KR102386302B1 - System for controlling robot for taking on/off elevator and method thereof - Google Patents

Abstract

Disclosed are a robot control system and a control method therefor for getting on and off the elevator.
In this system, the elevator server collects operation information for each of a plurality of elevators, and the control server generates coordinate information of a person riding in each of the plurality of elevators. The robot receives the elevator operation information collected by the elevator server in an event manner, selects an elevator for moving to a target floor from among the plurality of elevators, and the coordinates of a person generated by the management server in response to the selected elevator After detecting a boarding position in the selected elevator using the information, boarding at or disembarking from the boarding location.

Description

A robot control system for getting on and off an elevator and its control method {SYSTEM FOR CONTROLLING ROBOT FOR TAKING ON/OFF ELEVATOR AND METHOD THEREOF}

The present invention relates to a robot control system for getting on and off an elevator and a control method therefor.

Recently, a lot of research has been done on driving methods using robots. Among them, there is a technology in which the robot drives using the MAP after creating a MAP using SLAM (Simultaneous Localization and Mapping) technology to move the robot on a single floor. do.

However, this technology is a driving technology for a robot to move on a single floor, and it is difficult to apply to moving to another floor using an elevator.

In addition, in the prior art technology in which the robot moves to another floor using an elevator, due to the absence of scheduling for the intelligent behavior of the robot, the robot periodically queries the elevator information to know the floor number status information of the elevator, and the elevator is overloaded. There is a problem that affects the operation.

In addition, when the conventional robot gets on and off the elevator, there is a problem that there is no consideration for interaction with people who are riding in the elevator.

An object to be solved by the present invention is to provide a robot control system for getting on and off the elevator, and a control method therefor so that the robot can efficiently get on and off the elevator.

A robot control system according to one aspect of the present invention,

An elevator server that collects operation information for each of a plurality of elevators, a management server that generates coordinate information of a person riding in each of the plurality of elevators, and delivers the elevator operation information collected by the elevator server in an event manner After receiving and selecting an elevator for moving to a target floor from among the plurality of elevators, using the coordinate information of a person generated by the management server corresponding to the selected elevator to detect a boarding position in the selected elevator, the boarding position and a robot that gets on or off the boarding position.

Here, the robot includes a path calculation unit for calculating a path for moving to the boarding position of the selected elevator, and a boarding position detecting unit for detecting a boarding position in the selected elevator using coordinate information of a person corresponding to the selected elevator And, after selecting an elevator for moving to the target floor by using the operation information of the elevator, control is performed so that the robot moves to the boarding position of the selected elevator through the path calculated by the path calculation unit, and , Using the coordinate information of a person corresponding to the selected elevator, the robot rides to the boarding position detected by the boarding position detection unit or includes a driving control unit that performs control to get off the selected elevator from the boarding position .

In addition, while the robot moves to the boarding position of the selected elevator through the path calculated by the path calculation unit and waits, the traveling control unit determines that the elevator other than the selected elevator is first selected through the operation information of the elevator. When it is expected to arrive, it is determined whether boarding of the other elevator is possible through the route calculator, and when it is determined that boarding of the other elevator is possible through the route calculator, the route calculated by the route calculator It moves to the boarding position of the other elevator through the path to the boarding location of the other elevator.

In addition, whether it is possible to board the other elevator, the time the robot moves from the boarding position of the selected elevator to the boarding position of the other elevator and the time until the other elevator arrives at the floor where the robot is located judged by comparison.

In addition, the management server generates coordinate information of a person riding in each of the plurality of elevators using an image captured by a camera installed in each of the plurality of elevators, and the boarding position detection unit includes the floor of the selected elevator An area is divided into a plurality of places using the coordinate information of the person, and a boarding position in which the robot can be located is detected in an order close to the door of the selected elevator for the plurality of places.

In addition, the plurality of places connect the coordinates of the person indicated by the coordinate information of the person, and on the left wall and the right wall, respectively, from the coordinates of the person closest to the left wall and the right wall based on the door. It is formed by setting vertical lines.

In addition, the riding position is detected using a circle shape indicating the thickness of the body of the robot based on a connecting line used to divide the plurality of places.

In addition, when two or more boarding positions are detected in the same place among the plurality of places, a boarding position closest to the left wall surface or the right wall surface is detected as the final boarding position.

In addition, the path calculating unit forms a polygonal shape by connecting the coordinates of the person indicated by the coordinate information of the person with respect to the floor area of the selected elevator, and is closest to the left wall and the right wall based on the entrance door After setting vertical lines on the left wall and the right wall from the coordinates of a person, respectively, based on each side of the polygonal shape, the length of the vertical line, and the thickness of the robot, boarding from the outside of the selected elevator to the boarding position A route or an alighting route from the boarding position to the outside of the selected elevator is calculated.

In accordance with another aspect of the present invention, there is provided a method for controlling an elevator on/off of a robot,

Collecting operation information of each of the plurality of elevators transmitted in an event manner from an elevator server that controls each of the plurality of elevators, boarding among the plurality of elevators using the operation information to move to a target floor Selecting an available elevator, using coordinate information of a person corresponding to the selected elevator, transmitted from a management server that generates coordinate information of a person riding in each of the plurality of elevators, a boarding position for boarding in the selected elevator detecting, and moving to the boarding position to board the selected elevator.

Here, between the step of selecting the available elevator and the step of detecting the boarding position, moving to the boarding position of the selected elevator, using the operation information, the robot is located in the remaining elevators except for the selected elevator Checking whether there is an elevator that arrives first to the floor, if it is confirmed that there is an elevator that arrives first to the floor where the robot is located among the remaining elevators except for the selected elevator, confirming whether it is possible to board the elevator that arrives first step, and if it is confirmed that boarding in the first arriving elevator is possible, move to the boarding position of the first arriving elevator, or continue to the boarding position of the selected elevator if it is confirmed that boarding in the first arriving elevator is impossible including waiting.

In addition, the step of detecting the boarding position may include dividing the floor area of the selected elevator into a plurality of places using coordinate information of a person corresponding to the selected elevator, and the selected elevator for the plurality of places. detecting a boarding position in which the robot can be located in an order close to the door, and calculating a boarding path from the boarding position of the selected elevator to the boarding position, moving to the boarding position and moving to the selected The step of boarding the elevator is a step of moving to the boarding position using the boarding route and boarding the selected elevator.

In addition, the plurality of places connect the coordinates of the person indicated by the coordinate information of the person, and on the left wall and the right wall, respectively, from the coordinates of the person closest to the left wall and the right wall based on the door. It is formed by setting vertical lines.

In addition, the riding position is detected using a circle shape indicating the thickness of the body of the robot based on a connecting line used to divide the plurality of places.

In addition, after moving to the boarding position and getting on the selected elevator, calculating an alighting route for getting off from the boarding position to the outside of the selected elevator using coordinate information of a person corresponding to the selected elevator; And and disembarking using the disembarkation route when the selected elevator arrives at the target floor.

According to an embodiment of the present invention, the robot does not affect the operation control of the elevator by using the elevator through intelligent scheduling according to the operating state of the elevator without controlling the elevator.

In addition, by performing the getting on and off according to the condition of the inside of the elevator, the problem of interaction with people riding in the elevator can be solved.

1 is a schematic configuration diagram of a robot control system according to an embodiment of the present invention.
2 is a diagram illustrating a concept of capturing an image inside an elevator using an RGBD camera or CCTV in a robot control system according to an embodiment of the present invention.
Figure 3 is a view showing the coordinates of a person on the floor of the elevator in the robot control system according to an embodiment of the present invention.
FIG. 4 is a schematic configuration diagram of the robot shown in FIG. 1 .
FIG. 5 is a diagram illustrating an example of the storage unit shown in FIG. 4 .
6 is a view showing an example of a floor plan view of the elevator showing the coordinates of the person in the robot control system according to an embodiment of the present invention.
7 is a diagram illustrating an example of the thickness of a person and a robot used in a robot control system according to an embodiment of the present invention.
8 is a diagram illustrating an example of detecting a riding position using the thickness of a person and a robot in the robot control system according to an embodiment of the present invention.
9 is a diagram illustrating an example of detecting a boarding position for each divided place on the floor of an elevator in the robot control system according to an embodiment of the present invention.
10 is a diagram showing an example of detecting the most suitable boarding position among a plurality of boarding positions in the elevator in the robot control system according to an embodiment of the present invention.
11 is a diagram illustrating an example of movement between elevators in a robot control system according to an embodiment of the present invention.
12 is a schematic flowchart of a robot control method for riding an elevator according to an embodiment of the present invention.
13 is a flowchart of a process of checking whether there is an elevator that can be boarded shown in FIG. 12 .
14 is a flowchart of the elevator boarding process shown in FIG. 13 .
15 is a diagram illustrating an example of calculating a boarding path in a robot control method according to an embodiment of the present invention.
16 is a schematic flowchart of a robot control method for getting off the elevator according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. However, the present invention may be embodied in several different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a part "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. there is.

The devices described in the present invention are composed of hardware including at least one processor, a memory device, a communication device, and the like, and a program to be executed in combination with the hardware is stored in a designated place. The hardware has the configuration and capability to implement the method of the present invention. The program includes instructions for implementing the method of operation of the present invention described with reference to the drawings, and is combined with hardware such as a processor and a memory device to execute the present invention.

Hereinafter, a robot control system and method according to an embodiment of the present invention will be described.

1 is a schematic configuration diagram of a robot control system according to an embodiment of the present invention.

As shown in FIG. 1 , the robot control system 10 according to an embodiment of the present invention includes an elevator server (hereinafter referred to as 'EV server') 100, a management server 200, and a robot 300. .

EV server 100 is connected to a plurality of elevators (EV1, EV2, ..., EVn) (400-1, 400-2, 400-n) through wired and wireless communication, and a plurality of elevators (EV1, EV2, ···, EVn) (400-1, 400-2, 400-n) collects operation information, and some of the operation information collected according to a request from the robot 300 is transmitted to the robot 300 in an event delivery method. transmit Here, the operation information transmitted to the robot 300 includes floor information and door open information. Here, the door open information is information that allows it to be known whether the elevator stops on the floor corresponding to the floor information and opens the door. Meanwhile, the EV server 100 may include an elevator identifier (ID) and a robot identifier (ID) in the event message to deliver the driving information to the robot 300 in an event manner.

For example, when the elevator 400 - 1 stops on the m floor and opens a door, the EV server 100 may generate the following event message and transmit it to the robot 300 .

<Example of event message>

floor information = m

Door open information = 1 (1 means open the door, 0 means just pass without opening the door)

Elevator ID = ID of the elevator sending the event message

Robot ID = ID of the robot receiving the event message

Optionally, the EV server 100 may use serial communication, for example, RS-485 communication, to transmit the driving information to the robot 300 at a high speed.

The management server 200 checks the coordinates of the person inside the elevators 400-1, 400-2, and 400-n, and transfers the coordinates information of the person to the robot 300. Here, the management server 200 may check the coordinates of the person inside the elevator (400-1, 400-2, 400-n) through various methods. For example, a camera capable of detecting a person is installed inside the elevator 400-1, 400-2, and 400-n, respectively, and receives an image taken through each installed camera, and through the received image The coordinates of the person located inside the elevators 400-1, 400-2, and 400-n can be checked. Optionally, as shown in Figure 2, the camera 410 here is installed on the ceiling in the elevator (400-1, 400-2, 400-n) to shoot an image of the lower side to the management server (200) Transmitting RGB-Depth (RGBD) cameras are used, and CCTV (Closed Circuit TeleVision) cameras installed in elevators (400-1, 400-2, 400-n) may be used, not limited to RGBD cameras. , when using a CCTV camera, an additional camera or sensor may be additionally used to obtain depth information of the image Therefore, the management server 200 is the elevator 400- through the image transmitted from the RGBD camera or CCTV 410 1, 400-2, 400-n) detects a person located inside, checks the coordinates of the detected person in the elevator, and transmits them to the robot 300. For example, the management server 200 determines the coordinates in the elevator. It can be confirmed as information as shown in Fig. 3 and transmitted to the robot 300. Referring to Fig. 3, two people are located in the elevator, and the coordinates of the two are (e, f), (g, h) In this case, the upper left corner is the origin (0, 0), the horizontal direction is the x-axis, and the vertical direction is the y-axis.

On the other hand, the management server 200 through the video stream received from each elevator (400-1, 400-2, 400-n) each of the elevator (400-1, 400-2, 400-n) of the person located inside the Since the technique for checking the coordinates is well known, a detailed description thereof will be omitted here.

The robot 300 requests operation information of the elevators 400-1, 400-2, and 400-n to the EV server 100 when it is necessary to board the elevators 400-1, 400-2, and 400-n. , it is possible to check the operation information of the elevators 400-1, 400-2, 400-n through the event message transmitted from the EV server 100, and According to the operation information, it moves to the elevators 400-1, 400-2, and 400-n that can be boarded and gets on and moves to another floor. At this time, the robot 300 moves to the elevator (400-1, 400-2, 400-n) to be boarded according to the operation information of the elevator (400-1, 400-2, 400-n), and moves to another elevator while waiting. If the elevator (400-1, 400-2, 400-n) is expected to arrive first, it moves to the corresponding elevator (400-1, 400-2, 400-n) to determine whether it is possible to get on or not, and if it is possible, An operation of moving to the elevators 400-1, 400-2, and 400-n may be performed.

In addition, the robot 300 is the elevator (400-1, 400-2, 400-n) using the coordinates of the person for each elevator (400-1, 400-2, 400-n) transmitted from the management server 200 It is determined whether it is possible to get on or off, and if it is possible to get on, get on through an accessible route to a boarding position in the elevator, or, if it is possible to get off, it can perform an operation of getting off through the available route.

Hereinafter, the robot 300 according to an embodiment of the present invention will be described in more detail with reference to the drawings.

FIG. 4 is a schematic configuration diagram of the robot 300 shown in FIG. 1 .

As shown in FIG. 4 , the robot 300 includes a transmission unit 310 , a storage unit 320 , an information processing unit 330 , a route calculation unit 340 , a riding position detection unit 350 , and a driving unit 360 . and a driving control unit 370 . For convenience of explanation in FIG. 4 , a description of the general configuration and operation of the robot 300 that is not related to the features of the present invention is omitted.

The transmitter 310 receives an event message transmitted from the EV server 100 in an event manner, that is, operation information of the elevators 400-1, 400-2, and 400-n.

In addition, the transmission unit 310 requests the coordinate information of the person inside the elevator (400-1, 400-2, 400-n) to the management server 200, and the requested elevator (400-1, 400-2, 400) -n) Receive internal person coordinate information. At this time, the person coordinate information for the elevators 400-1, 400-2, 400-n requested by the management server 200 is one elevator 400-1, 400-2 that the robot 300 wants to ride. , 400-n).

The storage unit 320 stores various information used in the robot 300 and information received from the EV server 100 and the management server 200 through the transmission unit 310 . Specifically, referring to FIG. 5 , the storage unit 320 includes map information 321 and elevators 400-1, 400-2, and 400-n including path information of a floor in a building identified by the robot 300. Basic information 322 including distance information between elevators, operation information 323 of elevators 400-1, 400-2, and 400-n, people inside elevators 400-1, 400-2, and 400-n Coordinate information 324 and the like are stored.

The information processing unit 330 stores various types of information received through the transmission unit 310 in the storage unit 320 . In particular, the information processing unit 330 uses the operation information of the elevators 400-1, 400-2, and 400-n received from the EV server 100 to each elevator 400-1, 400-2, and 400-n. It is processed as separate operation information and stored as operation information in the storage unit 320 .

The route calculator 340 calculates a route to a location where the robot 300 wants to travel by using the map information 321 stored in the storage 320 under the control of the travel controller 370 . Here, since the route calculation by the route calculator 340 corresponds to a function used in a well-known navigation application, a detailed description thereof will be omitted. In particular, the route calculating unit 340 calculates a route to the boarding position in the elevator 400-1, 400-2, 400-n detected by the boarding position detecting unit 350, or from the boarding position to the elevator 400 -1, 400-2, 400-n) Calculate the route to get off.

The boarding position detection unit 350 detects boarding positions in the elevators 400-1, 400-2, and 400-n using the person coordinate information 324 stored in the storage unit 320 .

Specifically, the boarding position detection unit 350 divides, for example, the inside of the elevator 400-1, particularly the floor area, into a plurality of places based on the coordinates of a person located inside the elevator 400-1, and , it is determined whether the robot 300 can ride and be located, starting from a place close to the door. If there is a place where the robot 300 can be located among the divided places inside the elevator 400-1, the riding position detecting unit 350 takes the coordinates where the robot 300 can be located in the corresponding place. detected by position.

First, the riding position detection unit 350, as shown in FIG. 6, connects the person coordinates to each other, and connects vertical lines to the left and right sides forming the x-axis from the person coordinates closest to the side of the elevator 400-1. , divide the inner floor of the elevator 400-1 into two or more places. At this time, the 0th place, the 1st place, etc. are set for a place far from a place close to an entrance door, respectively. Referring to FIG. 6 , since there are two places divided by the person coordinates (e, f) and (g, h), the 0th place 420 and the first place 430 are respectively set. The example of FIG. 6 is only one example, and various other examples may exist.

On the other hand, since the person and the robot 300 each have their own thickness, it is assumed that the person occupies the H radius based on the coordinates of the person, and the robot 300 occupies the R radius, as shown in FIG. 7 . can do.

The riding position detection unit 350, as shown in FIG. 8, uses the radius of the person and the radius of the robot 300 to determine whether the robot 300 can be positioned at each place in the elevator 400-1. to determine whether Referring to FIG. 9 as an example, it can be seen that there is no position where the robot 300 can ride in the 0th place 420 , but there is a position where the robot 300 can ride in the first place 430 . In this case, the boarding position detecting unit 350 detects the corresponding position of the first place as the boarding position. At this time, the corresponding position is detected as the corresponding coordinates.

On the other hand, the riding position detection unit 350 performs circle packing based on the connecting line of the person's coordinates in each place to minimize the x-axis coordinates in the lowest possible place, and minimize the distance from the side. The boarding position is detected so as to board the robot 300 . Referring to FIG. 10 , the position where the robot 300 can ride is detected as the 0th place 420 , and among them, the position closest to the right side with respect to the door is detected as the riding position.

The driving unit 360 performs driving to move the robot 300 to another position. Since the robot 300 may travel through various methods, a detailed description thereof will be omitted herein.

When the robot 300 needs to move to another floor through the elevators 400-1, 400-2, and 400-n, the driving control unit 370 sends the elevator to the EV server 100 through the transmission unit 310 ( 400-1, 400-2, and 400-n) are requested, and then, using the operation information 323 stored in the storage unit 320, an elevator that can be boarded is selected, and the route to the selected elevator is calculated. The movement of the robot 300 to the elevator selected through the driving unit 360 by calculating through the path calculating unit 340 is controlled.

The driving control unit 370 continuously monitors the operating status of the elevators 400-1, 400-2, and 400-n through the driving information 323 while moving to the selected elevator or waiting for moving. At this time, if it is expected that an elevator other than the selected elevator arrives first, the driving control unit 370 determines whether it is possible to board the elevator expected to arrive first, and then moves to the corresponding elevator if possible, but possible If not, it will continue moving to the already selected elevator or continue waiting.

For a specific example, as shown in FIG. 11 , there are a total of six elevators (EV1, EV2, EV3, EV4, EV5, EV6) on one floor, and the robot 300 uses an elevator (EV2) to move to another floor. ) is waiting at the boarding location (specifically, 'current location'). Here, mutual distance information 322 for the six elevators (EV1, EV2, EV3, EV4, EV5, EV6) is previously stored in the storage unit 320 .

In this way, in a state in which the robot 300 is waiting at the current position of the elevator EV2, when the elevator EV3 is expected to arrive earlier than the elevator EV2 by the travel control unit 370, the travel control unit ( 370) must determine whether the robot 300 can move to the elevator (EV3) and ride. Such determination may be performed by the speed of the robot, the distance between the elevators EV2 and EV3, the moving time between floors of the elevator EV3, the current floor of the elevator EV3, the floor on which the robot 300 is located, and the like. For example, the speed of the robot 300 is w0 m/sec, the distance between the elevators EV2 and EV3 is α m, the interfloor movement time of the elevator EV3 is T sec, and the elevator EV3 is currently located. When the floor is f0 and the floor where the robot 300 is currently located is f1, the time the robot 300 moves to the elevator EV3, that is, α/w0 sec and the robot 300 from the floor where the elevator EV3 is currently located ) is the time it takes to travel to the floor where |f0 - f1| It is judged by comparing × T sec. That is, if (α/w0)/(|f0 - f1| × T) is 1 or less, it is determined that it is possible to board because the robot 300 arrives at the elevator EV3 before the elevator EV3 arrives at the current floor. , otherwise, if it is greater than 1, it may be determined that the elevator (EV3) arrives first before the robot 300 arrives, so that it cannot be boarded.

When the elevator to be boarded arrives, the driving control unit 370 calls the door open (Button UP) API to the EV server 100 through the transmission unit 310, and when the elevator door is opened, the route calculating unit 340 The control of the driving unit 360 is performed to get on the boarding position through the calculated boarding path.

In addition, the driving control unit 370 calls the door open API to the EV server 100 even when the elevator arrives at the floor where the robot 300 wants to get off, and when the elevator door is opened, the path calculation unit 340 calculates Control is performed on the driving unit 360 to get off through the disembarkation path.

Hereinafter, a robot control method for getting on and off an elevator according to an embodiment of the present invention will be described with reference to the drawings.

First, control for getting on the elevators 400-1, 400-2, and 400-n in order for the robot 300 to move to another floor will be described.

12 is a schematic flowchart of a robot control method for riding an elevator according to an embodiment of the present invention.

Before the description, the robot 300 will be described on the assumption that map information 321 in which a map and a route in the floor where the robot 300 is located in advance, and distance information 322 between elevators are stored in advance.

First, when it is determined that the robot 300 needs to move from the current floor to another floor and therefore needs to board the elevators 400-1, 400-2, and 400-n (S100), the elevator 400-1, After moving to the intermediate position of 400-2 and 400-n (S110), operation information of the elevators 400-1, 400-2, and 400-n is secured through the EV server 100 (S120). That is, the robot 300 requests and receives operation information of the elevators 400-1, 400-2, and 400-n from the EV server 100, and then the elevators 400-1, 400-2, and 400-n ) is processed as driving information 323 and stored in the storage unit 310 .

Thereafter, using the operation information 323 for each elevator 400-1, 400-2, and 400-n, it is checked whether there is an elevator in which the robot 300 can ride (S130). For example, when the robot 300 wants to go up from the current floor to the upper floor, an elevator that ascends from the lower floor to the current floor may be an elevator that can be boarded. The specific process of checking whether there is an elevator that can be boarded will be described later.

If there is only one elevator that can be boarded (S140), it moves to the corresponding elevator and waits for boarding (S150).

However, if there are two or more elevators that can be boarded, the robot 300 selects the nearest elevator from among the available elevators (S160), and then moves to the selected elevator (S150).

After that, when the selected elevator arrives, the door open API is called to the EV server 100, and when the door is opened, the vehicle moves into the selected elevator and rides (S170).

On the other hand, if there is no elevator that can board in the step (S130), it waits at an intermediate position while periodically checking whether there is an elevator available for boarding (S130).

13 is a flowchart of a process of checking whether there is an elevator that can be boarded shown in FIG. 12 .

Referring to FIG. 13 , first, using the operation information 323 of the elevators 400-1, 400-2, and 400-n, the number of floors for each elevator that can be boarded is checked (S131).

Thereafter, the difference between the confirmed number of floors for each elevator and the current floor on which the robot 300 is located is calculated (S132).

Through the difference in the number of floors for each elevator calculated in the step (S131), it is checked whether the robot 300 can move to the corresponding elevator (S133). This can be confirmed by using the speed of the robot, the distance between the intermediate position and the elevator, and the moving time between floors of the elevator, as described above.

Next, a detailed control method in which the robot 300 rides on the elevators 400-1, 400-2, and 400-n will be described. Here, it is assumed that the elevator to be boarded is the elevator 400-1.

14 is a flowchart of the elevator boarding process shown in FIG. 13 .

Referring to FIG. 14 , first, the robot 300 requests and secures the coordinate information of the person in the elevator 400-1 to be boarded from the management server 200 (S151).

Thereafter, the robot 300 detects a boarding position at which the robot 300 is to board using the secured human coordinate information in the elevator 400-1 (S152). Here, the riding position detection may be specifically performed by the above-described riding position detecting unit 350, and a detailed description thereof will be omitted herein.

Next, it is checked whether it is possible to board the elevator 400-1 (S153). Whether boarding is possible here is determined according to whether there is a boarding position detected in the elevator 400-1. That is, if the boarding position is detected, it is confirmed that boarding is possible, but if the boarding position is not detected because there are many people in the elevator 400-1, it will be confirmed that boarding is not possible.

If it is confirmed that the elevator 400-1 can be boarded, a boarding route for moving to the boarding position is calculated (S154). This boarding path may be performed by the path calculating unit 340 .

Specifically, the boarding route may be calculated using the coordinates information of the person in the elevator 400-1 secured in step S151 and the boarding position detected in step S152. Referring to FIG. 15 , three people 501 , 502 , and 503 are riding in the elevator 400 - 1 , the coordinates of these three people and the detected riding position 600 , that is, the robot 300 is to board. A path from the door 700 of the elevator 400 - 1 to the boarding position 600 is calculated using the coordinates. In the example of FIG. 15 , three routes R1 , R2 , and R3 may be calculated, and the robot 300 may move to a boarding position through any one of these routes to board the vehicle. Preferably, R1, which is the shortest route, may be selected as the boarding route. Here, when calculating the boarding path, the length of each side of the polygon formed by the interconnection line of the human coordinates and the length of the vertical line connected from the human coordinates to the left and right wall surfaces based on the door 700 are the diameter (2R) of the robot 300 Whether or not it exceeds may be used.

In this way, the boarding route is calculated, and when the elevator 400-1 arrives and the door is opened, it moves to the boarding position using the boarding route and boarding of the elevator 400-1 can be completed.

Next, a process in which the robot 300 gets on the elevator 400-1 and gets off after arriving at a desired floor will be described.

16 is a schematic flowchart of a robot control method for getting off the elevator according to an embodiment of the present invention.

Referring to FIG. 16 , first, after the robot 300 gets on the elevator 400-1, operation information of the elevator 400-1 is secured through the EV server 100 (S200).

It is confirmed whether the elevator 400-1 arrives at the floor targeted by the robot 300 through the secured operation information (S210).

The robot 300 continuously checks the operation information of the elevator 400-1 until the elevator 400-1 arrives at the target floor.

If the elevator 400-1 arrives at the target floor, coordinate information of the person in the elevator 400-1 is secured through the management server 200 (S220). This is performed in order to confirm this because there is a possibility that the coordinates of people located inside the elevator 400-1 may have changed as people got off or other people got on more after the robot 300 got on.

Thereafter, a disembarkation route is calculated using the coordinates of the person in the elevator 400 - 1 and the coordinates of the boarding position where the robot 300 is boarded ( S230 ). Since this disembarkation route calculation is similar to the boarding route calculation process S154 of FIG. 14 described above, a detailed description thereof will be omitted herein.

Next, it is checked whether the robot 300 can get off the elevator 400-1 (S240). Here, whether getting off is possible corresponds to whether the getting off route is calculated in step S230 . That is, if the disembarkation path is calculated, it is confirmed that disembarkation is possible, but if the disembarkation path is not calculated, it will be confirmed that disembarkation is impossible.

If it is confirmed that getting off is possible in the elevator 400-1, the user gets off the elevator 400-1 using the get-off route calculated in the step S230 (S250).

However, if it is confirmed that it is impossible to get off from the elevator 400-1 because the disembarkation route is not calculated, after the door is closed, the floor to get off is selected again (S260), and then the process of checking whether getting off is possible (S200, S210, S220, S230, and S240) are repeatedly performed. In other words, if you cannot get off the target floor, you will get off on that floor next time. In this case, since getting off at the target floor was not performed, the process of getting on and off the elevator to the target floor again will be repeated with reference to the above description.

As such, according to an embodiment of the present invention, the robot does not affect the operation control of the elevator by using the elevator through intelligent scheduling according to the operating state of the elevator without control of the elevator, and the operation control of the elevator is not affected. By performing boarding and disembarking, the problem of interaction with people in the elevator can be solved.

On the other hand, in order to achieve the object according to the present invention, the transmission (first transmission) of image information between the EV server 100 and the management server 200, and the human coordinate information between the management server 200 and the robot 300 In the transmission (second transmission) process, the response time is very important for determining whether the robot 300 can board the elevator, and the current LTE (Long Term Evolution) communication method takes about 30 ms or more, resulting in an error in the moving coordinates in the elevator. This can be done, and the error can be doubled because a wireless network for the first transmission and the second transmission, that is, two transmissions must be used. That is, it is difficult to satisfy the requirement for such a response time in the LTE communication method.

However, in the case of the 5th generation (5G) mobile communication method, which has recently appeared and is increasing in use, latency due to time slots is improved by using TDD (Time Division Duplex), and a traffic ACK in the radio section is not provided for each traffic. It is possible to reduce the latency because it is collected, and by using the bandwidth of the 100 MHz band of 28 GHz, it is possible to reduce the latency by improving more than 10 times than the 10 MHz bandwidth of LTE, so that the Round Trip Time (RTT) can be improved, so the present invention In the embodiment of , it may be implemented using 5G mobile communication for the above two transmission processes. Of course, it will be readily understood by those skilled in the art that it can be applied to the present invention when a wireless communication method that can more satisfy the above requirements is commercialized in the future compared to the 5G mobile communication method.

The embodiment of the present invention described above is not implemented only through the apparatus and method, and may be implemented through a program for realizing a function corresponding to the configuration of the embodiment of the present invention or a recording medium in which the program is recorded.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto. is within the scope of the right.

Claims (15)

Elevator server that collects operation information for each of a plurality of elevators,
A management server that generates coordinate information of a person riding in each of the plurality of elevators, and
By receiving the elevator operation information collected by the elevator server in an event manner, selecting an elevator for moving to a target floor from among the plurality of elevators, and receiving the coordinate information of a person generated by the management server in response to the selected elevator A robot that detects a boarding position in the selected elevator using the
A robot control system comprising a. According to claim 1,
The robot is
A path calculation unit for calculating a path for moving to the boarding position of the selected elevator;
A boarding position detection unit for detecting a boarding position in the selected elevator by using the coordinate information of a person corresponding to the selected elevator, and
After selecting an elevator for moving to the target floor using the operation information of the elevator, control is performed so that the robot moves to the boarding position of the selected elevator through the path calculated by the path calculating unit, and the Using the coordinate information of a person corresponding to the selected elevator, the robot rides to the boarding position detected by the boarding position detection unit or a driving control unit that performs control to get off the selected elevator from the boarding position
Including, robot control system. 3. The method of claim 2,
While the robot moves to the boarding position of the selected elevator through the path calculated by the path calculation unit and waits, the traveling control unit, through the operation information of the elevator, other elevators than the selected elevator arrive first If expected, it is determined whether boarding of the other elevator is possible through the route calculation unit,
When it is determined that the boarding of the other elevator is possible through the route calculation unit, moving to the boarding position of the other elevator through the route to the boarding position of the other elevator calculated through the route calculation unit,
robot control system. 4. The method of claim 3,
Whether it is possible to board the other elevators,
It is determined by comparing the time the robot moves from the boarding position of the selected elevator to the boarding location of the other elevator and the time until the other elevator arrives at the floor where the robot is located,
robot control system. 3. The method of claim 2,
The management server generates coordinate information of a person riding in each of the plurality of elevators using an image captured by a camera installed in each of the plurality of elevators,
The boarding position detection unit,
dividing the floor area of the selected elevator into a plurality of places using the coordinate information of the person, and detecting a boarding position in which the robot can be located in an order close to the door of the selected elevator for the plurality of places,
robot control system. 6. The method of claim 5,
The plurality of places connect the coordinates of the person indicated by the coordinate information of the person, and draw vertical lines from the coordinates of the person closest to the left wall and the right wall based on the door to the left and right walls, respectively. formed by setting
robot control system. 7. The method of claim 6,
The riding position is detected using a circle shape indicating the thickness of the body of the robot based on a connecting line used to divide the plurality of places,
robot control system. 8. The method of claim 7,
When two or more boarding positions are detected in the same place among the plurality of places, the boarding position closest to the left wall or the right wall is detected as the final boarding position,
robot control system. 3. The method of claim 2,
The path calculation unit,
A polygonal shape is formed by connecting the coordinates of the person indicated by the coordinate information of the person with respect to the floor area of the selected elevator, and the left wall and the After each vertical line is set on the right wall, on the basis of each side of the polygonal shape, the length of the vertical line, and the thickness of the robot, the boarding path from the outside of the selected elevator to the boarding position or the selected boarding position at the boarding position Calculating the exit route to the outside of the elevator,
robot control system. As a method for controlling the elevator getting on and off of a robot,
Collecting operation information of each of the plurality of elevators transmitted in an event manner from an elevator server that controls each of the plurality of elevators;
selecting an elevator that can be boarded from among the plurality of elevators by using the operation information to move to a target floor;
Detecting a boarding position for boarding in the selected elevator using coordinate information of a person corresponding to the selected elevator, transmitted from a management server that generates coordinate information of a person riding in each of the plurality of elevators, and
Moving to the boarding position and boarding the selected elevator
A method of controlling the elevator's getting on and off of a robot comprising a. 11. The method of claim 10,
Between the step of selecting the available elevator and the step of detecting the boarding position,
moving to the boarding position of the selected elevator;
Checking whether there is an elevator that arrives first to the floor where the robot is located among the elevators other than the selected elevator using the operation information;
If it is confirmed that there is an elevator that arrives first to the floor where the robot is located among the elevators other than the selected elevator, confirming whether it is possible to board the elevator that arrives first, and
If it is confirmed that it is possible to board the elevator that arrives first, moving to the boarding position of the elevator arriving first, or continuing to wait at the boarding position of the selected elevator if it is confirmed that boarding the elevator that arrives first is impossible
Including, a method of controlling the elevator getting on and off of the robot. 11. The method of claim 10,
The step of detecting the riding position includes:
dividing the floor area of the selected elevator into a plurality of places using coordinate information of a person corresponding to the selected elevator;
Detecting a boarding position in which the robot can be located in an order close to the door of the selected elevator for the plurality of places, and
calculating a boarding route from the boarding position of the selected elevator to the boarding location
including,
The step of moving to the boarding position and boarding the selected elevator comprises:
moving to the boarding position using the boarding route and boarding the selected elevator,
A method for controlling the robot to get on and off the elevator. 13. The method of claim 12,
The plurality of places connect the coordinates of the person indicated by the coordinate information of the person, and draw vertical lines from the coordinates of the person closest to the left wall and the right wall based on the door to the left and right walls, respectively. formed by setting
A method for controlling the robot to get on and off the elevator. 14. The method of claim 13,
The riding position is detected using a circle shape indicating the thickness of the body of the robot based on a connecting line used to divide the plurality of places,
A method for controlling the robot to get on and off the elevator. 11. The method of claim 10,
After moving to the boarding position and boarding the selected elevator,
Calculating an alighting route for getting off from the boarding position to the outside of the selected elevator by using the coordinate information of a person corresponding to the selected elevator; and
disembarking using the disembarkation route when the selected elevator arrives at the target floor
Further comprising, the elevator getting on and off control method of the robot.

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