KR102137033B1 - Method of robot's cooperation based on resource distribution and robot with cooperating each other - Google Patents

Abstract

The present invention relates to a method for a robot to cooperate and a robot to cooperate based on resource distribution, and a robot or a robot driving method according to an embodiment of the present invention provides a robot for cooperating based on resource distribution at a first point. This includes selecting a target robot to take over the work performed by the robot and moving the robot to an intermediate point for taking over the work to the target robot in the process of moving up to 2 points.

Description

How robots collaborate based on resource distribution and robots that collaborate{METHOD OF ROBOT'S COOPERATION BASED ON RESOURCE DISTRIBUTION AND ROBOT WITH COOPERATING EACH OTHER}

The present invention relates to a method for a robot to collaborate and a technology to collaborate based on resource distribution.

It is necessary to continuously sense and move the space in order to operate the robot in a space where human and physical exchanges such as airports, schools, government offices, hotels, offices, factories, gymnasiums, and concert halls are actively occurring. On the other hand, since there can be a large number of various objects moving along with pedestrians or pedestrians in the space where the robot moves, the robot needs to run avoiding them.

In particular, in spaces where human and physical exchanges are actively occurring, people can appear in various directions, and objects accompanying them are also objects that robots should avoid. However, the manner in which the robot maintains a distance from these moving obstacles and avoids it has a great influence on the robot's movement path and work function. In addition, the movement of the robot to a specific point in the movement process has a great influence on the performance of the robot.

1 is a view showing a technique in which the robot of Korean Patent No. 1170686 returns to the standby position.

Referring to FIG. 1, the control server 1001 mounts data for the guide service of each mobile robot 1005a to 1005c in the database 1003 and transmits data suitable for each mobile robot 1005a to 1005c. The control terminal 1002 controls each mobile robot 1005a to 1005c.

These mobile robots 1005a to 5c wait at indoor and outdoor event venues such as exhibitions and fairs, and at major points such as amusement parks, zoo and botanical gardens, art galleries or museums by the control server 1001 and control terminal 1002, and guide visitors. Performs service, and if there is patch data, executes it and moves to the designated work location (waiting location for guidance service).

In the configuration shown in FIG. 1, after one robot finishes the guide, the robot returns to the initial standby position and waits. If the waiting positions of the robots are different, when the guide is moved away from the standby position, the service space at the corresponding position increases. The problem arises.

Accordingly, when a plurality of robots are disposed in a service space, a method and apparatus that can be operated in cooperation when these robots provide a specific service will be described.

In order to solve the above-mentioned problems, the present specification is intended to provide a method of reducing resources required for a robot to return to a standby position after performing a specific task.

In addition, in this specification, the resources that the robot puts in processing the work are reduced and distributed to other robots to reduce the service gap in the area in which each robot is in charge.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention not mentioned can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. In addition, it will be readily appreciated that the objects and advantages of the present invention can be realized by means of the appended claims and combinations thereof.

The robot cooperating based on resource distribution according to an embodiment of the present invention selects a target robot to take over the work performed by the robot in the process of moving from the first point to the second point.

A robot cooperating based on resource distribution according to an embodiment of the present invention moves the robot to an intermediate point for taking over work to the target robot.

The robot cooperating based on the resource distribution according to an embodiment of the present invention sorts the target robots in the standby positions that can be traversed in the paths of the first point and the second point from the received information in close order and the status information of the target robot. Select one of one or more target robots based on the collaboration value of the target robot.

The robot cooperating based on resource distribution according to an embodiment of the present invention compares any two or more of the distance between the robot and the target robot, the distance between the robot and the second point, and the distance between the target robot and the second point. Determine the value of collaboration.

The target robot collaborating based on resource distribution according to an embodiment of the present invention moves the target robot to the intermediate point when receiving location information on the intermediate point for taking over the work from another robot.

When the embodiments of the present invention are applied, it is possible to increase the efficiency of the total resources of all robots and the resources of individual robots.

In addition, when applying the embodiments of the present invention, since the robots on the path distribute resources in performing a specific service, it is possible to reduce the amount of resources that the robot that starts the guide should provide.

The effects of the present invention are not limited to the above-described effects, and those skilled in the art can easily derive various effects of the present invention from the configuration of the present invention.

1 is a view showing a technique in which the robot of Korean Patent No. 1170686 returns to the standby position.
2 is a view showing the appearance of a robot according to an embodiment of the present invention.
3 and 4 are views showing a moving path and a collaborative process of a robot through collaboration according to an embodiment of the present invention.
5 is a view showing a process of searching and selecting a robot capable of collaboration at the time when the robot according to an embodiment of the present invention starts a guide.
6 is a view showing a process in which the handover operation is performed between robots according to an embodiment of the present invention.
7 is a view showing the configuration of a robot according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the drawings so that those skilled in the art to which the present invention pertains can easily practice. The present invention can be implemented in many different forms and is not limited to the embodiments described herein.

In order to clearly describe the present invention, parts irrelevant to the description are omitted, and the same reference numerals are assigned to the same or similar elements throughout the specification. In addition, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, the same components may have the same reference numerals as possible even though they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof may be omitted.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, order, or number of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, the component may be directly connected to or connected to the other component, but different components between each component It should be understood that the "intervenes" may be, or each component may be "connected", "coupled" or "connected" through other components.

In addition, in implementing the present invention, components may be subdivided for convenience of description, but these components may be implemented in one device or module, or one component may be multiple devices or modules. It can be implemented by being divided into.

Hereinafter, in the present specification, the robot has a specific purpose (cleaning, security, monitoring, guidance, etc.) or provides a function according to a characteristic of a space in which the robot moves and includes a moving device. Accordingly, the robot in the present specification collectively refers to a device that has a moving means that can move using predetermined information and a sensor and provides a predetermined function.

In this specification, the robot can move while holding the map. The map refers to information on fixed objects such as fixed walls and stairs that are confirmed not to move in space. In addition, information about periodically moving obstacles, that is, dynamic objects, may also be stored on the map. In one embodiment, information about obstacles disposed within a predetermined range based on the direction of the robot may also be stored on the map. In this case, unlike the map in which the above-described fixed object is stored, information on obstacles may be temporarily registered in the map and then removed from the map after the robot moves.

In addition, in this specification, the robot can identify an external dynamic object using various sensors. When the external dynamic object is checked, when the robot travels to the destination in a crowded environment with pedestrians, it is possible to check the occupancy situation due to an obstacle at a waypoint that must pass to the destination. In addition, the robot can flexibly determine that the waypoint has arrived, depending on the degree of change in the direction of the waypoint, and then proceed to the next waypoint to successfully drive to the destination.

2 is a view showing the appearance of a robot according to an embodiment of the present invention. 2 corresponds to an exemplary appearance, and the robot of the present invention may be implemented in various appearances in addition to the appearance of FIG. 2. In particular, each component may be arranged at different positions, such as up, down, left, and right, depending on the shape of the robot.

The main body 10 is formed to have a long length in the vertical direction, and as a whole, it may have a shape that becomes slim as it goes up from the bottom to the top.

The main body 10 may include a case 30 forming the outer appearance of the robot 1. The case 30 includes a top cover 31 disposed on the upper side, a first middle cover 32 disposed on the lower side of the top cover 31, and a second disposed on the lower side of the first middle cover 32. A middle cover 33 and a bottom cover 34 disposed under the second middle cover 33 may be included. Here, the first middle cover 32 and the second middle cover 33 may be formed of one middle cover.

The top cover 31 is located at the top of the robot 1, and may have a hemisphere or dome shape. The top cover 31 may be positioned at a height lower than the height of an adult in order to easily receive a command from a user. In addition, the top cover 31 may be configured to be rotated at a predetermined angle.

On the other hand, the top cover 31 and the head portion 15 therein is disposed at the top of the robot 1 and has a shape and function similar to that of a human head, and is responsible for interaction with a user. can do. Therefore, the top cover 31 and the head portion 15 therein may be referred to as a head. In addition, the rest of the portion disposed under the head may be referred to as a body.

The top cover 31 may include an operation unit 311 on one side of the front side. The operation unit 311 may perform a function of receiving a command from a user. To this end, the manipulation unit 311 may include a display 312 for receiving a touch input from a user.

Hereinafter, the display 312 disposed on the manipulation unit 311 is referred to as a head display 312, and the display unit 20 disposed on the body is referred to as a body display unit 20. The body display unit 20 may include a support unit 22 and may be fixed inside the body 10 by a separate fixing member 138.

The head display 312 may be configured as a touch screen by forming a mutual layer structure with a touch pad. In this case, the head display 312 may be used as an input device capable of inputting information by a user's touch in addition to the output device.

In addition, the operation unit 311 may be directed upward at a certain angle so that the user can easily operate the head display 312 while looking down. For example, the operation part 311 may be disposed on a surface on which a portion of the top cover 31 is cut. Therefore, the head display 312 may be arranged to be inclined.

In addition, the manipulation unit 311 may have an overall circular or elliptical outer shape. The manipulation unit 311 may be embodied similarly to the shape of a person's face.

In one example, the manipulation unit 311 has a circular shape, and one or more structures for expressing a person's eyes, nose, mouth, and eyebrows may be positioned on the manipulation unit 311.

That is, a specific structure may be disposed on the manipulation unit 311 to express a person's eyes, nose, mouth, and eyebrows, or a specific paint may be painted. Therefore, the manipulation unit 311 may provide an emotional feeling to the user by having a human face shape. Moreover, when a robot having a face shape of a person is driving, it can give a feeling as if a person is moving, thereby resolving the objection to the robot.

As another example, one or more images for expressing a human eye, nose, mouth, and eyebrows may be displayed on the head display 312.

That is, various images for expressing the shape of a person's face may be displayed on the head display 312 as well as information related to a road guidance service. Also, an image for expressing a facial expression defined at a specific time interval or a specific time may be displayed on the head display 312.

Meanwhile, the direction in which the manipulation unit 311 faces is defined as “front” based on FIG. 2. And the opposite direction of "front" is defined as "rear".

In addition, the manipulation unit 311 may be provided with a head camera unit 313 for recognizing people and objects.

The head camera unit 313 may be disposed above the head display 312. The head camera unit 313 may include a 2D camera 313a and RGBD sensors 313b and 313c.

The 2D camera 313a may be a sensor for recognizing a person or object based on a 2D image.

Further, the RGBD sensors (Red, Green, Blue, Distance) 313b and 313c may be sensors for acquiring a location or face image of a person. The RGBD sensors 313b and 313c may be sensors for detecting people or objects using captured images having depth data obtained from a camera having RGBD sensors or other similar 3D imaging devices.

In order to accurately detect a person's location or face image, the RGBD sensors 313b and 313c may be formed in plural. For example, the RGBD sensors 313b and 313c are composed of two, and may be disposed on the left and right sides of the 2D camera 313a, respectively.

Although not shown, the manipulation unit 311 may further include a physical button for directly receiving a command from a user.

Also, the top cover 31 may further include a microphone 314.

The microphone 314 may perform a function for receiving a command of an audio signal from a user. In one example, in order to accurately receive a voice command from a user, the microphone 314 may be formed at four points at an upper end portion of the top cover 31. Therefore, even when the robot 1 is running or the top cover 31 is rotating, it is possible to accurately receive a voice guidance request from the user.

In one embodiment of the present invention, the top cover 31 may be rotated so that the manipulation unit 311 faces the traveling direction while the robot 1 is traveling. In addition, when the robot 1 receives a command (for example, a voice command) from the user while the robot 1 is driving, the top cover 31 may be rotated so that the manipulation unit 311 faces the direction in which the user is located.

Alternatively, the top cover 31 may be rotated in a direction opposite to the traveling direction of the robot 1 when the robot 1 receives a command from the user while driving. That is, the top cover 31 may be rotated in a direction facing the body display unit 20. Therefore, the user can effectively operate the manipulation unit 311 while viewing road guidance service information displayed on the body display unit 20.

The first middle cover 32 may include an RGBD sensor 321.

The RGBD sensor 321 may perform a function of detecting a collision between the robot 1 and an obstacle while the robot 1 is driving. To this end, the RGBD sensor 321 may be located in a direction in which the robot 1 travels, that is, in front of the first middle cover 32. For example, the RGBD sensor 321 may be located at an upper end of the first middle cover 32 in consideration of an obstacle or a key of a person existing in front of the robot 1. However, the present invention is not limited thereto, and the RGBD sensor 321 may be disposed at various positions in front of the first middle cover 32.

Depending on the embodiment, the RGBD sensor 321 is not disposed on the first middle cover 32, and the function of the RGBD sensor 321 can also be performed by the head camera unit 313.

In addition, the first middle cover 32 may further include a hole 322 for the speaker.

The speaker hole 322 may be a hole for transmitting sound generated from the speaker to the outside. The speaker hole 322 may be formed on the outer circumferential surface of the first middle cover 32, and may be formed in a single number. However, unlike this, the speaker holes 322 may be formed in plural to be spaced apart from each other on the outer circumferential surface of the first middle cover 32.

The first middle cover 32 may further include a hole 323 for a stereo camera.

The stereo camera hole 323 may be a hole for operation of a stereo camera (not shown) installed inside the main body 10. In one example, the stereo camera hole 323 may be formed at the front bottom of the first middle cover 32. Accordingly, the stereo camera 137 may photograph the front region of the robot 1 through the stereo camera hole 323.

The second middle cover 33 may include a first cutout 331.

The first incision 331 may be formed over the side from the front of the outer circumferential surface of the second middle cover 33. The first incision 331 is a portion that is cut in the second middle cover 33 so that the front rider sensor (not shown) is operable.

Specifically, the first incision 331 may be cut in a predetermined length in the radial direction from the front outer circumferential surface of the second middle cover 33. Here, the front rider 136 is located inside the second middle cover 33. In addition, the first incision 331 may be formed by cutting along the circumference of the second middle cover 33 on the outer circumferential surface of the second middle cover 33 corresponding to the position of the front rider. That is, the first incision 331 and the front rider may face each other. Therefore, the front rider may be exposed to the outside by the first incision 331.

For example, the first incision 331 may be incised by 270 degrees along the circumference from the front of the second middle cover 33. The reason that the first incision 331 should be formed in the second middle cover 33 is to prevent the laser emitted from the front rider from being directly irradiated to the eyes of an adult or a child.

The shape of the robot in FIG. 2 is exemplary, and the present invention is not limited thereto. In addition, various cameras and sensors of the robot may also be arranged at various positions of the robot 1. The robot of FIG. 2 is a guide robot for guiding information to a user and guiding the user by moving to a specific point. In addition, robots that provide cleaning, security, or functions are also included in the scope of the robot of FIG. 2. Various functions can be provided, but for convenience of description, the description is focused on the guide robot.

When the robot according to the embodiment of FIG. 2 is guided to a distance away from its standby position in order to perform a guiding function in a state where a plurality of robots are disposed in the service space, after the robot moves to the destination of the guide, During the time of ending the guiding function and returning to the standby position again, the service gap at the waiting position of the robot increases.

Accordingly, in this specification, a process of collaborating such that one robot does not process all the guides to the destination, and other robots located on or moving to the destination performs the guiding function instead.

By distributing the tasks to be handled by each robot in a way that takes over the guidance task to other robots on the path to the destination, it is possible to minimize the problem that the service gap at a specific location increases.

Hereinafter, the distance that the robot moves and the time required in this process are indicated as a resource input by the robot, that is, a resource. In this specification, the robot performs a specific function or a distance or time required to return to a set place after performing the function, or a combination of the two, is indicated as a resource.

3 and 4 are views showing a moving path and a collaborative process of a robot through collaboration according to an embodiment of the present invention.

3 is a configuration in which three robots R1, R2, and R3 are arranged. S indicates the starting point, and E indicates the destination. If one robot (e.g. R1) is dedicated to guidance from S->E, only R1 performs guidance along the arrow (S11), and then returns to the original position (S12). do.

FIG. 4 shows a process in which R2 and R3 share the guide function performed by R1 in FIG. 3. A number of robots R1, R2, and R3 perform a function of guiding a specific user from S to E. The robot R1 for starting the guide initially selects the robots R2 and R3 capable of collaboration among robots disposed on the path S11 described in FIG. 3 or adjacent to the path. Selection criteria may be in an adjacent order. Or, the number of robots according to the reference value (e.g., the amount of resource input based on time and distance, such as 10 minutes or 20 meters) that can reduce the service gap occurring in the original position or the set position of each robot in the resource required for the entire guide. The robot to be selected is determined accordingly. In the case of a close distance (for example, within 5 minutes), one robot may perform, and in the case of twice the reference value, two robots may be input. Alternatively, it may be selected differently depending on the position of the robot.

In FIG. 4, R2 and R3 are selected as R1, and when R2 is in a standby state, R1 moves toward R2 while maintaining a predetermined distance or less at a minimum distance S11 between S-E (S51). R2 also moves toward R1 (S61) and meets at point P1. At this time, R1 outputs a message to the user who has guided so far through R2, and R1 returns to the standby point where the robot was originally located (S52). In addition, R2 becomes a robot that provides a new guide function, and performs a process of selecting an adjacent robot that R1 previously performed.

The closest robot that can collaborate is selected from the path where R2 moves from P1 to E. R3 is selected in FIG. 4. If R3 is in the standby state, R2 moves toward R3 while maintaining a certain distance below the minimum distance between P1-E (S62). R3 also moves toward R2 (S71) and meets at point P2. At this time, R2 outputs a message to the user who has guided so far through R3, and R2 returns to the waiting point where the robot was originally located (S63). In addition, R3 becomes a robot that provides a new guide function, and performs the process of selecting an adjacent robot performed by R2 earlier, or moves to E when the distance to E is close (S72), ends the user guide function, and ends again. Return to the original standby position (S73).

If, in the process of selecting a robot, R1 was in a state in which R2 performs a function other than a standby state (in service), R1 can always check whether R2 is in a standby state while moving to the destination E.

In addition, R1 can confirm that collaborating with R2 in this process is less valuable than collaborating directly with R3. When the service of R2 is terminated, the collaboration is completed by moving to a point adjacent to P1 or the path S11 so that R1-R2 meets.

If the status of R2 checked in the process of R1 moving along the path S11 is still in service, or the collaboration value of R2 is lost, R1 performs a function of selecting a new robot again. In this process, R3 can be selected and R1-R3 can collaborate.

In addition, if R1 is the selected robot before R1 departs from point S, R2 takes over the user from R1 and guides it to destination E. If the service is not terminated until R2 is in service and cannot take over the user or the collaboration value is lost, R1 guides to the destination E.

On the other hand, if the service of R2 is terminated before the collaborative value disappears, R2 takes over the customer from R1 and directs it to destination E. Then, upon reaching the destination, R2 returns to the waiting point.

As shown in FIG. 4, in an embodiment in which a guide robot guides a user, resources to be performed are distributed through collaboration between robots. As a result, resources inputted by each robot are reduced, and each service gap of each robot can be minimized.

For example, if a specific robot has a gap of 20 minutes with a long-distance guide, the collaboration between the two robots can reduce the gap time to generate an average of 10 minutes of service gap. In addition, by collaborating between 4 robots, the service gap occurring in a specific robot (waiting position) can be reduced to an average of 5 minutes of service gap.

That is, the distribution of resources that must be input to provide the service minimizes the service gap occurring in the waiting area in charge of a specific robot, and the robot does not move away from the waiting position, so that the battery is not low during long-distance movement. It is also easy to respond to emergency by reducing the robot's absence time.

4 illustrates an embodiment of minimizing individual service gaps by distributing resources through collaboration between robots when performing the guide function of the guide robot. Hereinafter, the operation logic to cooperate in the process of performing the guide function will be described in detail.

In one embodiment, as a prerequisite of the cooperative operation logic, it may be configured as follows, but the present invention is not limited thereto.

First, there are waiting positions as many as the number of robots to be placed in the service space. Based on each waiting position, the coordinates of the waiting position and identification information of the robot at the waiting position (for example, the number of the robot), the robot status, and the position coordinates of the robot Has as data. The robot state may be composed of waiting, responding to a customer, escorting, returning, preparing to take over, and the like.

In addition, all robots manage data of all waiting positions. And these robots can communicate with each other in a broadcast method. Alternatively, the central server may transmit the robot's identification information, status, and position coordinates to all robots at regular intervals. Other robots can be notified that the state of the robot is changed or their position coordinates are changed when moving, or it can be transmitted to a central server.

In an embodiment, each robot may store information about all robots in an updated state as follows.

{R1, R1 standby position coordinates, R1 state, R1 present position}, {R2, R2 standby position coordinates, R2 state, R2 present position}, ..., {Rn, Rn standby position coordinates , The state of Rn, the current position of Rn}

Each robot provides a guide function and can calculate the distance from the coordinates of each robot. The distance is a measurement of the travel path, not a straight line distance. In addition, when there is an obstacle up to the arrival point, a path to avoid the obstacle is included in the movement path.

5 is a view showing a process of searching and selecting a robot capable of collaboration at a time when the robot according to an embodiment of the present invention starts a guide.

When instructing the robot to start the guide as R1, the following data such as location information, status information, and information about the standby location can be shared with other robots.

{R1, R1 standby position coordinates, R1 status, R1 current position}

Here, the current position is the current coordinate of the escalating robot R1, and the current standby position means the standby position to which the escorting robot R1 belongs.

R1 changes the state to "Escorting" (S80), and obtains a standby position that can be passed through in a path generated to a destination in order of distance (S81). In an embodiment, the communication unit (280 in FIG. 7 ), which is a detailed component of R1, which will be described later, may receive location information, status information, and standby location information from one or more target robots arranged in the space. The reception method may be directly received in real time from other robots, or R1 may store and retain the corresponding information in advance. R1 moves from its waiting position to the destination and searches for waiting positions on the path.

In addition, when looking at S81 in detail, the central control unit (250 in FIG. 7), which is a detailed component of R1, is a standby position that can be passed in the path of the first point (departure or current position) and the second point (target point) from the previously received information. After arranging the target robots in close proximity, one of the one or more target robots may be selected based on the status information of the target robots and the collaboration value of the target robots.

If there is no waiting position available via (S82), R1 continues to move to the destination (S87). And when the guide work is completed, R1 changes the state to "returning" and returns to the original standby position (S89).

Next, when there is a standby position that can be passed through in S82, for example, when there is a robot R2 in the nearest standby position, R1 checks the state of R2. R1 checks whether the state of the robot (eg, R2) in the standby position is "waiting" or "returning" (S83). If R2 is in standby/return, R1 proceeds to take over the guide task (escort task) to R2 (S88). In one embodiment, the communication unit (280 in FIG. 7) transmits location information on an intermediate point for taking over the task to the selected target robot, and the two robots move to the corresponding intermediate point.

Then, when the takeover work is finished, R1 returns to S89, and R2 takes over (guide work).

On the other hand, if there is no robot returning or waiting because R1 determines in S83, it is checked whether the corresponding waiting position is worth the collaboration. For example, if R2 is in the closest waiting position, but R2 is serving customers or escorting, R1 cannot take over. In this case, R1 checks to see if it has a collaboration value with R2, and if not, removes R2 and its standby position and then checks the possibility of taking over for the standby position.

Collaborative value means that the route to the destination is not significantly changed, or the distance from the current location of R1 to the destination is far away, or R2 uses less resources to move than R1 to the destination. You can judge according to the standards.

If there is a collaboration value as a result of determination, R1 waits for a while (S86) and proceeds to step S82 again.

As a result of determination, when the corresponding standby position has no collaboration value, R1 removes the standby position closest to the transitable standby position, that is, the standby positions determined in S83 and S84, and then performs step S82 based on the standby position.

The target robot, such as R2, means the robot in the closest waiting position. For the collaborative value and waiting process, a resource distribution algorithm can be applied. That is, when the robots at each standby position distribute and perform the corresponding guide task, the resource distribution may be calculated to reduce the entire resource or redistribute the resource excessively allocated to a specific robot.

6 is a view showing a process in which the handover operation is performed between robots according to an embodiment of the present invention. As shown in FIG. 5, the target robot taking over the escort service is the robot in the closest waiting position to the currently escorting robot. For convenience of explanation, the robot currently escorting is indicated as R1, and the robot to be taken over is R2.

When R1 decides to take over the customer to the target robot R2 or to take over a specific task, R1 informs the entire robot in a broadcast method or notifies R2 in a direct communication method. That is, the target robot is requested to take over (S91).

When all robots are notified in a broadcast manner, all robots change the status of R2 to ready for takeover. Then, R1 informs R2 of the intermediate coordinates of the current position and the target robot (R2) position (S92). At this time, the intermediate coordinates can be determined even on a straight line distance, but an intermediate value on the moving path may be applied. Both R1 being escorted and target robot R2 being ready to take over move to intermediate coordinates (S93), but a difference may occur in the moving distance between R1 and R2 due to the occurrence of a new situation, such as avoiding an obstacle in the process. In this case, R1 periodically recalculates the intermediate coordinates and notifies R2. That is, the communication unit of R1 (280 in FIG. 7) from the target robot R2 receives the current position information of the target robot, and there is a possibility that a path change has occurred. Alternatively, a path change may occur while the robot R1 moves to an intermediate point. That is, if a change occurs on a path where R1 and R2 are scheduled to meet at an intermediate point, the central control unit (250 in FIG. 7) of R1 recalculates the intermediate point and transmits new location information to the target robot R2 (FIG. 7) 280) can be controlled.

When the distance between the two robots is within a range that can be taken over (S94), R1 delivers the target point of the customer to R2 in a broadcast or direct cast method, or delivers the target point of guide work, and R1 gives the R2 to the customer through the UI. Will inform you instead. Then, the escalating R1 changes the state to returning and moves to the standby position (S96). In this process, the interface unit of R1 (210 in FIG. 7) may output a message notifying that the work is taken over from the intermediate point (if the distance to the target robot is less than or equal to a certain distance) to the target robot. Arrows can be displayed in the direction of the target robot or can be displayed by voice. Similarly, the target robot can also output an image or voice from the interface of the target robot R2 (210 in FIG. 7) to inform the user that the job has been taken over. have.

The takeover robot R2 changes the state to escorting and starts escorting (S97). At this time, both R1 and R2 can notify the entire robot of the changed state through a broadcast method. Afterwards, R2 starts escorting to the point received from R1.

If it is not a distance that can be taken over from S94, R1 or R2 may wait for a while (S95).

In FIG. 5, the collaboration value can be calculated in various ways. For example, it can be measured by the distance between the two robots and the three locations, the target location (moving path). For example, if the robot being escorted is R1 and the robot to measure collaboration value is R2, R1 can determine the presence or absence of collaboration value in the following cases.

In one embodiment, when (the distance between the current position of R1 and the target point) is less than or equal to (the distance between the current position of R2 and the target point), moving to the target point by R1 may reduce the entire resource. In this case, R1 is judged to have no collaborative value.

Conversely, when (the distance between the current position of R1 and the target point) is greater than (the distance between the current position of R2 and the target point), it can be determined in detail.

In one embodiment, it can be calculated based on the following equation.

[Equation 1]

{(Distance between the current position of R1 to the target point)- (Distance between the current position of the R2 to the target point)} * Var1 >= (distance between R1 and R2)

Var1 can be variously selected, for example, a value of 1.2 can be applied. Equation 1 is obtained by subtracting the distance between the current position of the target robot and the target point from the distance between the robot performing the current escort and the target point, and multiplying by Var1. It can be judged that the distance is close and that it is worth collaboration.

Conversely, it can be calculated as shown in Equation 2, which can be judged to have a large distance between robots and not to have collaborative value.

[Equation 2]

{(Distance between the current position of R1 to the target point)- (Distance between the current position of R2 to the target point)} * Var1 <(distance between R1 to R2)

7 is a view showing the configuration of a robot according to an embodiment of the present invention. It shows the configuration of robots such as R1, R2, and R3, which were discussed above.

The external components of the robot described in FIG. 2 are described as components. However, the appearance of the robot of FIG. 2 corresponds to an embodiment of the present invention, and the robot may be configured in various shapes. The interface unit 210 of the robot provides a function of outputting information or outputting voice to an external user. Alternatively, a touch screen may be provided to allow a user to input certain information. The body display unit 20 and the head display 312 of FIG. 2 may constitute an interface unit.

The storage unit 220 stores the coordinates of the waiting position of the robot 200, the state, the current position, and the like. In addition, it stores the coordinates, status, current position, etc. of the waiting position of another robot received through the communication unit 280.

The moving part 230 includes means for moving the robot.

The map storage unit 260 stores information about a fixed obstacle in a space in which the robot moves, for example, a location of a wall, a pillar, the material of the floor, or special features of the space. The robot 200 may calculate a route to a destination based on information stored in the map storage unit 260.

The sensing unit 270 provides a function of sensing an object external to the robot in order to identify an obstacle in the process of moving the robot. According to an embodiment, objects disposed in an advancing direction of a robot or adjacent areas may be sensed.

The communication unit 280 allows the robot to communicate with other robots or servers to transmit and receive information. If another robot transmits location information or status information of another robot in a broadcast manner, it can receive it. Alternatively, the robot may receive information of other robots from the server. Alternatively, information can be exchanged between robots in a one-to-one direct manner. Similarly, the robot may transmit its state information and location information to other robots by broadcasting method, to a server, or one-to-one with other robots.

The central control unit 250 controls the aforementioned components. The central control unit 250 may move the robot by controlling the moving unit 230 based on the fixed obstacle information of the map storage unit 260 and the objects sensed by the sensing unit 270.

The interface unit 210 provides a function of outputting information to the outside and receiving predetermined information from the outside. The interface unit 210 may output voice or information as a graphic/video. Alternatively, the interface unit 210 may receive a voice from a user. The interface unit 210 may be provided with a touch input method for instructing a user to perform a predetermined function, including a touch screen.

The storage unit 220 stores location information, status information, and standby location information of the other robot. Other robots are one or more, and the following information is stored in one or more storage units 220.

{R#, coordinates of R#'s waiting position, status of R#, current location of R#}

As described above, the following information units can be stored for each robot. These information may correspond to either of cases provided by each robot by broadcasting or provided by direct communication, or received from a server. The communication unit 280 may receive information from various devices (robot or server) in various communication methods.

5 and 6, the central control unit 250 controls the moving unit 230 based on the fixed obstacle information of the map storage unit 260 and objects sensed by the sensing unit 270 to control the robot ( 200). In addition, the robot 200 may select a target robot to take over the work performed in the process of moving from the first point to the second point.

In addition, when the target robot is selected, the central control unit 250 controls the moving unit 230 to move the robot 200 to an intermediate point for taking over the work to the target robot, and resources to be input by the robot in performing the operation. Can be reduced. Here, the resource includes a time input by the robot, a distance that the robot should move, or a time or distance required for the robot to move to the original standby position after completing the work.

Previously, as described in Equations 1 and 2, the central control unit 250 may determine the collaboration value. For example, when R1 determines the collaboration value of R2, the distance between the robot R1 and the target robot R2, the distance between the robot R1 and the second point (target point), and the target robot R2 The collaboration value can be determined by comparing any two or more of the distances of the second point (target point).

In addition, in another way, the central control unit 250 moves the robot R1 to the second point (target point) and completes the work, and then the resource inputted to return to the standby position set for the robot R1 is greater than or equal to a preset criterion. In this case, the collaboration value of the target robot R2 may be increased. In case of converting resources by time, if the waiting time is more than a certain standard (15 minutes), the collaborative value is increased so that the target robot can take over even if it waits for a while.

The configuration of FIG. 7 can also be applied to a target robot, that is, a robot taking over a task. In this case, when the communication unit 280 receives location information for an intermediate point for taking over the robot's work from another robot, the central control unit 250 moves the target robot to move to the intermediate point 230 Can be controlled.

In this process, the movement starts to an intermediate point, and the central control unit 250 of the target robot changes the state information of the target robot in the process of moving the target robot to the intermediate point. Then, the communication unit 280 transmits the changed state information to another robot or a server so that other robots can update information about the current state of the target robot.

5 to 7 are summarized as follows. It is assumed that R1 is the robot currently performing the work and R2 is the target robot taking over the work.

The central control unit of the robot R1 receives the target robot R2 to take over the work performed in the process of moving from the first point to the second point, and moving from the first point to the second point. 250) to choose. Then, the central control unit 250 of R1 calculates an intermediate point for taking over the work to the target robot R2. Thereafter, the central control unit 250 of R1 controls the moving unit 230 of the robot R1 to move R1 to an intermediate point. Then, when the intermediate point is reached or the distance between R1 and R2 is close, the communication unit 280 of R1 transmits a message to take over the task to the target robot R2. Through this process, resources input to one task are distributed to multiple robots, and the task is processed based on the robot's collaboration.

Comparing the prior art, for example, the case of FIG. 1 with the embodiments of the present invention, when the embodiment of the present invention is applied, the distribution efficiency of resources is increased. In the conventional case, after one robot finishes the guide, it returns to the initial standby position and waits. In the case of the conventional method, when the robots have different standby positions, the guides are guided away from the standby position, and the service gap at the position occupied by the robot increases.

On the other hand, when the embodiment of the present invention is applied, it is possible to secure the total resources of the entire robots (actual moving distance and service empty time, battery use, etc.) and the efficiency of the resources of the individual robots. That is, in performing a specific service (guidance function), since the robots on the path distribute resources, it is possible to reduce the amount of resources that the robot starting the guide should provide.

In addition, even if all components constituting the embodiments of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments, and all elements within the scope of the present invention It may also operate by selectively combining one or more. In addition, although all of the components may be implemented by one independent hardware, a part or all of the components are selectively combined to perform a part or all of functions combined in one or a plurality of hardware. It may be implemented as a computer program having a. The codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media) and read and executed by a computer, thereby implementing an embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording element. In addition, the computer program implementing the embodiment of the present invention includes a program module that is transmitted in real time through an external device.

In the above, the description has been mainly focused on the embodiment of the present invention, but various changes or modifications can be made at the level of a person skilled in the art. Accordingly, it will be understood that such changes and modifications are included within the scope of the present invention without departing from the scope of the present invention.

1, 200: robot
R1, R2, R3: Robot
250: central control unit
280: communication unit

Claims (13)

A map storage unit for storing fixed obstacle information disposed in a space in which the robot moves;
A sensing unit sensing objects;
Communication unit for transmitting and receiving information with other robots or servers;
An interface unit that outputs information to the outside and receives predetermined information from the outside;
A storage unit that stores location information, status information, and standby location information of the other robot;
A moving unit for moving the robot; And
Based on the fixed obstacle information of the map storage unit and objects sensed by the sensing unit, the robot is moved by controlling the moving unit, and the operation performed in the process of the robot moving from the first point to the second point is taken over. Includes a central control unit for selecting the target robot,
The central control unit controls the moving unit to move the robot to an intermediate point for taking over the operation to the target robot, thereby reducing resources to be input by the robot or the target robot in performing the operation,
The resource is a distance or time required for the robot or the target robot to return to its standby position, or a combination of the two, and the central control unit is a service occurring at a standby position of either the robot or the target robot A robot that collaborate based on resource distribution, selecting the target robot to reduce the gap.
According to claim 1,
When the communication unit receives location information, status information, and standby location information from one or more target robots disposed in the space,
The central control unit sorts the target robots in the standby positions that can be passed through the paths of the first point and the second point in the proximity of the received information based on the status information of the target robot and the collaboration value of the target robot. Select one of the one or more target robots,
The communication unit transmits the location information for the intermediate point to the selected target robot, a robot cooperating based on resource distribution.
According to claim 2,
The central control unit
Based on resource distribution, determining the collaboration value by comparing any two or more of the distance between the robot and the target robot, the distance between the robot and the second point, and the distance between the target robot and the second point A collaborative robot.
According to claim 2,
The central control unit
After the robot moves to the second point and completes the work, if the resource input to return to the standby position set to the robot is greater than a preset criterion, the collaboration value of the target robot is increased, based on resource distribution. Robot.
According to claim 1,
The interface unit outputs a message notifying that the work is taken over from the intermediate point to the target robot, and the robot cooperating based on resource distribution.
According to claim 1,
In the process of moving the robot to the intermediate point
When the communication unit receives the current location information of the target robot from the target robot or a path change occurs in the process of the robot moving to the intermediate point, the central control unit recalculates the intermediate point to receive new location information. A robot that cooperates based on resource distribution that controls the communication unit to transmit to a target robot.
A map storage unit for storing fixed obstacle information disposed in a space in which the target robot moves;
A moving unit moving the target robot; And
A sensing unit sensing objects;
Communication unit for transmitting and receiving information with other robots or servers;
An interface unit that outputs information to the outside and receives predetermined information from the outside;
Based on the fixed obstacle information of the map storage unit and objects sensed by the sensing unit, the target robot is moved by controlling the moving unit, and the communication unit positions the intermediate point for taking over the robot's work from the other robot. When receiving the information includes a central control unit for controlling the moving unit to move the target robot to the intermediate point,
The other robot or the server reduces a service gap occurring in a standby position of any one of the other robot and the target robot when the other robot performs the operation, and resources to be input by the other robot or the target robot The target robot was selected to reduce the,
The resource is a distance or time required for the other robot or the target robot to return to its standby position, or a combination of the two, a robot cooperating based on resource distribution.
The method of claim 7,
The central control unit
In the process of moving the target robot to the intermediate point, the state information of the target robot is changed,
The communication unit transmits the status information to another robot or server, a robot that cooperates based on resource distribution.
Selecting a target robot to take over a target robot to take over the work performed in the process of moving from the first point to the second point while performing a task performed from a first point to a second point;
Calculating an intermediate point for the central control unit to take over the work to the target robot;
The central control unit controlling the moving unit of the robot to move the robot to the intermediate point; And
And transmitting a message that takes over the operation to the target robot by the communication unit of the robot,
The selecting step reduces a service gap occurring in a waiting position of any one of the robot and the target robot in performing the operation by the central control unit of the robot, and reduces resources to be input by the robot or the target robot. This includes selecting the target robot,
The resource is a distance or time required for the robot or the target robot to return to its standby position, or a combination of the two.
The method of claim 9,
Receiving, by the communication unit, location information, status information, and standby location information from one or more target robots disposed in a space where the robot moves;
Based on the status information of the target robot and the collaboration value of the target robot, the central control unit sorts the target robots in the standby positions that can be passed through the paths of the first point and the second point in the proximity of the received information. Selecting one of the one or more target robots; And
The communication unit further comprising the step of transmitting the location information for the intermediate point to the selected target robot, a method for the robot to collaborate based on the resource distribution.
The method of claim 10,
Determining the collaboration value by comparing any two or more of the distance between the robot and the target robot, the distance between the robot and the second point, and the distance between the target robot and the second point by the central control unit Further comprising, how the robots collaborate based on resource distribution.
The method of claim 10,
When the central control unit completes the operation by moving the robot to the second point, if the resource input to return to the set waiting position for the robot is greater than a preset criterion, further increasing the collaboration value of the target robot Including, how robots collaborate based on resource distribution.
The method of claim 9,
In the process of moving the robot to the intermediate point
When the communication unit receives the current location information of the target robot from the target robot or a path change occurs in the process of the robot moving to the intermediate point, the central control unit recalculates the intermediate point to receive new location information. Further comprising the step of controlling the communication unit to transmit to the target robot, a method for the robot to collaborate based on the resource distribution.

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