KR102433438B1 - Control system and control method for movement between floors of autonomous mobile robot - Google Patents

Abstract

Provided are a control system and control method for movement between floors of an autonomous mobile robot. The control system includes: a central server wirelessly communicating with the autonomous mobile robot and transmitting an elevator calling signal including departure floor information and destination floor information received from the autonomous mobile robot to an elevator control module through a router; a router installed in an elevator path, in which the elevator moves or stops, connected with the central server through wired communication, and wirelessly connected with the elevator control module to relay a signa between the central server and the elevator control module; a floor detection module installed in the elevator path or elevator, detecting a current layer where the elevator is currently located, and transmitting current floor information to the elevator control module in real time; and an autonomous mobile robot wirelessly transmitting the elevator calling signal including the departure floor information and the destination floor information to the central server and autonomously driving toward a coordinate set in a driving environment map stored in a map storage unit of the autonomous mobile robot while avoiding obstacles as a sensor unit is installed. The present invention has an effect of achieving efficient movements between floors.

Description

The autonomous driving robot interfloor movement control system and control method

The present invention relates to a control system and control method for an autonomous driving robot, and more particularly, because the autonomous driving robot moves between floors through an elevator autonomously and does not use a CRT monitoring panel, it is universal regardless of the elevator manufacturer. It relates to an interfloor movement control system and control method of an autonomous driving robot that can be installed and operated as a

In general, a robot is a machine that automatically processes or operates a given task according to its given ability.

AGV (Autonomous Guided Vehicle) is a robot's autonomous driving technology. The robot moves along a planned path, monitors the robot's movement in real time on the server, and it can be planned and managed in advance so that the robot does not collide with obstacles or overlap the path. have.

As such, due to the recent development of autonomous driving technology, automatic control technology using sensors, wireless communication technology, etc., an autonomous driving robot that can detect the surrounding environment such as obstacles using sensors and efficiently cope with the situation has been developed. , these autonomous robots are already being used in hospitals, libraries, shopping malls, cafes, restaurants, hotels, public institutions, offices, research institutes, factories, and distribution centers.

In particular, in medical institutions such as hospitals, samples such as blood and urine for examination and diagnosis, medicines, surgical tools, medical instruments, hygiene products, nursing supplies, patient supplies, etc. Self-driving robots are being used.

As basic technologies applied to such autonomous driving robots, there are technologies such as mapping, localization, route planning, obstacle avoidance, sensing and driving control.

Mapping includes technology for creating a map around the autonomous driving robot while autonomously driving, or technology for importing and managing a map that has already been created. For example, Simultaneous Localization And Mapping (SLAM) for estimating the current location by creating a map of the surrounding environment without external help with the sensor mounted on the robot as the autonomous driving robot moves around an unknown environment, or by matching the surrounding environment with a pre-stored map. ) or CML (Concurrent Mapping and Localization) can be applied.

Localization is a technology for the autonomous driving robot to recognize the surrounding environment and estimate its location, for example, GPS coordinates, a sensing value of an IMU (Inertial Measurement Unit), and technologies such as SLAM may be applied.

Path planning is a technology for setting a path for autonomous driving of an autonomous driving robot. For example, various algorithms for finding a RRT (Rapidly-Exploring Random Tree) path may be utilized.

Obstacle avoidance is a technology for avoiding obstacles such as unplanned objects or people while the autonomous driving robot is autonomously driving along a route set according to the route plan.

Sensing uses various sensors installed in autonomous driving robots such as ultrasonic sensors, lidar, IMU, GPS module, and camera to obtain and provide information required for mapping, localization, route planning, obstacle avoidance, etc. is a technique to

Drive control is a technology that moves or moves the autonomous driving robot by controlling the wheels, legs, and arms installed in the autonomous driving robot to follow the route plan, avoid obstacles, or deliver goods.

As a related art, in Patent Document 1, a mobile robot wirelessly communicates with a human-robot interface device 100 installed on each floor of a building, and upon request of the mobile robot, the human-robot interface device includes an up EV button and a down EV button. The elevator is called by operation, and the mobile robot riding in the elevator recognizes the target floor by the altitude value measured by it and gets off. A system in which the movement between floors of a building is performed only by its own control without being linked to the system has been disclosed.

However, the above-mentioned prior art requires a large number of separate control devices to be installed on each floor of a building, which is cumbersome and costly to work, and communication and firing interlocking control with the CRT monitoring panel that monitors and controls the elevator allows the installation and normal operation of the system. For this, there is a problem in that it is necessary to consult in advance for each elevator manufacturer, and to meet different standards for each elevator manufacturer.

Republic of Korea Patent Publication No. 10-1523268 (published on May 20, 2015)

The present invention has been devised to solve all of the above-mentioned problems, enabling the autonomous robot to move between floors through an elevator, avoiding obstacles when moving between floors and communicating with users while waiting, boarding, and disembarking of the autonomous robot autonomously It is performed stably, does not cause inconvenience to users, prevents obstacles and collision accidents, and because it does not use a CRT monitoring panel, it can be installed and operated universally and easily regardless of the elevator manufacturer. This can be done smoothly, and since the floor detection module detects the current floor of the elevator and transmits it to the elevator control module in real time, the autonomous driving robot can accurately move to the target floor. An object of the present invention is to provide an inter-floor movement control system and control method of an autonomous driving robot that can efficiently move between floors by controlling floor selection and door opening and closing while communicating with the autonomous driving robot.

The present invention includes: a central server that wirelessly communicates with an autonomous driving robot and transmits an elevator call signal including departure floor information and target floor information received from the autonomous driving robot to an elevator control module through a router; a router installed in the hoistway where the elevator moves or stops, connected to the central server by wired communication, and connected to the elevator control module by wireless communication to relay a signal between the central server and the elevator control module; a floor detection module installed in the hoistway or elevator to detect the current floor on which the elevator is currently located and transmit the current floor information to the elevator control module in real time; It is installed in the elevator and electrically connected to the elevator's control board to control floor selection and door opening and closing. an elevator control module that receives information on the current floor from the floor detection module in real time and transmits an arrival signal indicating that it has arrived at the destination floor to the autonomous robot riding in the elevator when arriving at the destination floor; and the elevator call signal including departure floor information and target floor information is wirelessly transmitted to the central server, and a sensor unit that detects obstacles is installed to avoid obstacles while avoiding obstacles set in the driving environment map stored in the map storage unit of the autonomous driving robot. Provided is an inter-floor movement control system for autonomous driving robots, including autonomous driving robots that drive themselves by coordinates.

In addition, the present invention (a) the autonomous driving robot moves to the waiting point coordinates in front of the elevator door set in the driving environment map stored in the map storage unit of the autonomous driving robot and waits, including departure floor information and target floor information wirelessly transmitting an elevator call signal to a central server; (b) The central server transmits the elevator call signal including the departure floor information and the target floor information to the router installed in the hoistway, and the router transmits the elevator call signal including the departure floor information and the target floor information to the elevator control installed in the elevator wirelessly transmitting to the module; (c) the elevator control module pressing the departure floor by controlling the elevator control board electrically connected to the elevator control module; (d) When the elevator arrives at the departure floor, the autonomous driving robot checks whether the elevator door is opened at the sensor unit that detects obstacles, and when the elevator door is opened, moves to the coordinates of the boarding point inside the elevator set in the driving environment map and boards. step; (e) the elevator control module pressing the target floor by controlling the elevator control board electrically connected to the elevator control module; (f) The elevator control module receives, in real time, the current floor information that detects the current floor where the elevator is currently located from the floor detection module installed in the elevator or the elevator, and when the elevator arrives at the target floor, it targets the self-driving robot on the elevator. transmitting an arrival signal indicating that the floor has arrived; and (g) the autonomous driving robot checks whether the elevator door is opened by the sensor unit, and when the elevator door is opened, gets off the elevator and drives toward the target point coordinates set on the driving environment map. control method is provided.

According to the present invention, it is possible to move between floors of an autonomous driving robot through an elevator, avoid obstacles when moving between floors and communicate with users while waiting, boarding, and disembarking of the autonomous driving robot is performed autonomously and stably without causing inconvenience to users Collision accidents with obstacles are prevented, and since the CRT monitoring panel is not used, it can be installed and operated universally and easily regardless of the elevator manufacturer. Since the current floor of the elevator is detected and transmitted to the elevator control module in real time, the autonomous driving robot can accurately move to the target floor. There is an effect that efficient inter-floor movement can be achieved by controlling the opening and closing.

1 is a block diagram of an inter-floor movement control system of an autonomous driving robot according to the present invention.
2 and 3 are schematic diagrams of an inter-floor movement control system of an autonomous driving robot according to an embodiment of the present invention.
4 is a flowchart of a method for controlling inter-floor movement of an autonomous driving robot according to the present invention.
5 is a view showing an example when the autonomous driving robot according to the present invention waits in front of the elevator door.
6 is a view showing an example of the autonomous driving robot according to the present invention when boarding inside the elevator.

Hereinafter, with reference to the drawings, it will be described in detail with reference to the embodiment with respect to the specific content for implementing the inter-floor movement control system and control method of the autonomous driving robot according to the present invention.

First, the inter-floor movement control system of the autonomous driving robot according to the present invention enables the autonomous driving robot to move between floors through an elevator (elevator car), avoiding obstacles when moving between floors, and communicating with users while waiting for the autonomous driving robot and Boarding and disembarking is autonomously controlled, and referring to FIG. 1 , it includes a central server 100 , a router 200 , a floor detection module 300 , an elevator control module 400 , and an autonomous driving robot 500 . .

The central server 100 wirelessly communicates with the autonomous driving robot 500 through the wireless communication unit 110 , and the elevator call unit 120 receives the departure floor from the autonomous driving robot 500 through the wireless communication unit 110 . The elevator call signal including information and target floor information is transmitted to the elevator control module 400 through the router 200 . The hoistway (P), which is a vertical passageway through which the elevator (EV) moves, is a space sealed with concrete, etc., so wireless communication is difficult because radio waves do not pass well with the external server. connected to transmit a signal.

2 and 3, the router 200 is installed inside the hoistway P, which is a vertical passage through which the elevator EV moves or stops, and the central server 100 installed outside the hoistway P and wired Connected by communication, connected to the elevator control module 400 installed inside the hoistway (P) by wireless communication such as Bluetooth and Wi-Fi, and the central server 100 outside the hoistway (P) and the elevator control module inside the hoistway (P) It relays a signal between 400 and serves to guide so that proper communication can be made. At this time, it is preferable that a plurality of routers 200 are connected to the hoistway P along the vertical direction by wires to enable smooth communication.

The floor detection module 300 is installed in the hoistway (P) or the elevator (EV) and detects the current floor on which the elevator (EV) that elevates inside the hoistway (P) is currently located and transmits the current floor information to the elevator control module 400 wirelessly in real time.

Referring to FIG. 2 as an embodiment, the floor sensing module 300 includes a position sensor 310 such as an optical sensor or a magnetic sensor installed in the elevator EV while the elevator EV ascends or descends along the hoistway P. While sensing the shielding plate 320 installed on each floor of the hoistway P, the current floor may be detected by increasing the number of detections by 1 or decreasing the number of detections by 1.

As another embodiment, referring to FIG. 3 , the floor sensing module 300 measures the distance between the distance measuring sensor 330 such as a laser sensor installed at the upper end of the hoistway P, and the elevator (EV) on the lower side. The current floor can be detected by comparing it with the stored distance information to each floor. At this time, it is preferable that the distance measuring sensor 330 wirelessly communicates with the elevator control module 400 in a UWB (Ultra Wide Band) method. UWB is a communication method suitable for the hoistway (P), which is a vertical passage, because the maximum transmission distance is 1km and the coverage is wide and the power consumption is low compared to the greatly expanded transmission distance.

The elevator control module 400 is installed in communication with the inside of the elevator on the upper outer side of the elevator (EV), lifts with the elevator (EV), and controls the floor button and door button installed inside the elevator (EV). C) can be electrically connected to control floor selection and door opening and closing.

To this end, the elevator control module 400 wirelessly receives the departure floor information and the target floor information from the central server 100 through the router 200, and then controls the control board C to access the departure floor or the target floor. By selecting the light to come on, the elevator (EV) stops at the departure floor or the target floor so that the autonomous driving robot 500 can get on or off the elevator (EV), and the autonomous driving robot 500 stops the elevator (EV) Upon boarding, the current floor information is wirelessly received from the floor detection module 300 in real time, and when the elevator (EV) arrives at the target floor, the autonomous driving robot 500 boards the elevator (EV) to receive an arrival signal indicating that it has arrived at the target floor. transmit so that the autonomous driving robot 500 can get off at the target floor.

In addition, in this process, when the autonomous driving robot 500 completes boarding or getting off the elevator (EV), the autonomous driving robot 500 transmits a boarding completion signal or a disembarkation completion signal to the elevator control module 400 . At this time, the elevator control module 400 controls the control board (C) of the elevator (EV) so that the open button of the elevator door is lit until the boarding completion signal or getting off completion signal is received from the autonomous driving robot 500. The autonomous driving robot 500 can be stably boarded or alighted without interference from the elevator door.

The autonomous driving robot 500 is equipped with a sensor unit to safely deliver goods to a recipient by driving to a target point indoors while avoiding obstacles by itself. , injection room, operating room, etc. while driving to the target point by itself, transporting samples such as blood and urine for examination and diagnosis, medicines, surgical tools, medical instruments, hygiene products, nursing supplies, patient supplies, etc., safely to the user. can transmit

To this end, the autonomous driving robot 500 may include a main body 510 , a driving unit 520 , a communication unit 530 , a map storage unit 540 , a sensor unit 550 , and a control unit 560 . have.

As an example, the main body 510 may be formed in a substantially round cylindrical shape, and a receiving part (not shown) for accommodating items is formed therein, and lighting is installed inside or outside to make it visible from the outside. It stands out well, and only the main body 510 is provided so that it can rotate 360 degrees with respect to the driving part 520 at the bottom, so that the direction can be changed easily.

The driving unit 520 is formed on the lower portion of the main body 510, and driving the wheels by a driving means (not shown) such as a motor can be performed indoors.

The communication unit 530 transmits a signal to the central server 100 through wireless communication such as wifi. For example, the autonomous driving robot 500 wirelessly transmits an elevator call signal including departure floor information and target floor information to the central server 100 through the communication unit 530 .

The map storage unit 540 stores a driving environment map within the building, and coordinates such as a waiting point in front of the elevator door, a boarding point inside the elevator, and an indoor target point are set in the driving environment map.

The sensor unit 550 is a sensor installed in front or behind the body unit 510 to detect obstacles using a laser, ultrasonic waves, etc., while avoiding obstacles such as people or objects using the sensor unit 550 . The autonomous driving robot 500 can drive itself with coordinates set in the driving environment map stored in the map storage unit 540 .

That is, the sensor unit 550 detects an obstacle such as an unplanned object or person while the autonomous driving robot 500 autonomously travels on a path set according to the path plan, and transmits it to the control unit 560, and the control unit 560 ) can safely transport and deliver goods at the right time and place without contamination by controlling necessary for obstacle avoidance. Since such control using the sensor unit 550 of the autonomous driving robot 500 is already known and widely applied, a detailed description thereof will be omitted.

The control unit 560 controls the driving means to move or return to the coordinates set in the driving environment map of the map storage unit 540 while avoiding the obstacle detected by the sensor unit 550 . For example, when the autonomous driving robot 500 moves on the same floor, SLAM may be applied. SLAM uses the feature point information extracted from the ceiling image or wall image in the indoor environment in which the autonomous driving robot drives, and the map information in which this information is stored in advance, the autonomous driving robot grasps its current location and reaches the target point. It is a technique of moving by measuring the distance of

In addition, the autonomous driving robot 500 is installed in the main body 510 and recognizes the user's biometric information by biometric information recognition means including a single or a plurality of functions selected from fingerprint authentication, facial authentication, iris authentication and finger vein authentication. When the RFID card installed in the body unit 510 and the user's identification information stored within the recognition range approaches within the recognition range, communication is made to read the user's identification information. An RFID recognition unit 580 may be further included.

The biometric information authentication unit 570 recognizes the biometric information of the sender and the recipient when sending or receiving by putting an article in the receiving unit of the autonomous driving robot 500 and transmits it to the central server 100 through the communication unit 530 . The central server 100 compares the database 130 in which the biometric information of users who have the right to use the product is stored, and the biometric information of the sender or recipient and the biometric information stored in the database to determine whether or not they match. It may include a user authentication unit 140 for deriving an authentication result of approval or refusal for opening the storage unit door by performing the operation, and a history information storage unit 150 for storing history information on sending or receiving goods. When the communication unit 530 of the autonomous driving robot 500 receives the authentication result of approval from the central server 100, the control unit 560 unlocks the locking device (not shown) of the receiving unit door to open the receiving unit door. This is made possible, and upon receiving the authentication result of rejection from the central server 100 , the control unit 560 may control the storage unit door not to be opened by maintaining the lock of the locking device of the storage unit door. In this way, the user is authenticated through biometric information recognition, and the door of the receiving unit is interlocked and controlled according to the authentication result, so that only those with the right to use the product can enter or withdraw the product, thereby preventing the loss of the product and providing information on psychotropic drugs. security can be maintained.

In addition, the autonomous driving robot 500 puts an article in the receiving unit and recognizes the RFID card of the sender or the recipient when sending or receiving, and when reading and reading the user's identification information, it is transmitted to the central server 100 through the communication unit 530 . When the user authentication unit 140 of the central server 100 authenticates the user and it is determined that the user has the right to use, and the communication unit 530 receives the authentication result of approval, the control unit 560 controls the locking device of the receiving unit door. When the user authentication unit 140 of the central server 100 determines that the user does not have the right to use and receives the authentication result of rejection by the communication unit 530, the control unit ( 560) maintains the lock of the locking device of the receiving unit door so that the receiving unit door cannot be opened, thereby authenticating the user through RFID card recognition and interlocking the receiving unit door according to the authentication result to control opening and closing, password There is no risk of exposure to the product, and only those with the right to use the product can enter or withdraw the product, thereby preventing the loss of the product and maintaining the security of psychotropic drugs.

On the other hand, in the prior art, there was an inconvenience that the sender and the recipient had to manually or input the information on the PC in the sending and receiving ledgers for tracking and managing the goods, but the history information storage unit 150 of the central server 100 recognizes the biometric information. Alternatively, when the RFID card is recognized, history information related to transmission and reception of a specific article carried by the autonomous driving robot 500 is stored and managed, so that history management can be performed automatically and conveniently. For example, the history may be a transmission date and time, a reception date and time, a sender, a recipient, and the like.

Hereinafter, with reference to the drawings, a method for controlling interfloor movement of an autonomous driving robot according to the present invention will be described in detail focusing on embodiments.

First, referring to FIG. 4 , a step ( S00 ) of inputting departure floor information, target floor information, and target coordinates to the autonomous driving robot 500 through an input means may be performed. However, if the above-described information and coordinates have already been determined, step S00 may be omitted.

Then, the autonomous driving robot 500 moves to the waiting point (S1) coordinates in front of the elevator door set in the driving environment map stored in the map storage unit 540 of the autonomous driving robot 500 and waits, and then the departure floor information and A step (S10) of wirelessly transmitting the elevator call signal including the target floor information to the central server 100 is performed. At this time, the waiting point S1 is set as coordinates on the driving environment map stored in the map storage unit 540 without using a separate mark for recognition.

Referring to FIG. 5, in step S10, the autonomous driving robot 500 to which the departure floor information and the target floor information are input is set in the driving environment map stored in the map storage unit 540 of the autonomous driving robot 500. After moving toward the coordinates of the waiting point (S1) in front of the elevator door, the autonomous driving robot 500 detects whether there is an obstacle in the coordinates of the waiting point (S1) through the sensor unit 550, and (a) of FIG. ), if there is no obstacle in the waiting point (S1) coordinates, it moves to the waiting point (S1) coordinates and waits, and then wirelessly transmits an elevator call signal including departure floor information and target floor information to the central server 100.

When the sensor unit 550 detects an obstacle at the standby point S1 coordinates, the control unit 560 outputs a voice guidance requesting a positional movement of the obstacle to the outside.

When the autonomous driving robot 500 does not detect an obstacle at the coordinates of the standby point S1 in the sensor unit 550 after outputting the voice guidance, as shown in FIG. After arriving at the coordinates and waiting, the elevator call signal including departure floor information and target floor information is wirelessly transmitted to the central server 100 .

In addition, when the autonomous driving robot 500 continuously detects an obstacle at the coordinates of the waiting point S1 by the sensor unit 550 after outputting the voice guidance, as shown in FIG. After moving to the adjacent point of the empty waiting point (S1) and waiting, the elevator call signal including the departure floor information and the target floor information is wirelessly transmitted to the central server 100.

However, when the autonomous driving robot 500 detects that there is no empty space to wait due to an obstacle in front of the elevator door in the sensor unit after the voice guidance is output, the autonomous driving robot ( 500) gives up the elevator boarding and does not transmit the elevator call signal to the central server 100, and when there are no obstacles in the waiting point (S1) coordinates, it moves to the waiting point (S1) coordinates and sends the elevator call signal to the central server 100 will send

Next, the central server 100 transmits the elevator call signal including the departure floor information and the target floor information to the router 200 installed in the hoistway P by wire, and the router 200 transmits the departure floor information and the target floor information. A step (S20) of wirelessly transmitting an elevator call signal including a to the elevator control module 400 installed in the elevator (EV) is performed.

Then, the elevator control module 400 controls the control board (C) of the elevator (EV) electrically connected to the elevator control module 400 to select and press the light to turn on the departure floor (S30). .

In step S30, after the elevator control module 400 receives the elevator call signal, the elevator control module 400 determines the ascending/lowering direction of the autonomous driving robot 500 from the departure floor information and the target floor information. When the lift direction of the elevator EV is the same and the current floor of the elevator EV is going up and down toward the departure floor, the elevator control module 400 controls the control board C of the elevator EV to reach the departure floor. Select it to light and press it.

However, if the elevating direction of the autonomous driving robot 500 and the elevating direction of the elevator EV are opposite, or if the current floor of the elevator EV is moving away from the departure floor even if both elevating directions are the same, the elevator control module 400 ) is the control board of the elevator (EV) when the elevating direction of the autonomous driving robot 500 and the elevating direction of the elevator (EV) are the same after waiting for a while and the current floor of the elevator (EV) is being moved up and down toward the departure floor (C) is controlled to press the starting layer.

Next, when the elevator (EV) arrives at the departure floor, the autonomous driving robot 500 checks whether the elevator door is opened by the sensor unit 550 that detects an obstacle, and when the elevator door is opened, the elevator ( EV) moves to the coordinates of the boarding point (S2) inside and performs the step (S40) of boarding.

In step S40, when the autonomous driving robot 500 completes boarding the elevator (EV), it transmits a boarding completion signal to the elevator control module 400, and the elevator control module 400 completes boarding from the autonomous driving robot 500 By controlling the control board (C) of the elevator (EV) to press the open button of the elevator door until a signal is received, the autonomous driving robot 500 can be stably boarded without interference from the elevator door.

In addition, referring to FIG. 6, in step S40, as shown in FIG. 6(a), when the elevator (EV) arrives at the departure floor, the autonomous driving robot 500 checks whether the elevator door is opened through the sensor unit 550. After that, when the elevator door is opened as shown in (b) of FIG. 6, the autonomous driving robot 500 moves through the sensor unit 550 to the coordinates of the boarding point (S2) inside the elevator (EV) as shown in FIG. 6(c). It starts to detect whether an obstacle exists, and when an obstacle is detected at the boarding point S2 as shown in FIG. If an obstacle is not detected at the coordinates of the boarding point (S2) by the sensor unit 550 after outputting this voice guidance, the autonomous driving robot 500 moves to the coordinates of the boarding point (S2) as shown in FIG. After that, a boarding completion signal is transmitted to the elevator control module 400 to close the elevator door, and the elevator (EV) rides the autonomous driving robot 500 and departs to the target floor.

In addition, even after the autonomous driving robot 500 outputs the voice guidance, if an obstacle is continuously detected at the boarding point (S2) coordinates in the sensor unit 550 as shown in FIG. ) After moving to a point adjacent to the boarding point (S2) that is empty inside, the boarding completion signal is transmitted to the elevator control module 400 to close the elevator door, and the elevator (EV) burns the autonomous driving robot 500. Start with the target floor.

However, when the autonomous driving robot 500 detects that there is no empty space for boarding due to an obstacle inside the elevator EV by the sensor unit 550 as shown in FIG. (EV) gives up boarding and transmits a boarding abandon signal to the elevator control module 400 to close the elevator door, and the elevator starts except for the autonomous driving robot 500, and then the autonomous driving robot 500 starts the elevator The call signal is retransmitted to the central server 100 .

In addition, in step S40, the elevator control module 400 determines the elevation direction of the autonomous driving robot 500 from the departure floor information and the target floor information received through the router 200, but the elevation direction of the autonomous driving robot 500 When the elevator door and the elevator (EV) are in the same direction, when the elevator door is opened, a boarding permission signal is transmitted to the autonomous driving robot 500 to guide the autonomous driving robot 500 to board.

However, if the elevating direction of the autonomous driving robot 500 and the elevating direction of the elevator (EV) are opposite to each other, when the elevator door is opened, a boarding prohibition signal is transmitted to the autonomous driving robot 500 to prevent the autonomous driving robot 500 from boarding. Afterward, the boarding permission signal is transmitted to the autonomous driving robot 500 upon re-arrival at the departure floor because the ascending and descending directions of both are the same.

When the autonomous driving robot 500 rides inside the elevator (EV) in step S40, the elevator control module 400 controls the elevator control board (C) of the elevator (EV) electrically connected to the elevator control module 400. A step (S50) of pressing the target layer is performed.

In addition, the elevator control module 400 receives, in real time, the current floor information that detects the current floor where the elevator (EV) is currently located from the floor detection module 200 installed in the hoistway (P) or the elevator (EV), and the elevator ( When the EV) arrives at the target floor, a step (S60) of transmitting an arrival signal indicating that the vehicle has arrived at the target floor to the autonomous driving robot 500 riding on the elevator (EV) is performed.

Next, the autonomous driving robot 500 checks whether the elevator door is opened through the sensor unit 550, and when the elevator door is opened, it gets off the elevator (EV) and is set in the driving environment map through the route set according to the route plan. A step (S70) of driving toward the target point coordinates is performed.

In step S70, when the autonomous driving robot 500 completes disembarking from the elevator (EV), it transmits a disembarkation completion signal to the elevator control module 400, and the elevator control module 400 receives a disembarkation completion signal from the autonomous driving robot 500 By controlling the control board (C) of the elevator (EV) to press the open button of the elevator door until receiving , the autonomous driving robot 500 can get off stably without interference from the elevator door.

After that, when the autonomous driving robot 500 gets off the elevator (EV) and autonomously drives and arrives at the coordinates of the target point, the recipient recognizes the biometric information or the RFID card and approves it from the central server 100 as described above. After receiving the authentication result of , the step (S80) of withdrawing the article may be performed by unlocking the door of the receiving unit. After performing the step S80, the autonomous driving robot 100 returns to the coordinates of the starting point of the departure floor by performing inter-floor movement and autonomous driving through the processes described above.

On the other hand, when the autonomous driving robot 500 boards or gets off the elevator (EV) and transmits a boarding completion signal or a disembarkation completion signal to the elevator control module 400, the elevator control module 400 transmits a boarding completion signal or getting off completion signal. Transmits to the central server 100 through the router 200, and the central server 100 transmits text messages to the electronic devices of the sender and the receiver of the goods stored in the autonomous driving robot 500 to the autonomous driving robot 500. ) can be checked and checked from time to time.

In the end, the autonomous robot's inter-floor movement control system and control method enable the autonomous robot to move between floors through an elevator, avoid obstacles during inter-floor movement and communicate with users, while waiting, boarding, and alighting of the autonomous robot is autonomously stable. It does not cause inconvenience to users, prevents obstacles and collision accidents, and because it does not use a CRT monitoring panel, it can be installed and operated universally and easily regardless of the elevator manufacturer. Since the floor detection module detects the current floor of the elevator and transmits it to the elevator control module in real time, the autonomous driving robot can accurately move to the target floor. It is possible to efficiently move between floors by controlling floor selection and door opening and closing while communicating with the traveling robot.

In the present invention, the above embodiment is an example, and the present invention is not limited thereto. Anything that has substantially the same configuration as the technical idea described in the claims of the present invention and achieves the same operation and effect is included in the technical scope of the present invention.

100. Central Server 110. Wireless Communication Department
120. Elevator Call 130. Database
140. User authentication unit 150. History information storage unit
200. Router 300. Floor detection module
310. Position sensor 320. Shield plate
330. Distance measuring sensor 400. Elevator control module
500. Self-driving robot 510. Main body
520. Driving Department 530. Communication Department
540. Map storage unit 550. Sensor unit
560. Control unit 570. Biometric information recognition unit
580. RFID recognition unit EV. lift
C. Control board P. Hoistway
S1. Standby point S2. Boarding point
B. Obstacles

Claims (8)

a central server that wirelessly communicates with the autonomous driving robot and transmits an elevator call signal including departure floor information and target floor information received from the autonomous driving robot to the elevator control module through a router; a router installed in the hoistway where the elevator moves or stops, connected to the central server by wired communication, and connected to the elevator control module by wireless communication to relay a signal between the central server and the elevator control module; a floor detection module installed in the hoistway or elevator to detect the current floor on which the elevator is currently located and transmit the current floor information to the elevator control module in real time; It is installed in the elevator and electrically connected to the elevator's control board to control floor selection and door opening and closing. an elevator control module that receives information on the current floor from the floor detection module in real time and transmits an arrival signal indicating that it has arrived at the destination floor to the autonomous robot riding in the elevator when arriving at the destination floor; and the elevator call signal including departure floor information and target floor information is wirelessly transmitted to the central server, and a sensor unit that detects obstacles is installed to avoid obstacles while avoiding obstacles set in the driving environment map stored in the map storage unit of the autonomous driving robot. Including self-driving robots that drive themselves with coordinates,
After the autonomous driving robot moves toward the waiting point coordinates in front of the elevator door set in the driving environment map stored in the map storage unit, when the autonomous driving robot detects an obstacle at the waiting point coordinates in the sensor unit, the autonomous driving robot moves the position to the obstacle. After outputting the requested voice guidance to the outside, and after the autonomous driving robot outputs the voice guidance, if no obstacle is detected in the waiting point coordinates in the sensor unit, the autonomous driving robot moves to the waiting point coordinates and waits, then the departure floor information and the target floor If an elevator call signal containing information is wirelessly transmitted to the central server, or when an obstacle is continuously detected at the coordinates of the waiting point in the sensor unit after the autonomous driving robot outputs voice guidance, the autonomous driving robot moves to an adjacent point in front of an empty elevator door. After waiting, when the elevator call signal including departure floor information and target floor information is wirelessly transmitted to the central server, or when the autonomous driving robot detects that there is no empty space in front of the elevator door due to an obstacle in the sensor unit, the autonomous driving robot gives up boarding and does not send an elevator call signal to the central server,
When the elevator arrives at the departure floor, the autonomous driving robot checks whether the elevator door is opened by the sensor unit. The autonomous driving robot outputs the voice guidance to the outside, and if the sensor unit does not detect an obstacle in the boarding point coordinates after outputting the voice guidance, the autonomous driving robot moves to the boarding point coordinates and boards, and then sends a boarding completion signal to the elevator control module. or if an obstacle is continuously detected at the boarding point coordinates by the sensor unit after the autonomous driving robot outputs voice guidance, the autonomous driving robot moves to an empty elevator and gets on the plane, and then sends a boarding completion signal to the elevator control module. Alternatively, when the sensor unit detects that there is no empty space for boarding due to an obstacle inside the elevator, the autonomous driving robot gives up boarding and transmits a boarding abandon signal to the elevator control module. of interfloor movement control system.
The method of claim 1,
The floor detection module increases or decreases the number of detections by 1 while the position sensor installed in the elevator detects the shielding plate installed on each floor of the hoistway as the elevator ascends or descends to detect the current floor,
An inter-floor movement control system for an autonomous driving robot, characterized in that a distance measuring sensor installed at the upper end of the hoistway measures the distance to the lower elevator and then detects the current floor by comparing it with the previously stored distance information to each floor.
The method of claim 1,
When the autonomous driving robot completes boarding or getting off the elevator, it transmits a boarding completion signal or a disembarkation completion signal to the elevator control module, and the elevator control module opens the elevator door until it receives a boarding completion signal or alighting completion signal from the autonomous driving robot. An inter-floor movement control system for an autonomous driving robot, characterized in that the control board of the elevator is controlled to press a button.
(a) After the autonomous driving robot moves to the waiting point coordinates in front of the elevator door set in the driving environment map stored in the map storage unit of the autonomous driving robot and waits, the elevator call signal including the departure floor information and the target floor information is transmitted to the center. wirelessly transmitting to a server; (b) The central server transmits the elevator call signal including the departure floor information and the target floor information to the router installed in the hoistway, and the router transmits the elevator call signal including the departure floor information and the target floor information to the elevator control installed in the elevator wirelessly transmitting to the module; (c) the elevator control module pressing the departure floor by controlling the elevator control board electrically connected to the elevator control module; (d) When the elevator arrives at the departure floor, the autonomous driving robot checks whether the elevator door is opened at the sensor unit that detects obstacles, and when the elevator door is opened, moves to the coordinates of the boarding point inside the elevator set in the driving environment map and boards. step; (e) the elevator control module pressing the target floor by controlling the elevator control board electrically connected to the elevator control module; (f) The elevator control module receives, in real time, the current floor information that detects the current floor where the elevator is currently located from the floor detection module installed in the elevator or the elevator, and when the elevator arrives at the target floor, it targets the self-driving robot on the elevator. transmitting an arrival signal indicating that the floor has arrived; and (g) the autonomous driving robot checks whether the elevator door is opened by the sensor unit, and when the elevator door is opened, getting off the elevator and driving toward the coordinates of the target point set in the driving environment map,
Step (a) includes: moving the autonomous driving robot to which the departure floor information and the target floor information are input toward the coordinates of the waiting point in front of the elevator door set in the driving environment map stored in the map storage unit of the autonomous driving robot; When the autonomous driving robot detects an obstacle in the coordinates of the waiting point in the sensor unit, outputting a voice guidance requesting a positional movement of the obstacle to the outside; and if the autonomous driving robot does not detect an obstacle at the waiting point coordinates in the sensor unit after outputting the voice guidance, the autonomous driving robot moves to the waiting point coordinates and waits, and then transmits the elevator call signal including the departure floor information and the target floor information to the center. If an obstacle is continuously detected at the coordinates of the waiting point in the sensor unit after wireless transmission to the server or the autonomous driving robot outputs voice guidance, the autonomous driving robot moves to an adjacent point in front of an empty elevator door and waits after receiving information on the departure floor and the target floor When an elevator call signal containing information is wirelessly transmitted to the central server, or when the sensor unit detects that there is no empty space to wait due to an obstacle in front of the elevator door, the autonomous driving robot gives up boarding and takes the elevator to the central server. and not sending a call signal;
Step (d) may include: when the elevator arrives at the departure floor, the autonomous driving robot checks whether the elevator door is opened by the sensor unit; When the elevator door is opened, when the autonomous driving robot detects an obstacle at the boarding point coordinates by the sensor unit, outputting a voice guidance requesting a positional movement of the obstacle to the outside; and if no obstacle is detected at the boarding point coordinates in the sensor unit after the autonomous driving robot outputs the voice guidance, the autonomous driving robot moves to the boarding point coordinates and boards, and then transmits a boarding completion signal to the elevator control module, or If an obstacle is continuously detected at the boarding point coordinates by the sensor unit after outputting the voice guidance, the autonomous driving robot moves to a nearby point inside the empty elevator and boards it, and then sends a boarding completion signal to the elevator control module, or the autonomous driving robot sends a boarding completion signal to the sensor unit When it is detected that there is no empty space for boarding due to an obstacle inside the elevator, the autonomous driving robot gives up boarding and transmits a boarding abandonment signal to the elevator control module.
(a) After the autonomous driving robot moves to the waiting point coordinates in front of the elevator door set in the driving environment map stored in the map storage unit of the autonomous driving robot and waits, the elevator call signal including the departure floor information and the target floor information is transmitted to the center. wirelessly transmitting to a server; (b) The central server transmits the elevator call signal including the departure floor information and the target floor information to the router installed in the hoistway, and the router transmits the elevator call signal including the departure floor information and the target floor information to the elevator control installed in the elevator wirelessly transmitting to the module; (c) the elevator control module pressing the departure floor by controlling the elevator control board electrically connected to the elevator control module; (d) When the elevator arrives at the departure floor, the autonomous driving robot checks whether the elevator door is opened at the sensor unit that detects obstacles, and when the elevator door is opened, moves to the coordinates of the boarding point inside the elevator set in the driving environment map and boards. step; (e) the elevator control module pressing the target floor by controlling the elevator control board electrically connected to the elevator control module; (f) The elevator control module receives, in real time, the current floor information that detects the current floor where the elevator is currently located from the floor detection module installed in the elevator or the elevator, and when the elevator arrives at the target floor, it targets the self-driving robot on the elevator. transmitting an arrival signal indicating that the floor has arrived; and (g) the autonomous driving robot checks whether the elevator door is opened by the sensor unit, and when the elevator door is opened, getting off the elevator and driving toward the coordinates of the target point set in the driving environment map,
After the elevator control module receives the elevator call signal in step (c), the elevator control module determines the ascending/lowering direction of the autonomous driving robot from the departure floor information and the target floor information. In the same way, if the current floor of the elevator is going up and down toward the departure floor, the elevator control module controls the elevator control board to press the departure floor, and (c2) the direction of elevation of the autonomous robot is opposite to that of the elevator, or Even if it is the same, if the current floor of the elevator is moving away from the departure floor, the elevator control module waits and when the condition in (c1) is satisfied, it controls the elevator control board to press the departure floor,
In step (d), the elevator control module determines the ascending/lowering direction of the autonomous driving robot from the departure floor information and the target floor information, but when the elevator door is opened, when the elevator door is opened A method for controlling inter-floor movement of an autonomous driving robot, characterized in that it transmits to the driving robot, and transmits a boarding prohibition signal to the autonomous driving robot when the elevator door is opened when the elevator door is opened when the lifting direction of the autonomous driving robot is opposite to the lifting direction of the elevator.
6. The method according to claim 4 or 5,
In step (d), when the autonomous driving robot completes boarding the elevator, it transmits a boarding completion signal to the elevator control module, and the elevator control module presses the elevator door open button until it receives the boarding completion signal from the autonomous driving robot. Control the elevator control board,
In step (g), when the autonomous driving robot completes getting off the elevator, it sends a disembarkation completion signal to the elevator control module, and the elevator control module presses the elevator door open button until it receives a disembarkation completion signal from the autonomous driving robot. A method for controlling movement between floors of an autonomous driving robot, comprising controlling a control board of an elevator. delete delete

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