloud system 210 may generate an indoor map of the target facility using the received first sensing data. For example, the cloud system 210 may receive the first sensing data from the mapping robot 220 through the communication module 630 described with reference to FIG. 6, and the map generation module 410 described with reference to FIG. 4 The indoor map of the target facility can be generated using the first sensing data received via the first sensing data. At this time, the indoor map can be generated as an image-based three-dimensional indoor map. As described above, the first sensing data may be transmitted to the cloud system collectively after the autonomous running of the mapping robot 220.

According to an embodiment, the cloud system 210 may generate an indoor map of the target facilities of each of a plurality of users. For example, mapping robots 220 may be input for each target facility to obtain first sensing data for each target facility, and an indoor map may be generated for each target facility. In this case, the cloud system 210 can be stored and managed by associating the indoor map generated for each target facility with at least one identifier of the user's identifier, the corresponding target facility identifier, and the identifier of the corresponding service robot of the user . When the indoor autonomous travel of one of the plurality of service robots of a plurality of users is controlled, the cloud system 210 can identify the indoor map for the service robot through the identifier associated with the indoor map, Indoor self-driving for the service robot can be controlled using the indoor map.

In step S740, the service robot 230 may generate second sensing data for the interior of the target facility through the sensor within the target facility. For example, as described with reference to FIG. 5, the service robot 230 may transmit the second sensing data including the output values of the sensors to the data processing module 515 through the sensing unit 530. While the mapping robot 220 uses expensive sensing devices such as a rider and a 360 degree camera as sensors, the service robot 230 uses low-cost sensing devices such as low-cost cameras and / or low-cost ultrasonic sensors as sensors So that the second sensing data can be generated. The cloud system 210 has already generated the indoor map of the target facility through the mapping robot 220 and thus can control the indoor autonomous travel of the service robot 230 by only mere image mapping. The cost of the service robot 230 operated by the users can be significantly lowered.

In step S750, the service robot 230 may transmit the generated second sensing data. 5, the data processing module 515 of the service robot 230 may transmit the second sensing data to the cloud system 210 through the communication unit 540. For example, as shown in FIG.

In step S760, the cloud system 210 may generate path data using the received second sensing data and the generated indoor map. The path data may include processed mapping data according to an indoor map of the target facility and path planning data in the cloud system 210 and location data determined for the service robot 230. The processed mapping data may be, for example, a portion of the indoor map associated with the location data and path planning data determined for the service robot 230 at the current time. As a more specific example, the mapping data may include the indoor map data corresponding to the position where the service robot 230 should move from the current position.

In step S770, the cloud system 210 may transmit the generated path data. For example, the cloud system 210 may route the path data generated by the path planning processing module 430 described with reference to FIG. 4 in cooperation with the localization processing module 420 and the map generation module 410, To the service robot 230 through the communication module 630 described above. Steps 760 and 770 for generating and transmitting the route data are a process for controlling the indoor self-running of the target facility of the service robot 230 using the second sensing data and the generated indoor map . As described above, when a plurality of users use the cloud service, the cloud system 210 generates an indoor map for each of a plurality of target facilities, generates an indoor map corresponding to the corresponding user's identifier, An indoor map associated with the service robot to control the indoor self-running can be identified by storing and managing the indoor map in association with at least one identifier of the identifier of the service robot of the corresponding user.

In addition, a plurality of service robots may exist in one target facility. In other words, a single user may operate multiple service robots. In this case, the cloud system 210 may receive the second sensing data from each of the plurality of service robots in step 760. In step 770, the cloud system 210 determines whether or not the service robot 210 is located on the basis of the compartment of the indoor map generated by using the positions of the plurality of service robots grasped through the second sensing data received from each of the plurality of service robots, According to the service provided by the target facility, it is possible to control the indoor self-running of each of the plurality of service robots. For example, a plurality of service robots can provide a logistics management service in a logistics warehouse. In this case, the areas (zones) for managing the distribution within the warehouse may be divided in advance by the plurality of service robots, and the cloud system 210 may classify the service robots The indoor self-running can be controlled. Depending on the service, there may be a possibility that the movement paths of a plurality of service robots are overlapped or each of a plurality of service robots moves all the divisions of the indoor map. To this end, the cloud system 210 may control the indoor self-running of each of a plurality of service robots according to a service provided by a plurality of service robots. For example, the cloud system 210 may calculate an optimal travel path for all of the plurality of service robots through the current location of the plurality of service robots. As another example, there may be service robots that provide different services at one target facility. In this way, when there are a plurality of service robots in one target facility, the cloud service 210 can calculate the optimal travel route considering the entirety of the plurality of service robots since the location of each of the plurality of service robots can be known It is possible.

In step 780, the service robot 230 may control the movement based on the received path data. For example, the service robot 230 may receive the path data through the communication unit 540 described with reference to FIG. 5 and transmit the path data to the data processing module 515. In this case, the data processing module 515 may transmit the path data to the drive control module 513 in a general case so that the drive control module 513 controls the drive unit 520 according to the path data. At this time, steps S740 to S780 may be repeated until the service robot 230 terminates its service.

8 is a diagram illustrating an example of limiting the position of a service robot in an embodiment of the present invention. 8 shows a simplified example of a two-dimensional indoor map 800 of a target facility. It is assumed that the solid line circle 810 indicates the position of the service robot 230 and the dotted lines 820 and 830 are the view angle of the low cost camera included in the service robot 230. At this time, the second sensing data including the image photographed through the low-cost camera may be transmitted from the service robot 230 to the cloud system 210. In this case, each time the cloud system 210 wants to check the position of the service robot 230, the cloud system 210 matches all the images collected corresponding to the two-dimensional indoor map 800 with the image included in the second sensing data Since the image must be matched until an image is found, a lot of operation costs may be incurred.

Accordingly, the first sensing data and the second sensing data received by the cloud system 210 according to the present embodiment include not only the internal image information of the target facility, but also a signal for identifying the specific zone And may further include information. For example, the mapping robot 220 and the service robot 230 may transmit a radio wave signal or a sound signal (e.g., a radio wave) generated by a Wi-Fi signal generated by access points (APs) installed in a target facility, And the signal information recognized by the signal sensing sensor is included in the first sensing data and the second sensing data, respectively, so that the cloud system 210, Lt; / RTI > At this time, Wi-Fi signals of different APs can be distinguished, and signal generators separately constructed can generate signal information that can be distinguished from each other.

In this case, since the location of the mapping robot 220 can be easily grasped by the cloud system 210, the zone corresponding to the signal information included in the first sensing data can be identified. In this case, the cloud system 210 can limit the area of the service robot 230 through the signal information included in the second sensing data, thereby reducing the computation cost for image matching.

For example, it is assumed that the dotted circles shown in FIG. 8 are each the recognizable range of signal information generated at the target facility. At this time, the service robot 230 located at the position of the solid line circle 810 transmits signal information corresponding to the first dotted circle 840 to the cloud system 210 by including the signal information in the second sensing data. In this case, the cloud system 210 can limit the computation cost for image matching by limiting only the images of the region transmitted by the mapping robot 220 including the same signal information as the first sensing data to the object of image matching do. Two or more different signal information may be included depending on the position of the mapping robot 220 or the service robot 230. In this case, however, the calculation cost may be reduced as compared with image matching with all images corresponding to the entire indoor map do.

9 is a flowchart illustrating an example of a process in which a cloud system controls a service provided by a service robot, according to an embodiment of the present invention. There is a need for the cloud system 210 to control the service of the service robot as described above. To this end, an integrated development environment (IDE) for a cloud service provided to control the indoor self-running of the service robot 230 through the cloud system 210 may be provided to the user or the manufacturer of the service robot 230. The IDE is an integrated development environment software application interface for efficiently developing software, and the cloud system 210 can be provided with a function for controlling the service of the service robot 230 through the IDE.

In step S910, the cloud system 210 may register software for controlling the service provided by the service robot 230 in the target facility through the IDE. This step S910 may be performed before the step S740 described with reference to FIG. In other words, the cloud system 210 can register the software in advance before communicating with the service robot 230 to control the indoor autonomous travel of the service robot 230. For example, the cloud system 210 can register software and manage software through the service operation module 440 described with reference to FIG.

In step S920, the cloud system 210 can use the registered software to control the service provided by the service robot 230 in the target facility. At this time, the cloud system 210 can transmit a service related command to the service robot 230 according to the program code of the registered software through the service operation module 440 described with reference to FIG. Thus, how the cloud system 210 controls the service of the service robot 230 may vary depending on the software registered in the cloud system 210. This step S920 may be performed after the service robot 230 reaches a position to provide the service through the indoor self-running of the service robot 230 through steps S740 to S780. For example, in the embodiment of the hotel, after the service robot 230 arrives at the desired room, the start of a service such as pressing a room door bell or outputting a customer service voice can be controlled through the cloud system 210 have. The service started through the cloud system 210 may be provided through the service processing module 516 of the service robot 230 described with reference to FIG. For example, the service robot 230 may provide a corresponding service according to a control command provided by the cloud system 210. [ To this end, the service processing module 516 may proceed with a processing procedure for providing a service suitable for the control command.

As described above, the service robot 230 can be utilized for various services according to the purpose of the user. For example, they can guide visitors within a large building, transfer customer-requested items from a hotel to a room, or transfer goods from a large warehouse.

In the following embodiments, a description will be given of a logistics system utilizing the above-mentioned self-propelled traveling robot for persons with developmental disabilities as the service robot 230 described above.

In the prior art, robots that carry goods have difficulty in picking up irregular objects that do not have a certain shape, so they are moving objects by connecting them with a specific frame such as a basket containing objects to be moved. For example, robots according to the prior art lift specific frames containing objects and carry the entire frame. Accordingly, in this conventional technique, a person is performing the loading or unloading of objects in such a specific frame, and objects are stored in the warehouse in a state that the objects are contained in a specific frame. At this time, the robot carrying the object moves the entire frame including the desired object to the place where the person is located, and the movement of the goods is processed in such a way that the person removes necessary items from the frame. However, it is very inefficient for the robots to move the entire frame containing the desired object each time.

Meanwhile, the logistics system according to the embodiments of the present invention can utilize a cabin type indoor autonomous mobile robot as described above.

10 to 12 are views for explaining a distribution system utilizing an on-board type indoor autonomous mobile robot according to an embodiment of the present invention.

10 to 12 show a state in which a plurality of shelves 1001 to 1012 for storing goods are arranged as a warehouse 1000. [ Each of the on-board indoor autonomous mobile robots 1020, 1030 and 1040 in the warehouse 1000 may correspond to the autonomous service robot 230 in the warehouse 1000. FIGS. 10 to 12 show examples of the article input / output port 1050 of the warehouse 1000. FIG. It is apparent that more autonomous traveling robots may be used than in the embodiments of FIGS. 10 to 12, and there may be more than one article input / output section in the warehouse 1000.

At this time, each of the on-board type indoor autonomous mobile robots 1020, 1030, and 1040 may include a boarding vehicle on which a person (hereinafter referred to as a passenger) can board and a storage device capable of storing objects. Each of the on-board type indoor autonomous mobile robots 1020, 1030, and 1040 may further include a user interface mechanism for communicating with a passenger. For example, each of the on-board indoor autonomous navigation robots 1020, 1030, and 1040 may include a device such as a display or a speaker for providing the rider with visual and / or auditory information about objects to be carried . Each of the on-board type indoor autonomous mobile robots 1020, 1030, and 1040 may include an interface mechanism for receiving feedback from a passenger on information that the object to be carried is contained in the storage device. More specifically, each of the on-board type indoor autonomous mobile robots 1020, 1030, and 1040 can notify a passenger of a thing to be carried through a speaker and a display implemented with a touch screen, and is implemented as a graphic element through a touch screen The confirmation button allows you to receive feedback from the passenger that the item you need to carry is in the storage.

11 shows an example in which the cabin type indoor autonomous mobile robot 1020 moves in front of the shelf 1009 in which the object to be transported is stored in a state in which the occupant is carried. The boarding-type indoor autonomous mobile robot 1020 can provide the passenger with information about the object to be transported through the above-described interface mechanism, and the passenger can pick up the object to be transported from the shelf 1009, ) May be contained in a storage device.

12 shows an example in which the passenger compartment type indoor autonomous mobile robot 1020 moves to the article input / output port 1050 of the warehouse 1000 in a state that the article to be carried is stored in the storage device. At this time, the carrying of the object in the warehouse 1000 can be processed by removing the object contained in the storage device of the on-board type indoor autonomous mobile robot 1020 by the workforce in charge of the goods input / output port 1050.

10-12 illustrate an example in which a product stored on one shelf is transported to the warehouse 1000. However, in the case where the goods are stored in the goods-loading / unloading robot 1020 in the goods input / output port 1050, It can be easily understood that the occupant can store the objects contained in the boarding-type indoor autonomous mobile robot 1020 in the shelf 1009. [ In addition, when the boarding-type indoor autonomous mobile robot 1020 sequentially moves to a plurality of shelves, a plurality of objects stored in a plurality of shelves are transported at the same time, a plurality of objects are stored in a plurality of shelves, It can be easily deduced that the process of storage can occur at once.

At this time, each of the on-board type indoor autonomous mobile robots 1020, 1030, and 1040 can move to a desired position while the occupant is aboard, and each of the self-traveling mobile robots 1020, 1030, Can be accomplished through cooperation with the cloud system 210 as described above. The cloud system 210 can comprehensively control the paths of a plurality of robots through the service operation module 440 while communicating with each of the on-boarding indoor autonomous traveling robots 1020, 1030, and 1040.

As described above, the logistics system according to the present embodiment can store objects in various forms without storing the objects themselves or moving the frames themselves for transporting objects with the specific frame itself containing the objects. In addition, the autonomous mobile robot not only moves the passenger to the place where the necessary object is located, but also provides the passenger with information about the necessary object at the position, so that the passenger simply finds the object at the relevant position, stores it in the autonomous mobile robot, The handicapped person can easily participate in the logistics work as well as the developmental obstacle. As described above, since the robot is difficult to pick up and move atypical objects It is easy to overcome the limitations, and it is possible to promote mutual growth between company and society.

13 to 16 are diagrams illustrating an example of logistics management using docking between robots in an embodiment of the present invention.

FIG. 13 is a schematic view illustrating a configuration of a self-traveling robot according to another embodiment of the present invention. 13 shows an example in which the on-board indoor autonomous mobile robot 1020 is a master robot and the other on-board indoor autonomous mobile robots 1030 and 1040 are slave robots to implement one autonomous mobile robot. In other words, each of the plurality of on-board indoor autonomous mobile robots can be a master robot, but a plurality of on-board indoor autonomous mobile robots can be connected, so that one on-board indoor autonomous mobile robot can be a master robot, In-situ indoor autonomous mobile robots can be slave robots. At this time, if the slave robot is disconnected from the connected autonomous mobile robot, it can become the master robot again.

FIG. 14 shows an example in which the autonomous mobile robot 1410 with three docked indoor self-contained robots moves to the shelf 1004 as the first destination. At this time, the occupant may be one person, and the object to be carried by the shelf 1004 may be taken out and stored in the storage device of the corresponding indoor self-supporting traveling robot.

15 is a view showing an example in which the on-board type indoor autonomous mobile robot 1420 containing all the items to be transported is separated from the autonomous mobile robot 1410 and moved to the article input / output port 1050 independently. At this time, the autonomous mobile robot 1410 can continue to move toward a shelf required to accommodate other requested objects while the occupant is on the ride.

16 is a view showing an example in which a cabin type indoor autonomous mobile robot 1430 containing articles of a shelf 1001 is separated from an autonomous mobile robot 1410 and moved to a goods input / output port 1050 independently. In this case as well, the autonomous mobile robot 1410 can continue to travel by carrying a shelf required to accommodate other requested objects while carrying the occupant.

The cloud system 210 can provide the information for controlling the autonomous travel of the autonomous traveling robot 1410 to the autonomous traveling robot 1410 and the information for controlling the autonomous traveling robots 1410, 1430 are separated from each other, information for controlling the autonomous travel of the separate on-boarding indoor self-supporting robots 1420, 1430 can be further provided to the individual boarding indoor self-running robots 1420, 1430.

For example, the slave robots can travel under the control of the master robot through linkage with the master robot without linkage with the cloud system 210, and the slave robot separated from the master robot again becomes the master robot, 210) in order to deal with the autonomous driving.

17 is a diagram for explaining an internal configuration of a cabin type indoor autonomous mobile robot according to an embodiment of the present invention. As described above, the boarding-type indoor autonomous mobile robot 1700 can correspond to the service robot 230, and the internal structure of the service robot 230 has already been described with reference to FIG. The components described with reference to Fig. 5 can be integrated as a control unit for controlling the autonomous travel of the on-boarding indoor autonomous mobile robot 1700 and for controlling the communication with the passenger in relation to the service provided by the autonomous mobile robot 1700 . In addition, the boarding-type indoor autonomous mobile robot 1700 according to the present embodiment provides a boarding space for a passenger, a boarding mechanism portion 1710 for burning a passenger in the boarding space, a storage mechanism portion 1720 for storing objects, As shown in FIG. In addition, the boarding-type indoor autonomous mobile robot 1700 may further include an interface mechanism 1730 for communicating with a passenger. In accordance with the embodiment, the docking mechanism 1700 selectively docks with other on- (1740).

According to the embodiment, the boarding mechanism unit 1710 may interlock with the sensor unit 530 to determine whether or not the occupant is boarding, and whether or not the boarding passenger is used to control the provision of information to be provided to the passenger And can be used to control the movement of the on-board type indoor autonomous mobile robot 1700. For example, when it is determined that the occupant is not boarded in a situation in which the occupant must be moved, the information for inducing boarding of the occupant can be provided to the occupant, and after the occupant's boarding is confirmed, Movement of the indoor autonomous mobile robot 1700 can be processed. Such a boarding mechanism unit 1710 may include various mechanisms such as a seat for a passenger or a frame for protecting an occupant, a scaffold for assisting an occupant, and the like.

According to the embodiment, the storage mechanism part 1720 can also be interlocked with the sensor part 530. For example, the sensor unit 530 senses whether the storage unit 1720 is loaded or not by using a pressure sensor, a motion detection sensor, or the like, or by using a camera, RFID, a barcode recognition function, ) Can be used to determine whether the correct object has been loaded. Such sensed information can also be used to control the movement of the onboard autonomous navigation robot 1700 or to provide information to the passenger to carry the correct object.

The interface mechanism 1730 may be interlocked with the service processing module 516 according to an embodiment. The service processing module 516 may control the interface mechanism 1730 such that the information to be provided to the occupant is visually and / or audibly provided to the occupant via the interface mechanism 1730. [ In addition, a control signal input by the passenger through the interface mechanism 1730 may be transmitted to the service processing module 516 and used to control the movement of the boarding indoor autonomous mobile robot 1700.

According to the embodiment, the docking mechanism 1740 can also be interlocked with the sensor unit 530 and can be used to determine whether accurate docking has been performed. In addition, the docking unit 1740 may be utilized to electrically connect the master robot and the slave robot to transmit a control command for controlling the slave robot by the master robot. Also, according to the embodiment, the communication between the master robot and the slave robot may be performed by wireless communication without a separate electrical connection.

As described above, the boarding-type indoor autonomous mobile robot 1700 located inside the target facility includes a boarding mechanism portion 1710 for providing a boarding space of a passenger, a storage mechanism portion 1720 for storing objects, an interface mechanism portion 1720 for communicating with the passenger, (1730) and a plurality of sensors to control the autonomous travel of the on-boarding indoor autonomous mobile robot and to store the objects contained in the storage device at the current position in the target facility or in the storage device And a control unit for processing the movement of the on-boarding indoor autonomous mobile robot to the position of the object stored in the target facility for communicating information related to the transportation of the object through the interface mechanism unit . As described above, the control unit may include internal configurations of the service robot 230 of FIG.

In addition, the boarding-type indoor autonomous mobile robot 1700 may further include a docking mechanism 1740 for docking with the other on-boarding indoor autonomous mobile robots. In this case, , It is possible to control the movement of the docked indoor autonomous navigation robot in communication with the other indoor autonomous navigation robot as the slave robot.

18 is a flowchart illustrating a method of conveying a logistics of an on-boarding indoor autonomous mobile robot according to an embodiment of the present invention.

In step S1810, the boarding-type indoor autonomous mobile robot 1700 can confirm whether or not the passenger is boarding the boarding-type indoor autonomous mobile robot. The presence or absence of such a passenger can be confirmed for the safety of the occupant, and additional functions (sensors) for sensing the occupant's boarding position and the like can be further utilized for the safety of the occupant.

In step S1820, the boarding-type indoor autonomous mobile robot 1700 can control the autonomous driving of the boarding-type indoor autonomous mobile robot to a position associated with storage or transportation of the object. Since the autonomous running of the robot has already been described in detail, repetitive explanations are omitted.

In step S1830, the boarding-type indoor autonomous mobile robot 1700 receives an instruction to store the object from the occupant in the storage mechanism of the boarding indoor autonomous mobile robot or the object contained in the storage mechanism of the boarding indoor autonomous mobile robot An instruction to indicate that the robot has fallen can be inputted through the interface mechanism of the on-board type indoor autonomous mobile robot.

In step S1840, the occupant-type indoor autonomous mobile robot 1700 can process autonomous travel to the next position in accordance with the inputted command. For example, the boarding-type indoor autonomous mobile robot 1700 can handle autonomous traveling to a position associated with storage or transportation of the next object, or autonomous travel to a position associated with input / output of the object.

As described above, according to the embodiments of the present invention, it is possible for a service provider to generate an indoor map of facilities of a user such as a large shopping mall, an airport, and a hotel in advance and communicate with individual service robots of users through a cloud service, By processing the localization and route plan based on the generated indoor map and providing the resultant data, the individual service robot can process the autonomous travel based on the provided result data, thereby reducing the production cost of the service robot . Further, when a plurality of service robots operate in one facility, a service plan for a plurality of service robots is controlled through the cloud service, so that a plurality of service robots share a target service more efficiently in one facility . In addition, in producing the indoor map of the facilities of the users, the service provider does not create the indoor map by controlling the observation equipment directly, but the indoor map including the functions for the indoor self-driving and the mapping function is automatically provided. Can be produced. In addition, it is possible to provide a logistics system utilizing an on-board indoor autonomous mobile robot for a person with developmental disabilities and the on-board indoor autonomous mobile robot.

The system or apparatus described above may be implemented as a hardware component, a software component or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA) , A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing unit may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device As shown in FIG. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. Such a medium may be one that continuously stores computer executable programs, or temporarily stores them for execution or downloading. In addition, the medium may be a variety of recording means or storage means in the form of a combination of a single hardware or a plurality of hardware, but is not limited to a medium directly connected to a computer system, but may be dispersed on a network. Examples of the medium include a magnetic medium such as a hard disk, a floppy disk and a magnetic tape, an optical recording medium such as CD-ROM and DVD, a magneto-optical medium such as a floptical disk, And program instructions including ROM, RAM, flash memory, and the like. As another example of the medium, a recording medium or a storage medium managed by a site or a server that supplies or distributes an application store or various other software to distribute the application may be mentioned. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (11)

A self-propelled traveling self-propelled traveling robot located inside a facility,
A boarding mechanism for providing boarding space of a passenger;
A storage mechanism for storing articles;
An interface mechanism for communicating with the passenger; And
Controlling the autonomous travel of the on-boarding autonomous mobile robot using information collected from the plurality of sensors to control movement of the on-boarding autonomous mobile robot for transporting objects through the storage mechanism in the facility A control unit communicating with an occupant on the boarding instrument portion of information related to the conveyance of the object through the interface mechanism portion,
Lt; / RTI >
Wherein the boarding mechanism unit determines whether or not the passenger boarding is interlocked with the sensor,
When the occupant is judged not to have boarded the vehicle in a state in which the occupant is to be transported, information for guiding boarding of the occupant is provided to the occupant,
Wherein the autonomous travel of the on-boarding indoor autonomous mobile robot is controlled based on the presence or absence of the occupant. The method according to claim 1,
A docking mechanism for docking with the other indoor autonomous navigation robot
Further comprising:
Wherein,
When the boarding-type indoor autonomous mobile robot is docked with another boarding-type indoor autonomous mobile robot as a master robot, it communicates with the other boarded indoor autonomous mobile robot as a slave robot to move the docked other indoor self- And a control unit for controlling the indoor self-propelled traveling robot. 3. The method of claim 2,
Wherein,
When the boarding-type indoor autonomous mobile robot is docked with another boarding-type indoor autonomous mobile robot as a slave robot, in accordance with a control command of the other boarding indoor self-rolling robot in communication with the other boarding- And controls the movement of the on-boarding indoor autonomous mobile robot. The method according to claim 1,
Wherein,
To a position for storing the object contained in the storage apparatus at the present position in the facility or for moving the object stored in the facility for storing the facility in the storage apparatus or for transferring the object to the object input / Wherein the control unit controls the movement of the indoor self-propelled traveling robot. 5. The method of claim 4,
Wherein,
And controls the movement to the object input / output port or the movement of the object to the object input / output port by sensing the object contained in the storage device section by the command of the occupant through the interface mechanism section. A self - propelled traveling robot on board. The method according to claim 1,
Wherein,
A sensing unit including the plurality of sensors and generating second sensing data including an output value of the plurality of sensors;
A driving unit for moving the on-boarding indoor autonomous mobile robot;
A communication unit for transmitting the second sensing data to a cloud system through a network and receiving the path data generated by the cloud system using the indoor map of the facility and the second sensing data; And
And controlling the driving unit to autonomously travel the inside of the facility based on the generated path data
Lt; / RTI >
The cloud system comprises:
A mapping robot that autonomously travels inside the facility generates an indoor map of the facility using first sensing data generated for the interior of the facility through a sensor
Which is characterized by the fact that the robot is a self-propelled traveling robot. The method according to claim 6,
Wherein the mapping robot is operated by a service provider to provide a cloud service for controlling indoor self-running of the on-boarding indoor autonomous mobile robot through the cloud system,
Wherein the boarding-type indoor autonomous mobile robot is a device operating on the user side requesting the cloud service in association with the facility. A method of transporting a logistics using an autonomous traveling robot of a boarding type inside a facility,
Confirming whether or not a passenger is boarding the boarding-type indoor autonomous mobile robot;
Controlling the autonomous travel of the onboard autonomous mobile robot to a position associated with storage or transportation of the object;
A command instructing that the article is stored in the storage device of the ride-on type indoor self-rolling robot or a command to indicate that the article contained in the storage device of the ride-on type indoor self-rolling robot has been unloaded from the occupant, Receiving input through an interface mechanism of the traveling robot; And
Processing autonomous travel to the next position in accordance with the input command
Lt; / RTI >
The step of confirming whether or not the vehicle is occupied,
Wherein the boarding mechanism included in the boarding-type indoor autonomous mobile robot interlocks with the sensor to determine whether or not the occupant is boarded,
When the occupant is judged not to have boarded the vehicle in a state in which the occupant is to be transported, information for guiding boarding of the occupant is provided to the occupant,
Wherein the autonomous travel of the on-boarding indoor autonomous mobile robot is controlled based on whether or not the occupant is boarded. 9. The method of claim 8,
Wherein the step of processing autonomous travel to the next position comprises:
To the position associated with the storage or transport of the next object, or to the position associated with the input / output of the object. 9. The method of claim 8,
Wherein the step of controlling the autonomous running includes:
Generating second sensing data for the interior of the facility through a sensor within the facility;
Transmitting the generated second sensing data to a cloud system through a network;
Receiving cloud data generated by the cloud system using an indoor map of the facility and the second sensing data; And
Controlling movement of the on-boarding indoor autonomous mobile robot based on the generated path data
Lt; / RTI >
The cloud system comprises:
A mapping robot that autonomously travels inside the facility generates an indoor map of the facility using first sensing data generated for the interior of the facility through a sensor
Wherein the method comprises the steps of: A computer-readable recording medium having recorded thereon a program for causing a computer to execute the method according to any one of claims 8 to 10.

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