KR102473630B1 - Robot-friendly building - Google Patents

Abstract

The present invention relates to a robot-friendly building and, particularly, to a building including a technology for allowing humans and robots to naturally coexist in the same space so as to increase human convenience. To this end, the present invention is to provide a technology for people living in a building by naturally fusing and connecting the building to a cloud robot system technology, a robot technology which considers people, a space control technology for a robot in the building, a robot control technology which considers the tasks and movement conditions assigned to a plurality of robots, various technologies for accident prevention and safety, and the like and organically controlling a number of robots and facility infrastructure.

Description

Robot-friendly building {ROBOT-FRIENDLY BUILDING}

The present invention relates to a robot-friendly building. More specifically, the present invention relates to a building in which robots and humans coexist in the same space and provide useful services to humans.

As technology develops, various service devices are appearing, and in particular, technology development for robots performing various tasks or services has been actively conducted recently.

Furthermore, recently, with the development of artificial intelligence technology, cloud technology, etc., it has become possible to control robots more precisely and safely, and accordingly, the utilization of robots is gradually increasing. In particular, due to the development of technology, robots have reached a level where they can safely coexist with humans in an indoor space.

Accordingly, recently, robots have been replacing human tasks or tasks, and in particular, various methods for robots to directly provide services to people in indoor spaces are being actively researched.

For example, robots provide route guidance services in public places such as airports, stations, and department stores, and robots provide serving services in restaurants. Furthermore, robots are providing a delivery service in which mails and couriers are delivered in office spaces, co-living spaces, and the like. In addition, robots provide various services such as cleaning services, crime prevention services, and logistics handling services. The type and range of services provided by robots will increase exponentially in the future, and the level of service provision is expected to continue to evolve.

These robots provide various services not only in outdoor spaces but also in indoor spaces of buildings (or buildings) such as offices, apartments, department stores, schools, hospitals, amusement facilities, etc. In this case, robots provide It is controlled to provide various services while moving through the indoor space.

On the other hand, in order for robots to provide various services or live in an indoor space, robots must freely move or pass through the indoor space of a building, and in some cases, various facility infrastructures (eg, elevators, There is a need to use escalators, access control gates, etc.).

Therefore, in order to provide a higher level of service using robots in buildings, research on robot control technology in service units (eg, route guidance service, delivery service, serving service, etc.), as well as robots providing services In the building itself, essential research is needed to support the various infrastructures required for robots.

An object of the present invention is to provide a robot-friendly building in which robots and humans coexist and provide useful services to humans.

The robot-friendly building according to the present invention uses a technological convergence in which robots, autonomous driving, AI, and cloud technologies are converged and connected, and these technologies, robots, and facility infrastructure provided in the building are organically combined It is to provide a new space to become.

In this way, the present invention is to provide a building built with an integrated solution in which a robot, a cloud system, and various facility infrastructures used by the robot are organically controlled.

This new space implements a new service in which the space itself becomes an assistant, and can present a new standard as a robot-friendly building.

Furthermore, the robot-friendly building according to the present invention can expand the types and ranges of services that can be provided by robots by providing various robot-friendly facility infrastructures that can be used by robots.

Furthermore, the robot-friendly building according to the present invention can manage the driving of robots providing services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud system that works in conjunction with a plurality of robots. . Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless form controlled by a cloud server, and according to this, a plurality of robots disposed in the building can be inexpensively manufactured without expensive sensors. In addition, it can be controlled with high performance/high precision.

Furthermore, in the building according to the present invention, robots and humans can naturally coexist in the same space by taking into account the tasks and movement situations assigned to a plurality of robots arranged in the building, as well as driving to be considerate of people.

Furthermore, in the building according to the present invention, by performing various controls to prevent accidents by robots and respond to unexpected situations, it is possible to give people a perception that robots are friendly and safe, not dangerous.

According to the present invention, a building in which a plurality of robots provide services includes a plurality of floors having an indoor space where the robots coexist with people, a communication unit for performing communication between the robots and a cloud server, the An elevator exclusively used by robots and moving between the plurality of floors and a passage dedicated to robots exclusively used by the robots and disposed on at least one of the plurality of floors, the cloud server Creates a movement path of a target robot to perform a specific service in the building using map information on the plurality of floors, and the target robot, along the movement path, the elevator dedicated to the robot and the robot It is characterized in that it moves to a destination within the building corresponding to the specific service by using at least one of the dedicated passages.

As an example, the cloud server specifies at least one facility that the target robot must use or pass through to move to the destination among a plurality of facilities disposed in the building, and the at least one facility in the building The movement path is created including the location where the robot is located, and the target robot drives to the destination while sequentially using or passing the at least one facility along the movement path.

As an example, the plurality of facilities may include at least one of the robot-only elevator, the robot-only passage, a common elevator that can be used by a person and the target robot together, an escalator that supports movement between floors, and an access control gate. It is characterized by including one.

As an example, the robot-only passage includes a first exclusive passage and a second exclusive passage, and the first exclusive passage and the second exclusive passage have different heights with respect to a floor surface.

As an example, the cloud server checks a specific floor corresponding to the destination among the plurality of floors, and based on a location at a time when the target robot starts a mission corresponding to the specific service, the target robot It is characterized in that it is determined whether interfloor movement is necessary to perform the specific service, and based on the determination result, the robot-only elevator is included on the movement path.

As an example, the cloud server is configured to communicate with a control server of the robot elevator, and when the control server of the robot elevator receives a boarding request of the target robot from the cloud server, the robot elevator It is characterized in that it performs control related to the stop of the dedicated elevator so that the target robot can board and get off.

As an example, the cloud server is configured to monitor the location information of the target robot traveling in the building, and the location information of the target robot and information of a specific floor corresponding to the destination are the control server of the robot elevator. , and the control server of the robot elevator performs a first control on the robot elevator so that the target robot gets on the robot elevator based on the location information of the target robot, and returns to the destination. Based on the information of the corresponding specific floor, second control is performed on the robot elevator so that the target robot gets off the robot elevator.

As an example, the target robot completes getting off at a specific floor corresponding to the destination based on inter-floor movement in a vertical direction using the robot elevator, and then horizontally moves within the specific floor to reach the destination. direction, and the cloud server, when the robot-only passage exists on the specific floor, uses the robot-only passage to allow the target robot to travel in a horizontal direction, so that the robot on the movement path It is characterized by including a dedicated passage.

As an example, the target robot is characterized in that a driving characteristic on the passage dedicated to the robot is changed based on the degree of congestion around the passage dedicated to the robot, and the degree of congestion depends on the camera disposed in the building and the target robot. It is characterized in that it is calculated based on the image received from at least one of the arranged cameras.

As an example, the entrance of the robot passage may be disposed adjacent to the robot elevator so that the target robot gets off the robot elevator and enters the robot passage.

As an example, after reaching the destination using the robot-only elevator and the robot-only passage, the specific service is provided to a target user who is the target of the specific service, and the target robot When the provision of the specific service to the target user is completed, the specific task corresponding to the specific service assigned to the target robot is processed as completed.

As an example, a robot charging area disposed on at least one of the plurality of floors may be further included, and the cloud server may receive information from the target robot through the communication unit in response to the target robot completing the specific task. It is characterized in that state information of the target robot is received, and based on the state information of the target robot, the target robot is moved to the robot charging area or a new task is assigned to the target robot.

As an example, the cloud server generates a control command for moving the target robot to the robot charging area when the charging level of the target robot satisfies a predetermined criterion as a result of checking the state information of the target robot, , The control command includes a movement path for moving the target robot to a target robot charging area located closest to the current position of the target robot among robot charging areas located in the building, and the target robot, through the communication unit, and moving to the target robot charging area based on the received control command.

As an example, the access control gate is controlled based on a control command received from an access control server through the communication unit, and the cloud server, when the access control gate is included in the movement path, the target robot transmits identification information of to the access control server, and the access control server, based on the identification information of the target robot received from the cloud server, controls the access control gate so that the target robot passes through the access control gate. characterized by control.

As an example, the access control gate senses identification information of the target robot approaching the access control gate using a sensor provided in the access control gate, and transmits the sensed identification information of the target robot to the access control gate. characterized in that it is transmitted to the control server.

As an example, the building includes at least one camera and cleaning facilities for washing the robots on each of the plurality of floors, and the cloud server monitors the target robot traveling in the building through the camera. and, as a result of the monitoring, when the target robot satisfies a preset contamination criterion, a cleaning schedule for the target robot is created.

As an example, the cloud server generates the cleaning schedule so that the cleaning is performed after the target robot completes the performance of the specific service, and the path for the target robot to reach the cleaning facility via the destination. It is characterized by including in the movement path.

The building according to the present invention includes a communication unit for performing wireless communication with a plurality of robots, an indoor area configured for the plurality of robots to run, and a control command received from a cloud server through the communication unit so that the robots execute the plurality of robots. It is disposed on at least one of the floors of and includes a passage dedicated to robots exclusively used by the robots, and at least a part of the passage dedicated to robots allows the robot to move in the space of the indoor area according to the control command. It is characterized in that it is formed spaced apart from the bottom surface of one layer to the upper side.

As an example, the robot-only passage is spaced apart from the floor and extends from the driving part to the floor so that the robots move from the driving part and the robots move from the floor surface to the driving part, and the driving part It characterized in that it comprises a connection portion connecting the bottom surface.

As an example, the driving part is formed parallel to the bottom surface, and a support part for supporting the driving part is disposed below the driving part.

As an example, at least a part of the driving unit is formed to be movable, and the robots move along the path dedicated to the robot using the driving of the robots and the movement of the driving unit.

As an example, the robot-only passage includes a first exclusive passage and a second exclusive passage, and the first exclusive passage and the second exclusive passage have different heights with respect to the floor surface.

As an example, any one of the first exclusive passage and the second exclusive passage may be spaced apart from the floor surface to form an intervening space therebetween.

As an example, the interspace is characterized in that it is made to be movable by a person.

As an example, the first exclusive passage and the second exclusive passage may overlap each other at least partially in a vertical direction.

As an example, in the indoor area, common facilities that the robots share with people are disposed, and the robots use the passage dedicated to robots and the common facilities to perform different tasks in the indoor area. do.

As an example, the cloud server has map information on the plurality of floors, and based on the map information, controls the robots so that the robots sequentially travel through the robot passage and the common facility. It is characterized by doing.

A building in which a plurality of robots provide services according to the present invention has a plurality of floors having an indoor space where the robots coexist with people, a communication unit that performs communication between the robots and a cloud server, and a dedicated use by the robots. and a robot-only elevator that moves between the plurality of floors and a robot-only passage that is exclusively used by the robots and is disposed on at least one of the plurality of floors, and the cloud server is It has map information, controls the robots so that the robots travel in the indoor space based on the map information, the robots move in a vertical direction using the robot elevator, and the robots are dedicated to the robot. It is characterized in that it moves in a horizontal direction through the passage and performs a task related to the service.

As an example, the robot-only passage includes a first exclusive passage and a second exclusive passage disposed on different floors among the plurality of floors, and the cloud server allows a target robot to perform the service to use the first exclusive passage. , It is characterized in that for generating a control command for sequentially using the robot-only elevator and the second dedicated passage.

As an example, at least one of the first exclusive passage and the second exclusive passage may be connected to the robot elevator.

As an example, the entrance or exit of at least one of the first exclusive passage and the second exclusive passage may be disposed to face the robot-only elevator.

As an example, the first exclusive passage and the second exclusive passage are characterized in that they have different heights based on the bottom surface of the floor on which they are disposed.

As an example, the robot-only elevator includes a boarding unit on which the robots board and moves in the vertical direction so as to support movement of the robots between the plurality of floors, and the robot-only passage is boarded on the boarding unit. It is characterized in that it has a driving unit for moving the robots traveling or getting off the boarding unit.

As an example, at least a part of the driving unit is formed to be movable, and the robots move along the path dedicated to the robot using the driving of the robots and the movement of the driving unit.

As an example, the cloud server may receive operation information related to operation of the robot-only elevator or the robot-only passage, and control driving of the robot using the operation information.

As an example, a shared indoor space shared by the robots and humans is formed between the robot-only elevator and the robot-only passage.

As an example, in the shared indoor space, the robots obtain information related to the motion of the person and transmit the information to the cloud server through the communication unit, and the cloud server uses the information to obtain information related to the motion of the person, and the cloud server uses the information to detect the robot in the passage dedicated to the robot. characterized in that they control their driving.

A building according to the present invention includes a plurality of floors having different indoor areas and a facility infrastructure disposed on at least one of the plurality of floors and used by a plurality of robots that execute control commands received from a cloud server. The facility infrastructure includes a first facility related to the horizontal movement of the robots in the indoor area and a second facility related to the vertical movement of the robots between the floors, and the cloud server performs a specific service. It is characterized in that the horizontal direction movement and the vertical direction movement of the target robot are sequentially controlled so that the target robot travels to the destination.

As an example, the first facility is exclusively used by the robots and includes a path dedicated to robots disposed on at least one of the plurality of floors, the second facility is exclusively used by the robots, and includes a passage dedicated to robots disposed on at least one of the plurality of floors. It is characterized by having an elevator dedicated to robots moving between floors.

As an example, the entrance or exit of the robot-only passage is characterized in that it is connected to the robot-only elevator.

A building according to the present invention includes a communication unit for performing wireless communication with a plurality of robots, an indoor area configured for the plurality of robots to run, and facility infrastructure arranged in the indoor area for the robots to use, the facility infrastructure has a first facility related to the movement of the robots within a floor and a second facility related to the movement of the robots between floors, and the robots operate according to a control command received from a cloud server through the communication unit. It is characterized in that the task is performed by moving within the floor and between floors according to the control command to use the first facility and the second facility.

As an example, the first facility is exclusively used by the robots and includes a path dedicated to robots disposed on at least one of the plurality of floors, the second facility is exclusively used by the robots, and includes a passage dedicated to robots disposed on at least one of the plurality of floors. It is characterized by having an elevator dedicated to robots moving between floors.

A building according to the present invention includes a plurality of floors on which robots controlled by a cloud server run, an elevator for moving a target robot among the robots to perform a specific service between the plurality of floors, and the cloud server and the elevator. A communication unit communicating with a controlling control server, wherein the cloud server generates a control command for the target robot to move to the elevator, transmits a boarding request of the target robot to the control server, and the control server , It is characterized in that the control related to the stop of the elevator is performed based on the boarding request of the target robot so that the target robot can board and get off the elevator.

As an example, the elevator includes a robot-only elevator, and the robot-only elevator moves in the vertical direction along the guide rail and the guide rail extending in the vertical direction through at least some of the plurality of floors, It is characterized in that it includes a plurality of carriers that the robots transport and are spaced apart from each other along the vertical direction.

As an example, each of the plurality of carriers may include a moving part that is connected to the guide rail and moves in the vertical direction, and a boarding part that protrudes from the moving part in the forward and backward directions so that the target robot can board.

As an example, the boarding unit is characterized in that one end of the moving unit protrudes along the front-back direction.

As an example, it is characterized in that a protective fence unit for protecting the boarding target robot is disposed on the boarding unit.

As an example, the carriers may include a first carrier and a second carrier, and the boarding part of the first carrier and the boarding part of the second carrier may have different capacities for the target robot to board.

As an example, the control server may select a carrier for the target robot to board from among the first carrier and the second carrier based on the boarding request received from the cloud server.

As an example, the guide rail includes a first guide and a second guide disposed parallel to each other, and a waiting area in which the target robot waits is formed between the first guide and the second guide. .

As an example, the waiting area is characterized in that it is connected to a passage dedicated to robots through which the robots travel.

As an example, the elevator includes a robot-only elevator, and the robot-only elevator includes a guide rail extending in an up-and-down direction through at least some of the plurality of floors, and a guide rail to move the plurality of floors. It is characterized in that it comprises a plurality of connected carriers and an auxiliary carrier that is stored separately from the guide rail so as to adjust the logistics capacity of the elevator dedicated to the robot.

As an example, a storage room for storing the auxiliary carrier is formed at one end of the guide rail, and the auxiliary carrier moves in a horizontal direction in the storage room to be separated from or connected to the guide rail.

As an example, the separation or connection between the auxiliary carrier and the guide rail is controlled by at least one of the control server and the cloud server.

As an example, the elevator includes a common elevator used by the target robot together with a person and a robot-only elevator exclusively used by the target robot, and the cloud server includes the target robot among the public elevator and the robot-only elevator. Selecting an elevator to use, and transmitting a boarding request of the target robot for the selected elevator to the control server.

A building providing a delivery service using a plurality of robots performing delivery missions according to the present invention includes a plurality of floors having an indoor space, a communication unit performing wireless communication with the robots, and the robots performing cloud communication through the communication unit. A distribution system that performs the delivery task by receiving a control command from a server, wherein the distribution system includes a storage area configured to store items, a receiving area configured to allow a person to receive a specific item among the items, and the specific item. It is characterized in that a passage for exclusive use of delivery is provided so that a specific robot to which goods are allocated travels from the storage area to the receiving area.

As an example, the passage for exclusive use of delivery may include a first partition wall and a second partition wall disposed to face each other to form a passage through which the specific robot travels.

As an example, the first barrier rib is disposed toward the indoor space, and the first barrier rib is formed to be light-transmitting so that a specific robot traveling on the passage in the indoor space can be seen.

As an example, it is characterized in that a plurality of through-holes are formed in the first barrier rib so that a specific robot traveling through the passage can be seen.

As an example, the second barrier rib is characterized in that it is formed to be opaque.

As an example, the second barrier rib may be disposed toward the storage area to cover the storage area.

As an example, the receiving area may be opened toward the indoor space from at least a part of the extension passage part to pick up the specific object from the specific robot arriving at the delivery passage part and the extension passage part extending from the delivery exclusive passage part. It is characterized by having an opening to be.

As an example, the opening is characterized in that it is formed at a higher position than the robot.

As an example, the cloud server controls the robots by determining whether to deliver the specific product through the delivery-only passage or another passage.

As an example, the cloud server controls a first robot and a second robot, the first robot includes a plurality of robots performing the delivery mission, and the second robot performs a mission different from that of the first robot. and the other passage is a facility in which the second robot travels in common with the first robot.

A building according to the present invention includes an indoor area configured to drive a first robot and a second robot, a cloud server, a communication unit for performing wireless communication between the first robot and the second robot, and the first robot and the second robot. 2 includes equipment infrastructure disposed in the indoor area for use by the robot, wherein the equipment infrastructure supports any one of the different missions of the first robot and the second robot in relation to any one of the missions; It is characterized in that a first facility made exclusively for use and a second facility made common to support driving of the first robot and the second robot and to be used together by the first robot and the second robot are provided.

As an example, the first facility may include a distribution system used by the first robot to perform a delivery mission for a specific product by receiving a control command from a cloud server through the communication unit.

As an example, the logistics system includes a storage area configured to store items, a receiving area configured to allow a person to receive a specific item among the items, and a specific robot assigned to the specific item from the storage area to the receiving area. It is characterized in that it includes a passage for exclusive use of delivery made to travel.

The building according to the present invention includes a communication unit for performing wireless communication with a plurality of robots, an indoor area configured for the plurality of robots to run, and a control command received from a cloud server through the communication unit for the robots to execute. a facility infrastructure available for use and disposed in the indoor area, wherein the facility infrastructure includes dedicated facilities exclusively used by the plurality of robots and common facilities shared with humans in the indoor area; The robots are characterized in that they perform different tasks in the indoor area using the exclusive facility and the common facility.

A building according to the present invention includes a communication unit for performing wireless communication with a plurality of robots, an indoor area configured for the plurality of robots to run, a first facility related to horizontal movement of the robots, and a second equipment related to vertical movement. and a facility infrastructure disposed in the indoor area so that the robots execute control commands received from the cloud server through the communication unit using at least one of the first facility and the second facility. do.

A building according to the present invention includes a communication unit for performing wireless communication with a plurality of robots, an indoor area configured to allow the plurality of robots to run, and facility infrastructure disposed in the indoor area, wherein the facility infrastructure includes: A first facility related to horizontal movement and a second facility related to vertical movement are provided, and the robots perform control commands received from the cloud server through the communication unit using the first facility and the second facility. It is characterized in that the indoor area is moved along the horizontal direction or the vertical direction.

A building according to the present invention is disposed on at least one of a plurality of floors on which a plurality of robots travel and the plurality of floors, and includes facility infrastructure used by the robots, wherein the facility infrastructure is related to the horizontal movement of the robots. A first facility and a second facility related to vertical movement of the robots are provided, and the robots execute control commands received from a cloud server using at least one of the first facility and the second facility in the horizontal direction. Alternatively, the indoor area may be moved along a vertical direction.

A building according to the present invention includes a plurality of floors having different indoor areas and a facility infrastructure disposed on at least one of the plurality of floors and used by a plurality of robots that execute control commands received from a cloud server. The facility infrastructure is characterized by having a first facility related to the horizontal movement of the robots in the indoor area and a second facility related to the vertical movement of the robots between the floors.

A building according to the present invention includes a communication unit, an indoor area for the first and second robots to run, and facility infrastructure disposed in the indoor area for the first and second robots to use, wherein the facility The infrastructure supports the driving of the first robot and the second robot, and includes a first facility made common for the first and second robots to use together, and different tasks of the first and second robots. In order to support any one, it is characterized by having a second facility made exclusively in relation to the one of the missions.

A building according to the present invention includes a plurality of floors having an indoor area, an access control system for controlling access of a user to the indoor area and transmitting access information of the user to a cloud server, and permitting the access in the indoor area. A plurality of robots performing their respective tasks to provide a specific service to a user, and the plurality of robots receive and use a control command from a cloud server in relation to the specific service, and at least one of the plurality of layers It is characterized in that it includes a facility infrastructure disposed in.

In the building according to the present invention, a plurality of floors, an access control gate for controlling the access of a robot that communicates with a cloud server and provides services, and the robot passing through the access control gate is used to move between the plurality of floors. It is characterized in that it includes an elevator controlled in conjunction with the driving of the robot and a path dedicated to the robot disposed on at least one of the plurality of floors so that the robot that gets off the elevator moves to provide the service on an individual floor.

The building in which the robot that communicates with the cloud server and provides the service travels includes a first facility that supplies power to the robot to charge the robot and a second facility that the robot uses to provide the service. wherein the robot includes a first operation mode in which charging is performed using the first facility and a second operation mode in which the service is provided using the second facility; Based on the state of charge of the robot, an operation mode of the robot is specified, and a control command for moving to any one of the first facility and the second facility is transmitted to the robot according to the specified operation mode. And the robot is characterized in that it moves to the first facility or the second facility based on the control command.

The building according to the present invention includes a reception area for obtaining waybill information through a scan of objects to be collected, a storage area formed to store the objects for which the waybill information has been obtained, and a storage area for delivering the objects stored in the storage area. A robot waiting area where at least one robot is waiting to receive a delivery task and a specific robot assigned a delivery task for a specific item stored in the storage area among robots located in the robot waiting area. It is characterized in that it includes a robot driving area in which it travels to perform a delivery mission for the specific object.

As an example, the building may further include a transfer area where at least one robot that has not completed an assigned delivery task waits.

As an example, in the transport area, the object stored in the at least one robot located in the transport area may be transported.

As an example, when the specific robot fails to complete delivery of the specific product to a target user according to a pre-assigned delivery task, the specific robot waits in the delivery area to transport the specific product. It is characterized by doing.

As an example, the reception area further includes a scan unit that obtains information on the waybill for the object to be collected and an output unit that outputs an identification mark including target information corresponding to a target user specified based on the waybill information, , The identification mark is characterized in that each is attached to each object for which waybill information has been obtained by the scanning unit.

As an example, the identification information included in the identification mark includes code information that can be identified by a scan unit provided in each of the plurality of robots, and the identification mark attached to the specific object is attached to the specific robot. When scanned by the robot, a delivery start event for delivering the target product to the target user by the specific robot is generated.

As an example, based on sequential scanning of the identification mark attached to the specific robot and the identification mark attached to the target product by the scanning unit, the specific robot performs a delivery mission of delivering the target product. It is characterized by being specified as a robot to do.

As an example, the storage area includes a plurality of storage boxes to which different identification information is assigned, an object for which the waybill information has been obtained is stored in any one of the plurality of storage boxes, and the specific object is stored in the plurality of storage boxes. When stored in one of the storage boxes, the waybill information of the specific item and the identification information of the one storage box are matched with each other and stored on a database.

As an example, the reception area may further include a work table for performing an operation of obtaining waybill information from the object to be collected, and the work table may include a guide having a size corresponding to a size of a container provided in the plurality of robots. It is characterized by having an area.

As an example, the scanning unit is disposed in at least one area of the guide area, and scans a waybill attached to an object located in the guide area.

As an example, it may further include a robot charging area for providing power charging to at least one robot that requires power charging among the plurality of robots.

In the building according to the present invention, acquiring waybill information of the waybill through scanning of the waybill attached to the object to be collected, specifying a target user matched to the waybill information from a user DB, and information of the target user attaching an identification mark to the object, and delivering the object to the specific robot based on scanning of the identification mark attached to the object and the identification mark attached to a specific robot among the plurality of robots. A delivery system that provides a delivery service through the step of specifying a robot to perform a delivery task and the step of controlling the specific robot so that the product is delivered to the target user through the specific robot is characterized in that it is built.

A tag included in a building according to the present invention includes an IR (infrared ray) pass filter, a tag imprinted on the IR pass filter, and an IR light source for radiating light to at least one edge cut surface of the IR pass filter. characterized by

As an example, the IR pass filter is characterized in that an acrylic (PMAA: polymethyl methacrylate)-based material is used.

As an example, the tag is inverted and imprinted on the rear surface of the IR pass filter.

As an example, the tag is characterized in that an April tag for specifying at least one of an object and a position and direction of the object is used as a guide necessary for moving the robot.

As an example, the tag is characterized in that it is used as a guide device for moving to a robot charging device.

As an example, the tag is characterized in that it further comprises an anti-reflective film attached to the front surface of the IR pass filter.

The building according to the present invention is disposed in the indoor space and includes at least one facility used by the plurality of robots, and the indoor space is either a first zone or a second zone depending on whether the facility is located. It includes a plurality of zones that are each divided, and the plurality of robots are formed to correspond to the indoor space, and based on a map divided into the first zone and the second zone based on the facility, It is characterized in that it is made to drive in the indoor space.

As an example, in the map, nodes of different types are assigned to the first zone and the second zone, which are divided according to whether the facility is located in the indoor space.

As an example, the plurality of robots use the facilities disposed in the indoor space along the different types of nodes assigned to the map to travel in the indoor space to move to a pre-assigned destination. characterized by

As an example, the facility is characterized in that it includes at least one of a speed gate, an elevator, an escalator, and an automatic door.

As an example, the first area is an area including at least one of a specific point where the facility is located in the indoor space and a specific area through which the plurality of robots must pass in order to pass the facility. It is characterized in that at least one node having a first note type is allocated to an area corresponding to the first area.

As an example, when the facility is an elevator that moves between different floors of the indoor space, the node of the first note type allocated to correspond to the elevator is an interior space node allocated to the interior space of the elevator and the It is located outside the inner space of the elevator and is characterized in that it includes an open waiting node located in a waiting space for waiting for the door of the elevator to be opened for boarding the elevator.

As an example, the open waiting node may be allocated to each floor where the elevator can be used among a plurality of floors of the indoor space.

As an example, the plurality of robots pass through an open waiting node located on a specific floor among the plurality of floors, an inner space node allocated to the elevator inner space, and an open waiting node of another floor corresponding to the destination, and then the other floor. It is characterized by moving to.

As an example, the second zone is an area other than the first zone in the indoor space, and a second node type different from the first node type is provided in an area corresponding to the second zone in the map. It is characterized in that at least one node is allocated.

As an example, the map includes zone connection information connecting a first zone and a second zone adjacent to each other among the plurality of zones, and the zone connection information includes the first zone among nodes included in the first zone. Node information of a first node disposed closest to the second zone adjacent to the zone and node information of a second node disposed closest to the first zone adjacent to the second zone among nodes included in the second zone It is characterized by being

As an example, the plurality of robots may move between a first zone and a second zone located adjacent to each other based on the zone connection information.

In the building according to the present invention, allocating a plurality of nodes of different types based on at least one facility disposed in the indoor space, and forming a group between nodes having the same type among the plurality of nodes. Performing clustering on the plurality of nodes as much as possible, dividing the indoor space into a plurality of zones including at least one of the plurality of nodes based on a result of the clustering, and and an indoor space in which the plurality of robots travel based on the map generated through the step of generating a map of the indoor space including zone connection information between the plurality of nodes and the plurality of zones. to be

The building according to the present invention includes an indoor area in which the robot travels and a plurality of cameras disposed in the indoor area, and a cloud server communicating with the robot transmits an image of a space in which the robot travels from the camera. and controls a display unit so that a graphic object related to safety information for allowing the robot to safely drive in the indoor area is output along with the image, and visual characteristics of the graphic object are determined based on driving information of the robot characterized by

As an example, the graphic object is overlapped with the image and output, the graphic object includes a plurality of areas sequentially arranged along one direction, and the visual characteristics of the graphic object are as described above in the graphic object. It is characterized in that it is related to the area occupied by each of the plurality of areas.

As an example, the plurality of areas are each matched to different risk levels related to driving of the robot and are arranged in a direction gradually away from the robot.

As an example, a first level with the highest risk level among the different risk levels is matched with a first area closest to an area where the robot is located in the image among the plurality of areas, and a risk level among the different risk levels is matched. The lowest second grade is characterized in that it is matched to a second region farthest from the robot in the image among the plurality of regions.

As an example, an area occupied by the first area and the second area in the graphic object may be determined based on the driving information.

As an example, the driving information includes a driving speed of the robot, and as the driving speed of the robot increases, an area occupied by the first area in the graphic object is relatively larger than an area occupied by the second area. and as the driving speed of the robot decreases, the area occupied by the first area in the graphic object becomes relatively smaller than the area occupied by the second area.

As an example, the first area and the second area may be displayed in different colors.

As an example, the cloud server senses a dynamic object located in the indoor area from the image, and based on at least one of a moving direction and a moving speed of the dynamic object in the indoor area, the first area and the moving object It is characterized in that the size of the area of the second region is adjusted.

As an example, at least one of the length and width of the graphic object is changed based on the driving speed of the robot.

As an example, among the plurality of cameras disposed in the indoor area, the image is received from a specific camera having an angle of view in the traveling direction of the robot, and the first area and the second area are viewed from the lower side of the display unit. It is characterized in that it is sequentially arranged along one direction toward the upper side.

A building according to the present invention includes an indoor area in which a robot travels and a plurality of cameras disposed in the indoor area, and the cloud server determines an operation performed by the robot in the indoor area from an image received from the camera. motion information for the motion is extracted, the motion performed by the robot in the indoor area is evaluated using the extracted motion information and the reference motion information, and evaluation result information according to the performed evaluation is provided to the robot. It is characterized by matching with identification information and storing it.

In the building according to the present invention, the cloud server compares the extracted motion information with the reference motion information to determine a motion type for the motion performed by the robot in an indoor area.

As an example, as a result of the comparison, when the robot operates according to the reference motion information, the motion type of the robot is determined as the first motion type, and when the robot does not operate according to the reference motion information, the robot The operation type of is characterized in that it is determined as the second operation type.

As an example, the evaluation result information includes any one of a first type of evaluation result information and a second type of evaluation result information according to whether an operation has been performed according to the reference motion information in the indoor area, and the robot performs the When the robot operates according to the first motion type, the identification information of the robot is matched with the evaluation information of the first type, and when the robot operates according to the second motion type, the identification information of the robot matches the second type of evaluation information. It is characterized in that the evaluation information of the type is matched.

As an example, the cloud server may analyze matching information in which the identification information of the robot and the evaluation result information are matched, and generate an inspection event for the robot based on the analysis result.

As an example, the cloud server may generate the inspection event when, as a result of the analysis, the number of times the identification information of the robot is matched with the evaluation information of the second type is greater than or equal to a reference number.

As an example, the reference motion information may include an motion guide related to at least one of a traveling speed, a traveling direction, a rotation direction, and an operating state of the robots traveling in the indoor area.

As an example, the operation guide may be determined based on at least one of a structural feature according to the structure of the indoor area and an object feature according to objects disposed in the indoor area.

As an example, the cloud server recognizes an identification mark provided on the robot from the image, extracts identification information of the robot corresponding to the recognized identification mark, and evaluates an operation of the robot. do.

As an example, the cloud server may determine whether or not the robot has permission to enter the indoor area by using identification information of the robot.

In the building according to the present invention, the step of setting a path for the robot to move in the building, which allows the robot to travel on at least a part of a dedicated road designated in the building, and the movement of the robot so that the robot moves according to the set path. Controlling the robot through the controlling step, characterized in that the dedicated road is configured to be identifiable by the robot.

As an example, the step of controlling the movement of the robot such that the speed of the robot when traveling on the exclusive road is higher than the speed of the robot when traveling in an area within the building other than the exclusive road. It is characterized by movement control.

As an example, the dedicated road is configured to be visually identifiable by a user, and the dedicated road is characterized in that it is identified by a camera of the robot.

As an example, the exclusive road is configured to be impossible to be visually identified by a user, and the exclusive road is identified by an infrared sensor of the robot.

As an example, the exclusive road is characterized in that one side is configured to be adjacent to an outer wall of the building, a window, a partition in the building, or a wall for dividing spaces in the building.

As an example, an indicator for indicating that the robot is driving on the exclusive road is disposed on the exclusive road, on one side of the exclusive road, or in a ceiling region of the building corresponding to the exclusive road. do.

As an example, the method may further include activating the indicator corresponding to the first section when it is predicted that the robot will pass through the first section of the dedicated road within a predetermined time.

As an example, in the case where the exclusive road and the user's movement passage within the building intersect, it is predicted that the robot will pass through a second section where the exclusive road and the movement passage intersect within a predetermined time. , activating the indicator corresponding to the second interval.

As an example, the activation of the indicator is characterized by outputting a sound.

As an example, the step of controlling the movement of the robot may include, when the dedicated road and the user's moving passage within the building intersect, the robot operates a second section in which the exclusive road and the moving passage intersect. before passing, reducing the speed of the robot or stopping the robot, and passing the second section or passing the second section when there is no user to pass the second section within a predetermined time. It characterized in that it comprises the step of controlling the robot.

As an example, the step of controlling the movement of the robot is based on image information acquired from at least one camera installed in the building, for example CCTV, passing through the second section or within a predetermined time the second section and determining whether there is a user to pass through.

As an example, the controlling of the movement of the robot may include the second step based on at least one of footstep sound information of the user detected by the robot and information about the user sensed by a sensor installed on the floor of the building. and determining whether there is a user who has passed through a section or will pass through the second section within a predetermined time.

For example, in the step of controlling the movement of the robot, when an automatic door exists in the moving passage, it passes through the second section or passes through the second section within a predetermined time according to whether the automatic door is opened. It is characterized in that it includes the step of determining whether there is a user to do.

As an example, in the case where the exclusive road and the user's movement passage in the building intersect, the robot is predicted to pass through a second section where the exclusive road and the movement passage intersect within a predetermined time In this case, the method may further include controlling a door or an automatic door of the moving passage not to be opened until the robot passes through the second section.

As an example, the exclusive road includes at least a first section and a second section, the moving speed of the robot is controlled differently in the first section and the second section, and the first section and the second section are colored. are different from each other, or at least one of the color and intensity of the first indicator associated with the first section and at least one of the color and intensity of the second indicator associated with the second section are different from each other.

As an example, the setting of the path may include setting the path based on at least one of information about a time zone in which the robot travels, information about a usage rate of a space in the building in which the robot travels, and waypoint information. It is characterized by doing.

As an example, the step of setting the path may include a high usage rate of a space in the building associated with the robot's destination, or a high usage rate of the space associated with the destination, when the robot travels during a time period, the robot sets the exclusive use rate. It is characterized in that the route is set to drive more on the road.

As an example, the step of setting the route may include setting the route so as to pass through at least one preset waypoint when the robot travels in a specific time period.

As an example, the rate at which the dedicated road is included in the route is adjusted based on the information on the usage rate and the information on the time zone, and the time for the robot to reach the destination is minimized in the time zone in which the robot travels. To do so, it is characterized in that the ratio is determined.

As an example, the controlling of the movement may include controlling the movement of the robot so that the speed of the robot when traveling on the exclusive road exceeds a predetermined value.

As an example, the step of controlling the movement of the robot may include reducing the speed of the robot or stopping the robot when the robot traveling on the exclusive road approaches an obstacle present on the exclusive road. It is characterized in that for controlling the robot.

A cloud server that communicates with a robot running in a building according to the present invention sets a path for the robot to travel in the building to travel on at least a part of a dedicated road designated in the building, and allows the robot to move according to the set path. It is characterized in that the movement of the robot is controlled, and the dedicated road is configured to be identifiable by the robot.

An elevator control system for controlling an elevator included in a building according to the present invention is connected to an elevator unit configured to allow at least one robot providing service on at least one floor among floors in a building and the elevator unit, and , A spinel unit for moving the elevator unit between floors by moving the elevator unit up and down, and based on control by an elevator control system, the elevator unit allows a robot riding on the elevator unit to provide service or perform maintenance. It is controlled to move between the floors, the elevator unit is plural, and each of the plurality of elevator units is connected to the spinel unit.

As an example, the elevator unit is characterized in that it includes a charging dock for charging the battery of the robot boarding the elevator unit.

As an example, the elevator unit has a standard suitable for boarding of a robot, is distinguished from an elevator for boarding of a person in the building, and when it is detected that a person is trying to board the elevator unit, a visual indicator and Characterized in that it is configured to output at least one of the auditory indicators.

As an example, the spinal part is configured in an annular shape, and as the spinal part moves in one direction, each of the plurality of elevator units connected to the spinal part ascends or descends.

As an example, as the spineal unit moves in one direction, an elevator unit connected to the spineal unit at a first side of the plurality of elevator units rises, and the second side of the plurality of elevator units raises the elevator unit. The elevator unit connected to the unit descends, and the elevator unit connected to the spinel unit on the first side is associated with an elevator door for ascending provided on each floor of the floors, and connected to the spine unit on the second side. The elevator unit is characterized in that it is associated with an elevator door for descending provided on each floor.

As an example, the floors include a service terminal floor for loading objects required for service provision into a robot, and based on control by the elevator control system, service by a robot riding on the elevator unit When provision is requested, the elevator unit is moved to the service terminal floor so that the boarding robot moves to the service terminal floor, and the robot boarding the elevator unit at the service terminal floor provides service among the floors. It is characterized in that moving the elevator unit to the target floor to move to the target floor.

As an example, a robot not requested to provide a service or a robot not requested to move to a specific floor may stand by while boarding the elevator unit.

As an example, when a call to a robot is generated in a first one of the floors, based on the control by the elevator control system, the plurality of elevator units are moved to the first one of the plurality of elevator units. Characterized in that the robot boarding the elevator unit located or the robot boarding the elevator unit located at the floor closest to the first floor is controlled to move to the first floor.

As an example, the floors include a maintenance station floor for performing maintenance of a robot, and based on control by the elevator control system, when it is detected that maintenance is required for a robot riding in the elevator unit, the It is characterized in that the elevator unit is moved to the maintenance station floor so that the boarding robot moves to the maintenance station floor.

As an example, the elevator unit is associated with an elevator unit ID, a robot boarding the elevator unit is associated with a robot ID, a service provided by the boarding robot is associated with a service ID, and the elevator unit ID, the Based on the robot ID and the service ID, the location of the elevator unit, the location of the robot on board, and the provision of services provided by the robot on board are tracked.

As an example, in the elevator control system, boarding of the robot for the elevator unit is identified by short-range wireless communication between the elevator unit and the boarding robot.

As an example, in the elevator control system, when the robot gets on or off the elevator unit, at least one indicator of a visual indicator and an audible indicator indicating that the robot gets on or off the elevator unit is connected to the elevator unit. It is characterized in that it is output in a related external user interface.

As an example, the plurality of elevator units include a first elevator unit of a first size and a second elevator unit of a second size larger than the first size, and the second elevator unit is boarded in the first elevator unit. It is characterized in that it is configured to be able to board this impossible large robot.

As an example, when a robot of a predetermined size or larger or a robot loaded with an object of a predetermined size or larger is boarded in the elevator unit, the elevator unit is controlled to prevent other robots from boarding.

As an example, when a robot providing a high-priority service rides in the elevator unit, under the control of the elevator control system, the elevator unit provides the high-priority service without stopping for other floors. It is characterized in that it is controlled to move to the layer to be cut.

A method for controlling an elevator included in a building according to the present invention is performed by an elevator control system, and at least one elevator among a plurality of elevator units moving between floors in a building connected to a spine part of the elevator control system detecting that at least one robot providing service on at least one of the floors is boarded in a unit and controlling the elevator control system so that the robot moves between the floors to provide service or perform maintenance; And, by the controlling step, the spinel part moves the robot between the floors by moving the elevator unit up and down.

As an example, the elevator control method further includes controlling charging of the robot through a charging dock provided in the elevator unit, and when the robot is not requested to provide a service or move to a specific floor, The robot is characterized in that it stands by while boarding the elevator unit.

As an example, the elevator control method may further include outputting at least one indicator of a visual indicator and an audible indicator when it is detected that a person attempts to board the elevator unit.

As an example, the spinel part is configured in an annular shape, and the controlling step controls the spinel part to move in one direction, so that the elevator unit connected to the spinel part at the first side of the plurality of elevator units and controlling the elevator system so that the elevator unit connected to the spinel part at the second side of the plurality of elevator units descends.

As an example, in the elevator control system, the floors include a service terminal floor for loading objects required for service provision on a robot, and the controlling step is when the service provision by the robot is requested, Moving the elevator unit to the service terminal floor so that the robot moves to the service terminal floor or when the robot is boarded in the elevator unit on the service terminal floor, the goal of the robot providing service among the floors It characterized in that it comprises the step of moving the elevator unit to the target floor to move to the floor.

As an example, the elevator control method may include, when a call to a robot is generated in a first floor among the floors, a robot riding an elevator unit located on the first floor among the plurality of elevator units or the first floor. and controlling the elevator system so that a robot boarding an elevator unit located at a floor closest to the first floor moves to the first floor.

As an example, in the elevator control system, the floors include a maintenance station floor for performing maintenance of a robot, and in the controlling step, when it is detected that maintenance is required for the robot, the boarded robot performs the maintenance and moving the elevator unit to the maintenance station floor to move to the station floor.

As an example, the elevator control method is based on an elevator unit ID associated with the elevator unit, a robot ID associated with the robot, and a service ID associated with a service provided by the robot, the location of the elevator unit, the location of the robot, and It is characterized in that it further comprises the step of tracking the provision status of the service provided by the robot.

As an example, the elevator control method includes at least one indicator of a visual indicator and an audible indicator indicating that the robot is getting on or off the elevator unit when the robot gets on or off the elevator unit and the elevator unit. It is characterized in that it further comprises the step of outputting in a related external user interface.

As an example, in the elevator control system, the plurality of elevator units include a first elevator unit of a first standard and a second elevator unit of a second standard larger than the first standard, and the large-sized robot is the second elevator unit. It is characterized in that it is controlled to be able to board only the elevator unit.

As an example, the controlling may include controlling the elevator system so that other robots cannot board the elevator unit when it is determined that the robot is a robot of a predetermined size or larger or that an object of a predetermined size or larger is loaded thereon. characterized by

As an example, in the controlling step, when it is determined that the robot is a robot providing a high-priority service, the elevator unit moves to a floor to provide the high-priority service without stopping for other floors. It is characterized in that for controlling the elevator system so as to.

As an example, the floors are divided into a high-rise part and a low-rise part, and the elevator system is for moving a robot between floors belonging to either the high-rise part or the low-rise part, and the robot moves from the first floor belonging to the high-rise part to the low-rise part. When moving to the second floor belonging to or from the second floor belonging to the lower floor to the first floor belonging to the upper floor, the robot gets off the elevator unit at the transfer floor where the high and low floors intersect. Controls the elevator system, and allows the robot to board an elevator unit of another elevator system for moving the robot between floors belonging to the other one of the high or low floors in the transfer floor, and the second floor or the first floor, which is the destination floor. It is characterized in that for controlling the other elevator system to move to the floor.

An elevator control system for controlling an elevator included in a building according to the present invention provides at least one elevator unit among a plurality of elevator units moving between floors in a building connected to the spine part of the elevator system, at least one of the floors. Detecting that at least one robot providing service on a floor is boarding, controlling the elevator system so that the robot moves between the floors for providing service or maintenance, and controlling the elevator system, the spinel It is characterized in that the robot is moved between the floors by moving the elevator unit up and down.

A method for controlling an elevator included in a building according to the present invention is performed by an elevator control system, and includes at least one carrier on which a robot rides for vertical movement, and an anterior chamber, which is a space in which the robot waits before boarding the carrier. Controlling a robot-only elevator comprising a step of controlling a carrier door that divides the carrier and the front room based on the robot's movement line, and a front room door that divides the front room and a corridor outside the front room. to be characterized

As an example, the controlling may include controlling to open another door of the carrier door and the front chamber door in a closed state.

As an example, the controlling step includes directly controlling the opening and closing of the carrier door through the elevator control system and controlling the opening and closing of the front door through a separate system interoperable with the elevator control system. It is characterized by doing.

As an example, an external waiting node waiting to enter the front room outside the front room as a node for controlling the movement of the robot moving the carrier and the front room and the corridor, boarding the carrier in the front room It is characterized in that a layover node waiting for the carrier is defined, and an internal standby node waiting to advance to the hallway from the front room after getting off the carrier.

As an example, the controlling may include checking whether the carrier door is closed when a request to open the door of the front room is received for the robot to enter or leave the front room, and if the carrier door is open, wait The method may include controlling the front chamber door to be opened when the carrier door is in a closed state, and controlling the front chamber door to be closed when entering or leaving the front chamber of the robot is completed.

As an example, the controlling may include maintaining the closed state of the carrier door for opening and closing of the front chamber door, and releasing the maintenance of the closed state of the carrier door when the front chamber door is closed after the robot enters or exits the front chamber. It is characterized in that it further comprises a step.

As an example, the controlling may include checking whether the front door is closed when the carrier arrives at the current floor or the target floor of the robot, and waiting if the front door is open and the front door is closed. and controlling the carrier door to be closed when the robot finishes boarding or getting off the carrier.

As an example, the controlling step maintains the closed state of the front chamber door for opening and closing of the carrier door, and releases the closing state of the front chamber door when the carrier door is closed after getting on or off the carrier of the robot. It is characterized in that it further comprises a step.

As an example, the elevator control method further comprises the step of controlling the movement of each robot by determining a boarding order in the front room according to the priority of the robot and other robots by the elevator control system. do.

As an example, the elevator control method includes the step of detecting, by the elevator control system, an elevator abnormality due to a person entering the front room, and when the elevator abnormality is detected by the elevator control system, the robot-only elevator It is characterized in that it further comprises the step of converting to an unusable state.

An elevator control system for controlling an elevator included in a building according to the present invention includes at least one carrier on which a robot rides for vertical movement, and a front room in which the robot waits before boarding the carrier. By controlling, it is characterized in that a carrier door for dividing the carrier and the front room and a front room door for dividing the front room and a corridor outside the front room are controlled based on the movement line of the robot.

As an example, the elevator control system is characterized in that one door of the carrier door and the front chamber door is controlled to open the other door in a closed state.

As an example, an external waiting node waiting to enter the front room outside the front room as a node for controlling the movement of the robot moving the carrier and the front room and the corridor, boarding the carrier in the front room It is characterized in that a layover node waiting for the carrier is defined, and an internal standby node waiting to advance to the hallway from the front room after getting off the carrier.

As an example, the elevator control system checks whether the carrier door is closed when a request to open the door of the front room is received for the robot to enter or leave the front room, and if the carrier door is in an open state, it waits and the carrier door When is in a closed state, the front chamber door is controlled to be opened, and when entry or exit of the robot is completed, the front chamber door is controlled to be closed.

As an example, the elevator control system maintains the closed state of the carrier door for opening and closing of the front chamber door, and releases the maintenance of the closed state of the carrier door when the front chamber door is closed after the robot enters or exits the front chamber. to be characterized

As an example, the elevator control system checks whether the front door is closed when the carrier arrives at the current floor or the target floor of the robot, waits when the front door is open, and waits for the carrier when the front door is closed. It is characterized in that the door is controlled to be opened, and the carrier door is controlled to be closed when boarding or getting off of the carrier of the robot is completed.

As an example, the elevator control system maintains the closed state of the front chamber door for opening and closing of the carrier door, and releases the maintenance of the closed state of the front chamber door when the carrier door is closed after boarding or getting off the carrier of the robot. to be characterized

As an example, the elevator control system is characterized in that the movement of each robot is controlled by determining the boarding order in the front room according to the priority of the robot and other robots.

As an example, the elevator control system is characterized in that it detects an elevator abnormality due to a person entering the front room, and converts the robot-only elevator to an unusable state when the elevator abnormality is detected.

A method for controlling an elevator included in a building according to the present invention includes receiving state information of the robot from a robot or a cloud server, and by the elevator control system, based on the state information, the robot wants to get on or off. It characterized in that it comprises the step of controlling the door of the elevator.

As an example, the step of controlling the door of the elevator may include maintaining the door open state of the elevator for boarding of the robot when the elevator arrives at the calling floor of the robot and the door is opened, and completion of boarding of the robot. and transmitting a door closing command to the elevator when state information according to is received.

As an example, the step of controlling the door of the elevator may include, when the elevator arrives at the target floor of the robot and the door is opened, maintaining the door open state of the elevator for the robot to get off, and getting off of the robot is completed. and transmitting a door closing command to the elevator when state information according to is received.

As an example, the step of controlling the door of the elevator may include controlling the door open state of the elevator to be maintained for a predetermined period of time when the robot gets on or off.

As an example, the step of controlling the door of the elevator may further include extending a door open state of the elevator if boarding or getting off of the robot is not completed within the predetermined time.

As an example, the elevator control method may further include adjusting, by the elevator control system, a full occupancy rate of the elevator in consideration of a boarding space of the robot for the elevator.

As an example, the elevator control method adjusts, by the elevator control system, the fullness rate indicating the full processing standard of the elevator based on at least one of the number of robots boarding or scheduled to board, the required area, and the purpose of movement It is characterized in that it further comprises a step.

As an example, the elevator control method further comprises controlling, by the elevator control system, to display state information of the robot related to the elevator through at least one of an internal user interface and an external user interface of the elevator. It is characterized by doing.

As an example, the controlling to display the state information of the robot may include controlling to display information about a floor to be boarded and a floor to get off of the robot through the internal user interface.

As an example, the controlling to display state information of the robot may include controlling to display information on a full state due to boarding or boarding schedule of the robot through the internal user interface. .

As an example, the elevator control method may include, by the elevator control system, receiving a call from the robot control system, assigning an elevator to be called to a floor indicated by the call, and assigning the assigned elevator to the call. It is characterized in that it further comprises the step of controlling to move to the indicated layer.

As an example, the assigning may include selecting an elevator that guarantees an available area of the robot as the elevator to be called, based on a congestion level according to an internal boarding situation of each elevator.

As an example, the assigning may include selecting an elevator set as a dedicated elevator for boarding of the robot among a plurality of elevators as the elevator to be called.

As an example, in the elevator control method, an indicator indicating a robot-only elevator is displayed on at least one of an internal user interface and an external user interface of the elevator set as the dedicated elevator, and information on whether the elevator is going up or down and the floor to be stopped is displayed. It is characterized in that at least one of being not provided, inactivating the floor selection button and door closing button of the elevator, and controlling lighting in the elevator is applied.

As an example, the elevator control method includes receiving, by the elevator control system, a cancellation for the assigned elevator from the robot or the robot control system, assigning another elevator to be called to the floor indicated by the call and controlling the other elevator to move to the floor indicated by the call.

An elevator control system for controlling an elevator included in a building according to the present invention receives status information of the robot from a robot or a robot control system, and based on the status information, selects an elevator door for the robot to board or exit. characterized by control.

As an example, the elevator control system is characterized in that it controls to maintain the door open state of the elevator for a certain period of time when the robot gets on or off.

As an example, the elevator control system is characterized in that the full capacity rate representing the criterion for handling the elevator full is adjusted based on at least one of the number of robots boarding or scheduled to board, the required area, and the purpose of movement.

As an example, the elevator control system, upon receiving a call from the robot control system, calls an elevator that guarantees the available area of the robot based on the congestion level according to the inside boarding situation of each elevator to the floor indicated by the call Characterized in that it is assigned to an elevator.

A building according to the present invention includes an elevator disposed in an indoor space and configured to move between different floors constituting the indoor space, wherein the elevator is disposed in an accommodating space configured to accommodate objects and the accommodating space, , a sensing unit for sensing the object located on the accommodation space, and when a boarding event of the target robot for the elevator occurs, based on the occupancy state of the object located in the accommodation space, It is characterized in that the target occupied position of the target robot is determined.

As an example, the target robot may board the elevator and stop at a position occupied by the target in the accommodation space based on a control command received from the cloud server.

As an example, the target occupied position of the target robot is determined based on the size of the occupied area of the object, and the size of the occupied area of the object is specified differently based on the object type of the object. to be

As an example, the object type includes a first type and a second type according to the type of object, the object according to the first type corresponds to a robot that can be remotely controlled, and the object according to the second type corresponds to a robot. The object is characterized in that it corresponds to a person who cannot be remotely controlled.

As an example, the size of the occupied area of the object according to the second type is larger than the size of the occupied area of the object according to the first type.

As an example, the target occupied position of the target robot is characterized in that, when the object occupying the accommodating space exists, a destination of the object is confirmed and determined based on the destination of the object.

As an example, the elevator has an entrance for getting on and off the accommodation space, and the target occupied position of the target robot is determined based on the target robot's destination and the object's destination. Characterized in that the order of getting off of the target robot and the object for is specified, and based on the specified order of getting off, the target robot is specified as a position closer to the entrance than the object when getting off first than the object. do.

As an example, in a state where the target robot is located in the target occupied position of the accommodating space, when an event of getting off of a specific object located in the accommodating space occurs, the cloud server responds to the getting off event, It is determined whether the target robot is located on the getting off path of the object, and as a result of the determination, if the target robot is located on the getting off path of the specific object, the target of the target robot for getting off the specific object from the elevator. Characterized in that the occupied position is reset.

As an example, the reset occupied position is characterized in that it is set to a position closest to the doorway of the elevator among areas other than the getting off path of the accommodation space.

In the building according to the present invention, the step of specifying, by a cloud server, a target robot in which a boarding event for the elevator has occurred, in response to the elevator stopping in a specific area where the target robot is located, the target robot is moving means Controlling the driving of the target robot by the cloud server so as to board the elevator; Target occupancy of the target robot in the accommodation space by the cloud server, based on the occupancy state of the accommodation space provided in the elevator. It is characterized in that the step of determining the position and the step of transmitting a control command related to the occupied target position to the target robot so that the target robot moves to the occupied target position in the private cloud server.

A method for controlling an elevator included in a building according to the present invention is performed by an elevator control system, based on an image of the inside of the elevator car taken by a camera provided in an elevator car configured to allow a robot and a person to board, Calculating a degree of occupancy of space for the elevator car by an object riding in the elevator car, and based on the calculated degree of occupancy of space, moving to a position of the robot to board the robot in the elevator car. It characterized in that it comprises the step of generating a signal for controlling the elevator car.

As an example, the camera is a wide-angle camera installed at the center of the ceiling of the elevator car or at the center of the corner of the ceiling on the opposite side of the door of the elevator car, and is configured to photograph the floor of the elevator car. .

As an example, the step of calculating the degree of space occupancy may include: detecting each of the objects in the elevator car from the image; the difference between the area of the floor of the elevator car and the area occupied by each of the objects or calculating a ratio of an area occupied by each of the objects to an area of the floor, and calculating the degree of occupancy of the space based on the calculated difference or ratio.

As an example, the calculating of the difference or ratio may include projecting each of the detected objects onto the floor and determining the difference or ratio based on an area of the floor and an area occupied by each of the projected objects. It is characterized in that it includes the step of calculating.

As an example, calculating the difference or ratio may include determining a position of each of the objects on the floor and a weight map defining a weight applied to each position on the floor to each of the objects. and calculating an area occupied by each of the objects by applying to .

As an example, the weight map is defined as having a larger value of weight as it moves from the center of the floor toward a vertex of the floor, or having different weights for each zone for the floor divided into a plurality of zones. characterized by being defined as

As an example, the step of calculating the degree of occupancy of space may include a first degree of occupancy of space based on the calculated difference or ratio and the number of objects in the elevator car for the maximum number of passengers in the elevator car. and calculating the space occupation based on the first space occupation and the second space occupation.

As an example, the degree of space occupation is calculated based on a sum of a value obtained by multiplying the first degree of space occupation by a first weight and a value obtained by multiplying the second degree of space occupation by a second weight, and the first weight is the It is characterized in that it is defined as a smaller value than the second weight.

As an example, the detecting of each of the objects may include detecting each of the objects by detecting the head of each of the objects in the image, and the head of each of the objects may be obtained by photographing the floor in a vertical direction. It is characterized in that it is detected using a learning model trained to detect the head of a person or robot from an image.

As an example, the calculating of the difference or ratio may include segmenting each of the objects in the image to be distinguished from the floor, and determining a portion occupied by the segmented object among floor portions corresponding to the floor and calculating a ratio of the occupied part to the floor part as a ratio of an area occupied by the object to an area of the floor.

As an example, the elevator control method further includes receiving a call for an elevator car from the robot or a robot control system that controls the robot, and generating the signal includes the calculated degree of space occupancy. and generating a signal for controlling an elevator car determined to be boardable by the robot to be moved to a position of the robot based on the above.

As an example, the elevator car moving to the position of the robot is characterized in that it is selected as one having the calculated degree of occupancy of space less than a predetermined value among a plurality of elevator cars.

As an example, the call includes size information of the robot or required area information required for boarding in the elevator car of the robot, and based on the size information or the required area information and the calculated space occupancy, the elevator car It is characterized in that it is determined whether the robot can ride in.

As an example, the elevator control method further includes receiving a call for an elevator car for boarding of the robots from at least one of a plurality of robots or a robot control system for controlling the robots, and receiving the signal The generating step includes generating a signal for controlling an elevator car determined to be capable of being boarded by the robots to be moved to a position of the robots for boarding the robots based on the calculated degree of occupancy of the space. to be

As an example, the degree of space occupancy is characterized in that it is calculated by analyzing the image based on location information where the camera is provided, the maximum number of passengers in the elevator car, and information on the area of the floor of the elevator car. .

An elevator control system for controlling an elevator included in a building according to the present invention is based on an image of the inside of the elevator car photographed by a camera provided in the elevator car, by an object riding in the elevator car. and generating a signal for controlling the elevator car to move to a position of the robot in order to board the robot in the elevator car, based on the calculated space occupation degree.

As an example, the method for calculating the degree of occupancy by the elevator control system is based on an image of the interior of the elevator car photographed by a camera provided in an elevator car configured to allow a robot and a person to board, Calculating a degree of space occupation for the elevator car by an object and a control panel for controlling the elevator car to move the calculated degree of space occupation to a position of the robot to board the robot in the elevator car It is characterized in that it comprises the step of delivering to the system.

A building according to the present invention performs monitoring of a robot using a cloud server, and the building includes an indoor area where the robot travels and a plurality of cameras disposed in the indoor area, and the cloud server comprises the The robot assigns a task to be performed in the indoor area, receives an image from the plurality of cameras disposed in the indoor area, and uses the received image to target a user who is a target user for performing the task. ), and based on the relative position information between the location of the target user and a specific place, it is characterized in that the control related to the time at which the mission is performed is performed on the robot.

As an example, the time at which the task is performed includes a scheduled time at which the task is scheduled to be performed by the robot, and control related to the time exceeds the scheduled time based on the relative location information. It is characterized in that it determines whether to control the robot so that the mission is performed.

As an example, the relative location information includes distance information corresponding to a distance between the location of the target user and the specific place, and the cloud server determines that the distance between the target user and the specific place is within a reference range. , an additional task execution time is set for the scheduled time, and control related to the additional task execution time is performed on the robot so that the robot exceeds the scheduled time and performs the mission during the additional task execution time. characterized by carrying out

As an example, the control related to the additional task execution time includes control to wait at the specific place for the additional task execution time beyond the scheduled time after the robot reaches the specific place do.

As an example, the length of time for performing the additional task is set differently depending on the distance between the location of the target user and the specific place.

As an example, when the distance between the target user and the specific place is out of the reference range, the mission assigned to the robot is canceled.

As an example, the specific place is located on a specific floor among a plurality of floors constituting the indoor area, and the cloud server uses the image to locate the target user on which floor among the plurality of floors. and, if the floor where the target user is located and the specific floor where the specific place is located are different from each other, the additional task execution time is not set.

As an example, the step of confirming the location may include confirming the location of the target user before a predetermined time from the scheduled time.

As an example, the cloud server obtains a face image of a person approaching the robot from images received from the plurality of cameras, determines whether the obtained face image corresponds to the target user, and determines whether the target user authentication is performed, and the robot is controlled so that a service corresponding to the mission is provided to the target user whose authentication is completed.

As an example, the robot includes a camera, and when the movement to the specific place is completed, the robot stops driving within a preset range of the specific place, and when the target user is recognized through the camera, the robot It is characterized by moving towards the target user.

The building according to the present invention includes an indoor area in which the robot travels and a plurality of cameras disposed in the indoor area, and a cloud server communicating with the robot uses images received from the cameras disposed in the indoor area. to recognize a user's gesture related to the control of the robot traveling in the indoor area, specify a controlled target robot controlled according to the gesture among robots traveling in the indoor area, and determine the target robot to be controlled based on the gesture and transmits a control command corresponding to the gesture to the control target robot so as to be controlled.

As an example, the cloud server determines whether the user has a control right to control the control target robot based on face recognition using the received image, and if the control right exists in the user, the control right It is characterized in that the identification information of the matched robot is checked, and at least one robot corresponding to the checked identification information is specified as the control target robot.

As an example, the cloud server transmits the control command to each of the plurality of control target robots so that the operation according to the gesture is performed in all of the plurality of control target robots when there are a plurality of control target robots. to be characterized

As an example, the cloud server identifies a camera that has photographed the user among cameras disposed in the indoor area, specifies a place where the identified camera is disposed among a plurality of places included in the indoor area, and It is characterized in that at least one robot located at a specific place is specified as the control target robot.

As an example, the plurality of places are places corresponding to different floors in the indoor area, and the cloud server, when the floor on which the identified camera is placed is specified among the different floors, It is characterized in that the control command is transmitted to all of the control target robots located on the specified floor so that an operation according to the gesture is performed in all of the control target robots located on the specific floor.

As an example, the cloud server extracts a motion matched to the gesture from a database, and generates a control command corresponding to the extracted motion so that the extracted motion is performed by the controlled robot.

As an example, when a plurality of gestures are recognized from the received image, the cloud server extracts a plurality of motions respectively corresponding to the plurality of gestures from the database, and the plurality of motions are performed in the controlled robot. It is characterized in that a plurality of control commands respectively corresponding to the plurality of operations are generated to be performed.

As an example, the control unit assigns priorities to the plurality of control commands so that the plurality of operations are sequentially performed in the controlling robot, and the priorities are determined by the plurality of gestures from the received image. It is characterized by being based on the recognized order.

As an example, the cloud server, when a specific robot is recognized in the received image, specifies the recognized specific robot as the control target robot, and at least one other robot of the same type as the specific robot It is characterized in that the control command is transmitted to the at least one other robot located within a predetermined distance from the specific robot so as to be controlled together with the specific robot.

As an example, the cloud server is characterized in that it receives feedback information about an operation corresponding to the control command from the control target robot and transmits the feedback information to the terminal of the user.

A path planning method in a building according to the present invention includes generating a global path planning of a robot for an indoor space based on an indoor map, wherein the generating step comprises: A path planning method characterized by generating the global path plan according to a node designation principle defined based on a social norm.

As an example, in the generating step, the global path plan may be generated using a node and an edge designated as a right-of-way based principle.

As an example, properties including location coordinates and movement directions may be defined in each of the nodes, and properties including movement speeds may be defined in each of the edges.

As an example, the node designation principle may include a designation principle for a passage entry node indicating a right aisle start point in a passage and a passage end node indicating a right aisle end point in a passage.

As an example, the node designation principle includes a door area start node indicating the starting point of the front attention section, a door area end node indicating the end point of the door front attention section, a door passing node indicating a point passing through a door, and a door opening. A designation principle for at least one of a door open protection node indicating an avoiding point, a robot-only path node indicating a point on a robot-only path, a basic passage node indicating a point requiring a separate node designation, and a standby node indicating a waiting position is further specified. can include

As an example, the node designation principle may include an edge designation principle for designating a node and an edge connecting the node as a movement path of the robot.

As an example, the edge designation principle includes a basic edge traveling at the basic speed of the robot, a caution edge driving at a reduced speed below a predetermined ratio of the basic speed, and a high-speed edge traveling at a high speed above a predetermined ratio of the basic speed. It may include designation principles for

As an example, in the edge designation principle, in the case of at least one of an intersection, a doorway, and an elevator hall, an edge of caution driving at a speed below a certain percentage of the basic speed of the robot is designated, and in the case of a robot-only path, the basic speed A high-speed edge that travels at high speed over a certain ratio of can be designated.

As an example, the generating may include generating all vertices of sides offset from the indoor space according to a predetermined offset value as nodes for movement of the robot.

As an example, the generating may include determining a reference point according to the moving direction of the robot and then generating a point offset by a predetermined offset value from the reference point as a node for movement of the robot. .

The present invention provides a non-transitory computer readable recording medium in which a program for executing the path planning method on a computer is recorded.

A computer system comprising at least one processor implemented to execute computer readable instructions contained in a memory, wherein the at least one processor generates a global path plan of a robot for an indoor space based on an indoor map. The computer system is characterized by generating the global route plan according to a node designation principle defined based on social norms for the indoor space.

In the building according to the present invention, the cloud server may be configured to receive a control command from the edge server and operate according to the control command.

As an example, the method of operating the robot may include an operation of wirelessly connecting to an edge server managed by a cloud server, an operation of wirelessly receiving a control command from the edge server, and an operation of driving according to the control command. can

As an example, the edge server includes a communication module configured to communicate with at least one robot and a cloud server configured to manage the edge server, and a processor connected to the communication module, the processor comprising: It may be configured to determine a control command and wirelessly transmit the control command to the robot via the communication module.

As an example, a method of operating an edge server includes, while connected to a cloud server configured to manage at least one edge server, wirelessly connecting to a robot, determining a control command for the robot, and controlling the robot to the robot. It may include transmitting the command wirelessly.

As an example, the cloud server includes a communication module configured to communicate with at least one edge server configured to control at least one end device, and a processor connected to the communication module, wherein the processor includes the communication module Through, it may be configured to receive robot-related data from the edge server and process the data.

As an example, a method of operating a cloud server includes an operation of connecting to at least one edge server configured to control at least one robot, an operation of receiving robot-related data from the edge server, and an operation of processing the data. can include

As an example, a communication system in a building according to the present invention includes at least one robot, at least one edge server configured to wirelessly control the robot, and connected to the edge server and configured to manage the robot and the edge server and a cloud server, wherein the edge server is configured to cooperate with the cloud server to determine a control command and wirelessly transmit the control command to a robot, wherein the robot receives the control command from the edge server wirelessly. and may be configured to drive according to the control command.

A method for driving a communication system in a building according to the present invention includes an operation of the edge server wirelessly connecting to at least one robot while the edge server and the cloud server are connected, the edge server cooperating with the cloud server, and a control command It may include an operation of determining, an operation of wirelessly transmitting the control command to the robot by the edge server, and an operation of driving the robot according to the control command.

The charging pad for charging the robot provided in the building according to the present invention has an input terminal connected to the higher priority charging pad, an output terminal connected to the lower priority charging pad, and a charging pad located on the charging pad according to a set operating state. When the charging unit that charges the robot and the state signal of the priority charging pad are received from the input terminal, the operation state of the charging unit is switched from an operation stop state to an operation standby state, and the robot for the charging unit is in the operation standby state. When occupancy is detected, a control unit for outputting a status signal of the charging pad through the output terminal may be included.

As an example, the charging unit may charge the robot when the robot is located on the charging pad in the operation standby state, and not perform the charging in the operation suspension state.

As an example, the control unit may check the operation state of the charging unit when the state signal is not received from the input terminal, and maintain the operation suspension state when the operation state is the operation suspension state.

As an example, the control unit checks the operating state of the charging unit when the state signal is not received from the input terminal, and if the operating state is the operation standby state, after waiting for a set time, the operation is performed in the operation standby state. It is characterized by switching to a suspended state.

As an example, the control unit may not output the state signal through the output terminal when the occupancy of the robot is not sensed in the operation standby state.

As an example, the control unit determines whether the robot occupies the charging unit by using a charging current generated when charging the charging unit or a detection signal received from a detection sensor that detects a robot located on the charging pad. It is characterized by doing.

As an example, if there is no priority charging pad connected to the input terminal or if the charging pad is set as the highest priority charging pad, the control unit sets the operating state of the charging unit to the operation standby state regardless of whether or not the status signal is received. It is characterized by maintaining as.

As an example, if a building according to the present invention includes a charging station, a plurality of charging arrays in which charging pads are connected in series may be arranged in parallel in the charging station.

A robot located in a building according to the present invention is based on a sensor unit generating sensing data according to movement using a sensor, a driving unit driven by a battery and moving the robot, and location information calculated from the sensing data. When a driving route is set as , a control unit for controlling an operation of the driving unit so that the robot travels according to the driving route may be included.

Here, when the state of charge (SOC) of the battery is less than or equal to a reference value, the driving route may be set to include a charging station as a priority stopover.

Furthermore, when the charging station is included in the priority stopover, the driving route may be set to one-way from an entrance to an exit of the charging station.

As an example, the controller of the robot may control the robot to stop moving when charging of the battery is detected, and to move along the driving route when charging is stopped or charging is completed.

For example, when the robot passes through a charging station in a state where the charge amount of the battery is less than the full charge value, the controller of the robot may reset a priority waypoint within the driving route so that the robot passes the charging station.

As an example, when an obstacle exists on the driving path, the control unit of the robot may control the driving unit to move while avoiding the obstacle.

Furthermore, the robot charging system applied to the building according to the present invention performs autonomous driving, and when the state of charge (SOC) of the battery is less than a reference value, by combining a robot and a plurality of charging pads that travel through the charging station If the priority charging pad in the operation standby state is occupied by the robot and is being charged, the subordinate charging pad is switched to the operation standby state, and when the occupation of the priority charging pad is stopped, the subordinate charging pad is switched to the operation suspension state. It may include a charging station that does.

The robot-friendly building according to the present invention uses a technological convergence in which robots, autonomous driving, AI, and cloud technologies are converged and connected, and these technologies, robots, and facility infrastructure provided in the building are organically combined A new space can be provided.

This new space implements a new service in which the space itself becomes an assistant, and can present a new standard as a robot-friendly building.

Furthermore, the robot-friendly building according to the present invention can expand the types and ranges of services that can be provided by robots by providing a robot-friendly facility infrastructure that can be used by robots.

Furthermore, the robot-friendly building according to the present invention can systematically manage the driving of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud server that works in conjunction with a plurality of robots. can Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless form controlled by a cloud server, and according to this, a plurality of robots disposed in the building can be inexpensively manufactured without expensive sensors. In addition, it can be controlled with high performance/high precision.

Furthermore, in the building according to the present invention, robots and humans can naturally coexist in the same space by taking into account the tasks and movement situations assigned to a plurality of robots arranged in the building, as well as driving to be considerate of people.

Furthermore, in the building according to the present invention, by performing various controls to prevent accidents by robots and respond to unexpected situations, it is possible to give people a perception that robots are friendly and safe, not dangerous.

1, 2 and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention.
4, 5 and 6 are conceptual diagrams for explaining a robot driving a robot-friendly building and a system for controlling various facilities provided in the robot-friendly building according to the present invention.
7 and 8 are conceptual diagrams for explaining facility infrastructure provided in a robot-friendly building according to the present invention.
9 to 11 are conceptual diagrams for explaining a method of estimating the position of a robot traveling in a robot-friendly building according to the present invention.
12 to 17 are conceptual diagrams for explaining map information used to use a moving path of a robot in a robot-friendly building according to the present invention.
18 to 22 are conceptual diagrams for explaining a method of remotely monitoring the driving of a robot in a robot-friendly building according to the present invention.
23 to 30 are conceptual diagrams for explaining a method of monitoring and controlling the driving of a robot in a robot-friendly building according to the present invention.
31 are conceptual diagrams for explaining a facility infrastructure supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.
32 to 42 are conceptual diagrams for explaining a robot-only passage according to an embodiment of supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.
43 is a conceptual diagram for explaining a path dedicated to robots according to another embodiment supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.
44 and 45 are conceptual diagrams for explaining a robot-only passage according to another embodiment of supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.
46 are conceptual diagrams for explaining a facility infrastructure supporting movement of a robot in a vertical direction in a robot-friendly building according to the present invention.
47 and 48 are conceptual diagrams for explaining an elevator control system for boarding a robot in a robot-friendly building according to the present invention.
49 to 52 are conceptual diagrams for explaining a robot-only elevator applied to a robot-friendly building according to the present invention.
53a is a conceptual diagram showing a charging or standby state of a robot riding an elevator provided in a robot-friendly building according to the present invention, and 53b is a method for identifying and tracking the boarding of a robot riding on a carrier/service provision by the robot. It is a conceptual diagram that represents
54 and 55 are conceptual diagrams for explaining a method of outputting an indicator on an external user interface associated with an elevator provided in a robot-friendly building according to the present invention.
56 is a conceptual diagram for explaining a method in which a robot provides a service through an elevator control system provided in a robot-friendly building according to the present invention.
57 is a conceptual diagram illustrating a method of performing maintenance of a robot through an elevator control system provided in a robot-friendly building according to the present invention.
58 is a conceptual diagram for explaining a method in which a plurality of robots move between floors in a building through an elevator control system provided in a robot-friendly building according to the present invention.
59 is a conceptual diagram for explaining a control method of an elevator control system in a case where an elevator control system is operated in a high-rise part and a low-rise part of a robot-friendly building, respectively, according to the present invention.
60 shows an example of a structure of a robot-only elevator including a front room space in an elevator provided in a robot-friendly building according to the present invention.
61 and 62 illustrate examples of nodes referred to by a robot for movement in relation to getting on and off an elevator in a robot-friendly building according to the present invention.
63 to 68 are flowcharts illustrating a method of controlling a robot-only elevator provided in a robot-friendly building according to the present invention.
69 is a conceptual diagram for explaining an elevator control environment for boarding a robot in a robot-friendly building according to the present invention.
70 is a flowchart illustrating a method of controlling an elevator for boarding a robot in a robot-friendly building according to the present invention.
71 is a flowchart illustrating a method of recalling an elevator according to whether or not a robot can board the called elevator in a robot-friendly building according to the present invention.
72 is a flowchart illustrating a method of recalling an elevator according to whether a waiting space of an elevator to be called is crowded in a robot-friendly building according to the present invention.
73 is a flowchart illustrating a method of setting an elevator to be callable/unavailable depending on whether a robot can board an elevator to be called in a robot-friendly building according to the present invention.
74 is a flowchart illustrating a method of calling an elevator for boarding of a corresponding robot and controlling boarding of the robot by a control system for controlling a robot in a robot-friendly building according to the present invention.
75 illustrates a method for a plurality of robots to get on and off an elevator in a robot-friendly building according to the present invention.
76 is a conceptual diagram for explaining an external interface provided in an elevator in a robot-friendly building according to the present invention.
77 is a conceptual diagram for explaining an internal interface provided in an elevator in a robot-friendly building according to the present invention.
78 to 86 are conceptual diagrams for explaining a method of boarding a robot at an optimal position of an elevator in a robot-friendly building according to the present invention.
87 to 89 are conceptual diagrams for explaining a method of performing control related to a robot using an access control system in a robot-friendly building according to the present invention.
90 to 93 are conceptual diagrams for explaining a method for providing functions for operation, performance maintenance, and cleaning of a robot in a robot-friendly building according to the present invention.
94 is a conceptual diagram for explaining a facility infrastructure providing a delivery service built in a robot-friendly building according to the present invention.
95 and 96 are conceptual diagrams for explaining a path dedicated to robots that support movement of robots in a horizontal direction in a facility infrastructure providing a delivery service built in a robot-friendly building according to the present invention.
97 to 108 are conceptual diagrams for explaining a method of providing a delivery service using a facility infrastructure for providing a delivery service built in a robot-friendly building according to the present invention.
109 to 114 are conceptual diagrams for explaining a method of controlling a robot providing services to users in a robot-friendly building according to the present invention.
115 to 124 are conceptual views for explaining a method of remotely controlling robots traveling in a robot-friendly building according to the present invention.
125 to 137 are conceptual diagrams for explaining a method of controlling driving of a robot based on social norms in a robot-friendly building according to the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same reference numerals will be assigned to the same or similar components regardless of reference numerals, and overlapping descriptions thereof will be omitted. The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves. In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as "comprise" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

The present invention relates to a robot-friendly building, and proposes a robot-friendly building in which humans and robots safely coexist and in which robots can provide beneficial services in a building.

More specifically, the present invention provides a method of providing useful services to humans using robots, robot-friendly infrastructure, and various systems for controlling them. In the building according to the present invention, humans and a plurality of robots can coexist, and various infrastructures (or facility infrastructures) that allow a plurality of robots to move freely within the building can be provided.

In the present invention, a building is a structure made for continuous residence, life, work, etc., and may have various forms such as commercial buildings, industrial buildings, institutional buildings, and residential buildings. Also, the building may be a multi-story building having a plurality of floors and a single-story building as opposed to a multi-story building. However, in the present invention, for convenience of description, infrastructure or facility infrastructure applied to a multi-story building will be described as an example.

In the present invention, infrastructure or facility infrastructure is a facility provided in a building for service provision, robot movement, function maintenance, cleanliness maintenance, and the like, and its types and forms can be very diverse. For example, infrastructure provided in a building may be diverse, such as mobile facilities (eg, robot moving passages, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, structures (eg, stairs, etc.), and the like. have. In this specification, these facilities are referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and in some cases, the terms are used interchangeably.

Furthermore, in the building according to the present invention, at least one of the building, various facility infrastructures, and robots provided in the building are controlled in conjunction with each other, so that the robot can safely and accurately provide various services within the building.

In the present invention, various facility infrastructures are provided that allow multiple robots to drive in a building, provide services according to missions (or tasks), standby or charge functions as needed, and furthermore support repair and cleaning functions for robots. proposed building. This building provides an integrated solution (or system) for the robot, and the building according to the present invention can be named with various modifiers. For example, the building according to the present invention includes i) a building equipped with robot-used infrastructure, ii) a building equipped with robot-friendly infrastructure, iii) a robot-friendly building, iv) a building where robots and humans live together, v) It can be expressed in various ways, such as a building that provides various services using robots.

On the other hand, in the present invention, the meaning of “robot-friendly” is for a building where robots coexist, and more specifically, allows robots to run, robots provide services, or facility infrastructure in which robots can be used is built. , it can mean that facility infrastructure that provides necessary functions for robots (ex: charging, repairing, washing, etc.) is established. In this case, “robot friendliness” in the present invention can be used to mean having an integrated solution for the coexistence of robots and humans.

Hereinafter, together with the accompanying drawings, look at the present invention in more detail.

1, 2, and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention, and FIGS. 4, 5, and 6 are a robot driving the robot-friendly building and a robot-friendly building according to the present invention. These are conceptual diagrams for explaining a system that controls various facilities provided in Furthermore, FIGS. 7 and 8 are conceptual diagrams for explaining facility infrastructure provided in a robot-friendly building according to the present invention.

First, for convenience of description, representative reference numerals will be defined.

In the present invention, the reference numeral “1000” is assigned to a building, and the reference numeral “10” is assigned to a space (indoor space or indoor area) of the building 1000 (see FIG. 8). Furthermore, reference numerals 10a, 10b, and 10c are assigned to indoor spaces respectively corresponding to a plurality of floors constituting the indoor space of the building 1000 (see FIG. 8). In the present invention, an indoor space or an indoor area is a concept opposite to the exterior of a building, and refers to the interior of a building protected by an exterior wall, and is not limited to meaning a space.

Furthermore, in the present invention, a robot is assigned a reference numeral “R”, and even if a reference numeral is not written for a robot in the drawings or specifications, all robots can be understood as robots (R).

Furthermore, in the present invention, a person or human is given a reference numeral “U”, and a person or human can be named as a dynamic object. At this time, the dynamic object does not necessarily mean only a person, but an animal such as a dog or cat, or at least one other robot (eg, a user's personal robot, a robot providing other services, etc.), a drone, a vacuum cleaner (eg, a user's personal robot, a robot that provides other services, etc.) For example, it can be taken as a meaning including objects capable of movement, such as a robot vacuum cleaner.

On the other hand, the building (建物, building, structure, edifice, 1000) described in the present invention is not limited to a particular type, and is a structure built for people to live in, work, breed animals, or put things. can mean

For example, the building 1000 may be offices, offices, officetels, apartments, residential/commercial apartments, houses, schools, hospitals, restaurants, government offices, etc., and the present invention may be applied to these various types of buildings.

As shown in FIG. 1 , in the building 1000 according to the present invention, a robot may run and provide various services.

A plurality of robots of one or more different types may be located in the building 1000, and these robots run in the building 1000 under the control of the server 20, provide services, and provide services to the building ( 1000) can use various facility infrastructures.

In the present invention, the location of the server 20 may exist in various ways. For example, the server 20 may be located in at least one of an interior of the building 1000 and an exterior of the building 1000 . That is, at least a part of the server 20 may be located inside the building 1000 and the other part may be located outside the building 1000 . Alternatively, the server 20 may be located entirely inside the building 1000 or located only outside the building 1000 . Therefore, in the present invention, the specific location of the server 20 is not particularly limited.

Furthermore, in the present invention, the server 20 is made to use at least one of a cloud computing server (cloud server 21) and an edge computing server (edge server 22). can Furthermore, the server 20 can be applied to the present invention as long as it is a method capable of controlling a robot in addition to a cloud computing or edge computing method.

On the other hand, the server 20 according to the present invention, in some cases, by mixing the server 21 of the cloud computing method and the edge computing method, among the facility infrastructure provided in the robot and the building 1000 Control of at least one can be performed.

Meanwhile, looking at the cloud server 21 and the edge server 22 in more detail, the edge server 22 is an electronic device and may operate as a brain of the robot R. That is, each edge server 22 may wirelessly control at least one robot R. At this time, the edge server 22 may control the robot R based on the determined control period. The control period may be determined as the sum of time given to process data related to the robot R and time given to provide control commands to the robot R. The cloud server 21 may manage at least one of the robot R or the edge server 22 . At this time, the edge server 22 may operate as a server corresponding to the robot R, and may operate as a client corresponding to the cloud server 21.

The robot R and the edge server 22 may communicate wirelessly, and the edge server 22 and the cloud server 21 may communicate wired or wirelessly. At this time, the robot R and the edge server 22 may communicate through a wireless network capable of ultra-reliable and low latency communications (URLLC). For example, the wireless network may include at least one of a 5G network and WiFi-6 (WiFi ad/ay). Here, the 5G network may have features capable of ultra-reliable low-latency communication, as well as enhanced mobile broadband (eMBB) and massive machine type communications (mMTC). For example, the edge server 22 includes a mobile edge computing, multi-access edge computing (MEC) server and may be disposed in a base station. Through this, latency according to communication between the robot R and the edge server 22 can be reduced. At this time, in the control period of the edge server 22, as the time given to provide a control command to the robot R is shortened, the time given to process data may be extended. Meanwhile, the edge server 22 and the cloud server 21 may communicate through a wireless network such as the Internet.

Meanwhile, in some cases, a plurality of edge servers may be connected through a wireless mesh network, and functions of the cloud server 21 may be distributed to the plurality of edge servers. In this case, for a certain robot R, one of the edge servers operates as an edge server 22 for the robot R, and at least another one of the edge servers cooperates with any one of the edge servers. , can operate as a cloud server 21 for the robot R.

The network or communication network formed in the building 1000 according to the present invention includes at least one robot R configured to collect data, at least one edge server 22 configured to wirelessly control the robot R, and It may include communication between the cloud server 21 connected to the edge server 22 and configured to manage the robot R and the edge server 22 .

The edge server 22 may be configured to wirelessly receive the data from the robot R, determine a control command based on the data, and wirelessly transmit the control command to the robot R.

According to various embodiments, the edge server 22 determines whether to cooperate with the cloud server 21 based on the data, and if it is determined that there is no need to cooperate with the cloud server 21, the edge server 22 controls the predetermined within a period, it may be configured to determine the control command and transmit the control command.

According to various embodiments, the edge server 22 may be configured to determine the control command by communicating with the cloud server 21 based on the data when it is determined that cooperation with the cloud server 21 is required. have.

The edge server 22 may be connected to the cloud server 21 and the robot R through a communication network. The edge server 22 may be connected to the robot R while being connected to the cloud server 21 . At this time, the edge server 22 may be connected to the cloud server 21 wired or wirelessly, and may be connected to the robot R wirelessly. Here, the edge server 22 may be connected to the robot R through a wireless network capable of ultra-reliable low-latency communication (URLLC).

The robot R may transmit the first data to the edge server 22 . To this end, the robot R may collect first data. The first data may include at least one of sensing data on the external environment of the robot R and state data on the robot R.

The edge server 22 may process the first data received from the robot R. At this time, the edge server 22 may detect the second data based on the first data. The second data may include at least one of a processing result of the first data or a query for the robot R. And the edge server 22 may transmit the second data to the cloud server 21 .

The cloud server 21 may process second data received from the edge server 22 . At this time, the cloud server 21 may detect third data corresponding to the second data. The third data may include at least one of a result of processing the second data or a response to a request for the robot R. Here, the cloud server 21 may detect the third data from the second data by using a machine learning model. Additionally, the cloud server 21 may perform machine learning with the second data to update the machine learning model. According to an example, the cloud server 21 may transmit third data to the edge server 22 .

The edge server 22 may determine a control command for the robot R. At this time, the edge server 22 may determine a control command based on at least one of the first data and the third data. As an example, the edge server 22 may determine a control command based on third data received from the cloud server 21 . The control command may be for controlling the movement of the robot R, or may be for software update. According to another example, the edge server 22 may process the second data. At this time, the edge server 22 may detect third data based on the second data and determine a control command based on the third data. Here, the edge server 22 may detect the third data from the second data by using a machine learning model. Additionally, the edge server 22 may perform machine learning with the second data to update the machine-learned model. The control command may be for controlling the movement of the robot R. And the edge server 22 may transmit a control command to the robot R.

Meanwhile, the robot R may be driven according to a control command. For example, the robot R may move a location or change a posture by changing a movement, and may perform a software update.

In the present invention, for convenience of description, the server 20 is uniformly named as a “cloud server” and reference numeral “20” is given. On the other hand, of course, such a cloud server 20 can also be replaced with the term edge server 22 of edge computing.

Furthermore, the term “cloud server” may be variously changed to terms such as a cloud robot system, a cloud system, a cloud robot control system, and a cloud control system.

Meanwhile, the cloud server 20 according to the present invention can perform integrated control of a plurality of robots traveling in the building 1000 . That is, the cloud server 20 performs monitoring of i) a plurality of robot robots (R) located in the building 1000, ii) assigns a mission (or task) to the plurality of robots, and iii) a plurality of The facility infrastructure provided in the building 1000 may be directly controlled so that the robot R may successfully perform its mission, or iv) the facility infrastructure may be controlled through communication with a control system that controls the facility infrastructure.

Furthermore, the cloud server 20 may check state information of robots located in the building and provide (or support) various functions required for the robots. Here, various functions may include a charging function for robots, a washing function for contaminated robots, a standby function for robots whose missions have been completed, and the like.

The cloud server 20 may control the robots so that the robots use various facility infrastructures provided in the building 1000 to provide various functions to the robots. Furthermore, in order to provide various functions to the robots, the cloud server can directly control the facility infrastructure provided in the building 1000 or control the facility infrastructure through communication with a control system that controls the facility infrastructure. have.

In this way, robots controlled by the cloud server 20 may drive the building 1000 and provide various services.

Meanwhile, the cloud server 20 may perform various controls based on information stored in the database, and in the present invention, the type and location of the database are not particularly limited. The terms of such a database can be freely modified and used as long as they refer to a means for storing information, such as a memory, a storage unit, a storage unit, a cloud storage unit, an external storage unit, and an external server. Hereinafter, the term “database” will be unified and explained.

Meanwhile, the cloud server 20 according to the present invention may perform distributed control of robots based on various criteria such as the type of service provided by robots and the type of control for robots. In this case, the cloud server 20 ) may have subordinate sub-servers of sub-concepts.

Furthermore, the cloud server 20 according to the present invention may control the robot traveling in the building 1000 based on various artificial intelligence algorithms.

Furthermore, the cloud server 20 performs artificial intelligence-based learning that utilizes data collected in the process of controlling the robot as learning data, and utilizes this to control the robot. It can be operated accurately and efficiently. That is, the cloud server 20 may be configured to perform deep learning or machine learning. In addition, the cloud server 20 may perform deep learning or machine learning through simulation, etc., and control the robot using an artificial intelligence model built as a result.

On the other hand, the building 1000 may be equipped with various facility infrastructures for robot driving, providing robot functions, maintaining robot functions, performing missions of robots, or coexistence of robots and humans.

For example, as shown in (a) of FIG. 1 , various facility infrastructures 1 and 2 capable of supporting driving (or movement) of the robot R may be provided in the building 1000 . These facility infrastructures 1 and 2 support movement of the robot R in the horizontal direction within a floor of the building 1000, or move the robot R vertically between different floors of the building 1000. can support movement. In this way, the facility infrastructures 1 and 2 may have a transport system that supports movement of the robot. The cloud server 20 controls the robot R to use these various facility infrastructures 1 and 2, and as shown in FIG. 1 (b), the robot R provides a building ( 1000) can be moved.

Meanwhile, the robots according to the present invention may be controlled based on at least one of the cloud server 20 and a control unit provided in the robot itself, so as to travel within the building 1000 or provide services corresponding to assigned tasks. have.

Furthermore, as shown in (c) of FIG. 1, the building according to the present invention is a building in which robots and people coexist, and the robots are people (U) and objects used by people (for example, strollers, carts, etc.) , It is made to drive avoiding obstacles such as animals, and in some cases, it can be made to output notification information (3) related to the robot's driving. The driving of the robot may be made to avoid an obstacle based on at least one of the cloud server 20 and a control unit provided in the robot. The cloud server 20 allows the robot to avoid obstacles and enter the building 1000 based on information received through various sensors (eg, a camera (image sensor), proximity sensor, infrared sensor, etc.) provided in the robot. You can control the robot to move.

In addition, the robot traveling in the building through the process of FIG. 1 (a) to (c) is configured to provide services to people or target objects present in the building, as shown in FIG. 1 (d). can

The type of service provided by the robot may be different for each robot. That is, various types of robots may exist depending on the purpose, the robot may have a different structure for each purpose, and a program suitable for the purpose may be installed in the robot.

For example, the building 1000 includes delivery, logistics work, guidance, interpretation, parking assistance, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage preparation, food preparation, serving, fire suppression, and medical assistance. And robots providing at least one of entertainment services may be disposed. Services provided by robots may be various other than the examples listed above.

Meanwhile, the cloud server 20 may assign an appropriate task to the robots in consideration of the purpose of each robot, and control the robots to perform the assigned task.

At least some of the robots described in the present invention may drive or perform missions under the control of the cloud server 20, and in this case, the amount of data processed by the robot itself to drive or perform missions may be minimized. have. In the present invention, such a robot may be referred to as a brainless robot. These brainless robots may depend on the control of the cloud server 20 for at least some control in performing actions such as driving, performing missions, performing charging, waiting, and washing within the building 1000 .

However, in this specification, the brainless robots are not classified and named, but all are unified and named as “robots”.

As described above, the building 1000 according to the present invention may be equipped with various facility infrastructures that can be used by robots, and as shown in FIGS. 2, 3 and 4, the facility infrastructure is disposed within the building 1000. In this case, through interworking with the building 1000 and the cloud server 20, movement (or driving) of the robot may be supported or various functions may be provided to the robot.

More specifically, the facility infrastructure may include facilities for supporting movement of the robot within a building.

Facilities supporting the movement of the robot may have any one of a robot-specific facility exclusively used by the robot and a common facility used jointly with humans.

Furthermore, facilities supporting movement of the robot may support movement of the robot in a horizontal direction or support movement of the robot in a vertical direction. The robots may move horizontally or vertically using facilities within the building 1000 . Movement in the horizontal direction may mean movement within the same floor, and movement in the vertical direction may mean movement between different floors. Therefore, in the present invention, moving up and down within the same layer may be referred to as horizontal movement.

Facilities supporting the movement of the robot may be various, and for example, as shown in FIGS. 2 and 3 , the building 1000 includes a robot passage (robot road, 201) supporting the movement of the robot in the horizontal direction. , 202, 203) may be provided. Such a robot passage may include a robot-only passage exclusively used by the robot. On the other hand, the passage dedicated to the robot can be formed so that human access is fundamentally blocked, but may not necessarily be limited thereto. That is, the passage dedicated to the robot may have a structure that allows people to pass through or approach it.

Meanwhile, as shown in FIG. 3 , the passage dedicated to the robot may include at least one of a first exclusive passage (or first type passage 201 ) and a second exclusive passage (or second type passage 202 ). The first exclusive passage and the second exclusive passage 201, 202 may be provided together on the same floor or may be provided on different floors.

The first exclusive passage 201 and the second exclusive passage 202 may have different heights relative to the floor of the building.

When the first exclusive passage and the second exclusive passage 201, 202 are provided (or disposed) on the same floor, at least a portion of the first exclusive passage 201 overlaps at least a portion of the second exclusive passage 202. It can be done. In this case, an area between the first exclusive passage 201 and the second exclusive passage 202 overlapping may be made of an empty space, and a person may pass between the empty spaces.

As another example, as shown in FIGS. 2 and 3 , the building 1000 may be provided with moving means 204 and 205 that support movement of the robot in a vertical direction. These moving means (204, 205) may include at least one of an elevator (elevator) or an escalator (escalator). The robot may move between different floors using an elevator 204 or an escalator 205 provided in the building 1000 .

On the other hand, such an elevator 204 or escalator 205 may be made exclusively for robots, or may be made for common use with people.

For example, the building 1000 may include at least one of a robot-only elevator and a shared elevator. Similarly, furthermore, at least one of a robot-only escalator and a shared escalator may be included in the building 1000 .

On the other hand, the building 1000 may be equipped with a type of movement means that can be used for both vertical and horizontal movement. For example, a moving means in the form of a moving walkway may support a robot to move in a horizontal direction within a floor or to move in a vertical direction between floors.

The robot may move within the building 1000 horizontally or vertically under its own control or under the control of the cloud server 20. can move me

Furthermore, the building 1000 may include at least one of an entrance door 206 (or automatic door) and an access control gate 207 that control access to the building 1000 or a specific area within the building 1000 . At least one of the door 206 and the access control gate 207 may be made usable by a robot. The robot may pass through an entrance door (or automatic door, 206) or an access control gate 207 under the control of the cloud server 20.

Meanwhile, the access control gate 207 may be named in various ways, such as a speed gate.

Furthermore, the building 1000 may further include a waiting space facility 208 corresponding to a waiting space where the robot waits, a charging facility 209 for charging the robot, and a washing facility 210 for cleaning the robot. .

Furthermore, the building 1000 may include a facility 211 specialized for a specific service provided by the robot, and may include, for example, a facility for delivery service.

In addition, the building 1000 may include facilities for monitoring the robot (refer to reference numeral 212), and various sensors (eg, cameras (or image sensors, 121)) may be present as examples of such facilities.

As reviewed together with FIGS. 2 and 3 , the building 1000 according to the present invention may be provided with various facilities for service provision, robot movement, driving, function maintenance, cleanliness maintenance, and the like.

Meanwhile, as shown in FIG. 4, the building 1000 according to the present invention is interconnected with the cloud server 20, the robot R, and the facility infrastructure 200, so that the robots within the building 1000 provide various services. Of course, it is possible to properly use the facilities for this purpose.

Here, "interconnected" means that various data and control commands related to services provided in a building, robot movement, driving, function maintenance, cleanliness maintenance, etc. are transmitted from at least one subject to another through a network (or communication network). It may mean unidirectional or bidirectional transmission and reception to at least one subject.

Here, the subject may be the building 1000, the cloud server 20, the robot R, the facility infrastructure 200, and the like.

Furthermore, the facility infrastructure 200 includes at least one of the various facilities (refer to reference numerals 201 to 213) and control systems 201a, 202a, 203a, 204a, ... that control the various facilities reviewed together with FIGS. 2 and 3. can do.

The robot R traveling in the building 1000 is made to communicate with the cloud server 20 through the network 40, and can provide services within the building 1000 under the control of the cloud server 20. .

More specifically, the building 1000 may include a building system 1000a for communicating with or directly controlling various facilities provided in the building 1000 . As shown in FIG. 4 , the building system 1000a may include a communication unit 110 , a sensing unit 120 , an output unit 130 , a storage unit 140 and a control unit 150 .

The communication unit 110 forms at least one of a wired communication network and a wireless communication network within the building 1000, i) between the cloud server 20 and the robot R, ii) between the cloud server 20 and the building 1000 , iii) between the cloud server 20 and the facility infrastructure 200, iv) between the facility infrastructure 200 and the robot R, and v) between the facility infrastructure 200 and the building 1000. That is, the communication unit 110 may serve as a medium of communication between different subjects. The communication unit 110 may also be named a base station, a router, and the like, and the communication unit 110 allows the robot R, the cloud server 20, and the facility infrastructure 200 to communicate with each other within the building 1000. It is possible to form a communication network or network so that

Meanwhile, in this specification, being connected to the building 1000 through a communication network may mean being connected to at least one of the components included in the building system 1000a.

As described above, as shown in FIG. 5 , the plurality of robots R disposed in the building 1000 are configured through at least one of a wired communication network and a wireless communication network formed through the communication unit 110, a cloud server ( 20), it can be made to be remotely controlled by the cloud server 20. A communication network such as a wired communication network or a wireless communication network may be understood as a network 40 .

In this way, the building 1000, the cloud server 20, the robot R, and the facility infrastructure 200 may form the network 40 based on the communication network formed within the building 1000. Based on this network, the robot R may provide services corresponding to assigned tasks using various facilities provided in the building 1000 under the control of the cloud server 20 .

On the other hand, the facility infrastructure 200 includes at least one of the various facilities (see reference numerals 201 to 213) and control systems 201a, 202a, 203a, 204a, ... that control them, respectively, as reviewed with FIGS. 2 and 3 (Such a control system may also be termed a “control server”).

As shown in Figure 4, different types of equipment may have their own control system. For example, in the case of a robot passage (or robot passage, robot road, robot passage, 201, 202, 203), control systems 201a and 202a for independently controlling the robot passages 201, 202 and 203 respectively , 203a) exists, and in the case of an elevator (or a robot-only elevator, 204), a control system 204 for controlling the elevator 204 may exist.

These unique control systems for controlling the facilities communicate with at least one of the cloud server 20, the robot R, and the building 1000, and appropriately control each facility so that the robot R uses the facilities. can be performed.

Meanwhile, the sensing units 201b, 202b, 203b, 204b, ... included in each of the facility control systems 201a, 202a, 203a, 204a, ... are provided in the facility itself to sense various information related to the facility. It can be done.

Furthermore, the controllers 201c, 202c, 203c, 204c, ... included in each facility control system 201a, 202a, 203a, 204a, ... perform control for driving each facility, and the cloud server 20 ), it is possible to perform appropriate control so that the robot R uses the facility. For example, the control system 204b of the elevator 204, through communication with the cloud server 20, allows the robot R to board the elevator 204 at the floor where the robot R is located, the elevator 204 ) can control the elevator 204 to stop.

At least some of the control units 201c, 202c, 203c, 204c, ... included in each facility control system 201a, 202a, 203a, 204a, ... Together, they may be located within the building 1000 or located outside the building 1000.

Furthermore, it is also possible that at least some of the facilities included in the building 1000 according to the present invention are controlled by the cloud server 20 or the control unit 150 of the building 1000 . In this case, the facility may not have a separate facility control system.

In the following description, each facility will be described as having its own control system, but as mentioned above, the role of the control system for controlling the facility is that of the cloud server 20 or building 1000. Of course, it can be replaced by the control unit 150. In this case, the terms of the controllers 201c, 202c, 203c, 204c, ... of the facility control system described herein are replaced with terms of the cloud server 20 or the controller 150 or the controller 150 of the building. Of course, it can be expressed as

Meanwhile, the components of each facility control system 201a, 202a, 203a, 204a, ... in FIG. 4 are for an example, and various components may be added or excluded according to the characteristics of each facility.

As such, in the present invention, the robot R, the cloud server 20, and the facility control systems 201a, 202a, 203a, 204a, ... provide various services within the building 1000 using the facility infrastructure.

In this case, the robot R mainly travels in a building to provide various services. To this end, the robot R may include at least one of a body unit, a driving unit, a sensing unit, a communication unit, an interface unit, and a power supply unit.

The body part includes a case (casing, housing, cover, etc.) constituting the exterior. In this embodiment, the case may be divided into a plurality of parts, and various electronic components are embedded in the space formed by the case. In this case, the body part may be formed in different shapes according to various services exemplified in the present invention. For example, in the case of a robot providing a delivery service, a container for storing goods may be provided on the upper part of the body part. As another example, in the case of a robot providing a cleaning service, a suction port for sucking in dust using a vacuum may be provided at the lower part of the body.

The driving unit is configured to perform a specific operation according to a control command transmitted from the cloud server 20 .

The driving unit provides a means for moving the body of the robot within a specific space in relation to driving. More specifically, the drive unit includes a motor and a plurality of wheels, which are combined to perform functions of driving, changing direction, and rotating the robot R. As another example, the driving unit may include at least one of an end effector, a manipulator, and an actuator to perform an operation other than driving, such as pickup.

The sensing unit may include one or more sensors for sensing at least one of information within the robot (particularly, a driving state of the robot), environment information surrounding the robot, location information of the robot, and user information.

For example, the sensing unit may include a camera (image sensor), a proximity sensor, an infrared sensor, a laser scanner (lidar sensor), an RGBD sensor, a geomagnetic sensor, an ultrasonic sensor, an inertial sensor, a UWB sensor, and the like.

The communication unit of the robot transmits and receives wireless signals from the robot to perform wireless communication between the robot R and the communication unit of the building, between the robot R and other robots, or between the robot R and the control system of the facility. done to do As such an example, the communication unit may include a wireless Internet module, a short-distance communication module, a location information module, and the like.

The interface unit may be provided as a passage through which the robot R may be connected to an external device. For example, the interface unit may be a terminal (charging terminal, connection terminal, power terminal), port, or connector. The power supply unit may be a device that supplies power to each component included in the robot R by receiving external power and internal power. As another example, the power supply unit may be a device that generates electric energy inside the robot R and supplies it to each component.

In the above, the robot R has been described based on mainly traveling inside a building, but the present invention is not necessarily limited thereto. For example, the robot of the present invention may be in the form of a robot flying in a building, such as a drone. More specifically, a robot providing a guidance service may provide guidance about a building to a person while flying around a person in a building.

Meanwhile, the overall operation of the robot of the present invention is controlled by the cloud server 20. In addition to this, the robot may have a separate control unit as a lower controller of the cloud server 20 . For example, the control unit of the robot receives a driving control command from the cloud server 20 and controls the driving unit of the robot. In this case, the control unit may calculate the torque or current to be applied to the motor using data sensed by the sensing unit of the robot. Using the calculated result, a motor, etc. is driven by a position controller, speed controller, current controller, etc., and through this, the robot performs control commands of the cloud server 20.

Meanwhile, in the present invention, the building 1000 may include a building system 1000a for communicating with or directly controlling various facilities provided in the building 1000 . As shown in FIGS. 4 and 5 , the building system 1000a may include at least one of a communication unit 110, a sensing unit 120, an output unit 130, a storage unit 140, and a control unit 150. can

The communication unit 110 forms at least one of a wired communication network and a wireless communication network within the building 1000, i) between the cloud server 20 and the robot R, ii) between the cloud server 20 and the building 1000 , iii) between the cloud server 20 and the facility infrastructure 200, iv) between the facility infrastructure 200 and the robot R, and v) between the facility infrastructure 200 and the building 1000. That is, the communication unit 110 may serve as a medium of communication between different subjects.

As shown in FIGS. 5 and 6 , the communication unit 110 is configured to include at least one of a mobile communication module 111, a wired Internet module 112, a wireless Internet module 113, and a short-distance communication module 114. can

The communication unit 110 may support various communication methods based on the communication modules listed above.

For example, the mobile communication module 111 complies with technical standards or communication schemes for mobile communications (eg, 5G, 4G, GSM (Global System for Mobile communication), CDMA (Code Division Multi Access) ), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access) ), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc.) building system (1000a), cloud server 20, robot (R) and facility infrastructure (200) on a mobile communication network built according to It may be made to transmit and receive at least one of the wireless signals. At this time, as a more specific example, the robot R may transmit and receive radio signals with the mobile communication module 111 using the communication unit of the robot R described above.

Next, the wired Internet module 112 is a method of providing communication in a wired manner, and transmits and receives signals with at least one of the cloud server 20, the robot R, and the facility infrastructure 200 via a physical communication line as a medium. It can be done.

Furthermore, the wireless Internet module 113 is a concept including the mobile communication module 111 and may mean a module capable of accessing the wireless Internet. The wireless Internet module 113 is disposed in the building 1000 and wirelessly communicates with at least one of the building system 1000a, the cloud server 20, the robot R, and the facility infrastructure 200 in a communication network according to wireless Internet technologies. made to transmit and receive signals.

Wireless Internet technology can be very diverse, and the communication technology of the mobile communication module 111 described above, as well as WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), and WiMAX (World Interoperability for Microwave Access). Furthermore, in the present invention, the wireless Internet module 113 transmits and receives data according to at least one wireless Internet technology within a range including Internet technologies not listed above.

Next, the short-range communication module 114 is for short-range communication, and includes Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), and ZigBee. , NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) using at least one technology, the building system (1000a), the cloud server (20), Short-range communication may be performed with at least one of the robot R and the facility infrastructure 200 .

The communication unit 110 may include at least one of the communication modules described above, and these communication modules may be disposed in various spaces inside the building 1000 to form a communication network. Through this communication network, i) cloud server 20 and robot (R), ii) cloud server 20 and building 1000, iii) cloud server 20 and facility infrastructure (200, iv) facility infrastructure (200 ) and the robot (R), v) the facility infrastructure 200 and the building 1000 may be made to communicate with each other.

Next, the building 1000 may include a sensing unit 120, and this sensing unit 120 may include various sensors. At least some of the information sensed through the sensing unit 120 of the building 1000 is transferred to at least one of the cloud server 20, the robot R, and the facility infrastructure 200 through a communication network formed through the communication unit 110. can be sent as one. At least one of the cloud server 20, the robot R, and the facility infrastructure 200 controls the robot R or the facility infrastructure 200 using information sensed through the sensing unit 120. can

The types of sensors included in the sensing unit 120 may be very diverse. The sensing unit 120 may be provided in the building 1000 to sense various pieces of information about the building 1000 . The information sensed by the sensing unit 120 may be information about the robot R traveling the building 1000, people located in the building 1000, obstacles, etc., and various environmental information related to the building (eg, For example, temperature, humidity, etc.).

As shown in FIG. 5 , the sensing unit 120 includes an image sensor 121, a microphone 122, a bio sensor 123, a proximity sensor 124, an illuminance sensor 125, an infrared sensor 126, a temperature At least one of the sensor 127 and the humidity sensor 128 may be included.

Here, the image sensor 121 may correspond to a camera. As reviewed in FIG. 3 , a camera corresponding to the image sensor 121 may be disposed in the building 1000 . In this specification, the same reference numeral “121” as that of the image sensor 121 is assigned to the camera.

Meanwhile, the number of cameras 121 disposed in the building 1000 is not limited. The types of cameras 121 disposed in the building 1000 may vary, and as an example, the camera 121 disposed in the building 1000 may be a closed circuit television (CCTV). Meanwhile, that the camera 121 is disposed in the building 1000 may mean that the camera 121 is disposed in the indoor space 10 of the building 1000 .

Next, the microphone 122 may be configured to sense various sound information generated in the building 1000 .

The biosensor 123 is for sensing biometric information and may sense biometric information (eg, fingerprint information, face information, iris information, etc.) of a person or animal located in the building 1000 .

The proximity sensor 124 may be configured to sense an object (such as a robot or a person) approaching the proximity sensor 124 or located around the proximity sensor 124 .

Furthermore, the illuminance sensor 125 is configured to sense the illuminance around the illuminance sensor 125, and the infrared sensor 126 has a built-in infrared sensor (LED) and uses it to measure the intensity of illumination of the building 1000 in a dark room or at night. photography can be performed.

Furthermore, the temperature sensor 127 may sense the temperature around the temperature sensor 127 , and the humidity sensor 128 may sense the temperature around the humidity sensor 128 .

Meanwhile, in the present invention, there is no particular limitation on the types of sensors constituting the sensing unit 120, and it is sufficient as long as the functions defined by each sensor are implemented.

Next, the output unit 130 is a means for outputting at least one of visual, auditory and tactile information to a person or robot R in the building 1000, and includes a display unit 131 and an audio output unit ( 132) and at least one of the lighting unit 133. Such an output unit 130 may be disposed at an appropriate location on the indoor space of the building 1000 according to needs or circumstances.

Next, the storage unit 140 may be configured to store various information related to at least one of the building 1000, robots, and facility infrastructure. In the present invention, the storage unit 140 may be provided in the building 1000 itself. Alternatively, at least a part of the storage unit 140 may mean at least one of the cloud server 20 and an external database. That is, it can be understood that the storage unit 140 suffices as long as it is a space where various information according to the present invention is stored, and there is no restriction on physical space.

Next, the controller 150 is a means for performing overall control of the building 1000, and can control at least one of the communication unit 110, the sensing unit 120, the output unit 130, and the storage unit 140. have. The controller 150 may perform control of the robot by interworking with the cloud server 20 . Furthermore, the control unit 150 may exist in the form of a cloud server 20 . In this case, the building 1000 can be controlled together by the cloud server 20, which is the control unit of the robot R. Alternatively, the cloud server controlling the building 1000 is the cloud controlling the robot R. It may exist separately from the server 20. In this case, the cloud server 20 controlling the building 1000 and the cloud server 20 controlling the robot R communicate with each other to provide services by the robot R, move the robot, or maintain functions. , can be interlocked with each other for cleanliness maintenance, etc. Meanwhile, the control unit of the building 1000 may also be referred to as a “processor”, and the processor may be configured to process various commands by performing basic arithmetic, logic, and input/output operations.

As described above, at least one of the building 1000, the robot R, the cloud server 20, and the facility infrastructure 200 forms a network 40 based on a communication network, and within the building 1000 Various services using robots may be provided.

As described above, in the building 1000 according to the present invention, the robot R, the facility infrastructure 200 provided in the building, and the cloud server 20 can be organically connected so that various services are provided by the robot. have. At least some of the robot R, the facility infrastructure 200, and the cloud server 20 may exist in the form of a platform for constructing a robot-friendly building.

Hereinafter, with reference to the contents of the building 1000, the building system 1000a, the facility infrastructure 200, and the cloud server 20 examined above, the process of the robot R using the facility infrastructure 200 is described in more detail. take a look at At this time, the robot R travels the indoor space 10 of the building 1000 or uses the facility infrastructure 200 for purposes such as performing missions (or providing services), driving, charging, maintaining cleanliness, and waiting. and move, and furthermore, the facility infrastructure 200 can be used.

In this way, the robot R travels in the indoor space of the building 1000 or moves using the facility infrastructure 200 to achieve the “purpose” based on a certain “purpose”, and furthermore, the facility infrastructure (200) can be used.

At this time, the purpose to be achieved by the robot may be specified based on various causes. As for the purpose to be achieved by the robot, there may be a first type of purpose and a second type of purpose.

Here, the purpose of the first type may be for the robot to perform its original mission, and the purpose of the second type may be for the robot to perform a mission or function other than the robot's original mission.

That is, the purpose to be achieved by the robot according to the first type may be to perform the original mission of the robot. This purpose can also be understood as the “task” of the robot.

For example, if the robot is a robot that provides serving service, the robot travels in the indoor space of the building 1000 or moves using the facility infrastructure 200 to achieve the purpose or task of providing the serving service. In addition, the facility infrastructure 200 may be used. In addition, when the robot is a robot that provides road guidance service, the robot travels in the indoor space of the building 1000 or moves using the facility infrastructure 200 to achieve the purpose or task of providing the road guidance service. In addition, the facility infrastructure 200 may be used.

Meanwhile, a plurality of robots operated for different purposes may be located in the building according to the present invention. That is, different robots capable of performing different tasks may be deployed in the building, and different types of robots may be deployed in the building according to the needs of the manager of the building and various subjects who have moved into the building.

For example, the building includes delivery, logistics, guidance, interpretation, parking assistance, security, crime prevention, security, policing, cleaning, quarantine, disinfection, laundry, beverage preparation, food preparation, serving, fire suppression, medical assistance, and entertainment services. Robots providing at least one of the services may be deployed. Services provided by robots may be various other than the examples listed above.

Meanwhile, the purpose of the second type is for the robot to perform a mission or function other than the robot's original mission, which may be a purpose unrelated to the robot's original mission. The purpose of the second type is not directly related to the robot performing its original mission, but may be an indirectly necessary mission or function.

For example, in order for a robot to perform its original task, sufficient power is required for operation, and the robot must maintain cleanliness in order to provide pleasant service to people. Furthermore, in order for a plurality of robots to operate efficiently in a building, sometimes there may be a situation where they wait in a certain space.

As such, in the present invention, in order to achieve the second type of purpose, the robot can drive in the indoor space of the building 1000, move using the facility infrastructure 200, and furthermore, use the facility infrastructure 200. have.

For example, the robot may use a charging facility infrastructure to achieve a purpose according to a charging function, and may use a washing facility infrastructure to achieve a purpose according to a washing function.

As such, in the present invention, the robot may drive in the indoor space of the building 1000, move using the facility infrastructure 200, and furthermore, use the facility infrastructure 200 in order to achieve a certain purpose.

Meanwhile, the cloud server 20 may appropriately control each of the robots located in the building based on information corresponding to each of the plurality of robots located in the building stored in the database.

Meanwhile, various information on each of a plurality of robots located in a building may be stored on the database, and information on the robot R may be very diverse. As an example, i) identification information for identifying the robot R disposed in the space 10 (eg, serial number, TAG information, QR code information, etc.), ii) task assigned to the robot R Information (eg, type of mission, operation according to the mission, target user information for the target of the mission, mission location, scheduled mission time, etc.), iii) driving route information set in the robot (R), iv) robot (R) location information, v) robot (R) status information (eg, power status, failure status, cleaning status, battery status, etc.), vi) image information received from a camera installed in the robot (R) , vii) motion information related to the motion of the robot R may exist.

Meanwhile, appropriate control of the robots may be related to control for operating the robots according to the first type of purpose or the second type of purpose described above.

Here, the operation of the robot may refer to control allowing the robot to drive in the indoor space of the building 1000, move using the facility infrastructure 200, and furthermore, use the facility infrastructure 200.

Movement of the robot may be referred to as driving of the robot, and therefore, in the present invention, the movement path and the travel path may be used interchangeably.

Based on the information about each robot stored in the database, the cloud server 20 assigns an appropriate task to the robots according to the purpose (or original task) of each robot, and performs the assigned task. control can be performed. At this time, the assigned task may be a task for achieving the first type of purpose described above.

Furthermore, the cloud server 20 may perform control to achieve the second type of purpose for each robot based on information about each robot stored in the database.

At this time, the robot that has received the control command for achieving the second type of purpose from the cloud server 20 moves to the charging facility infrastructure or washing facility infrastructure based on the control command, purpose can be achieved.

Meanwhile, in the following, the terms “purpose” or “mission” will be used without distinguishing between the first type and the second type of purpose. The purpose described below may be either a first type purpose or a second type purpose.

Similarly, the mission described below may also be a mission to achieve a first type of objective or a second type of objective.

For example, if there is a robot capable of providing serving service and there is a target (target user) to be served, the cloud server 20 allows the robot to perform a mission against serving to the target user, You can control the robot.

As another example, if there is a robot that requires charging, the cloud server 20 may control the robot to move to the charging facility infrastructure so that the robot performs a task corresponding to charging.

Therefore, in the following, a method for the robot to perform a purpose or mission using the facility infrastructure 200 under the control of the cloud server 20 without distinction between the first type purpose and the second type purpose is described in more detail. take a look at Meanwhile, in the present specification, a robot controlled by the cloud server 20 to perform a mission may also be named a “target robot”.

The server 20 in the cloud may specify at least one robot to perform the mission upon request or under its own judgment.

Here, it is possible that requests are received from various subjects. For example, the cloud server may receive requests from various entities such as visitors, managers, residents, workers, etc. located in the building in various ways (eg, user input through an electronic device or user input using a gesture method). Here, the request may be a service request for providing a specific service (or specific task) by the robot.

Based on the request, the cloud server 20 may specify a robot capable of performing the corresponding service among a plurality of robots located in the building 1000 . The cloud server 20 is i) the type of service that the robot can perform, ii) the task previously assigned to the robot, iii) the current location of the robot, iv) the state of the robot (ex: power state, cleanliness state, battery state, etc.) Based on this, it is possible to specify a robot capable of responding to the request. As described above, various information on each robot exists in the database, and the cloud server 20 may specify a robot to perform the mission based on the request based on the database.

Furthermore, the cloud server 20 may specify at least one robot to perform the mission based on its own judgment.

Here, the cloud server 20 may perform its own determination based on various causes.

As an example, the cloud server 20 may determine whether a service needs to be provided to a specific user or a specific space existing in the building 1000 . The cloud server 20 senses and receives data from at least one of a sensing unit 120 (see FIGS. 4 to 6) existing in the building 1000, a sensing unit included in the facility infrastructure 200, and a sensing unit provided in a robot. Based on the received information, it is possible to extract a specific target for which service needs to be provided.

Here, the specific object may include at least one of a person, space, or object. Objects may refer to facilities, objects, and the like located in the building 1000 . In addition, the cloud server 20 may specify the type of service required for the extracted specific target and control the robot to provide the specific service to the specific target.

To this end, the cloud server 20 may specify at least one robot to provide a specific service to a specific target.

The cloud server 20 may determine an object for which a service needs to be provided based on various determination algorithms. For example, the cloud server 20 may include at least one of a sensing unit 120 present in the building 1000 (see FIGS. 4 to 6), a sensing unit included in the facility infrastructure 200, and a sensing unit provided in a robot. Based on the information sensed and received from , the type of service such as road guidance, serving, stair movement, etc. may be specified. And, the cloud server 20 may specify a target for which the corresponding service is required. Furthermore, the cloud server 20 may specify a robot capable of providing a specified service so that the service is provided by the robot.

Furthermore, the cloud server 20 may determine a specific space in which a service needs to be provided based on various determination algorithms. For example, the cloud server 20 may include at least one of a sensing unit 120 present in the building 1000 (see FIGS. 4 to 6), a sensing unit included in the facility infrastructure 200, and a sensing unit provided in a robot. Based on the information sensed and received from, extracting a specific space or object requiring service provision, such as a target user for delivery, a guest requiring guidance, a contaminated space, a contaminated facility, a fire zone, etc., and the specific space or object A robot capable of providing the corresponding service can be specified so that the service is provided by the robot.

In this way, when a robot to perform a specific mission (or service) is specified, the cloud server 20 may assign a mission to the robot and perform a series of controls necessary for the robot to perform the mission.

At this time, a series of controls are i) setting the movement path of the robot, ii) specifying the facility infrastructure to be used to move to the destination where the mission is to be performed, iii) communication with the specified facility infrastructure, iv) control of the specified facility infrastructure , v) monitoring the robot performing the mission, vi) evaluating the driving of the robot, and vii) monitoring whether or not the robot has completed the mission.

The cloud server 20 may specify a destination where the robot's mission is to be performed, and set a movement path for the robot to reach the destination. When a movement route is set by the cloud server 20, the robot R may be controlled to move to a corresponding destination in order to perform a mission.

Meanwhile, the cloud server 20 may set a movement path for reaching a destination from a location where the robot starts (starts) performing the mission (hereinafter referred to as “mission performance start location”). Here, the position where the robot starts to perform the mission may be the current position of the robot or the position of the robot at the time when the robot starts to perform the mission.

The cloud server 20 may generate a movement path of a robot to perform a mission based on a map (or map information) corresponding to the indoor space 10 of the building 1000 .

Here, the map may include map information for each space of the plurality of floors 10a, 10b, 10c, ... constituting the indoor space of the building.

Furthermore, the movement route may be a movement route from a mission performance start location to a destination where the mission is performed.

In the present invention, such map information and moving routes are described as being related to an indoor space, but the present invention is not necessarily limited thereto. For example, the map information may include information on an outdoor space, and the movement path may be a path leading from an indoor space to an outdoor space.

As shown in FIG. 8, the indoor space 10 of the building 1000 may be composed of a plurality of different floors 10a, 10b, 10c, 10d, ..., and the mission start location and destination are the same. It can be located on a floor or on different floors.

The cloud server 20 may use map information on the plurality of floors 10a, 10b, 10c, 10d, ..., to create a movement path of a robot to perform a service within the building 1000.

The cloud server 20 may specify at least one facility that the robot must use or pass through to move to a destination among facility infrastructures (a plurality of facilities) disposed in the building 1000 .

For example, when the robot needs to move from the first floor 10a to the second floor 10b, the cloud server 20 specifies at least one facility 204, 205 to assist the robot in moving between floors, and It is possible to create a movement route including the point where the equipment is located. Here, the facility for assisting the robot to move between floors may be at least one of a robot-only elevator 204, a common elevator 213, and an escalator 205. In addition, various types of facilities assisting the robot to move between floors may exist.

As an example, the cloud server 20 checks a specific floor corresponding to the destination among the plurality of floors 10a, 10b, 10c, ... of the indoor space 10, and the robot's mission start position (ex: service Based on the position of the robot at the time of starting the corresponding task), it may be determined whether the robot needs to move between floors to perform the service.

Further, the cloud server 20 may include a facility (means) for assisting the robot to move between floors on the movement path based on the determination result. At this time, the facility for assisting the robot to move between floors may be at least one of a robot-only elevator 204, a shared elevator 213, and an escalator 205. For example, when the robot needs to move between floors, the cloud server 20 may create a movement path so that a facility assisting the robot to move between floors is included in the movement path of the robot.

As another example, the cloud server 20, when the robot-only passages 201 and 202 are located on the movement path of the robot, uses the robot-only passages 201 and 202 to move the robot. A movement path can be created including the point where (201, 202) is located. As described above with reference to FIG. 3 , the robot passage may be formed of at least one of a first passage (or first type passage) 201 and a second passage (or second type passage) 202 . The first exclusive passage and the second exclusive passage 201, 202 may be provided together on the same floor or may be provided on different floors. The first exclusive passage 201 and the second exclusive passage 202 may have different heights relative to the floor of the building.

Meanwhile, the cloud server 20 may control the driving characteristics of the robot on the robot-only passage to be changed based on the type of the robot-only passage used by the robot and the degree of congestion around the robot-only passage. As shown in FIGS. 3 and 8 , when the robot travels in the second exclusive passage, the cloud server 20 may change the driving characteristics of the robot based on the degree of congestion around the exclusive passage for the robot. Since the second exclusive passage is a passage accessible to humans or animals, safety and movement efficiency are considered together.

Here, the driving characteristics of the robot may be related to the driving speed of the robot. Furthermore, the degree of congestion may be calculated based on an image received from at least one of a camera (or image sensor) 121 disposed in the building 1000 and a camera disposed in the robot. Based on these images, the cloud server 20 may control the traveling speed of the robot to be less than or equal to a predetermined speed when the path where the robot is located and the passage dedicated to the robot in the direction of travel is congested.

In this way, the cloud server 20 uses the map information for the plurality of floors 10a, 10b, 10c, 10d, ..., to generate a movement path of a robot to perform a service within the building 1000, and at this time , At least one facility that the robot must use or pass through to move to a destination among facility infrastructures (a plurality of facilities) disposed in the building 1000 may be specified. And, it is possible to create a movement route that includes at least one specified facility on the movement route.

Meanwhile, a robot traveling in the indoor space 10 to perform a service may sequentially use or pass through at least one facility along a movement path received from the cloud server 20 and drive to a destination.

Meanwhile, the order of facilities to be used by the robot may be determined under the control of the cloud server 20 . Furthermore, the order of facilities to be used by the robot may be included in the information on the movement path received from the cloud server 20 .

On the other hand, as shown in FIG. 7, in the building 1000, robot-specific facilities (201, 202, 204, 208, 209, 211) exclusively used by robots and shared facilities (205, 206) jointly used by humans , 207, 213) may be included.

Robot-exclusive facilities exclusively used by robots include facilities (208, 209) that provide functions necessary for robots (ex: charging function, washing function, standby function) and facilities used for robot movement (201, 202, 204 , 211).

When the robot creates a movement path, the cloud server 20 causes the robot to move (or pass) using the robot-exclusive facility when there is a robot-exclusive facility on the path from the mission start position to the destination. You can create a movement path that That is, the cloud server 20 may create a movement path by giving priority to facilities dedicated to the robot. This is to increase the efficiency of the movement of the robot. For example, the cloud server 20 may create a movement path including the robot-specific elevator 204 when both the robot-specific elevator 204 and the common elevator 213 exist on the movement path to the destination. have.

As described above, the robot traveling in the building 1000 according to the present invention can travel in the indoor space of the building 1000 to perform its duties using various facilities provided in the building 1000.

The cloud server 20 may communicate with a control system (or control server) of at least one facility used or scheduled to be used by the robot for smooth movement of the robot. As described above with reference to FIG. 4, the unique control systems for controlling the facilities communicate with at least one of the cloud server 20, the robot R, and the building 1000 so that the robot R uses the facilities. Appropriate control can be performed for each facility to

For example, the cloud server 20 may be configured to communicate with the control system of the robot-only elevator 204 . When the control system 204 of the robot elevator 204 receives a request for boarding the robot from the cloud server 20, the robot elevator 204 allows the robot to board and get off the robot elevator 204. ) can perform control related to the stop of the vehicle.

As an example, the control system of the robot elevator 204 may control the robot elevator 204 based on the location information of the robot. The cloud server 20 is configured to monitor the location information of the robot R traveling in the building, and transmits the location information of the robot and the information of a specific floor corresponding to the destination to the control system of the elevator 204 dedicated to the robot. can

In addition, the control system of the robot elevator 204 controls the robot elevator 204 so that the robot gets on the robot elevator 204 based on the location information of the robot received from the cloud server 20 (for example, For example, the first control, the control of stopping the robot elevator for boarding the robot) may be performed. In addition, the control system of the robot elevator 204 controls the robot elevator 204 so that the robot gets off the robot elevator 204 based on the information of the specific floor corresponding to the robot's destination (eg, For example, the second control, control for stopping the robot elevator for getting off the robot) may be performed.

As described above, in the building 1000 according to the present invention, the cloud server 20 and the control systems of various facilities are interlocked with each other to provide various support so that the robot can smoothly provide services.

On the other hand, the robot is made to travel in a horizontal direction within the specific floor to reach the destination after completing the exit to a specific floor corresponding to the destination based on the vertical movement between floors using the robot elevator. can A movement path according to driving in the horizontal direction may also be controlled by the cloud server 20 . The cloud server 20, when the robot-only passage 201, 202, 211 exists on the specific floor, uses the robot-only passage to allow the robot to travel in a horizontal direction, so that the robot is on the movement path. Dedicated passages may be included.

Meanwhile, in the building 1000 according to the present invention, as shown in the second-floor indoor space 10b of FIG. 8, at least a part of the robot-only elevator 204 and the robot-only passage 202 may be disposed adjacent to each other. have. At least a part of the entrance of the robot elevator 204 and the robot passage 202 may face each other or extend.

As such, in the building 1000 according to the present invention, as shown in the indoor space 10b on the second floor of FIG. , By allowing the robot to get off the robot elevator 204 and directly enter the robot passage 202, the robot movement line can be optimized.

In this way, a robot assigned a mission may move to a destination by using various facilities provided in the building 1000 along a movement path generated by the cloud server 20 . The target robot may perform assigned tasks after reaching a destination using at least one of a robot-only elevator and the robot-only passage. For example, when a mission assigned to a robot is a service, a specific service according to the mission may be provided to a target user who is the target of the service. In this case, when the robot completes providing the specific service to the target user, the specific task corresponding to the specific service assigned to the robot may be processed as completed.

When the task assigned to the robot is completed, the cloud server 20 may perform subsequent control on the robot that has completed the task. Here, the subsequent control may be related to at least one of i) assigning a new task, ii) waiting, iii) charging, iv) washing, and v) moving to a specific location.

Meanwhile, as described above, the cloud server 20 may control a task assigned to the robot or perform appropriate control for various situations faced by the robot by monitoring the robot within the building 1000 .

To this end, there is a need for the cloud server 20 to secure location information of the robot within the building 1000 . That is, the cloud server 200 may monitor the location of robots traveling in the building 1000 in real time or at preset time intervals. The cloud server 1000 provides location information on all of the plurality of robots traveling in the building 1000. or, if necessary, selectively monitoring the location information of only a specific robot.The location information of the robot being monitored can be stored on a database in which the information of the robot is stored, and the location information of the robot changes over time. can be continuously updated.

Methods for estimating the positional information of the robot located in the building 1000 can be very diverse. Hereinafter, an embodiment of estimating the positional information of the robot will be described.

9 to 11 are conceptual diagrams for explaining a method of estimating the position of a robot traveling in a robot-friendly building according to the present invention.

As an example, as shown in FIG. 9, the cloud server 20 according to the present invention receives an image of the space 10 using a camera (not shown) provided in the robot R, and receives It is made to perform Visual Localization to estimate the position of the robot from the image. At this time, the camera is configured to capture (or sense) an image of the space 10, that is, an image of the robot R's surroundings. Hereinafter, for convenience of description, an image acquired using a camera provided in the robot R will be named “robot image”. In addition, the image acquired through the camera disposed in the space 10 will be named “space image”.

As shown in (a) of FIG. 9 , the cloud server 20 is configured to acquire a robot image 910 through a camera (not shown) provided in the robot R. Also, the cloud server 20 may estimate the current location of the robot R using the obtained robot image 910 .

The cloud server 20 compares the robot image 910 with the map information stored in the database, and as shown in (b) of FIG. 9, the location information corresponding to the current location of the robot R (eg, “3rd floor A area (3, 1, 1)”) can be extracted.

As described above, in the present invention, the map of the space 10 may be a map prepared based on Simultaneous Localization and Mapping (SLAM) by at least one robot moving the space 10 in advance. In particular, the map of the space 10 may be a map generated based on image information.

That is, the map of the space 10 may be a map generated by vision (or visual) based SLAM technology.

Therefore, the cloud server 20 provides coordinate information (for example, (3rd floor, area A (3, 1)) as shown in (b) of FIG. , 1,)) In this way, the specified coordinate information may soon be the current location information of the robot (R).

At this time, the cloud server 20 compares the robot image 910 obtained from the robot R with a map generated by the vision (or visual) based SLAM technology to estimate the current location of the robot R. can In this case, the cloud server 20 i) specifies an image most similar to the robot image 910 by using an image comparison between the robot image 910 and images constituting a pre-generated map, and ii) the specified The location information of the robot R may be specified by acquiring location information matched to the image.

In this way, as shown in (a) of FIG. 9 , when the robot image 910 is obtained from the robot R, the cloud server 20 uses the acquired robot image 910 to determine the current location of the robot. can be specified. As described above, the cloud server 20 provides location information (eg, coordinates) corresponding to the robot image 910 from map information previously stored in a database (eg, it can also be named “reference map”). information) can be extracted.

Meanwhile, in the above description, an example of estimating the position of the robot R in the cloud server 20 has been described, but as discussed above, the position estimation of the robot R may be performed by the robot R itself. . That is, the robot R may estimate the current position based on the image received from the robot R itself in the manner described above. Then, the robot R may transmit the estimated location information to the cloud server 20 . In this case, the cloud server 20 may perform a series of controls based on location information received from the robot.

In this way, when the location information of the robot R is extracted from the robot image 910, the cloud server 20 can specify at least one camera 121 disposed in the indoor space 10 corresponding to the location information. can The cloud server 20 may specify the camera 121 disposed in the indoor space 10 corresponding to the location information from matching information related to the camera 121 stored in the database.

These images can be used not only for estimating the position of the robot, but also for controlling the robot. For example, the cloud server 20 obtains a robot image 910 obtained from the robot R itself and a camera 121 disposed in a space where the robot R is located for control of the robot R. The image can be output together with the display unit of the control system. Therefore, a manager who remotely manages and controls the robot R from inside or outside the building 1000 can obtain not only the robot image 910 obtained from the robot R, but also the image of the space where the robot R is located. In consideration of, it is possible to perform remote control on the robot (R).

As another example, position estimation of a robot traveling in the indoor space 10 may be performed based on a tag 1010 provided in the indoor space 10, as shown in FIG. 10(a).

Referring to FIG. 10 , location information corresponding to a point to which the tag 1010 is attached may match and exist in the tag 1010 , as shown in (b) of FIG. 10 . That is, tags 1010 having different identification information may be provided at a plurality of different points in the indoor space 10 of the building 1000, respectively. Identification information of each tag and location information of a point where the tag is attached may match each other and exist in a database.

Furthermore, the tag 1010 may include location information matched to each tag 1010 .

The robot R may recognize the tag 1010 provided in the space 10 by using a sensor provided in the robot R. Through this recognition, the robot R can determine the current location of the robot R by extracting location information included in the tag 1010 . Such extracted location information may be transmitted from the robot R to the cloud server 20 through the communication unit 110 . Accordingly, the cloud server 20 may monitor the locations of the robots traveling in the building 20 based on the location information received from the robot R that has sensed the tags.

Furthermore, the robot R may transmit identification information of the recognized tag 1010 to the cloud server 20 . The cloud server 20 may monitor the location of the robot within the building 1000 by extracting location information matched to the identification information of the tag 1010 from the database.

Meanwhile, the term of the tag 1010 described above may be variously named. For example, this tag 1010 can be variously named as a QR code, a barcode, an identification mark, and the like.

Meanwhile, the cloud server may construct a visual localization (VL) map for a building by utilizing the tags described above. The cloud server 20 may build a VL map (hereinafter referred to as 'image map') corresponding to a 3D model by using geo-tagged images of the target space.

When receiving an image captured by an electronic device (eg, a mobile terminal or a robot) as a query image, the cloud server 20 may extract a reference image similar to the query image from an image map database (eg, memory). In this case, the cloud server 20 may extract a global feature from the query image through a deep learning model and then search a reference image using the extracted feature.

The cloud server 20 may estimate the 6-DOF pose (position and direction) of the query image through localization using the query image together with the reference image and the corresponding 3D model. In other words, the cloud server 20 may check a point corresponding to the query image on the image map by performing VL using pose-tagged data.

In this way, in order to calculate the camera pose (including the 3-axis position value and the 3-axis direction value) based on the image, that is, to perform VL, the target space is scanned using data collection equipment in advance, and then scanning is performed. An image map can be created by processing the (pose-tagged) data obtained through this process.

In the case of such image-based positioning, a lot of cost and effort are required for maintenance as well as preliminary work for constructing an image map. As time goes by, changes in the target space (eg, when a store, sculpture, structure, etc. disappear or are newly created) may occur, and these changes may affect VL performance that operates based only on visual information.

Therefore, there is a need for a positioning technology capable of minimizing the cost and effort required for preliminary work and maintenance, and also minimizing the effects of spatial and state changes.

Hereinafter, a camera-based positioning method using blind watermarking technology will be described in detail.

The cloud server 20 may provide a VL-based service as an example of a location-based service, and in particular, a camera-based positioning technology using blind watermarking technology.

The cloud server 20 may include a tag generation unit, a map configuration unit, and a pose calculation unit as components for performing the positioning method. Depending on embodiments, components of the cloud server 20 may be selectively included in or excluded from the cloud server 20 . Also, components of the cloud server 20 may be separated or merged to express functions of the cloud server 20 according to embodiments.

The cloud server 20 may be implemented to execute instructions according to codes of a specific operating system and codes of at least one program.

Here, the components of the cloud server 20 are different functions of the cloud server 20 performed by the cloud server 20 according to instructions provided by program codes stored in the cloud server 20. can be expressions. For example, as a functional expression of the cloud server 20 that controls the cloud server 20 according to the above-described command so that the cloud server 20 generates a tag image for use in positioning, the tag of the cloud server 20 ( or a marker) generation unit may be used.

The cloud server 20 may read necessary commands from a database in which commands related to control of the cloud server 20 are loaded.

The tag generation unit of the cloud server 20 may generate an image (hereinafter, referred to as a 'composite image') including an invisible tag. The synthesized image including the tag may be produced in the form of a print that can be attached to a space to be positioned, such as a poster, wallpaper, or sticker. In order to utilize a tag such as Apriltag for positioning, a synthesized image including the tag is pasted on the positioning target space. In this embodiment, the tag is combined with the image in an invisible form that is difficult to identify with the human eye through deep learning-based blind watermarking technology. For example, by converting an original image such as a pixel image into a format such as JPEG, synthesizing a specific signal in the frequency domain of the converted image and then converting it to the time domain, the original image has a fake form, while the specific signal A composite image with an invisible form can be created. A specific process of generating a synthesized image including an invisible tag will be described again below.

The map component of the cloud server 20 is a VL map corresponding to the positioning target space, and is a map for VL matching the position coordinates to which the synthesized image is attached and the identification tag of the tag included in the synthesized image (hereinafter referred to as 'tag map'). ) can be configured. The map configuration unit of the cloud server 20 may configure and maintain a dictionary database (eg, memory) for positioning by recording the three-dimensional coordinates of the tag, that is, the location coordinates to which the synthesized image is attached. The map configuration unit of the cloud server 20 may compose a tag map database by matching and recording identification tags of tags and 3D coordinates in the positioning target space to which the tags are attached. As a dictionary database for positioning, only a tagged map may be configured and maintained, or a tagged map may be additionally configured and maintained along with an image map composed of geographically tagged images for a positioning target space, depending on an embodiment.

The pose calculation unit of the cloud server 20 may receive, as a query image, an image captured by an electronic device (eg, a mobile terminal or a mobile robot) moving in a positioning target space, and at this time, an identification tag of a tag is detected in the query image. , the 6DOF pose (position and direction) of the query image can be estimated based on the coordinates matched with the detected identification tag. In other words, the pose calculation unit of the cloud server 20 may recognize a tag using a camera of an electronic device, and at this time may calculate a camera pose based on pre-mapping coordinates of the recognized tag.

The pose calculation unit of the cloud server 20 may perform a tag detection process on the recognized composite image when a composite image is recognized from the camera image of the electronic device received as a query image. When a tag is detected in the synthesized image through a tag detection process, the pose calculation unit of the cloud server 20 checks the coordinates matched with the identification tag of the corresponding tag from the tag map database, and calculates the camera pose based on the identified coordinates.

The cloud server 20, as a dictionary database, configures only tag maps in which 3D coordinates of tags are recorded and can be used for positioning.

As another example, the cloud server 20 may configure an image map and a tag map together as a dictionary database and utilize them for positioning.

When a query image is received from the electronic device, the pose calculation unit of the cloud server 20 may calculate a pose corresponding to the query image by using an image map database. At this time, the pose calculation unit of the cloud server 20 may estimate the pose of the query image through localization using the query image together with the image map database. The pose calculation unit of the cloud server 20 may check a point corresponding to the query image by performing VL using pose-tagged data.

The pose calculation unit of the cloud server 20 may determine whether a pretrained synthesized image is recognized in the query image received from the electronic device. The pose calculation unit of the cloud server 20 may extract a global feature from a query image through a deep learning model and recognize a synthesized image by confirming a pre-learned feature as a synthesized image from the extracted feature.

The pose calculation unit of the cloud server 20 may calculate a pose corresponding to the query image by using a tag map database when a synthesized image is recognized in the query image. In other words, the pose calculation unit of the cloud server 20 may detect a tag in the synthesized image included in the query image and calculate the pose of the query image based on coordinates matched with the identification tag of the detected tag.

The pose calculation unit of the cloud server 20 maintains the positioning using the image map if the synthesized image is not recognized in the query image.

In other words, the pose calculation unit of the cloud server 20 basically performs positioning using the image map, but when a synthesized image including a tag is captured from a camera image, the tag map may be weighted to utilize the tag map for positioning.

Accordingly, the cloud server 20 may calculate a pose of a camera in a 3D space by selectively using either a database of a tag map or an image map according to whether a synthesized image is recognized in a camera image obtained from an electronic device. .

In the above description, a tag map or an image map is selectively used for positioning, but it is not limited thereto and it is possible to use both a tag map and an image map in various forms. For example, a pose calculation result using an image map may be used to verify a pose calculation result using a tag map, or a pose calculation result using a tag map may be used to verify a pose calculation result using an image map. .

The process of creating a composite image with tags is as follows.

The tag generation unit of the cloud server 20 may obtain a synthesized image including a tag by synthesizing a tag and an arbitrary background image through a synthesis model.

As an example, the tag generation unit of the cloud server 20 may generate a synthesized image using a synthesized model composed of a deep neural network (DNN)-based autoencoder. It can be trained to have an invisible form that is difficult to identify with the human eye and to enable extraction of a tag from a synthesized image deformed according to various transformation attacks.

The synthesized model may include a first sub-model, a second sub-model, and a third sub-model.

The first sub-model may receive a background image and output output data, and the second sub-model may receive a tag and output output data. The first sub-model serves to encode the background image into a feature, and the second sub-model serves to encode the tag into a feature. In this case, since the feature size is generally smaller than the image size, the first sub-model may reduce the size of the background image, and the second sub-model may reduce the size of the tag.

The output data of the first sub-model and the output data of the second sub-model are concatenated and input to the third sub-model. The third sub-model may generate a composite image by processing a result of combining the output data of the first sub-model and the output data of the second sub-model. The third sub-model may increase the size of a result of combining the output data of the first sub-model and the output data of the second sub-model. In other words, the third sub-model serves to combine features output from the first sub-model and features output from the second sub-model, and decodes the combined features back into an image.

Each of the first sub-model, the second sub-model, and the third sub-model may include at least one layer for processing input data. At least one layer may include a convolution layer, and the convolution layer may perform convolution processing on input data with a filter kernel and output the convolution processing result to the next layer.

For example, data output from the convolution layer may be continuously processed in a batch normalization layer and an activation layer. An activation layer may impart non-linear characteristics to an output result of a previous layer. An activation layer may use an activation function. In this case, the activation function may include a rectified linear unit (ReLU) function, a sigmoid function, a Tanh function, and the like.

Meanwhile, the pose calculation unit of the cloud server 20 may obtain a tag output from the detection model 1300 by inputting the synthesized image recognized from the query image to the detection model 1300 . The pose calculation unit of the cloud server 20 may check the identification tag of the tag acquired from the synthesized image through the detection model 1300 and then find coordinates matched with the identified identification tag.

As described above, according to the embodiments of the present invention, by generating an invisible tag that is difficult to identify with the human eye through deep learning-based blind watermarking technology and using it for camera-based positioning, the design or aesthetics of the positioning target space is not harmed. can keep In addition, according to the embodiments of the present invention, by recording the 3D coordinates of the tag for the space to be positioned and using it as a VL map, it is possible to reduce the cost and labor required for pre-work as well as the burden of maintenance and texture It can also be applied to spaces in environments where positioning is difficult, such as lack of information.

On the other hand, the term of the tag reviewed above can be used by replacing it with “marker”.

Hereinafter, a method of monitoring the robot R using an identification mark provided on the robot R among the methods of monitoring the position of the robot R located in the indoor space 10 of the building 1000 will be looked at. see.

Previously, it was seen that various information about the robot R can be stored in the database. Various information about the robot R may include identification information (eg, serial number, TAG information, QR code information, etc.) for identifying the robot R located in the indoor space 10.

Meanwhile, identification information of the robot R may be included in an identification mark (or identification mark) provided to the robot R, as shown in FIG. 11 . This identification mark can be sensed or scanned by the building control system 1000a or the facility infrastructure 200 . As shown in (a), (b) and (c) of FIG. 11 , identification marks 1101, 1102, and 1103 of the robot R may include identification information of the robot. As shown, the identification mark (1101, 1102, 1103) is a barcode (barcode, 1101), serial information (or serial information, 1102), QR code (1103), RFID tag (not shown) or NFC tag (not shown) ) and so on. Barcode (1101), serial information (or serial information, 1102), QR code (1103), RFID tag (not shown) or NFC tag (not shown) is provided (or attached) with an identification mark It may be made to include identification information of the robot.

The robot identification information is information for distinguishing each robot, and may have different identification information even if the robots are of the same type. Meanwhile, the information constituting the identification mark may be configured in various ways other than the barcode, serial information, QR code, RFID tag (not shown) or NFC tag (not shown) discussed above.

The cloud server 20 extracts identification information of the robot R from an image received from a camera installed in the indoor space 10, a camera installed in another robot, or a camera provided in facility infrastructure, and ), the location of the robot can be identified and monitored. Meanwhile, a means for sensing the identification mark is not necessarily limited to a camera, and a sensing unit (eg, a scanning unit) may be used according to the shape of the identification mark. Such a sensing unit may be provided in at least one of the indoor space 10 , robots, and facility infrastructure 200 .

As an example, when an identification mark is sensed from an image captured by a camera, the cloud server 20 may determine a location above the robot R from an image received from the camera. At this time, the cloud server 20 is based on at least one of location information where the camera is placed and location information of the robot in the image (precisely, location information of a graphic object corresponding to the robot in the image taken by the robot as a subject) , the robot R can grasp the location.

On the database, identification information on cameras disposed in the indoor space 10 may be matched with location information on locations where cameras are disposed. Accordingly, the cloud server 20 extracts location information matched with the identification information of the camera that has taken the image from the database, so that the robot R can extract the location information.

As another example, when the identification mark is sensed by the scan unit, the cloud server 20 may determine the location of the robot R from scan information sensed by the scan unit. On the database, identification information on the scan unit disposed in the indoor space 10 may be matched with location information on a place where the scan unit is disposed. Accordingly, the cloud server 20 extracts location information matched to the scanning unit that has scanned the identification mark provided in the robot from the database, and the robot R can extract the location information.

As described above, in the building according to the present invention, it is possible to extract and monitor the position of the robot using various infrastructures provided in the building. Furthermore, the cloud server 20 can efficiently and accurately control the robot within the building by monitoring the position of the robot.

As described above, the cloud server 20 may control the robot R by using map information corresponding to the building 1000 . Such map information can be generated in a variety of ways. Hereinafter, as an example of a method of generating map information, a method of using a mapping robot will be described.

A map (or map information) of a building according to the present invention may be generated based on data collected by a mapping robot.

A mapping robot that collects map data in the indoor space of the building may be located in the building 1000 according to the present invention. The cloud server 20 may generate a map of the building based on map data collected by the mapping robot. Such a map may be used to generate a movement path of a robot (eg, a service robot) traveling in the indoor space 10 .

An example of implementation of a mapping robot includes a sensor unit at the top including a 360-degree camera and two riders, a driving unit for processing the movement of the mapping robot, and a driving unit for processing the output value from the sensor unit to enable autonomous driving of the mapping robot indoors. It may include at least one of the control units for controlling. At this time, output values from the sensor unit (for example, images captured by a 360-degree camera and output values of two riders) are transmitted to the cloud server 20 so that the cloud server creates an indoor map of a facility in which the mapping robot is autonomously driving. can do.

The mapping robot may receive a basic layout, such as a blueprint of a building, and generate first sensing data for generating a 3D indoor map while autonomously driving in all areas according to the basic layout. In addition, the mapping robot maps so that the interior of the facility can be photographed at a location where the field of view is not blocked by obstacles in order to eliminate shadows caused by limiting the field of view of the 360-degree camera 1010 inside the facility by obstacles such as pillars. It may include an algorithm that can control the movement of the robot.

As such, the mapping robot is an indoor self-driving robot, and may include various sensors such as 3D lidar, 360-degree camera, and IMU (Inertial Measurement Unit) for self-driving and map creation, and autonomously navigates the indoor space of a building. Sensing data generated while driving may be transmitted to the cloud server 20 . At this time, according to the embodiment, the sensing data may be input to the cloud server 20 through a computer-readable recording medium in which the sensing data is stored after the autonomous driving of the mapping robot for generating the indoor map is completed, but preferably, the mapping robot It can be transmitted to the cloud server 20 through a network (or communication network). In addition, the sensing data generated by the mapping robot may be transmitted from the mapping robot to the cloud server 20 in real time, or may be collectively transmitted to the cloud server 20 after the mapping robot completes the sensing of the building.

The cloud server 20 may create an indoor map of the building based on sensing data provided by the mapping robot, and control the robot R while communicating with the robot R disposed in the building based on the produced indoor map. can do. For example, the cloud server 20 receives sensing data (for example, data for determining the current location of the robot R) generated through sensors included in the robot R, and transmits the received sensing data and Processes localization and route planning for the robot (R) using the indoor map of the building, and provides the resulting data (for example, route data to be moved when the robot (R) autonomously drives) to the robot (R) can do. At this time, the robot R can provide a targeted service within a building while processing autonomous driving based on result data provided by the cloud server 20 .

The mapping robot needs to operate in the building only once for the first time in the building, or only when a change occurs in the indoor map, or for a fairly long time period (eg, 1 year) so that the indoor map is changed. Therefore, since one mapping robot can be used to produce indoor maps of multiple buildings according to the number of buildings and time scheduling for which indoor maps are required, multiple mapping robots are not required and expensive equipment is used. Even if it is produced, it does not impose a large burden on the service user. On the other hand, when each user individually manufactures and uses robots (R) that operate for individual purposes, each of the robots (R) must be continuously operated in a corresponding building, and several robots (R) must be operated simultaneously in one building. There are a number of cases in which it should be operated. Therefore, from the user's point of view, it is difficult to utilize expensive equipment. Therefore, in the embodiments of the present invention, the service provider side puts a mapping robot to create an indoor map of the building, and controls the robot R through the cloud server 20, so that the robot R uses expensive equipment. It is possible to have the targeted service processed within the building without using it.

For example, lidar is a radar developed using laser beams with characteristics close to radio waves. It is an expensive sensor device mounted for autonomous driving. included in the autonomous driving unit of Rider may also be referred to as lidar, and in the present invention, rider and lidar are used interchangeably.

Assuming that a user uses 60 robots (R) for logistics management, more than 120 expensive lidars are required. On the other hand, in the embodiments of the present invention, when the cloud server 20 of the service provider processes the localization and route planning required for autonomous driving and provides the resultant data, the robots R operate in the cloud. Since driving is performed according to the result data provided from the server 20, indoor driving is possible using only a low-cost ultrasonic sensor and/or a low-cost camera without expensive sensor equipment. Substantially, since the robots R according to embodiments of the present invention operate according to result data provided from the cloud server 20, indoor driving is possible without a separate sensor for indoor autonomous driving. However, low-cost sensors such as a low-cost ultrasonic sensor and/or a low-cost camera may be used to determine the current location of the robot R and avoid obstacles of the robot R. Therefore, users can utilize robots (R) manufactured at low cost, and there are many users who want to use service robots, and it is considered that each of these multiple users can utilize multiple robots (R). At this time, it is possible to drastically reduce the manufacturing cost of the robots (R). For example, autonomous driving of service robots can be handled with only smartphone-level sensing capabilities.

In addition, the sensing data transmitted by the robot R to the cloud server 20 may include information for defining the current location of the robot R in the building. Information for defining such a location may include image information recognized through a low-cost camera. For example, the cloud server 20 may determine the location of the robot R by comparing the received image information with an indoor map image. As another example, other techniques may be utilized to determine the indoor location. For example, technologies that determine the indoor location using Wi-Fi signals or beacons recognized within a building, sound or Bluetooth fingerprints that cannot be recognized by humans are used to determine the current location of the robot (R) It can be. In addition, after determining the approximate position of the robot R through these techniques, the exact position of the robot R may be identified through image matching. In this case, the range of image matching may be reduced through the roughly identified location without the need to process matching with images corresponding to the entire indoor map.

The control unit of the mapping robot may be a physical processor built into the mapping robot, and may include at least one of a path planning processing module, a mapping processing module, a drive control module, a localization processing module, and a data processing module. Here, components included in the control unit of the mapping robot may be representations of different functions performed by the control unit of the mapping robot as a physical processor. For example, the control unit of the mapping robot may process various functions according to a control command according to a code of a computer program such as OS or firmware.

The driving unit of the mapping robot may include wheels or legs for moving the mapping robot, or physical equipment for flying the mapping robot in the form of a drone.

The sensor unit of the mapping robot may include various sensors for collecting information about the internal environment of the building where the mapping robot is located. For example, required sensors among various sensors such as a lidar, a 360-degree camera, an IMU, an ultrasonic sensor, a GPS module, a position sensitive detector (PDS), and the like may be included in the sensor unit of the mapping robot.

The communication unit of the mapping robot may include a communication function for transmitting data sensed through the sensor unit of the mapping robot to the cloud server 20 through a network.

When the mapping robot located inside the building is driven, the sensor unit of the mapping robot may generate first sensor data including output values of various sensors and transmit the generated first sensor data to the control unit of the mapping robot. At this time, the data processing module of the control unit of the mapping robot may transmit the received first sensor data to the localization processing module for autonomous driving of the mapping robot, and also generate an indoor map of the target building in the cloud server 20. The communication unit of the mapping robot may be controlled to transmit the first sensor data to the cloud server 20 through the network.

The localization processing module of the mapping robot is a technology for the mapping robot to recognize the surrounding environment and estimate its own location, and may operate to determine the current location of the mapping robot in a target building. At this time, the localization processing module of the mapping robot processes the mapping between the pre-stored indoor map of the target building (for example, the design blueprint of the target building) and the current location through interworking with the mapping processing module of the mapping robot, or If there is no stored indoor map, an indoor map of the target building may be generated.

At this time, the path planning processing module of the mapping robot may generate a path for autonomous driving of the mapping robot. In this case, information on the path determined by the path planning processing module of the mapping robot may be transmitted to the driving control module of the mapping robot, and the driving control module of the mapping robot may move the mapping robot according to the provided path to the driving unit of the mapping robot. can control.

The mapping robot can autonomously drive a target building while repeating the process of generating and transmitting the first sensing data, determining an autonomous driving route using the first sensing data, and moving according to the determined autonomous driving route, and The first sensing data may be continuously transmitted to the cloud server 20 .

The cloud server 20 may be implemented by linking one physical server device or two or more physical server devices, and may include at least one of a map creation module, a localization processing module, a route planning processing module, and a service operation module. can include Components included in the cloud server 20 are different from each other performed by at least one processor included in the cloud server 20 according to a control instruction according to an operating system code or at least one computer program code. They can be representations of different functions.

The map generation module of the cloud server 20 may be a component for generating an indoor map of the target building by using first sensing data generated for the interior of the target building by a mapping robot autonomously traveling inside the building.

At this time, the localization processing module of the cloud server 20 uses the second sensing data received from the robot R through the network and the indoor map of the target building generated through the map generation module to detect the robot inside the target building. The location of (R) can be determined.

The path planning processing module of the cloud server 20 may generate a control signal for controlling indoor autonomous driving of the robot R using the above-described second sensing data and the generated indoor map. For example, the path planning processing module may generate path data of the robot R. The cloud server 20 may transmit the generated path data to the robot R through a network. For example, information for a route may include information indicating the current location of the robot R, information for mapping the current location and an indoor map, and route planning information.

The service operation module of the cloud server 20 may include a function for controlling a service provided by the robot R in a target building. For example, a service provider operating the cloud server 20 may provide an integrated development environment (IDE) for a cloud service provided by the cloud server 20 to a user or manufacturer of the robot R. At this time, the user or manufacturer of the robot R may create software for controlling the service provided by the robot R in the building through the IDE and register it in the cloud server 20 . In this case, the service operation module may control the service provided by the robot (R) using software registered in association with the robot (R). As a specific example, it is assumed that the robot R provides a service of delivering goods requested by a customer to a guest room at a hotel. At this time, the cloud server 20 not only controls the robot R to move to the front of the corresponding room by controlling the indoor autonomous driving, but also presses the bell of the room door and outputs a customer response voice when arriving at the destination location. It is possible to transmit related commands to the robot (R) so that the robot (R) proceeds with a series of services of delivering a target object to a customer.

Meanwhile, the mapping robot may generate first sensing data for the inside of the target building through a sensor while autonomously traveling inside the building. For example, the mapping robot may transmit first sensing data including output values of sensors to a data processing module of the mapping robot through a sensing unit. Such a mapping robot may be equipment operated by a service provider that provides a cloud service for controlling indoor autonomous driving of the robot R through the cloud server 20 . In addition, the robot R may be a device operated by a user requesting a cloud service in association with a target building.

The mapping robot may transmit the generated first sensing data. For example, the data processing module of the mapping robot may transmit the first sensing data received from the sensing unit of the mapping robot to the cloud server 20 through the communication unit of the mapping robot.

The cloud server 20 may generate an indoor map of the target building using the received first sensing data. For example, the cloud server 20 may receive first sensing data from a mapping robot, and generate an indoor map of a building using the first sensing data received through a map generation module of the cloud server 20. can In this case, the indoor map may be generated as an image-based 3D indoor map. As already described, the first sensing data may be collectively transferred to the cloud server 20 after the autonomous driving of the mapping robot is finished.

Depending on the embodiment, the cloud server 20 may generate indoor maps for each of the buildings of a plurality of users. For example, first sensing data for each target building may be obtained by inputting a mapping robot for each target building, and an indoor map may be generated for each target building. In this case, the cloud server 20 may store and manage the indoor map generated for each target building in association with at least one identifier of the user's identifier, the corresponding target building's identifier, and the corresponding user's service robot identifier. . Later, when controlling indoor autonomous driving of one of the plurality of robots R of a plurality of users, the cloud server 20 may identify an indoor map for the corresponding service robot through an identifier associated with the indoor map, Indoor self-driving for the corresponding service robot may be controlled using the identified indoor map.

The robot R may generate second sensing data for the inside of the building through a sensor inside the building. For example, the robot R may transmit second sensing data including output values of sensors to a data processing module of the robot R through a sensing unit of the robot R. While the mapping robot uses expensive sensing devices such as lidar and 360-degree cameras as sensors, the robot R uses low-cost sensing devices such as low-cost cameras and/or low-cost ultrasonic sensors as sensors for secondary sensing. data can be generated. As such, the cloud server 20 has already created an indoor map of the corresponding target building through the mapping robot, and therefore, since the indoor autonomous driving of the robot R can be controlled with only simple image mapping, the robot R uses low-cost sensors. It can be composed of, and accordingly, it is possible to drastically lower the manufacturing cost of the robot (R) operated by users.

The robot R may transmit the generated second sensing data. For example, the data processing module of the robot R may transmit the second sensing data to the cloud server 20 through the communication unit of the robot R.

The cloud server 20 may generate route data using the received second sensing data and the generated indoor map. The route data may include processed mapping data according to a building map (or indoor map) in the cloud server 20, route planning data, and position data determined for the robot R. The processed mapping data may be, for example, a part of an indoor map related to the location data and route planning data determined for the robot R at the present time. As a more specific example, the mapping data may include indoor map data corresponding to a location to which the robot R is to move from its current location.

The cloud server 20 may transmit the generated route data. For example, the cloud server 20 transmits route data generated by a route planning processing module of the cloud server 20 in conjunction with a localization processing module of the cloud server 20 and a map generation module of the cloud server 20. It can be transmitted to the robot R through the communication module of the cloud server 20 . A process for generating and transmitting such route data may be a process for controlling indoor self-driving of the robot R with respect to a target building using the second sensing data and the generated indoor map. As described above, when a plurality of users use the cloud service, the cloud server 20 generates an indoor map for each of a plurality of buildings, and uses the created indoor map as a corresponding user's identifier, a corresponding building identifier, and By storing and managing in association with at least one identifier among service robot identifiers of a corresponding user, an indoor map associated with a service robot to control indoor self-driving may be identified.

Also, a plurality of robots R may exist in one building. In this case, the cloud server 20 may receive second sensing data from each of the plurality of robots R. In addition, the cloud server 20 determines whether a service robot or a segment of an indoor map generated by using the positions of a plurality of robots (R) identified through the second sensing data received from each of the plurality of robots (R). Indoor autonomous driving of each of the plurality of robots R may be controlled according to the service provided by the target building. For example, a plurality of robots R may provide logistics management services in a logistics warehouse. In this case, areas (divisions) for the plurality of robots R to manage logistics within the warehouse may be previously divided, and the cloud server 20 may divide the plurality of robots R according to the division of the indoor map. ) can control the indoor autonomous driving of each. Also, depending on the service, there may be a possibility that the moving paths of the plurality of robots R may overlap or each of the plurality of robots R may move all of the entire sections of the indoor map. To this end, the cloud server 20 may control indoor autonomous driving of each of the plurality of robots R according to the service provided by the plurality of robots R. For example, the cloud server 20 may calculate an optimal movement path for all of the plurality of robots R through the current positions of the plurality of robots R. As another example, there may be robots R providing different services in one target building. In this way, when a plurality of robots R exist in one target building, the cloud server 20 can know the location of each of the plurality of robots R by considering the entirety of the plurality of robots R. It is also possible to calculate the optimal movement path.

The robot R may control movement based on the received path data. For example, the robot R may receive route data through the communication unit of the robot R and transmit the path data to the data processing module of the robot R. At this time, in a general case, the data processing module of the robot R transmits the path data of the robot R to the driving control module so that the driving control module of the robot R controls the driving part of the robot R according to the path data. can do.

Meanwhile, a method of generating a map (or indoor map) corresponding to the building 1000 using the above mapping robot will be described in more detail.

The mapping robot may include at least one of a processor, a memory, a first sensor unit, a second sensor unit, a communication unit, and a driving unit.

The processor of the mapping robot operates according to the code stored in the memory of the mapping robot, and controls the overall operation of the first sensor unit of the mapping robot, the second sensor unit of the mapping robot, the communication unit of the mapping robot, and the driving unit of the mapping robot. The memory of the mapping robot may store codes for operating the processor of the mapping robot and may store data generated by the operation of the processor of the mapping robot. The processor of the mapping robot generates indoor map information of the building 1000 and its movement path information using first and second sensor data collected from the first sensor unit and the second sensor unit of the mapping robot, , second sensor data tagged with a sensing location may be generated. The processor of the mapping robot will be described in more detail below.

The first sensor unit of the mapping robot may generate spatial data (ie, first sensor data) used by the processor of the mapping robot to generate indoor map (or map) information and movement route information of the building 1000 . The first sensor unit of the mapping robot may include at least one selected from a group including a laser scanner, a camera, and an RGBD sensor. A laser scanner is a device that precisely draws the surroundings by emitting laser pulses, receiving the reflected laser pulses from nearby objects and measuring the distance to the object, including Lidar. can do. The laser scanner may be a 3D laser scanner and may generate 3D spatial data. The laser scanner may generate 3D space data at a preset cycle. When the mapping robot moves, the 3D space data generated by the laser scanner changes every frame. The processor of the mapping robot may determine the position and movement path of the mapping robot and generate indoor map information of the building 1000 by extracting feature points of 3D spatial data that change every frame and matching the feature points.

The camera may be, for example, a 360-degree camera, and may be a device that captures images in all directions from the position of the mapping robot. The camera may generate image data photographed in all directions. The processor of the mapping robot may determine the location and movement path of the mapping robot and generate indoor map information of the building 1000 by extracting feature points of image data that change every frame and matching the feature points.

According to an example, the processor of the mapping robot may generate 3D map data by analyzing image data obtained from a camera to identify planes and analyzing changes in the planes. Also, the processor of the mapping robot can determine its position within the 3D map data.

An RGBD sensor is a sensor in which the function of a sensor that captures an RGB image, such as a camera, and the function of a depth sensor that detects a distance to a surrounding target object are combined. The RGBD sensor can measure the distance to the surrounding object as well as the image of the surrounding object. The processor of the mapping robot may generate indoor map information of the building 1000 based on the output data of the RGBD sensor and determine its location.

The second sensor unit of the mapping robot is a device for generating second sensor data tagged with a sensing location, and may include at least one selected from a group including a camera, a Wi-Fi module, a Bluetooth module, and a geomagnetic sensor. The sensing location means a location where the second sensor data is obtained, and the second sensor data tagged with the sensing location means that the sensing location is stored together with the second sensor data. The sensing location may be stored as meta data of the second sensor data. The sensing location may be stored as coordinates on an indoor map of the building 1000 . The second sensor data tagged with the sensing location may be stored in the cloud server 20 and provided to the robot R providing service in the building 1000 as part of the indoor map information of the building 1000 through a network. . The second sensor data tagged with the sensing position may be stored in the memory of the mapping robot.

The second sensor unit of the mapping robot may include a plurality of sensors selected from a group including a camera, a Wi-Fi module, a Bluetooth module, and a geomagnetic sensor. For example, the second sensor unit of the mapping robot may include a camera and a Wi-Fi module. The second sensor unit of the mapping robot may include a 2D laser scanner. The second sensor unit of the mapping robot may include a 2D camera. Sensor devices of the second sensor unit of the mapping robot may be cheaper and have lower performance than sensors of the first sensor unit of the mapping robot.

The Wi-Fi module may detect identification information of access points detected at the sensing location and strength of Wi-Fi signals received from each of the access points. The Bluetooth module may detect identification information of the Bluetooth devices detected at the sensing location and strength of Wi-Fi signals received from each of the Bluetooth devices. The geomagnetic sensor may sense the earth's magnetic field at a sensing location.

The communication unit of the mapping robot may be connected to a network to communicate with the cloud server 20 and/or the robot R providing services in the building 1000 . The communication unit of the mapping robot may be referred to as a communication interface, and wireless communication may be established between the mapping robot and an external device, for example, the cloud server 20 . Wireless communications include, for example, LTE, LTE Advance (LTE-A), code division multiple access (CDMA), wideband CDMA (WCDMA), universal mobile telecommunications system (UMTS), Wireless Broadband (WiBro), or Global System for Mobile Communications (GSM). ), etc. may include cellular communication using at least one of the following. According to an example, wireless communication may include at least one of wireless fidelity (WiFi), Bluetooth, Bluetooth Low Energy (BLE), Zigbee, near field communication (NFC), or radio frequency (RF).

The driving unit of the mapping robot is controlled by a processor of the mapping robot and provides a means for the mapping robot to move within the building 1000 . The driving unit of the mapping robot may include a motor and a plurality of wheels. For example, the driving unit of the mapping robot may include motor drivers, wheel motors, and rotary motors. The motor driver may serve to drive wheel motors for driving of the mapping robot. The wheel motor may drive a plurality of wheels for driving the mapping robot. The rotary motor may be driven to change direction or rotate the wheels of the mapping robot.

The mapping robot may further include an obstacle recognizing unit. The obstacle recognizing unit may include at least one of an infrared sensor, an ultrasonic sensor, a cliff sensor, a posture sensor, a collision sensor, and an optical flow sensor. The infrared sensor may include a sensor that receives a signal of an infrared remote controller for remotely controlling the mapping robot. The ultrasonic sensor may include a sensor for determining a distance between an obstacle and the robot using an ultrasonic signal. The cliff sensor may include a sensor for detecting a precipice or precipice in a range of 360 degrees. The attitude sensor (ARS, Attitude Reference System) may include a sensor capable of detecting the attitude of the mapping robot. The posture sensor may include a sensor composed of 3 axes of acceleration and 3 axes of gyro for detecting the amount of rotation of the mapping robot. The collision sensor may include a sensor that detects a collision between the mapping robot and an obstacle. The collision sensor can detect a collision between the mapping robot and an obstacle in a 360-degree range. An optical flow sensor (OFS) may include a sensor capable of measuring a phenomenon in which a mapping robot spins while driving and a robot traveling distance on various floor surfaces.

The processor of the mapping robot may include at least one of a timestamping module, a simultaneous localization and mapping (SLAM) module, a tagging module, and a storage module.

The timestamping module of the mapping robot may collect first sensor data through the first sensor unit of the mapping robot, and may tag the first sensor data with first timestamp values. The timestamping module of the mapping robot may collect second sensor data through the second sensor unit of the mapping robot, and may tag second timestamp values to the second sensor data. It is assumed that the first sensor unit of the mapping robot is a 3D laser scanner and the second sensor unit of the mapping robot is a Wi-Fi module. The first sensor data may be referred to as spatial data received from a 3D laser scanner exemplified by the first sensor unit of the mapping robot, and the second sensor data may be referred to as sensor data received from a Wi-Fi module exemplified by the second sensor unit of the mapping robot. can be referred to as

Timestamping may mean tagging the data by storing a timestamp value corresponding to the time the data is received in association with the data or storing it as metadata of the data. A timestamp is information expressed in a consistent format to indicate a specific time, and can be conveniently used when comparing two or more times or calculating a period. The format of the timestamp does not limit the present invention.

The first sensor unit of the mapping robot and the second sensor unit of the mapping robot may operate independently of each other. Therefore, the collection period of the first sensor data of the first sensor unit (eg, 3D laser scanner) of the mapping robot and the collection period of the second sensor data of the second sensor unit (eg, Wi-Fi module) of the mapping robot are independent of each other. to be. A reception time of the first sensor data and a reception time of the second sensor data may not be synchronized with each other. For example, the first sensor data may be received at a time interval selected from about 1 ms to 100 ms, and the second sensor data may be received at a time interval selected from about 1 ms to 1 sec. Each of the first and second sensor data may not be received at regular intervals.

The timestamping module of the mapping robot may store first sensor data tagged with a first timestamp value and second sensor data tagged with a second timestamp value in a memory of the mapping robot. Each of the first and second sensor data may be understood as a set of data sequentially received while the mapping robot moves.

The SLAM module of the mapping robot may perform functions of simultaneously estimating a location and creating a map based on the first sensor data, and may estimate a path traveled by the mapping robot. Since the first sensor data is tagged with the first timestamp values, the SLAM module of the mapping robot can grasp information about which location the robot passed through at what time. Since the simultaneous location estimation and map creation functions of the SLAM module of the mapping robot are well known, detailed descriptions of how the simultaneous location estimation and map creation functions can be performed will not be described.

According to an example, the SLAM module of the mapping robot may generate temporary location data at a time point corresponding to the first timestamp value while generating temporary map data based on the first sensor data. Temporary location data refers to data temporarily estimating a location through which the mapping robot passed at a point in time corresponding to the first timestamp value. When the first sensor data is 3D image data received from a 3D laser scanner, the SLAM module of the mapping robot may perform simultaneous location estimation and map creation functions based on sequentially received 3D image data. In this step, the map data temporarily created by the SLAM module of the mapping robot and its position data may include a sensing error, and the sensing error may accumulate over time and gradually increase. Temporary map data and temporary location data may refer to data from which such sensing errors are not removed. For example, temporary map data and temporary location data may include a sensing error.

The SLAM module of the mapping robot may perform a loop closing function as a method for removing a sensing error. The SLAM module of the mapping robot can detect loop closure. In this specification, loop closure means revisiting a location where the mapping robot has passed. The SLAM module of the mapping robot compares current data, which is currently received first sensor data, with previous data, which is first sensor data, which was previously received, and determines that loop closure has occurred when the similarity between them is greater than a preset threshold. can When the first sensor unit of the mapping robot is a 3D laser scanner, 3D image data acquired at the same location may be very similar. The 3D image data received from the 3D laser scanner may be converted into a coordinate system previously set according to the posture of the mapping robot so as to be easily compared with each other. Revisiting a location where the mapping robot has passed may include not only revisiting the same coordinates, but also revisiting a location adjacent to a previously visited location.

Current data may not be compared with all previous data, but may be compared with some previous data to reduce the amount of computation. Some previous data to be compared may be previous data of a starting point or previous data of an intersection location. Some previous data to be compared may be previous data at a point in time when loop closure is likely to occur based on a movement path predicted based on the temporary location data.

According to another embodiment, the SLAM module of the mapping robot may also use the second sensor data when detecting a loop closure. The SLAM module of the mapping robot compares current data, which is currently received second sensor data, with previous data, which is second sensor data, which was previously received, and determines that loop closure has occurred when the similarity between them is greater than a preset threshold. can When the second sensor unit of the mapping robot is a Wi-Fi module, wireless signal data obtained from the same location may be very similar. Also for the second sensor data, the current data may not be compared with all previous data, but may be compared with some previous data to reduce the amount of calculation.

When the loop closure is detected based on the first sensor data, the SLAM module of the mapping robot may determine a previous passing time when the current location was previously passed by using a first timestamp value tagged to the first sensor data. The previous passage time determined using the first sensor data is referred to as a first previous passage time. Even when the loop closure is detected based on the second sensor data, the SLAM module of the mapping robot can determine the time point of the previous pass through the current location by using the second timestamp value tagged to the second sensor data. . The previous passing time point determined using the second sensor data is referred to as a second previous passing time point. The SLMA module may finally determine that loop closure has occurred when the difference between the first previous passage time and the second previous passage time is smaller than a preset threshold.

The SLAM module of the mapping robot may generate indoor map information of the building 1000 and movement path information along which the mapping robot moved by removing a sensing error from temporary map data and temporary location data in response to detection of the loop closure. The SLAM module of the mapping robot may generate corrected position data by correcting temporary position data in response to detection of the loop closure, and generate movement path information based on the corrected position data. In addition, the SLAM module of the mapping robot may generate indoor map information of the building 1000 by removing a sensing error from temporary map data when a loop closure is detected.

According to an example, since the difference between the temporary position data at the current time point at which the loop closure is detected and the temporary position data at the first previous passing time point corresponds to the sensing error accumulated between the first previous passing time point and the current time point, the mapping robot The SLAM module matches the temporary location data at the current time point at which the loop closure is detected with the temporary location data at the first previous passage time point, and calculates the temporary location data at the current time point at which the loop closure is detected and the temporary location data at the first previous passage time point. Based on the difference, information about the sensing error may be identified. The SLAM module of the mapping robot may generate corrected position data by correcting a sensing error in the temporary position data. The corrected location data may be understood as a case in which a sensing error is removed from the temporary location data. The corrected position data regarding the position of the mapping robot also includes an estimation error, but a much smaller error than the temporary position data.

The SLAM module of the mapping robot may generate movement path information based on the corrected position data. Since the first sensor data is timestamped with a first timestamp value, the movement path information includes corrected position data at a point in time corresponding to the first timestamp value. That is, the moving path information is information about a path that the mapping robot has moved, and may include information about a time and location actually passed due to first sensor data tagged with a first timestamp value.

The tagging module of the mapping robot may estimate a sensing position at a time point corresponding to the second timestamp value based on the movement path information. Since the movement path information includes information about the time and location at which the mapping robot moved, the tagging module of the mapping robot can determine the location where the mapping robot was located at the time corresponding to the second timestamp value. This location may be referred to as a sensing location. According to an example, the tagging module of the mapping robot may estimate a sensing position at a time point corresponding to a second timestamp value by interpolation using corrected position data at a time point corresponding to a first timestamp value. A point in time corresponding to the first timestamp value may not exactly coincide with a point in time corresponding to the second timestamp value. Two first timestamp values adjacent to the second timestamp value may be selected. Corrected position data corresponding to the two first timestamp values may be determined. Assuming that the mapping robot moves at a linear constant velocity between points in time corresponding to the two first timestamp values, an interpolation operation is performed based on the difference between the second timestamp value and the two adjacent first timestamp values. By doing so, it is possible to estimate the sensing position at the time point corresponding to the second timestamp value.

It may not be assumed that the mapping robot moves at a linear constant velocity between positions corresponding to two adjacent first timestamp values. For example, a mapping robot may move irregularly. In this case, the position of a viewpoint corresponding to the second timestamp value may be determined based on positions of viewpoints corresponding to two or more first timestamp values adjacent to the second timestamp value. The tagging module 133 of the mapping robot predicts the type of motion of the mapping robot based on the positions of the time points corresponding to two or more first timestamp values, and the type of movement and the type of time point corresponding to the second timestamp values. Based on the locations, a location of a viewpoint corresponding to the second timestamp value may be estimated.

The tagging module of the mapping robot may estimate the sensing position based on the position where the mapping robot was located at the time corresponding to the second timestamp value. Strictly speaking, the position of the viewpoint corresponding to the second timestamp value means the position of the first sensor unit of the mapping robot. On the other hand, the sensing position may mean the position of the second sensor unit of the mapping robot.

The first sensor unit of the mapping robot and the second sensor unit of the mapping robot may be present at different positions within the mapping robot. The processor of the mapping robot may previously store information about a positional relationship between the first sensor unit and the second sensor unit of the mapping robot. The processor of the mapping robot calculates a relationship between the position of the second sensor unit of the mapping robot and the position of the first sensor unit of the mapping robot according to the posture of the mapping robot, and uses the calculated positional relationship to calculate the position of the first sensor unit of the mapping robot. From this, it is possible to accurately calculate the position of the second sensor unit of the mapping robot. Through this, the tagging module 133 of the mapping robot may estimate the sensing position based on the location of the first sensor unit of the mapping robot at the time corresponding to the second timestamp value.

The tagging module of the mapping robot may tag the estimated sensing location to second sensor data timestamped with a second timestamp value. Since the tagging module of the mapping robot performs the above operation with respect to all of the second sensor data, the sensing position of all the second sensor data may be tagged. When the second sensor unit of the mapping robot is a camera, the second sensor data tagged with the sensing location may include an image captured by the camera and a location of the camera. The location of the camera included in the second sensor data may include a photographing direction of the camera. In the case of a fixed camera, the shooting direction of the camera may be determined through the posture of the mapping robot. In the case of a gimbal camera, a photographing direction of the camera may be determined based on a posture of the mapping robot and an angle of the gimbal.

The storage module of the mapping robot may store second sensor data tagged with a sensing location. The storage module of the mapping robot may store the second sensor data tagged with the sensing location in the memory of the mapping robot. The storage module of the mapping robot may store the second sensor data tagged with the sensing location in the cloud server 20 . The storage module of the mapping robot may combine the second sensor data tagged with the sensing location with indoor map information of the building 1000 .

When the second sensor unit of the mapping robot includes a plurality of types of sensors, a plurality of second sensor data may also exist, and the plurality of second sensor data each tagged with a sensing location may be generated by a tagging module of the mapping robot. have. Indoor map information of the building 1000 may include a plurality of second sensor data. For example, when the second sensor unit of the mapping robot includes a camera and a Wi-Fi module, the second sensor data may include image data captured by a camera at a sensing location and data of Wi-Fi signals received at the sensing location.

The processor of the mapping robot may further include an autonomous driving module for autonomous driving of the mapping robot, and a driving part of the mapping robot may be driven by control of the autonomous driving module. The autonomous driving module can directly determine the route the mapping robot will move. The mapping robot may search the building 1000 before indoor map information of the building 1000 is created. The autonomous driving module may have an algorithm for searching the building 1000 . For example, the self-driving module has an algorithm that rotates in a specific direction at all intersections to search for the building 1000, or determines a route so that loop closure occurs when a preset travel distance or time is reached. You can have an algorithm.

According to another embodiment, a function of determining a path for the mapping robot to move may be performed in the cloud server 20 , and a processor of the mapping robot may receive a path for the mapping robot to move from the cloud server 20 .

The temporary movement path described below is a temporary movement path before the loop closing operation, and the estimated movement path is an estimated movement path estimated after the loop closing operation.

A temporary movement path may be determined based on temporary location data. Temporary location data may gradually deviate from the actual path as sensing errors accumulate as the mapping robot moves.

The loop closing operation may be an operation of matching temporary location data at two points in time when the loop closure is detected. Corrected position data generated by the loop closing operation may be understood as removing a sensing error from temporary position data.

When the processor of the mapping robot determines a sensing position whenever second sensor data is received from the second sensor unit of the mapping robot and tags the determined sensing position to the second sensor data, the sensing position of the second sensor data is temporary. It may be determined as a location on a movement path or a location of adjacent temporary location data on a temporary movement path. The processor of the mapping robot may determine the current location as the temporary location data based on the first sensor data, and the processor of the mapping robot may determine the sensing location of the second sensor data based on the temporary location data.

According to the present embodiments, the second sensor data is timestamped with a second timestamp value. The processor of the mapping robot may determine the sensing position of the second sensor data as a position on the estimated movement path by using the second timestamp value of the second sensor data. As a result, the sensing position of the second sensor data can be more accurate, and little additional time is required to determine the sensing position of the second sensor data. In addition, a very large number of second sensor data may be acquired along a path along which the mapping robot moves within the building 1000 . Second sensor data measured at many sensing locations within the building 1000 may be collected. If a worker moves with a sensor device to a preset location and collects sensor data, sensor data can be collected only for a limited location. Second sensor data may be collected at intervals of about cm.

Meanwhile, the cloud server 20 may receive indoor map information of the building 1000 from the mapping robot. Indoor map information may include a 3D map of the building 1000 . The indoor map information may include second sensor data tagged with a sensing location. The sensing location may be specified as a location on indoor map information of the building 1000 .

The cloud server 20 may provide indoor map information of the building 1000 to the robot R providing services in the building 1000 . The robot R providing services in the building 1000 may determine its location using second sensor data included in indoor map information of the building 1000 . The accurately estimated sensing location is tagged with the second sensor data. The robot R providing service in the building 1000 may estimate its position by comparing values measured using sensors in the building 1000 with second sensor data.

For example, an image taken by the robot R is compared with second sensor data, eg, images, acquired by the mapping robot, a similar image is detected, and the second sensor data corresponding to the similar image is tagged. The position of the robot R is estimated using the sensing position.

According to another embodiment, the cloud server 20 may receive departure information and destination information from the mapping robot and/or the robot R providing services in the building 1000 . The cloud server 20 determines the optimal route to travel from the starting point to the destination using indoor map information of the building 1000, and provides information on the optimal route to the mapping robot and/or the building 1000 to provide services. It can be provided to the robot R. The mapping robot and/or the robot R providing services in the building 1000 receiving the information on the optimal route may move along the optimal route. According to another example, the mapping robot may include an autonomous driving module and may move according to a path determined by the autonomous driving module.

According to another embodiment, the cloud server 20 may perform functions of a SLAM module of the mapping robot, a tagging module of the mapping robot, and a storage module of the mapping robot. For example, the cloud server 20 may receive the first and second sensor data timestamped with first and second timestamp values, respectively, from the mapping robot.

The cloud server 20 may generate temporary map data based on first sensor data timestamped with a first timestamp value and temporary location data at a point in time corresponding to the first timestamp value.

The cloud server 20 may detect a loop closure in which a location where the mapping robot has passed is revisited. When the loop closure is detected, the cloud server 20 may generate corrected location data by correcting the temporary location data, and generate movement route information and indoor map information of the building 1000 based on the corrected location data.

The cloud server 20 may estimate a sensed location at a point in time corresponding to a second timestamp value based on the movement path information, and tag the sensed location to the second sensor data. The cloud server 20 may store second sensor data tagged with a sensing location.

The cloud server 20 may be connected to a network to communicate with a mapping robot and/or a robot R providing services in the building 1000 .

As described above, in the present invention, based on the map information generated by the mapping robot, a movement path of the robot R providing services in the building 1000 can be created.

As described above with reference to FIGS. 7 and 8 , the cloud server 20 may specify a destination where the robot's mission is to be performed and set a movement path for the robot to reach the corresponding destination. When a movement route is set by the cloud server 20, the robot R may be controlled to move to a corresponding destination in order to perform a mission.

The cloud server 20 may generate a movement path of a robot to perform a mission based on a map (or map information) corresponding to the indoor space 10 of the building 1000 .

Here, the map may include map information for each space of the plurality of floors 10a, 10b, 10c, ... constituting the indoor space of the building.

Furthermore, the movement route may be a movement route from a mission performance start location to a destination where the mission is performed. As described above with reference to FIG. 8 , the indoor space 10 of the building 1000 may be composed of a plurality of different floors 10a, 10b, 10c, ..., and the mission start location and destination are the same floor. or may be located on different floors. The cloud server 20 may use map information on the plurality of floors 10a, 10b, 10c, ..., to create a movement path of a robot to perform a service within the building 1000. The cloud server 20 may specify at least one facility that the robot must use or pass through to move to a destination among facility infrastructures (a plurality of facilities) disposed in the building 1000 . In this way, in order to create a movement path including at least one facility, the cloud server 20 may use a map (or map information) reflecting characteristics of various facilities disposed in the indoor space.

Map information reflecting the characteristics of these facilities can be generated by the cloud server 20. Hereinafter, a method of generating map information along with attached drawings and a method of setting a movement route using the created map will be described. Let's look at it in detail. 12 to 17 are conceptual diagrams for explaining map information used to use a moving path of a robot in a robot-friendly building according to the present invention.

Hereinafter, a method of generating a map (or map information) by the cloud server 20 will be described, but map information may be generated by a system other than the cloud server 20 . This may be a system constructed for generating map information, and the present invention does not place any particular limitations on this. Hereinafter, for convenience of explanation, it will be described that map information is generated in the cloud server 20 .

First, FIG. 12 is a conceptual diagram illustrating map information used to set a path of a robot.

As described above, a map (or map information) for the target space (or space) 10 may be stored in the database. Referring to FIG. 12 , the map of the indoor space 10 stored in the database may be in the form of a two-dimensional plan view, but is not limited thereto.

Meanwhile, map information may include a plurality of nodes (nodes, 1211 and 1221). In this specification, a 'node' means a point or area that is a unit target for the robot's movement, and each node corresponds to a specific point or specific area in the target space.

Node information may correspond to each node. Node information may include at least three pieces of information.

First, node information includes coordinate information. A single node specifies a specific coordinate or range of coordinates on the map. For example, a node may designate a circular area having a predetermined area on a map. To this end, the coordinate information included in the node may consist of specific coordinates or coordinate ranges.

Second, node information includes node connection information. A single node contains information defining other nodes from which the robot can move. The node connection information may include a unique number of another node to which the robot can move from the corresponding node or coordinate information designated by the other node.

Thirdly, node information includes facility information. Facility information defines information related to facilities placed in the target space. In detail, the facility information may include at least one of a type of facility, information related to a server corresponding to the facility, and node information of a node corresponding to a location where the facility is located.

In addition, the node connection information may include direction information defining a direction in which the robot can move between nodes. The direction information defines whether the robot can move only in one direction or in both directions when the robot can move from one of the two nodes to the other.

Meanwhile, the cloud server 20 controls the robot to move from one node to another node, and repeats this process to control the robot to reach the target point (or destination). In this specification, moving a robot to a specific node means that the robot moves within coordinate information or a range of coordinates designated by a specific node.

The cloud server 20 sets a movement route for moving the robot from the mission start position (or current position (S)) to the destination (A) using map information, and then sends information or control commands according to the set route. can be transmitted to the robot.

Hereinafter, a method of generating and utilizing a node map will be described in detail, but this corresponds to an embodiment of controlling the driving of a robot, and the present invention sets a moving path of a robot using a method other than the node map described above. can That is, the implementation method of the map (map) for setting the movement path of the robot can be very diverse.

First, the node map is composed of nodes. In this specification, a node may have two types depending on its relation to a facility disposed in a target space. A node having the first node type is a node allocated to an area corresponding to a location where a facility arranged in the target space is located, and a node of the second node type refers to a node allocated to an area that does not correspond to a location where the facility is located.

Here, the node 1211 of the first node type is a specific point where a specific facility is located in the target space and the specific facility (eg, an access control gate or speed gate (207, see FIG. 2), an elevator 204, 213, see FIG. 2), etc.) is allocated to an area corresponding to at least one of the specific areas that must be passed through. That is, when the robot uses a specific facility, the robot must move to at least some of the nodes of the first node type corresponding to the specific facility.

Meanwhile, the indoor space 10 of the building 1000 may be divided into a plurality of zones 1210 and 1220 . The node map includes a plurality of zones 1210 and 1220. At least one node 1211, 1221 is assigned to each zone. Each zone is classified based on at least one node included in the zone.

Meanwhile, in the present specification, a zone may have two types according to the type of a node allocated to the zone. Specifically, the zone consists of a first zone type zone including nodes allocated to an area corresponding to the location where the facility is located and a second zone type zone including nodes allocated to an area that does not correspond to the location where the facility is located. can

Only zones of the same type may be allocated to each of the first and second zone types. For example, only nodes of a first node type may be allocated to an area of the first area type, and only nodes of the second node type may be allocated to an area of the second area type.

Zone information corresponding to the corresponding zone may correspond to each zone. Zone information may include at least one of serial number and location information of each node included in the zone, connection information between nodes included in the zone, zone connection information between adjacent zones, and facility information.

Zone connection information may be generated for each zone adjacent to the corresponding zone. Zone connection information for the first and second zones adjacent to each other includes node information of a first node disposed closest to the second zone among nodes included in the first zone and among nodes included in the second zone. Node information of a second node disposed closest to the first zone may be included. That is, the zone connection information defines nodes to be moved to move between zones.

Facility information defines information related to facilities deployed in a specific area. In detail, the facility information may include at least one of a type of facility, information related to a server corresponding to the facility, and node information of a node corresponding to a location where the facility is located.

In the present invention, facilities may also be referred to as infrastructure or facilities infrastructure, as described above, and are facilities provided in buildings for service provision, robot movement, function maintenance, cleanliness maintenance, etc., and their types and forms are very diverse. can do. For example, infrastructure provided in a building may be diverse, such as mobile facilities (eg, robot moving passages, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, structures (eg, stairs, etc.), and the like. have.

Meanwhile, the cloud server 20 may allocate a temporary (or temporary) node (temporary node) to the target space and utilize it for driving control of the robot. Node information may also correspond to nodes that are temporarily created. In this case, the node information corresponding to the temporarily created node may include location information set by the cloud server 20 and connection information between nodes located within a predetermined distance based on the location of the temporarily created node.

As an example, referring to FIG. 12 , a node map for providing a movement path of a robot in a target space may be divided into a plurality of zones 1210 to 1250 . Here, the plurality of zones do not necessarily need to be located on the same plane, and each zone may correspond to a different floor in space.

Meanwhile, a specific zone may be allocated to each of two different floors. As an example, one of the plurality of zones 1230 allocated to the target space is allocated to the first and second floors, respectively, so that the first and second floors can be connected. Details about this will be described later.

At least one node may be assigned to each of the plurality of zones 1210 to 1250 . A plurality of nodes having a first node type related to a specific facility may be assigned to the zone 1210 of the first zone type corresponding to the location where the facility is located. Meanwhile, a plurality of nodes having the second node type may be assigned to the zone 1220 of the second zone type that does not correspond to the location where the facility is located.

More specifically, the cloud server 20 may allocate a plurality of nodes to correspond to the indoor space of the building 10 based on predetermined node allocation criteria.

That is, nodes may be assigned to some of the areas in the indoor space 10 in which the robot can move. Nodes may be allocated at predetermined intervals, and the number of allocated nodes may increase in proportion to an area in which the robot can move.

When a node corresponding to a specific point or area of the indoor space 10 is allocated, node information corresponding to the node is generated. The node information includes location information corresponding to the corresponding node and connection information with other nodes. Such node information and connection information may be stored in a database and used by the cloud server 20 to generate a movement path of the robot.

The connection information defines a node to which the robot can directly move from a corresponding node without going through another node. The connection information may be updated whenever a new node is created in a location adjacent to the corresponding node.

Meanwhile, nodes may be allocated differently depending on whether facilities are deployed. In detail, a node of the first node type may be allocated to an area corresponding to a location where facilities are located. At this time, the node of the first node type is allocated to an area corresponding to at least one of a specific point where the facility is located and a specific area through which the robot must pass through the facility.

On the other hand, in the present invention, there is no limitation on the type of facilities, which may be facilities installed for the convenience of humans or robots in the living space, or facilities installed according to the function of the space or other needs.

Meanwhile, nodes of the first node type may be allocated in different ways according to the type of corresponding facility.

As an example, referring to FIG. 14 , when assigning a node corresponding to a location where an automatic door is placed, nodes N26 and N27 are assigned to each of the two regions partitioned by an automatic door (or door), and each node may be allocated to an area within a predetermined distance from the automatic door. The predetermined distance may be set based on an object recognition range of the automatic door and a moving speed of the robot.

The node information corresponding to the automatic door includes connection information connecting nodes of each of the two areas partitioned by the automatic door.

As another example, referring to FIG. 15 , when a node corresponding to a location where a speed gate is disposed is allocated, three types of nodes may be allocated. Specifically, facility nodes corresponding to the speed gate are gate nodes (N7 and N10) assigned to the point where the speed gate is located, open standby nodes (N6, N8, N9, and N11), and points where the speed gate must be waited for. It may include allocated standby nodes N5 and N12.

The gate nodes N7 and N10 are allocated as many as the number of speed gates, and are allocated to areas through which the robot must pass in conjunction with the opening of the speed gates. Node information corresponding to a gate node includes connection information with an open standby node connected to a specific gate node.

Two open standby nodes (N6, N8, N9, N11) can be assigned to each speed gate. Specifically, nodes N9 and N11 are allocated around node N10 allocated to the location where the first speed gate is located, and nodes N6 and N8 are allocated around node N7 allocated to the location where the second speed gate is located. Open waiting nodes (N6, N8, N9, N11) are assigned to positions where the robot must wait until the speed gate to be used is opened. Node information corresponding to the open standby node includes connection information with a gate node related to the open standby node and a use standby node.

The waiting nodes N5 and N12 are assigned to each of the two regions partitioned by the speed gate, and when the robot arrives at the waiting node, a gate to be used by the robot among a plurality of gates is determined. The waiting node for use is assigned to an area within a predetermined distance from the node waiting for open use.

The node information corresponding to the standby node includes connection information with at least one open standby node.

In summary, when the robot uses the speed gate, the robot can move to the other side of the speed gate via the waiting node for use, the waiting node for opening, the gate node, and the waiting node for opening on the opposite side.

Meanwhile, temporary nodes may be assigned to some facilities. For example, referring to FIG. 15 , when the speed gate does not operate, a temporary entrance through which the speed gate may pass may be opened. At this time, temporary nodes S1 and S2 may be allocated to the temporary entrance. The robot can pass through the temporary entrance through the temporary nodes S1 and S2. When the function of the speed gate is restored, the temporary node may be deleted from the map information.

As another example, referring to FIG. 16 , when a node corresponding to an elevator location is allocated, two types of nodes may be allocated. Specifically, the facility node corresponding to the elevator may include a node N37 allocated to the space inside the elevator, and wait-for-open nodes N35 and N39 allocated to a location where the elevator door should wait to be opened.

The node N37 assigned to the space inside the elevator may be assigned to each elevator, and the location of the node may vary depending on the current location of the elevator. The node information corresponding to the node N37 allocated to the space inside the elevator includes connection information with open waiting nodes allocated to each floor where the elevator can be used.

Meanwhile, an open waiting node is assigned to each floor where an elevator can be used, and may be assigned to each elevator. Open waiting nodes N35 and N39 are assigned to positions where robots have to wait until an elevator to be used is opened. The node information corresponding to the open standby node includes connection information with the node N37 allocated to the space inside the elevator.

In summary, when a robot uses an elevator, the robot can move to another floor via an open standby node, a node allocated to the space inside the elevator, and an open standby node of another floor. Meanwhile, although not shown, a node related to an elevator may include a standby node similar to a node related to a speed gate.

As described above, a node of the first node type according to the type of facility may be assigned to a location corresponding to a facility.

As an example, nodes of the second node type may be allocated to locations that do not correspond to facilities at predetermined intervals.

Meanwhile, the node may be temporarily allocated to correspond to a specific location in the target space. For example, when setting a moving path of a robot, nodes corresponding to the robot's current location and the robot's destination may be temporarily allocated. For another example, when a robot cannot immediately use a specific facility due to congestion in a specific facility, a standby node may be temporarily assigned to an area within a predetermined distance from the specific facility.

Referring again to FIG. 13 , a plurality of nodes N1 to N40 are allocated to the target space, and connection information M1 and M2 between the nodes may be defined.

As described above, after allocating nodes to an indoor space, clustering may be performed on a plurality of nodes based on facilities included in the indoor space.

Node clustering refers to a process of classifying adjacent nodes into a group centering on a reference node. Clustering may be performed based on connection information included in node information corresponding to a node. Specifically, the cloud server 20 may classify nodes defined in connection information corresponding to the reference node into the same group as the reference node. Thereafter, the cloud server 20 classifies nodes defined in connection information included in node information corresponding to nodes classified into the same group as the reference node into the same group as the reference node. In this case, when specific connection information defines node information of a different type, the cloud server 20 does not classify the different type of node into the same group as the reference node. The clustering is performed until nodes of the same node type are not adjacent to each other.

Meanwhile, clustering of nodes is performed by dividing an area including facilities and an area not including facilities.

For example, clustering of nodes may be preferentially performed in an area including facilities. First, the cloud server 20 selects a reference node for each area including facilities, and classifies nodes (adjacent nodes) defined in connection information included in node information corresponding to the reference node into the same group as the reference node. can Also, the cloud server 20 may classify a node defined in connection information included in node information corresponding to the adjacent node into the same group as the reference node. This clustering is performed until nodes corresponding to the same node type and same facility are neighbors with nodes of different types. In this case, a boundary of a zone including nodes of the same node type may be defined by a node adjacent to the node of the different type.

As a result of clustering for nodes having the first node type, nodes corresponding to the same facility are classified into one group, and nodes corresponding to facilities included in the target space may be classified into independent groups.

Next, the cloud server 20 may perform clustering on areas not including facilities. Similarly, clustering for areas that do not include facilities can be performed until they are neighbors with other types of nodes. In this case, a boundary of a zone including nodes of the same node type may be defined by a node adjacent to the node of the different type.

As a result of clustering the nodes having the second node type, a plurality of nodes that do not include facilities and allow the robot to move without using specific facilities may be classified as one group.

Based on the clustering results, the indoor space 10 may be divided into a plurality of zones including at least one of a plurality of nodes.

Each of the plurality of zones may include nodes classified as the same group. In the present invention, zones and groups can be understood as the same meaning.

Meanwhile, zone information corresponding to each zone may exist in each of a plurality of zones. Zone information may include at least one of a serial number of each node included in each zone, location information of each node, connection information between nodes included in each zone, zone connection information between adjacent zones, and facility information.

Zone connection information may be generated based on node connection information of nodes included in the corresponding zone and adjacent zones. Specifically, the zone connection information for the first zone and the second zone adjacent to each other is included in the node connection information of the first node disposed closest to the second zone among the nodes included in the first zone and the second zone. It may be generated based on node connection information of a second node disposed closest to the first zone among the nodes in the zone.

Facility information may be generated based on facility information corresponding to nodes included in the zone. The facility information may be periodically updated by a server corresponding to the facility. Specifically, facility information may include facility state information. The facility state information may define at least one of a facility operating state, congestion level, and expected waiting time. The facility status information may be updated by the server in real time or at preset time intervals.

Looking more specifically at nodes classified into a plurality of zones, referring to FIG. 13 , a plurality of nodes may be grouped into a plurality of groups based on connection information and node types corresponding to each node. The indoor space 10 of the building 1000 may be divided into a plurality of zones C1 to C7 based on the groups. The robot can move to an area adjacent to a specific area.

The zones may include zones C2 , C4 , C6 , and C7 corresponding to locations where facilities are located and zones C1 and C3 not corresponding to locations where facilities are located.

As such, the cloud server 20 may generate a map of the indoor space 10 of the building 1000 including node connection information between a plurality of nodes and area connection information between a plurality of areas.

The node map generated by the method described above distinguishes a facility area from an area where no facilities are placed (general area), and can provide area connection information for moving from one of the facility area and general area to another.

Furthermore, it is also possible that the node map discussed above can be changed according to a change in the state of the indoor space and a user request. For example, when facilities are disposed in a general area, the cloud server 20 may change the corresponding area to a facility area.

As described above, since the node map is created by dividing an area where facilities are located and an area where facilities are not located, it is possible to set a movement route considering the characteristics of facilities.

The cloud server 20 may set a movement path of the robot by efficiently utilizing the area including the facility and the area not including the facility by using the node map described above.

Looking at the method of setting the robot's movement path based on the node map discussed above, the cloud server 20 can set the destination that is the final point of the robot's movement on the indoor space of the building 1000 (S1710, FIG. 17). Reference).

As discussed above, the robot's destination can be set in various ways according to the task assigned to the robot.

Furthermore, information on the robot's destination may be received or set through various routes. The destination of the robot may be set under the control of the cloud server 20 . The cloud server 20 may assign a task to the robot and set an appropriate destination for the robot to perform the assigned task.

Meanwhile, the destination of the robot may be set by the robot and transmitted to the cloud server 20 or set by the cloud server 20 .

The destination can be set to a location corresponding to a specific point on the node map. The destination may be any one of pre-allocated nodes constituting the node map or an area not allocated as a node.

If the destination is an area not allocated as a node, a node including the destination may be temporarily allocated. In this case, connection information of nodes around the destination node may be updated.

When a destination is set, the cloud server 20 may set a zone path including a zone through which the robot must pass in order to reach the destination, based on zone information for each of a plurality of zones (S1720, FIG. 17 ). Reference).

Here, the setting of the zone path may be performed using a map (node map) including a plurality of zones and a plurality of nodes included in each of the plurality of zones. The cloud server 20 may specify at least one passing area through which the robot must pass in order to reach the destination among the plurality of areas, and create a zone path based on the passing area.

For specifying the transit area, the cloud server 20 specifies areas through which the robot must pass in order to reach the destination from the robot's current location (or mission performance start location), and combines the specified areas to move the robot to a moving path. can create At this time, a plurality of moving paths for the robot to travel to the destination may exist. For each travel route, at least one different zone (or transit zone) may be included. The movement path of the robot is generated by combining at least one zone, and each movement path may be formed by combining at least one different zone (or passing zone) for each different movement path.

The cloud server 20 may set a specific movement path as a movement path of the robot based on at least one of a movement cost between corresponding zones for each different movement route, an estimated movement time, and a task assigned to the robot.

For example, the cloud server 20 may select a movement path including areas corresponding to a minimum movement cost or a minimum expected movement time. As another example, the cloud server 20 may create a movement path so that an area including a specific facility is necessarily included on the movement path based on a task assigned to the robot.

The cloud server 20 may calculate a movement cost or expected movement time for each of the combinations based on the zone information, and specify a combination having the calculated movement cost or estimated movement time as a transit zone. For example, when a task assigned to the robot is to transport cargo to another floor, an area including a cargo elevator may be included on the moving path.

Here, if there are a plurality of zones related to the same type of facilities among the routes to the destination, the cloud server 20 may select one of the plurality of zones based on the degree of congestion corresponding to each of the zones.

Meanwhile, the cloud server 20 may create a movement path based on a movement path of another robot. That is, the cloud server 20 may specify at least one area through which a robot passes to reach a destination based on a moving path of another robot. Specifically, the cloud server 20 may calculate the zone congestion based on the movement paths of other robots assigned to a specific transit zone. Based on the zone congestion, the cloud server 20 calculates a movement cost or expected movement time for each of the different movement routes, and selects a movement route including a region corresponding to the minimum movement cost or minimum expected movement time. have.

In this way, if an area (or a passing area) through which the robot must pass to reach a destination is specified, the cloud server 20 may generate an area route using area information corresponding to each passing area. Specifically, the zone path may include information specifying a zone through which the robot passes and zone connection information for the specified zone.

For example, referring to FIG. 13, if the robot's destination (A) is set to N39, based on the driving start position (or current position (S), N2) and destination (A) information of the robot (R), Passing areas C1 , C2 , C3 , C6 , and C7 through which the robot R must pass in order to reach the destination may be specified. Further, a zone route may be generated based on zone connection information corresponding to each of the transit zones C1, C2, C3, C6, and C7.

In the cloud server 20, the robot R 1) moves from the driving start position N2 to N4, 2) moves from N4 to N5, 3) moves from N5 to N13, 4) moves from N13 to N14, 5 ), from N14 to N33, 6) from N33 to N35 (or N36), 7) from N35 (or N36) to N37 (or N38), 8) from N37 (or N38) to N39 (or N40) You can create moving zone routes.

The cloud server 20 does not define a detailed movement path between nodes included in the zone, and the first node that the robot in each passing zone must first pass through (or enter) and the last node that must pass through (or enter) A zone path including connection information between a node and a passing zone may be created with priority.

As described above, the cloud server 20 establishes a primary plan in units of zones when establishing a robot movement plan. Also, the cloud server 20 may set a detailed path for each area included in the area path according to the movement situation of the robot (S1730, see FIG. 17).

Detailed routes are created for each passing area, and may include information on individual nodes that the robot must pass through in each area.

The cloud server 20 may create a detailed route together when creating a regional route or at different times. A detailed path creation time for each of the different zones included in the zone path may be determined based on the degree of movement of the robot. Specifically, the cloud server 20 may determine the current location of the robot and determine a detailed path creation point for a specific area according to the location of the robot on the area path.

For example, the cloud server 20 monitors the location of the robot within the indoor space of the building 10000, and when it is confirmed (or detected or monitored) that the robot enters a specific area, details of the specific area path can be set.

As another example, the cloud server 20 may calculate an expected time from the current location of the robot to reach a specific area, and set a detailed route for the specific area based on the calculated estimated time. The cloud server 20 may set a detailed route for a specific area when the expected time is smaller than the reference time.

As another example, the cloud server 20 determines (or detects or monitors) a detailed route to a specific zone when it is confirmed (or detected or monitored) that the robot arrives at the last node of the previous zone of the specific zone or passes through the last node. can be set

In addition, the cloud server 20 may generate a detailed route to a specific area at an appropriate time based on various conditions.

Meanwhile, when the cloud server 20 sets a detailed route for an area of the first area type, the cloud server 20 uses information received from a server related to a facility corresponding to the area of the first area type, A detailed route for the area of can be set.

Specifically, a server related to a specific facility may transmit information related to a specific facility to the robot or the cloud server 20 .

Here, the information related to the specific facility includes whether the specific facility is running, information specifying currently available devices among a plurality of devices (or units, for example, boarding members) included in the specific facility, and expected waiting for use of the specific facility. It may include at least one of the times.

For example, when a facility included in the zone of the first zone type is an elevator, the control system of the elevator includes the number of current floors of each of the plurality of elevators, available elevator information, and the congestion level of the elevator to the robot or the cloud server 20. At least one of them can be transmitted.

As another example, if the facility included in the zone of the first zone type is a speed gate (or access control gate), the control system of the speed gate is a robot or a cloud server 20, and information on the gate currently in operation and operation At least one of information on the number of people currently on standby for each gate in progress may be transmitted.

The cloud server 20 may generate a detailed route for the zone of the first zone type based on facility-related information received from a specific facility-related server or robot.

Meanwhile, in the present invention, at least some of the detailed paths constituting the movement path of the robot may be set by a control system of a specific facility. The control system of a specific facility selects a node to which the robot must move to use a specific facility based on state information of the facility that the robot needs to use, and transmits the selected node information to the robot or the cloud server 20. can

For example, as shown in FIG. 13 , when a zone C2 including a speed gate is included on a moving path of the robot, the control system of the speed gate determines that the robot uses the zone C2. Based on the detection of entering the standby node N5, a detailed path may be generated and transmitted to the robot or the cloud server 20. The speed gate control system can select a specific speed gate available to the robot based on the state information of the speed gate and select a node to pass through the speed gate so that the robot can pass through the selected speed gate.

For example, the control system of the speed gate may select a node to which the robot should move among the two open waiting nodes (N6, N9) and transmit the selected node to the robot or the cloud server 20. Based on the node information received from the server, the cloud server 20 may set a detailed path that moves from N5 to N9, passes through the gate node N10, and sequentially passes through N11, N12, and N13.

Meanwhile, a time point at which a robot or a specific facility communicates with the cloud server 20 may be determined according to the current location of the robot. Specifically, the cloud server 20 determines the current location of the robot, and requests state information of a specific facility to a control system corresponding to the specific facility according to the location of the robot on a zone route, or the robot is directed to the specific facility. It can be controlled to request status information to a corresponding control system.

For example, when it is monitored that the robot enters an area of the first area type, the cloud server 20 may request facility status information from a control system corresponding to the area of the first area type.

In the method described above, the cloud server 20 may generate a movement path including a zone path and a detailed path, so that the robot travels in the indoor space of the building 1000 along the zone path and the detailed path, the zone path and The detailed path may be transmitted to the robot (S1740, see FIG. 17).

These regional and detailed routes can be sent to the robot at different times. Specifically, a detailed route for a specific area may be transmitted to the robot when the robot enters the specific area while moving to the specific area.

The robot may reach a destination via at least one zone in the order included in the zone route. Meanwhile, in each zone, the robot can move to the next zone by passing through the nodes included in the detailed path in turn.

As described above, the present invention sets a detailed path for a specific area according to the degree of movement of the robot, so that an optimal robot movement path can be set even in a situation where there is great variability in the facility use environment.

As described above, the present invention can divide an area in which facilities are arranged and an area in which facilities are not arranged in a space, and create a node map in which these facility characteristics are reflected. Therefore, the present invention utilizes a node map in which facility characteristics are reflected in generating a robot movement path, and as a result, it is possible to efficiently create a robot movement path considering facility characteristics.

In addition, the present invention enables the robot to respond appropriately according to changes in the environment in space by creating a moving path of the robot in a hierarchical manner. In particular, according to the present invention, by setting a detailed path for a specific area to which the robot will move according to the degree of movement of the robot within a space, it is possible to set the optimal robot movement path even in a situation where there is great variability in the facility use environment. let it be

On the other hand, in the building according to the present invention, it is of course possible that the movement path of the robot is created using a map other than the node map.

As described above, in the building 1000 according to the present invention, the robot may be configured to travel in an indoor space of the building 1000 under the control of the cloud server 20 . Meanwhile, in the present invention, a robot control system capable of remotely managing and controlling robots so that robots and humans can safely coexist within the building 1000 can be constructed.

More specifically, the robot control system can remotely manage and control the robot more intuitively, and provide a user interface capable of flexibly coping with dangerous situations that may occur during driving of the robot.

Such a robot control system may be constructed by at least one of the building system 1000a and the cloud server 20 discussed above with reference to FIGS. 4 to 6 .

Hereinafter, for convenience of description, an example of remotely performing robot control under the control of the cloud server 20 will be described, but the present invention is not necessarily limited thereto. That is, the robot control method described below may also be implemented by the building system 1000a.

18 to 22 are conceptual diagrams for explaining a method of remotely monitoring the driving of a robot in a robot-friendly building according to the present invention.

The cloud server 20 outputs, on the display unit 131 (see FIG. 6 ), an image of the space in which the robot travels and a graphic object reflecting driving information about the robot's driving, so that the administrator can monitor the robot's driving and It is possible to provide a robot control method for recognizing dangerous situations that may occur in advance. Here, the display unit 131 may be located inside or outside the building 1000 . Furthermore, the display unit 131 may also be provided in a mobile electronic device. In this case, the manager can remotely control the robot while moving.

Here, the dangerous situation may mean a situation in which a safety accident may occur in relation to the robot. For example, a dangerous situation may mean a situation in which a collision with an object located in space may occur.

Here, the object may mean at least one of a static object and a dynamic object.

More specifically, the static object is at least one of objects (eg, tables, sofas, signboards, mannequins, etc.) disposed in space and structures (eg, stairs, walls, etc.) forming the space. can mean

Furthermore, the dynamic object may mean at least one of a pedestrian (or a person), an animal (eg, a dog, a cat, etc.), and another robot.

The cloud server 20 according to the present invention may superimpose and display a graphic object according to driving information about driving of the robot on an image received from a robot or a camera disposed in space. Accordingly, a manager who remotely manages the driving of the robot may remotely manage the robot to prevent dangerous situations based on this information.

As shown in FIG. 18, in the robot control method for the robot traveling in the building 1000, a process of receiving an image of a space in which the robot travels is performed (S1810). In this case, the subject providing the image may be diverse.

As an example, the image may be captured by a camera installed in the robot and provided from the robot. The cloud server 20 may receive an image from the robot through the communication unit 110 .

As another example, the image may be captured from a camera (eg, CCTV) disposed in the space and provided from the camera disposed in the space. In this case, the video may be transmitted from the building system 1000a to the cloud server 20 . The cloud server 20 may receive the image from the building system 1000a through the communication unit 110 .

Meanwhile, the image of the space in which the robot travels may be an image received from a camera having an angle of view of a space corresponding to the direction in which the robot travels. In this case, as shown in FIG. 19 , the image 1910 may be an image of the robot as a first-person view. In this case, in the present invention, the image 1910 may also be referred to as “image of a first person view”.

For example, as shown in FIG. 19 , the first-person view image 1910 of the space in which the robot travels is the space the robot is looking at, with the robot as the first-person view, toward the robot's traveling direction. It may be an image corresponding to .

In this case, the image 1910 of the first person view may be an image received from the robot. When it is assumed that the robot travels based on the front, the first-person view image 1910 may be received from a camera provided in the front of the robot.

Meanwhile, as shown in FIG. 20 , the image corresponding to the space in which the robot travels may be an image 2010 of the robot as a third-person viewpoint. In this case, in the present invention, the image 2010 may also be referred to as “image of a third person view”.

The image 2010 of the third person view may be an image received from a camera (eg, CCTV) provided in the space. The third-person view image 2010 is an image of a robot traveling in space as a subject, and as shown in FIG. 20, includes a robot image (or subject image) R corresponding to the captured robot. can do.

Meanwhile, in the robot control method for the robot traveling in the building 1000, a process of receiving driving information related to driving of the robot proceeds (S1820).

More specifically, the driving and driving information of the robot may include at least one piece of information related to driving of the robot, such as driving speed, driving direction, rotation direction, rotational speed, driving start, driving stop, and driving end of the robot. have.

Such driving information may be received from the robot. The cloud server 20 may receive driving information of the robot from the robot traveling in space through the communication unit 110 in real time or at preset time intervals.

Meanwhile, a method of acquiring driving information of the robot may be various other than a method of receiving it from the robot.

As an example, the cloud server 20 may obtain driving information of the robot by an operation using a preset algorithm. More specifically, the cloud server 20 may calculate the traveling speed of the robot by using the positional displacement of the robot. In this case, the cloud server 20 may sense the robot using an image received from a camera disposed in the space, and calculate the traveling speed of the robot based on the sensed displacement of the robot.

In this way, when an image of a space in which the robot travels and driving information related to driving of the robot are received, in the present invention, a process of outputting a graphic object corresponding to the received image and the driving information of the robot together is performed on the display unit. It can (S1830).

Here, there is no limitation on the types of display units on which the images and graphic objects are output. As an example, the display unit may be provided in a place where a manager who remotely manages the robot works. The display unit may be provided in a remote control room (not shown) located inside or outside the building 1000 . Furthermore, differently from this, the display unit may be a display provided in the mobile device.

The cloud server 20 may control the display unit to display a graphic object superimposed on the received image. As shown in FIGS. 19 and 20 , graphic objects 1920 and 2020 may overlap the received images 1910 and 2010 .

In this case, the area occupied by the graphic objects 1920 and 2020 in the images 1910 and 2010 may be determined in consideration of the distance to the robot and the magnification of the image. In the present invention, the graphic object plays a role of recognizing a dangerous situation that may occur due to the driving of the robot to a manager or a pedestrian. Accordingly, the graphic object must reflect information about a real space in which a dangerous situation may occur due to the robot. Accordingly, when the graphic object overlaps the image, the cloud server 20 may determine the size of the graphic object to reflect the actual distance to the robot.

Information on the area (or size) of the danger zone may be stored and present in the database based on driving information (eg, driving speed) of the robot. For example, the database may include attribute information on attributes of matched risk areas classified based on the traveling speed of the robot. The attribute information may include at least one of radius information of the danger area, a shape of the danger area, and a horizontal length and a vertical length of the danger area.

The cloud server 20 may determine the output size of the graphic object to correspond to the actual size of the danger area by referring to such attribute information.

Meanwhile, the images 1910 and 2010 are images of a space including a robot, and these images have a magnification obtained by reducing the size of the space at a predetermined ratio. Accordingly, the control unit may also determine the output size of the graphic object by reducing the area of the danger region at the same magnification as the magnification at which the image is reduced.

Hereinafter, an example of displaying a graphic object will be described.

As an example, as shown in FIG. 19 , the cloud server 20 may output a graphic object 1920 overlapping an image 1910 of a first person view.

As another example, as shown in FIG. 20 , the cloud server 20 may overlap and output a graphic object 2020 to an image 1920 of a third person view.

In addition, the cloud server 20 may transmit data corresponding to a graphic object having visual characteristics according to driving information of the robot to the robot R. The cloud server 20 may generate image data corresponding to a graphic object in which visual characteristics according to driving information are reflected. Then, the generated image data may be transmitted to the robot R through the communication unit 110 . The robot R may output a graphic object based on the received image data. Furthermore, it is possible for the robot to create a graphic object by itself, and in this case, a method described below may be equally applied to a method of generating a graphic object.

Meanwhile, in the robot R, graphic objects 2110 and 2120 may be output around the robot using an output unit, as shown in (a) and (b) of FIG. 21 . At this time, the output unit may be a component that outputs visual information toward the space, and the location and type of the output unit are not particularly limited. For example, the output unit may be a light-emitting diode (LED) or a projector.

Meanwhile, as shown in FIGS. 19, 20, and 21, the graphic objects 1920, 2020, 2110, and 2120 include a plurality of areas 1921, 1922, 1923, 2021, and 2022 sequentially arranged along one direction. , 2023, 2111, 2112, 2113, 2121, 2122, 2123). When the graphic object is output by the display unit or the robot, the one direction may correspond to the driving direction of the robot R.

For example, as shown in FIG. 19, since the image 1910 of the first person view is an image looking in the direction in which the robot travels, in this case, the graphic objects are sequentially arranged along one direction corresponding to the driving direction of the robot. may include a plurality of regions 1921, 1922, and 1923.

At this time, the image output to the display unit corresponds to an image looking at a space in which the robot is traveling along the driving direction. Therefore, the position in space corresponding to the part of the image output on the lower side of the display unit may correspond to a space closer to the robot than the position in the space corresponding to the part of the image output on the upper side of the display unit.

Accordingly, as shown in FIG. 19 , among the plurality of areas 1921, 1922, and 1923 of the image 1910, the portion overlapped by the first area 1921 output closest to the lower side of the display unit is the first area 1921. Other areas 1922 and 1923 other than the area 1921 may be a space corresponding to a position relatively closest to the robot among real spaces corresponding to the image 1910 rather than an overlapped portion.

As another example, as shown in FIG. 20 , an image 2010 from a third person perspective may include a robot image (or subject image) R corresponding to the robot and a graphic object 2020 disposed toward the driving direction of the robot. have. In this case, the graphic object 2020 may also include a plurality of areas 2021, 2022, and 2023 sequentially arranged along one direction corresponding to the driving direction of the robot.

As another example, as shown in FIG. 21, when the robot directly outputs the graphic object 2110, the robot outputs the graphic object 2110 toward the driving direction, as shown in (a) of FIG. 21. can As illustrated, the graphic object 2110 may include a plurality of regions 2111, 2112, and 2113 sequentially arranged along one direction corresponding to the traveling direction of the robot. Meanwhile, when the driving direction of the robot is changed, the output location of the graphic object may also be changed. For example, when the robot travels in the front direction, the graphic object is output in the first space facing the front direction of the robot, and when the robot travels in the rear direction (for example, backward), A graphic object may be output in a second space opposite to the first space.

Furthermore, as shown in (b) of FIG. 21 , the robot may output graphic objects not only in the traveling direction but also in the surrounding area surrounding the robot. As illustrated, a graphic object 2110 may be output in a radius of 360 with respect to the robot. Likewise in this case, the graphic object 2110 may include a plurality of areas 2121, 2122, and 2123 sequentially arranged along one direction corresponding to the driving direction of the robot.

Meanwhile, in the present invention, the graphic object is for notifying a dangerous situation, and the visual characteristics of the graphic object may vary according to driving information of the robot.

As described above, the dangerous situation may refer to a situation in which a safety accident may occur in relation to the robot. For example, the dangerous situation may mean a situation in which a collision may occur with an object (at least one of a static object and a dynamic object) located in space.

Based on the driving information of the robot, the cloud server 20 sets an area in which danger is likely to occur by the robot as a risk area in a space where the robot travels, and an area in which risk is relatively less likely to occur than the risk area. can be set as a safe area. Furthermore, at least one intermediate region may exist between the danger region and the safety region. In addition, the present invention may output a graphic object in which the driving information is reflected as a visual characteristic in the same manner as in FIGS. 19, 20, and 21 above.

In this way, the cloud server 20 may predict a possibility of collision with a robot by considering characteristics of dynamic objects located in space based on a preset algorithm. In this case, a dynamic object located in space may be sensed from an image received from a robot or a camera disposed in space. Furthermore, the preset algorithm may be configured as an algorithm based on artificial intelligence or deep learning.

Based on the possibility of collision, as shown in FIG. 22 , guide information 2230 related to driving of the robot may be output along with an image 2210 .

Meanwhile, the information on the possibility of collision with the dynamic object 2200 may also be used to determine the size of the graphic object. The cloud server 20 may control the display unit so that the output size of the graphic object and the size of the area matched to the first level having the highest risk level increase as the probability of collision between the robot and the dynamic object increases. Meanwhile, the controller may transmit image data reflecting these characteristics to the robot, and the robot may output a graphic object considering the possibility of collision between the robot and the dynamic object based on the image data.

As described above, in the present invention, an image may be received from the robot, and a graphic object related to driving information of the robot may be displayed together with the received image. Through this, the present invention may provide information capable of coping with a dangerous situation (eg, a dangerous collision situation, etc.) that may occur due to driving of the robot by utilizing a graphic object. Therefore, a user who remotely manages the robot can stably manage and operate the robot remotely by referring to the graphic object.

As described above, in the building 1000 according to the present invention, the robot may be configured to travel in an indoor space of the building 1000 under the control of the cloud server 20 . Meanwhile, since the building 1000 is a space where not only robots but also humans live together, it is very important to control the robots so that robots and humans can safely coexist within the building 1000 . Accordingly, the present invention provides a method capable of evaluating the motion of a robot traveling in the building 1000 according to the present invention. More specifically, the present invention can provide a robot evaluation method and system capable of evaluating the operation of the robot by monitoring the operation of the robot even remotely. Furthermore, the present invention proposes a method capable of evaluating the motion of the robot in consideration of the characteristics of space and improving the motion of the robot using the evaluation result of the motion of the robot.

Hereinafter, a method of evaluating the operation of the robot R using the camera 121 disposed in the indoor space 10 will be described in more detail. 2 to 6, a plurality of cameras may be installed in the indoor space 10 of the building 1000. The cloud server 20 may monitor the operation of the robot R in an area corresponding to the angle of view of the camera 121 using the camera 121 installed in the indoor space 10 . Also, the cloud server 20 may evaluate the operation of the robot R based on the monitored operation of the robot R. In the present invention, the evaluation result of the operation of the robot R can be used to improve the operation of the robot R itself or the space (or area) in which the robot R travels.

On the other hand, the type of “operation of the robot R” described in the present invention may be very diverse. More specifically, the operation of the robot R can be understood as a concept that includes all operations related to driving of the robot R, tasks performed by the robot R, power state of the robot R, and the like.

First, the operation related to the driving of the robot R includes various driving related to the driving of the robot R, such as the driving speed, driving direction, rotation direction, rotation speed, driving start, driving stop, and driving end of the robot R. Actions may be included.

Next, an operation related to a task performed by the robot R may be different depending on the type of task performed by the robot R.

For example, if the robot R is a robot providing a road guidance service, operations related to tasks performed by the robot R may include a road finding operation for road guidance, a driving operation for road guidance, and the like. can

For another example, if the robot R is a robot providing a serving service, the operation related to the task performed by the robot R may include a driving operation for serving, a serving target (user or table) for serving. ), an operation of driving the hardware of the robot R for serving, and the like.

Next, the operation related to the power state of the robot R is an operation of turning on or off the power of the robot R, an operation of driving the robot R into a standby state, An operation of driving the robot R in a sleep mode may be included.

Meanwhile, the operating state of the robot R in the standby state or sleep mode may vary depending on the case. For example, the standby state of the robot R may be a state in which the robot R stops driving for a predetermined time or more. Also, the sleep mode of the robot R may be a state in which driving is stopped while minimizing operating power of the robot R.

In addition to the examples listed above, the types of motions of the robot may vary, and the present invention is not limited to the above examples.

Meanwhile, in the present invention, evaluating the operation of the robot R may mean evaluating how the robot R operates compared to the characteristics of the space 10 .

In the present invention, the characteristics of the space 10 may include i) a first spatial characteristic corresponding to a static characteristic of the space 10 and ii) a second spatial characteristic corresponding to a dynamic characteristic of the space 10 .

First, the first spatial characteristic corresponding to the static characteristic of the space 10 may mean a characteristic defined by at least one of the structure of the indoor space 10 and objects disposed in the space 10 .

Here, the structure of the indoor space 10 is defined by elements (or structural elements) such as walls, ceilings (roofs), stairs, columns, doors, and windows, and how the above elements are designed or arranged. Depending on the space 10, the structure may be different.

In the present invention, the characteristics of the structure of the indoor space 10 discussed above are named “structural characteristics”. Structural characteristics may vary from space to space depending on how the elements described above are designed or arranged in the indoor space 10 .

Furthermore, the objects placed in the indoor space 10 relate to elements (or object elements) such as furniture, signboards, electric signs, mannequins, and newsstands placed in the indoor space 10, and the arrangement position is artificial by a person. It means an object that maintains its placement position until it is changed to .

In the present invention, the characteristics according to the objects disposed in the indoor space 10 discussed above are named “object characteristics”. The feature of the object may vary according to the type of the arranged object (eg, sofa, desk, shelf, etc.).

Next, the second spatial characteristics corresponding to the dynamic characteristics of the indoor space 10 are dynamic, such as people, animals, electronic devices (eg, robots, vehicles, etc.) moving within the indoor space 10, vehicles, etc. It may be a property related to an object.

The cloud server 20 according to the present invention may be configured to evaluate the motion of the robot R based on the defined reference motion information in which at least one of the static and dynamic characteristics of the indoor space 10 described above is considered. have.

Such reference motion information may include motion guides for motions of the robot traveling in the indoor space 10 . Furthermore, the motion guide may include a guide for the motion of the robot R considering at least one of the static and dynamic characteristics of space as described above. For example, the reference motion information may include an motion guide that allows the motion guide to 'drive at a specific speed or less' when driving at an 'intersection', which is a static characteristic (more specifically, a structural characteristic) in the space 10 .

In this way, based on the characteristics of the indoor space 10, the cloud server 20 may set an action guide for the robot to operate appropriately according to the situation, and evaluate whether the robot operates according to the set action guide. .

Hereinafter, together with the accompanying drawings, look at in more detail. 23 to 30 are conceptual diagrams for explaining a method of monitoring and controlling the driving of a robot in a robot-friendly building according to the present invention.

In the method of monitoring and evaluating the driving of a robot located in the building 1000 by the cloud server 20, a process of receiving an image of the robot using a camera disposed in the space proceeds (S2310). As shown in FIG. 24 , a camera 121 may be disposed in the indoor space 10 . The cloud server 20 may receive an image captured by the camera 121 through the communication unit 110 .

The camera 121 is a camera 121 disposed in the space 10, and if it is a camera that can share an image with the cloud server 20 through the building system 1000a or directly, its type and arrangement Not limited to location.

Meanwhile, the received image is a photograph of a specific space (or specific area) of the building 1000, and when the image is received from the camera 121, the cloud server 20 provides location information of the specific space corresponding to the received image. can be obtained together. Location information corresponding to the received image may be matched with the camera 121 that captured the image and exist in the database.

Next, in the present invention, a process of extracting motion information performed by the robot R from the received image proceeds (S2320).

The cloud server 20 may analyze an image received from a camera 121 disposed in the space 10 . The cloud server 20 may extract information for evaluating motions as well as motion information of the robot R by using at least one image analysis algorithm. The cloud server 20 may be configured to perform image analysis by utilizing an image analysis algorithm based on deep learning.

The information for evaluating the operation of the robot R may include at least one of robot identification information, robot operation information, and space characteristic information of a region corresponding to an image. As described above, the operation information of the robot may include information related to at least one of operations related to driving of the robot R, tasks performed by the robot R, and power state of the robot R.

More specifically, the cloud server 20 may extract motion information related to driving of the robot R from an image. The cloud server 20 extracts motion information about at least one of the driving trajectory (or movement trajectory), driving speed, driving direction, rotation direction, rotational speed, driving start, driving stop, and driving end of the robot R from the image. can do.

Furthermore, the cloud server 20 may extract motion information related to a mission performed by the robot R from the image. The operation related to the mission performed by the robot R may vary according to the type of mission performed by the robot R. For example, the cloud server 20 includes a driving operation for serving from an image, an operation of approaching a serving target (user or table) for serving, an operation of driving hardware of the robot R for serving, etc. operation information can be extracted.

Furthermore, the cloud server 20 may extract operation information related to the power state of the robot R from the image. For example, the cloud server 20 may perform an operation of turning on or off the power of the robot R, an operation of driving the robot R into a standby state, and a robot ( It is possible to extract operation information about an operation of driving R) in a sleep mode. On the other hand, the cloud server 20 can also extract motion information of the robot R discussed above based on information received from the robot R as well as images. In this case, the cloud server 20 may extract motion information of the robot R using at least one of an image received from the camera 121 and information received from the robot R.

Furthermore, the cloud server 20 may extract space characteristic information from an image. The characteristic information of the space is replaced with the description of FIGS. 1 and 2 above. Briefly, the space characteristic information includes information related to at least one of a first spatial characteristic corresponding to a static characteristic of the indoor space 10 and a second spatial characteristic corresponding to a dynamic characteristic of the indoor space 10. can include

For example, the extracted first spatial characteristic information is examined.

As shown in (a) of FIG. 24, the cloud server 20 provides space characteristic information indicating that "intersections exist" where different traveling roads 11a and 11b intersect in the indoor space 10 where the image is captured. can be extracted. The running paths 11a, 11b, 11c, and 11d described in the present invention may be any one of the robot-only passages and common passages described above.

As another example, as shown in (b) of FIG. 24, the cloud server 20 may extract space characteristic information indicating that "corners 11c and 11d exist" in the indoor space 10 where the image is captured. have.

As another example, as shown in (c) of FIG. 24 , the cloud server 20 may extract space characteristic information indicating that “a narrow driving path exists” in the indoor space 10 where the image is captured.

As another example, as shown in (d) of FIG. 24 , the cloud server 20 may extract space characteristic information indicating that “an entrance door 10e exists” in the space 10 where the image is captured.

As such, the cloud server 20 may extract static space characteristic information defined by at least one of a space structure and an object disposed in the indoor space 10 from an image or information stored in a database.

As another example, second spatial characteristic information (dynamic spatial characteristic information) extracted from an image will be examined.

For example, as shown in FIGS. 26, 27 and 28, the cloud server 20 provides spatial characteristic information related to a person located in the indoor space 10 where an image is captured (or spatial characteristic related to a dynamic object). information) can be extracted.

More specifically, the spatial characteristic information related to the person may include information on the age group (adult, child, student, etc.), gender, posture, movement trajectory, movement direction, and movement speed of the person located in the indoor space 10. have. As another example, the cloud server 20 includes not only the information reviewed in FIG. 26 , but also the people (U1, U2, and U3) included in the space 10 where the image was captured, as shown in FIGS. 27 and 28 . Distribution state information (for example, locations separated by a certain distance, locations clustered within a certain distance) information can be extracted from the image.

Meanwhile, the spatial characteristic information corresponding to the characteristics of the indoor space 10 may be extracted not only from an image but also from a database. Spatial characteristic information may be matched with identification information of the camera 121 that captured the image.

For example, the cloud server 20 may extract motion information of the robot from the received image and spatial characteristic information from a database. In this case, the spatial characteristic information may be matched with at least one of identification information and location information of the camera 121 that has captured the image. Since the angle of view of the camera 121 disposed in the space is fixed, the same area may be photographed. Therefore, in the database, the identification information of each camera 121 and the spatial characteristic information corresponding to the area photographed by each camera may be matched with each other and stored as matching information. Meanwhile, at this time, the spatial characteristic information matched with the camera 121 or identification information of the camera may be information corresponding to static spatial characteristics. In this case, the cloud server 20 may extract static spatial characteristic information from a database, and extract dynamic spatial characteristic information from an image captured by the camera 121 .

As described above, when the motion information of the robot is extracted from the image, in the present invention, the process of evaluating the motion performed by the robot using the extracted motion information and the reference motion information according to the extracted spatial characteristics is performed. It proceeds (S2330).

The cloud server 20 may evaluate the operation of the robot R based on the characteristics of the space 10 included in the image. Since the time point at which the evaluation of the robot R is performed in the cloud server 20 may vary greatly, the present invention does not specifically limit it.

As described above, the reference motion information may refer to information defining motion guides for motions of the robot R based on the characteristics of the indoor space 10 . The motion guide is information that serves as a standard or guide for the motion of the robot R, and can be understood as a guide defining how the robot R should operate for each characteristic of a different space 10 .

As shown in FIGS. 25 and 26 , reference motion information including a motion guide of the robot R related to at least one of static spatial characteristics and dynamic spatial characteristics may be included in the database.

The cloud server 20 compares the reference motion information according to the space characteristic information of the space 10 corresponding to the captured image with the motion information of the robot R, so that the robot R guides the motion according to the reference motion information. It can be judged whether or not it worked as it should.

The cloud server 20 compares the motion information of the robot R extracted from the image with reference motion information corresponding to the space characteristic information corresponding to the space in which the image was captured, and determines the motion performed by the robot R. evaluation can be performed.

For example, as shown in (a) of FIG. 24, when the robot R travels in a space including an “intersection” and an image against the space is received, the cloud server 20 receives an image from the image. Operation information of the robot R in the corresponding space may be extracted. Then, the cloud server 20 may compare the extracted motion information with reference motion information corresponding to (or matched with) the spatial characteristic (“intersection”) as shown in FIG. 25 . In addition, the cloud server 20 may determine whether the robot R has operated according to a motion guide (eg, reduced speed driving) included in motion information according to the reference motion information.

As another example, as shown in (b) of FIG. 24, when the robot R travels in a space including a “corner” and an image against the space is received, the cloud server 20 Motion information of the robot R in the corresponding space can be extracted from the image. Then, the cloud server 20 may compare the extracted motion information with reference motion information corresponding to (or matched with) the spatial characteristic (“corner”) as shown in FIG. 25(a). And, the cloud server 20 determines whether the robot R has operated according to the motion guide included in the motion information according to the reference motion information (for example, “driving and rotating at a distance of 1 m from the wall”). can judge

As shown in (a) of FIG. 25 , the reference motion information may include a robot motion guide considering the characteristics of space. Meanwhile, the reference operation information may be variously changed under the control of the cloud server 20 or the control of the user (or manager) according to circumstances.

Furthermore, the cloud server 20 compares the operation information of the robot R extracted from the image with spatial characteristic information of a dynamic object located in the space where the image is captured, and determines the operation performed by the robot R. evaluation can be performed.

For example, as shown in FIGS. 29 and 30 , the cloud server 20 may extract motion information about how the robot R drives based on the dynamic object U.

As an example, the cloud server 20, as shown in (a), (b) and (c) of FIG. 29, in a situation where the dynamic object U and the robot R face each other and run, the robot ( Operational information on how R) operates based on the dynamic object U may be extracted. Then, the cloud server 20 compares the extracted motion information with the motion guide included in the reference motion information shown in FIG. 25 (eg, “avoid by changing direction after deceleration”), Behavioral evaluation can be performed.

As another example, in the cloud server 20, as shown in (a), (b) and (c) of FIG. 30, the driving directions of the dynamic object U and the robot R do not overlap each other. (For example, in a situation where they do not face each other), motion information on how the robot R operates based on the dynamic object U may be extracted. Then, the cloud server 20 compares the extracted motion information with the motion guide included in the reference motion information shown in (b) of 25 (eg, “maintain driving direction after deceleration”), so that the robot (R ) can be evaluated for its operation.

Meanwhile, in the following, a method of controlling driving of the robot R in consideration of the dynamic object U or the surrounding situation will be described in more detail.

The robot R may recognize obstacles present in the driving direction of the robot R. The robot R may recognize an obstacle through a sensor included in the sensor unit of the robot R. The obstacle may include an object (or object) in the building 1000 on which the robot R is traveling, a structure of the building 1000 itself, or a dynamic object U passing through the building 1000.

The robot R may determine whether the recognized obstacle is a human or an object. If the recognized obstacle is a non-human object, the robot R may be controlled to avoid the obstacle through a conventional obstacle avoidance method. When the recognized obstacle is determined to be a human or a person (ie, determined to be a dynamic object U), recognition of a safety area 2910 associated with the dynamic object U of the embodiment and the robot R based thereon Avoidance control of can be performed. The robot R may check whether the recognized obstacle is a human by analyzing image information acquired using, for example, a camera or a stereo camera included in the sensor unit of the robot R.

When the robot (R) determines that the obstacle is a dynamic object (U) as a human, the robot (R) is located based on the distance between the dynamic object (U) and the robot (R) and the dynamic object (U). The speed of movement in that direction can be calculated. The robot R may measure the distance between the dynamic object U and the robot R through, for example, a sensor included in the sensor unit of the robot R, and based on the change in the distance, the dynamic object ( The approach speed of U) can be calculated.

The robot R may recognize a safety area 2910 associated with the dynamic object U existing in the driving direction of the robot R. For example, the safe area 2910 may be recognized based on the distance between the dynamic object U and the robot R and the moving speed of the dynamic object U in the direction where the robot R is located. For example, the robot (R) is a dynamic object (U) associated with information about the country or culture, the moving direction of the dynamic object (U), the moving speed of the dynamic object (U), of the dynamic object (U) Body information, information on the passage through which the dynamic object (U) passes, the distance between the dynamic object (U) and the robot (R), the type of service provided by the robot (R), the type of robot (R) and Depending on at least one of the speeds of the robot R, the safe area 2910 associated with the dynamic object U may be differently recognized.

The safety area (2910, see FIGS. 29 and 30) is at least one of the characteristics of the dynamic object U, the characteristics of the robot R, and the spatial characteristics of the passage through which the dynamic object U of the building 1000 passes. As can be configured differently according to the robot (R), it can represent a space where the dynamic object (U) can feel comfortable (without feeling threatened). When the robot R enters the safety area 2910, the dynamic object U may feel uncomfortable due to, for example, the possibility of collision with the robot R and the possibility of traffic obstruction by the robot R. However, the dynamic object U may feel relatively less discomfort when the robot R moves outside the safe area 2910 .

The safety area 2910 may be recognized as a circle having a predetermined radius (eg, 50 cm) centered on the dynamic object U. That is, the safety area 2910 may be recognized as a circle having a predetermined radius centered on the dynamic object U when the dynamic object U is stationary. On the other hand, when the dynamic object U is moving, it can be recognized as a conical shape (or elliptical shape) extending in the direction in which the dynamic object U is moving. For example, an extension of the safety area 2910 corresponding to a conical shape or an ellipse (or a portion including an extension/conical or elliptical vertex) may be positioned in front of a direction in which the dynamic object U moves. For example, when the dynamic object U is moving in the direction where the robot R is located, the safe area 2910 has a conical or elliptical shape with vertices away from the dynamic object U toward the robot R. (Alternatively, the extension of the safety area 2910 may be recognized as a cone or an ellipse extending toward the robot R). For example, when the dynamic object U is moving at a speed of 1 m/s as shown, the distance from the user to the vertex (ie, the end of the extension) of the safety area 2910 may be 2 m. The vertex may be a vertex of an ellipse when the safety region 2910 is an ellipse.

The size of the safe area 2910 (ie, the radius of the safe area 2910 and/or the distance from the dynamic object U of the safe area 2910 to the vertex) is the user's ( The higher the relative) speed, the larger it can be. In addition, the size of the safety area 2910 may increase as the (relative) speed of the robot R approaches the dynamic object U increases. That is, when the dynamic object U moves quickly or when the robot R approaches quickly, it may recognize the approach of the robot R as more threatening.

Also, the size of the safety area 2910 may be different according to information about a country or culture associated with the dynamic object U (or to which the corresponding building 1000 belongs). For example, when the dynamic object U belongs to a country or culture in which contact with or proximity to other users is somewhat taboo, the size of the safe area 2910 may be larger. Information about the country or culture associated with the dynamic object U (or to which the corresponding building 1000 belongs) is stored in the cloud server 20 or accessible by the robot R or the cloud server 20. It may be stored in a database.

Also, the safety area 2910 may have a different shape according to the moving direction of the dynamic object U. For example, the safety area 2910 may have a shape protruding in a direction in which the dynamic object U moves, like the illustrated safety area 2910 .

Also, the size of the safe area 2910 may be different according to the body information of the dynamic object U. For example, when it is determined that the dynamic object U tends to feel less resistance to the robot R (this is, for example, the pre-stored profile information of the dynamic object U is transferred to the robot R or the cloud server ( 20), the size of the safe region 2910 can be perceived as smaller. Alternatively, when the dynamic object U is male, the size of the safe area 2910 may be recognized as smaller than when the dynamic object U is female. Alternatively, when the height or size of the dynamic object U is large, the size of the safety area 2910 may be recognized as larger. If the height (or height) of the dynamic object U is high, the moving speed of the dynamic object U can be expected to be high, so the size of the safe area 2910 can be recognized as larger. The profile information of the dynamic object U may be stored in the cloud server 20 or may be stored in a database accessible to the robot R or the cloud server 20 .

In addition, the size of the safety area 2910 may be recognized as larger when the passage through which the dynamic object U passes is narrower than when the passage is large. That is, the dynamic object U may perceive encountering the robot R as more burdensome in a narrow passage. Alternatively, when a facility (eg, a bulletin board, a computer that can be operated by the dynamic object U) is disposed in a passage through which the dynamic object U passes, the size of the safety area 2910 may be recognized as larger. have. Information about the passage through which the dynamic object U passes may be stored in the cloud server 20 or may be stored in a database accessible to the robot R or the cloud server 20 .

In addition, the size of the safe area 2910 may be recognized differently depending on the type of service provided by the robot R or the type of robot R. For example, when the robot R is providing a service of transporting large parcels or hot (or likely to spill) food, the size of the safety area 2910 may be recognized as larger than otherwise. Alternatively, when the robot R is a robot capable of moving at high speed, the size of the safe area 2910 may be recognized as larger than when it is not.

In addition, the size of the safe area 2910 may be differently recognized according to a relative size difference (difference in height and/or width) between the robot R and the dynamic object U. For example, if the height of the dynamic object U relative to the height of the robot R is less than or equal to a predetermined value, the robot R is decelerated earlier and the safety area 2910 can avoid the dynamic object U further away. ) may increase in size.

As described above, in the safety area 2910, the length of the safety area 2910 extending in the direction in which the dynamic object U moves increases as the speed of the dynamic object U increases. ), or the width of the passage through which the dynamic object U passes becomes narrower. In other words, the greater the speed of the dynamic object U in the direction in which the robot R is located, It may become larger as the height of the object U increases or as the width of the passage through which the dynamic object U passes becomes narrower.

In addition, the length of the safety area 2910 extending in the direction in which the dynamic object U moves or the distance from the vertex to the dynamic object U is the length of the robot R in the direction in which the robot R is located. The greater the speed, the greater the height or width of the robot R, or the greater the risk to the dynamic object U of the service provided by the robot R, the greater the risk.

Based on the recognized safe area 2910, the robot R may control the movement of the robot R to avoid interference with the dynamic object U. For example, the movement of the robot R may be controlled to pass through the dynamic object U without entering the safety area 2910 (ie, to pass through the passage through which the dynamic object U passes). have. For example, when the robot R approaches the safe area 2910, it may be controlled to decelerate. That is, the robot R may avoid the safety area 2910 in a decelerated state.

As described above, the larger the size of the safety area 2910, the faster the robot R slows down and can avoid the moving object U from a farther away. In addition, it is possible to avoid a dynamic object U from a distance for a dynamic object U approaching faster, and a dynamic object U that is stationary can be avoided closer. On the other hand, the robot R avoids the safe area 2910 where the dynamic object U is stationary from closer to the dynamic object U, and the safe area 2910 where the dynamic object U is moving. ) can be performed further away from the dynamic object U.

Based on the safety area 2910, the movement of the robot R is controlled to avoid interference with the dynamic object U, so that the user feels threatened by the robot R can be minimized.

Furthermore, the robot R may determine an avoidance direction for avoiding the safe area 2910 . For example, the robot R moves the robot R to avoid entry into the safe area 2910 in a preset direction based on information on a country or culture associated with the dynamic object U among left and right directions. movement can be controlled. The robot R may determine an avoidance direction for avoiding the safe area 2910 from among the left direction and the right direction. The robot R may determine the right direction as the avoidance direction, for example, when the dynamic object U belongs to a country or culture where people pass on the right (or when the building 1000 belongs to a country or culture where people pass on the right). have. Therefore, at this time, the dynamic object U and the robot R can pass without violating the law of right-hand traffic, and the dynamic object U can feel no discomfort with the robot R.

Furthermore, the robot R may control the moving direction and speed of the robot R so as to avoid the safe area 2910 . The robot R may be controlled to avoid the safe area 2910 in the determined avoidance direction. In addition, the robot R decelerates before entering the safety area 2910 for a predetermined time or before a predetermined distance from the safety area 2910 in consideration of the approach speed of the dynamic object U and the speed of the robot R. It can be. Accordingly, the robot R may avoid the safety area 2910 in a decelerated state.

As a more specific example, if the dynamic object U is moving at a speed of 1 m/s and the robot R is moving at a speed of 0.6 m/s, in the case of moving as it is, the robot R and the dynamic object U are moving at a speed of 0.6 m/s. Collision of the in-object U may be expected. The robot R may move in the right direction, which is the determined avoidance direction, and may be decelerated at 0.4 m/s in advance so as not to invade the safety area 2910 of the dynamic object U. The robot R can pass through the dynamic object U in a decelerated state of 0.4 m/s.

The robot R can determine whether the safe area 2910 has been avoided. That is, while avoiding the safe area 2910, the robot R may determine whether or not the safe area 2910 has been successfully avoided.

The robot R moves through the dynamic object U when the safe area 2910 is avoided (ie, when the avoidance is successful), or when the dynamic object U passes through the robot R In this case, the movement of the robot R may be controlled so that the robot R moves to the destination. The destination may be a location within the building 1000 where the robot R will provide service.

At this time, the cloud server 20 may control the robot R so that the robot R moves to the destination and provides a service. The cloud server 20 may control the robot R to provide an appropriate service when the robot R moves along a set path and arrives at a location to provide a service.

Next, a method of controlling a robot in a case where the robot cannot pass through a passage through which a user passes without entering a safety area associated with the user will be described.

The robot R may determine whether it is impossible to pass through the dynamic object U without entering the safe area 2910 associated with the dynamic object U. When the width of the passage through which the dynamic object U passes is narrower than a predetermined value, it may be inevitable for the robot R to enter the user's safe area 2910 in order to pass through the passage.

The robot R passes through the dynamic object U without entering the safety area 2910 associated with the dynamic object U (ie, passes through the passage through which the dynamic object U passes). ) is impossible or when it is determined that the width of the passage through which the dynamic object U passes is less than a predetermined value, the robot stops and waits at one side of the passage through which the dynamic object U passes ( R) can be controlled.

The robot (R) may control the robot (R) so that the robot (R) moves after the dynamic object (U) passes the robot (R). That is, when the passage is narrow or inevitably has to invade the safety area 2910 of the dynamic object U, the robot R does not interfere with the passage of the dynamic object U and provides a response to the dynamic object U. It may be attached to one side (ie, wall) of the passage so as not to cause discomfort, and may move after the dynamic object U passes through first.

For example, if the dynamic object U moves at a speed of 1 m/s and the robot R moves at a speed of 0.6 m/s, in the case of moving as it is, the robot R and the dynamic object U ) can be expected. The robot (R) can move in the right direction, which is the determined avoidance direction, and the dynamic object (U) recognizing the robot (R) also reduces its movement speed to 0.8 m/s and moves in the right direction to avoid the robot (R). can move Since the passage is narrow, the robot R cannot pass through the passage without invading the safe area 2910 of the dynamic object U. Thus, the robot R can stop adjacent to the right wall of the passage and continue moving after the dynamic object U completely passes the robot R.

As described above, at least some of the control operations of the robot R/recognition operations of the safe area 2910 performed by the robot R may be performed by the cloud server 20 . That is, the robot R may drive based on the control signal from the cloud server 20 in consideration of the above-described safe area 2910 of the dynamic object. The explanation for this will be replaced with the above explanation.

Next, a method of controlling the robot R when traveling in an area where the moving path of the dynamic object U and the driving path of the robot R intersect will be described. When the moving path of the dynamic object U in the building 1000 and the traveling path of the robot R intersect, the robot R enters the area corresponding to the section of the intersecting traveling path before the robot ( R) can be controlled to slow down or stop. That is, when the moving path of the dynamic object U and the driving path of the robot R intersect, the dynamic object U is highly likely to pass in the area corresponding to the section of the intersecting driving path. Ideally, the robot R can be controlled to decelerate or stop.

The moving path of the dynamic object U may include, for example, an intersection, an automatic door, a door, or a corner. For example, when an automatic door or door is opened (that is, when a motion sensor installed on the automatic door detects that a dynamic object U is approaching, or when a door lock is released), the information indicating this is sent to the cloud server. 20 (or the robot R), at which time the robot R can be controlled to decelerate or stop. Similarly, if the area where you get on or off the elevator (ie, the elevator door) and the driving path of the robot R intersect, the possibility that the dynamic object U will get off the elevator in the area that intersects when the elevator arrives Since is high, when the elevator arrives, the robot R can be controlled to decelerate or stop before entering the area.

As described above, the control information about the operation of the automatic door or the door and the control information about the operation of the elevator are stored in the cloud server 20 as surrounding environment information related to the building 1000, or stored in the robot R or the cloud server. (20) may be stored in an accessible database.

On the other hand, when the robot R's driving path in the building 1000 includes passing through a corner, movement of the robot R passing through the corner is controlled based on surrounding environment information. It can be. The surrounding environment information may include information related to a corner through which the robot R will pass.

For example, the surrounding environment information may include at least one of information about a shape of a corner, information about a space around the corner, and information about a behavior pattern of a population in a space around the corner. Here, the information about the shape of the corner includes information about the width of the corner (ie, the width of the passage constituting the corner), information about the angle of the corner, and information about the material of the corner (eg, the material of the wall constituting the corner). At least one of the information may be included. Also, the information about the space around the corner may include at least one of information about the utilization rate of the space around the corner and information about the distribution of obstacles around the corner. In addition, the information on the behavior patterns of the population in the space around the corner may include information about the user's movement pattern in the space around the corner. The space utilization rate may be information representing a utilization rate considering the possibility of passage of users of the space around the corner. This utilization rate may be different according to time zones (eg, commuting time, office time, lunch time, or work concentration time). When driving a corner, the robot R may be controlled in consideration of the usage rate of the surrounding space in the time period during which the robot R travels.

Specifically, the robot R may be controlled to drive around the corner more slowly and more gently as the width of the corner becomes narrower. In addition, the robot R may be controlled to drive around a corner more slowly and more smoothly as the angle of the corner is smaller (0 degree may indicate a U-turn). When the material of the corner is a transparent material (for example, when the wall of the corner is made of a material such as transparent glass or acrylic), the robot (R) is a dynamic object (U) entering the corner from the opposite side to the robot (R) Since it can be identified by , when such a dynamic object U is not identified, it can be controlled to drive around a corner at a relatively higher speed (ie, without deceleration). In addition, the robot R may be controlled to drive around the corner more slowly as the population density of the space around the corner increases (at the time the robot R travels). In addition, the robot R may be controlled to drive around the corner more slowly as there are more obstacles 1910 in the space around the corner. In addition, the robot R may vary depending on the population behavior pattern in the space around the corner (ie, whether users are mainly running, walking, moving while watching something (eg, bulletin board, etc.), or stationary), It can be controlled to drive around corners at speed. If the space around the corner exhibits population behavior, such as when the user is mainly running around, moving while watching something, or stopping to watch something, the robot (R) is instructed to drive around the corner more slowly. can be controlled

The above-described surrounding environment information may be acquired based on image information received from, for example, a camera (eg, CCTV (ie, CCTV that photographs a space around a corner)) provided in a building. Alternatively, the surrounding environment information may be obtained by learning and analyzing patterns of usage rates and/or population behavior patterns for spaces within the building 1000 according to time zones for a predetermined period of time.

The surrounding environment information may be stored in the cloud server 20 or may be stored in a database accessible to the robot R or the cloud server 20 . At least part of the surrounding environment information may be included in the mapped indoor map information. For example, the mapped indoor map information includes information on the width and length of passages (corridors) in the building 1000, information on gradients of passages, information on intersections and corners (locations, etc.), doors/automatic doors/stairs/elevators It may include information about (position, etc.), and information about unevenness of the bottom surface (information indicating whether it is bumpy or smooth).

Under the control of the robot R, when the moving path of the dynamic object U and the driving path of the robot R intersect or when the robot R travels through a corner, blind spots are avoided. Even when the robot (R) travels in the section having a collision/interference between the dynamic object (U) and the robot (R) can be prevented.

The robot R may travel in a predetermined direction (eg, to the right) without traveling to the center of the passage. In the case of avoiding the dynamic object U, if there is another obstacle on the right side, the dynamic object U may be avoided to the left side. If there is not enough space on both the right and left sides, you can stop and let the dynamic object U pass first. Even when the robot R stops and waits, if the dynamic object U does not pass, the robot R may come closer to the wall and induce passage of the dynamic object U (that is, the dynamic object U may pass). Yield to object (U)). If the dynamic object U is stationary for a long time (more than a predetermined period of time), the robot R may pass by avoiding the person. When the robot R encounters the dynamic object U at a short distance in front, it may output notification information. For example, the robot R may output an indicator indicating 'surprise' or 'sorry'.

On the other hand, when it is determined that the automatic door or door is open, the robot (R) considers the range in which the automatic door or door is opened (or the range in which the automatic door or door is opened and the dynamic object U appears), and You can drive away. That is, as shown, the robot R may be controlled to drive closer to the automatic door or the wall side opposite to the door.

Furthermore, the robot R may be controlled to output a predetermined indicator according to circumstances. The indicator output by the robot R may include a visual indicator and/or an auditory indicator. The indicator output by the robot R is information for inducing the movement of the dynamic object U, information representing the emotion of the robot R for the dynamic object U, and information representing the movement of the robot R. may include at least one of them.

Accordingly, in an interaction such as passing through a dynamic object U, the robot R imitates the manner of moving expected from a person, and is more friendly and courteous to the dynamic object U. You can be controlled by how you feel.

For example, the robot R may be controlled to output an indicator corresponding to the gaze of the robot R. Before the robot R moves through the dynamic object U (that is, before passing the dynamic object U in the passage through which the dynamic object U passes), the robot R moves through the dynamic object U. While moving through object U (i.e. while passing dynamic object U) and after dynamic object U/robot R passes robot R/dynamic object U In at least one of the cases, the robot R may be controlled to output an indicator corresponding to the gaze of the robot R to the dynamic object U. The indicator corresponding to the line of sight may correspond to the eyes of the robot R. The indicator may be displayed in a display provided in the robot R. Through the indicator, the robot R can express its intention about the dynamic object U in a manner similar to that of a human eye. For example, the robot R may be controlled to output an indicator corresponding to lowering the gaze of the robot R when the distance between the robot R and the dynamic object U falls below a predetermined value. In addition, the robot R may be controlled to output an indicator so that the robot R's gaze is directed in a direction corresponding to the direction in which the robot R intends to move.

The robot R may indicate staring at the front as an indicator in a general driving state of the robot R. (d) may indicate an indicator for avoiding the gaze of the dynamic object U when approaching the dynamic object U (eg, when approaching 2.5 m or less) (look down). The robot (R) can be controlled not to stare at or stare at the dynamic object (U) passing by, and when it is at a close distance to the dynamic object (U), it is unnecessary to avoid the dynamic object (U) by lowering its line of sight as much as possible. It can be controlled so as not to attract attention. The robot R may not give a sense of threat to the dynamic object U by lowering its gaze. Also, the robot R may indicate an indicator when the robot R asks for an apology or understanding from the dynamic object U.

Meanwhile, in the case where the dynamic object U is interacting with another user, the robot R may be controlled to move without crossing between the dynamic object U and the other user. When the dynamic object U gets out of the way, the robot R may show appreciation to the dynamic object U by outputting an audible indicator (eg, “thank you”). The robot R may express gratitude in a non-verbal manner through the above-described indicator, unlike shown.

Furthermore, in the case where the dynamic object U is interacting with another user, if the robot R cannot move without crossing between the dynamic object U and the other user, the robot R may be excused for interfering with the interaction of other users with the dynamic object (U). For example, the robot R may output an indicator such as "Can I pass by?" When the robot R is allowed to pass by providing a space for the users, the robot R may output an indicator such as "Thank you." The robot R may express gratitude or ask for understanding in a non-verbal manner through the above-described indicator, unlike shown. In addition, the robot R may pass the space between the dynamic object U and other users after obtaining consent.

Furthermore, in the case where the dynamic object U is interacting with at least one of the facility infrastructures provided in the building 1000, the robot R does not cross the space between the dynamic object U and the facility infrastructure. can be controlled so as not to If the robot R cannot move without traversing between the dynamic object U and the facility infrastructure, the robot R will be excused for interfering with the dynamic object U's interaction with the facility. can For example, the robot R may output an indicator such as “excuse me”. Thereafter, the robot R may traverse between the dynamic object U and the facility 1300 . Also, the robot R may output an indicator such as “Thank you”. The robot R may express gratitude or ask for understanding in a non-verbal manner through the above-described indicator, unlike shown. Also, when the dynamic object U moves out of the way for the movement of the robot R, the dynamic object U may pass through the space in which it moves out of the way.

On the other hand, when the robot R moves through the space between the dynamic object U and other users or facilities, the passage through which the robot R has to pass is narrow (ie, the robot R moves through the space can only happen if you can't move by avoiding it).

Also, for example, the robot R may be controlled to output indicators from the front and/or the rear according to driving. For example, the robot R may output an indicator from the front when moving. This can correspond to the headlights of automobiles. Therefore, the dynamic object U in the front can recognize that the robot R is approaching. In addition, the robot R can be controlled to output an indicator indicating deceleration or stop of the robot R from the rear of the robot R according to the control of the movement of the robot R. This may correspond to brakes of automobiles and the like. Through this, the dynamic object U behind the robot R can recognize that the robot R is decelerating and can stop in case of emergency. Indicators output from the front and/or rear of the robot R may be maintained at an appropriate brightness so that they are not too bright to disturb pedestrians' attention or too dark to be difficult to recognize.

In addition, the robot R may output, for example, ambient sound (motor sound or wheel rolling sound) as an audible indicator while driving. Alternatively, the robot R may output a beep sound as an audible indicator while driving. Alternatively, the robot R may output a clock (or warning sound)-like sound as an audible indicator in front of a blind spot. Therefore, even if the dynamic object U is in a blind spot, by recognizing the auditory indicator of the robot R, the dynamic object U can recognize the approach of the robot R. The volume of the audible indicator may be appropriately adjusted so as not to frighten the dynamic object U.

Alternatively, as a visual/auditory indicator, soft light and cheerful melody sound may be used to express happy feelings of the robot R or grateful feelings toward the dynamic object U. On the other hand, flashing lights and sharp sounds as visual/audible indicators can be used to indicate the path of the robot R to the dynamic object U.

On the other hand, if there is a situation in which the robot R uses the elevator, the robot R may be controlled to board the elevator after all users getting off the elevator have exited the elevator before boarding the elevator. Meanwhile, the robot R may be controlled to move toward the wall side of the elevator so as not to disturb a user getting on or off the elevator while in the elevator.

Specifically, when waiting for the elevator, the robot R may not disturb the user getting off the elevator by standing with the elevator door at an angle (that is, waiting without blocking the door). In addition, when there are many users waiting for an elevator in a space waiting for an elevator, the user may wait behind the waiting users. When boarding the elevator, the robot R may board after all users getting off the elevator have gotten off. When the robot R wants to get on, if there is a user who wants to get off the elevator, the robot R may move right or left to secure a space for the user. If sufficient space is not secured even if it comes into close contact with the right or left side, the robot R can move backward. When the robot R moves backward, an indicator (visual/audible indicator) indicating this may be output. The robot R can quickly reverse when there are no people or obstacles behind it, and can reverse slowly when there are people or obstacles to prevent collision with people or obstacles. While boarding the elevator, it can move to the side of the wall of the elevator so as not to disturb users getting on or off the elevator. Meanwhile, the cloud server may forcibly open the door of the elevator so that the door is not closed when there is a user who wants to board the elevator by interworking with the elevator control system. In addition, when the robot R determines that another user (or the elderly or the disabled (or wheelchair) wants to get on the elevator when the elevator is full, the robot R closes closer to the wall of the elevator to make space for boarding, You can temporarily get off and yield space for boarding.

The robot R may greet a user staring at the robot R in the elevator. The greeting may be performed by the previously described indicator or other visual/audible indicators.

As described above, at least some of the various controls performed by the robot R may be performed by the cloud server 20 . That is, the robot R may be controlled as described above based on a control signal from the cloud server 20 . The explanation for this will be replaced with the above explanation.

In addition, as shown in (b) of FIG. 25 , various motion guides may be set according to spatial characteristics (dynamic object characteristics) as reference motion information.

Meanwhile, the cloud server 20 may use the identification information of the robot R to determine whether or not the robot R has permission to enter the space where the robot R is photographed. In the space 10, areas where each robot is allowed to enter and where access is restricted may be set. An area in the space 10 to which the robot cannot enter may form a virtual wall for the robot. Accordingly, the robot R may be programmed not to enter the specific space (restricted access space) based on the location information of the specific space corresponding to the virtual wall. The cloud server 20 may determine whether the robot R has entered the specific space based on space characteristic information about a specific space (access restricted space) corresponding to a virtual wall stored in the storage unit 120. . The cloud server 20 may recognize the robot R from an image received from the camera 121 disposed in a specific space and evaluate the motion of the recognized robot R.

On the other hand, the cloud server 20 determines whether the robot R has performed (or needs to perform) a plurality of actions in a specific space, whether the robot R has i) performed all of the plurality of actions, ii) a preset priority. According to this, it is possible to evaluate whether at least one of a plurality of operations has been performed. In this case, the reference motion information may include a plurality of motions assigned to the robot R and priority information for the plurality of motions.

Priority information may include priorities among spatial characteristics (first spatial characteristics (structural characteristics, object characteristics) and second spatial characteristics (dynamic object characteristics)) of a space. The priority information is related to at least one of i) a priority between a first spatial characteristic and a second spatial characteristic, ii) a priority between different first spatial characteristics, and iii) a priority between different second spatial characteristics. Priority information may be included.

For example, if the “movement guide for a dynamic object” has a higher priority than the “movement guide based on structural features”, the cloud server 20 determines that the robot R is based on the dynamic object. It may be evaluated whether the motion guide was operated with priority.

For example, in a space, there is a “person” corresponding to a dynamic object and a “intersection” corresponding to a structural feature, and a driving direction according to an action guide based on “person” and a “intersection” based on “intersection” Assume that driving directions according to motion guides are opposite to each other. In this case, the cloud server 20 extracts the motion information of the robot R from the image information about the space, and from the extracted motion information, the robot R guides the motion guide based on “human” in the space. You can evaluate how well it works.

As described above, the cloud server 20 may determine whether the robot R operates appropriately by reflecting the characteristics of the space by evaluating whether the robot R operates according to the reference motion information compared to the characteristics of the space in which the robot R travels. . At this time, there are many different methods for evaluating whether the robot R operates according to the reference motion information, and the cloud server 20 determines whether the robot R operates based on the similarity between the motion information of the robot R and the reference motion information. It may be determined whether the operation is performed according to the reference operation information. The cloud server 20 may determine that the robot R operates according to the reference motion information when the similarity between the motion information of the robot R and the reference motion information satisfies a preset criterion. Further, the cloud server 20 may determine that the robot R did not operate according to the reference motion information when the similarity between the motion information of the robot R and the reference motion information does not satisfy a preset criterion.

In this way, when the operation of the robot R is evaluated, in the present invention, a process of matching and storing the evaluation data (or evaluation information) for the performed evaluation with the identification information of the robot R may proceed. (S2340).

The evaluation data (or evaluation result information) is the first type of evaluation result information and the second type of evaluation result information according to whether the robot R has operated according to the reference motion information according to the spatial characteristics of the space in the space in which the motion has been performed. It may include any one of the evaluation result information of the type.

When the operation of the robot is evaluated by the cloud server 20, evaluation result information corresponding to the evaluation result may be stored in a database. The cloud server 20 may match the evaluation result information with the identification information of the robot R and store it in a database. Accordingly, evaluation result information for each robot R may exist in the database.

More specifically, the cloud server 20 may determine the motion type of the robot based on the evaluation result. The motion type of the robot R may include a plurality of motion types. For example, the motion type of the robot R may include a first motion type and a second motion type. As a result of the comparison, when the robot R operates according to the reference motion information, the motion type of the robot R is determined as a first motion type (eg, “GOOD” motion type), and the robot R When it does not operate according to the reference motion information, the motion type of the robot R may be determined as a second motion type (eg, “BAD” motion type).

Also, when the robot R operates according to the first motion type, the cloud server 20 may match identification information of the robot with evaluation information of the first type. Further, the cloud server 20 may match identification information of the robot with evaluation information of the second type when the robot R operates according to the second motion type.

The cloud server 20 may match and store identification information of the robot, an action performed by the robot, and an action type for the performed action. Such matching information can also be shared with each robot R.

On the other hand, the control unit 150, when the number of times of the first motion type for the specific motion is dominant in the specific robot (R), to give a reward for motion information programmed in advance to the specific robot (R) can In this case, the specific robot R may continue to perform a specific operation as programmed in advance. That is, in this case, reinforcement learning for a specific motion may be performed on the specific robot R.

Furthermore, the controller 150 may impose a penalty on motion information programmed in advance to the specific robot R, when the number of times of the second motion type is dominant for the specific motion in the specific robot R. can In this case, the specific robot R may perform a specific motion away from a pre-programmed motion. That is, in this case, avoidance learning for a specific motion may be performed on the specific robot R.

Meanwhile, in the present invention, it is also possible to perform reinforcement learning or avoidance learning in a specific robot R itself based on evaluation result information.

As described above, in the present invention, the motion of the robot can be evaluated based on the motion information of the robot. In addition, based on the evaluation result of the robot, the operation of the robot may be optimized by improving the operation of the robot or the space in which the robot travels.

More specifically, the cloud server 20 may analyze matching information in which identification information of the robot and evaluation result information of the robot are matched, and may generate an inspection event of the robot based on the analysis result.

As a result of the analysis, the cloud server 20 checks the robot when the number of matches between the identification information of the robot and the evaluation information of the second type (eg, evaluation information of the “BAD” action type) is equal to or greater than the reference number. events can be generated. Differently, the cloud server 20 determines, as a result of the analysis, the number of times that the first type of evaluation information (eg, “GOOD” operation type evaluation information) is matched with the robot identification information, and the second type of evaluation information. (For example, the evaluation information of the “BAD” operation type) may generate the inspection event when the ratio of the matching times is greater than or equal to the reference ratio.

An inspection event is generated, and the criterion of the evaluation information for the referenced operation may vary. The cloud server 20 may generate an inspection event by integrating all evaluation information for each operation performed by a specific robot. For example, the cloud server 20 may generate an inspection event based on evaluation information on all motions matched to a specific robot (eg, the “A1” robot). For example, the cloud server 20 matches evaluation information of the second type (eg, evaluation information of the “BAD” motion type) in all motions of a specific robot (eg, “A1” robot). When the sum of the number of times is equal to or greater than the reference number, an inspection event for the corresponding robot may be generated. As another example, the cloud server 20 may determine the sum of the number of times that the first type of evaluation information (eg, “GOOD” operation type evaluation information) matches for every operation and the second type for every operation. When the ratio of the sum of the matching times of the evaluation information of the type (eg, the evaluation information of the “BAD” operation type) is equal to or greater than the reference ratio, the inspection event may be generated.

In addition, the cloud server 20 may also generate an inspection event based on each operation. For example, the cloud server 20 may generate state information related to at least one of the robot and the space based on evaluation information for each motion performed by the robot (eg, A3 and A4 robots). . Also, the cloud server 20 may generate an inspection event for at least one of the robot and the space based on the state information. The state information of the robot may include state information about the robot's own defects, such as hardware elements (eg, wheels, sensors, etc.) and software elements of the robot.

In this case, the inspection event may refer to an event notifying that inspection of the robot R is necessary, as illustrated. When such an inspection event occurs, the cloud server 20 transmits information related to the inspection event (e.g., the electronic device of the manager (or user) having control authority for the robot or the display unit of the control room examined together with FIGS. 18 to 22. For example, a message) can be output. The inspection event may include information related to at least one of a specific operation (eg, “exceeding the number of errors for operation 2”) and a specific space (eg, “an error occurred for operation 1 in zone 1”). can

Meanwhile, the cloud server 20 may generate an inspection event based on a space corresponding to a camera receiving an image of the robot. That is, when the number of errors is frequent in a specific space, redefinition of the operation of the robot R in a specific area may be required.

As illustrated, the cloud server 20 may analyze evaluation result information for operations performed in a space based on the space. The cloud server 20 may generate state information related to at least one of a robot and a space by using a result of analyzing the evaluation result information. The cloud server 20 generates status information related to i) redefining the robot's motion guide for a specific space, ii) redefining the robot's motion guide for a specific motion in a specific area, and iii) checking the motion status of the specific robot. can Also, the cloud server 20 may generate an inspection event for at least one of the robot and the space based on the state information.

Furthermore, as described above, when an inspection event occurs, the cloud server 20 provides information (e.g., For example, a message) can be output.

Furthermore, the cloud server 20 may upgrade (or update) reference motion information serving as a reference for motion of the robot R using the evaluation result information. The cloud server 20 may analyze the reason why the robot R operates in the second motion type based on the evaluation information, and improve the motion of the robot based on the analyzed cause. Also, the cloud server 20 may update conventional reference motion information based on the improved information. In this case, the cloud server 20 may improve the operation of the robot through learning about the operation of the robot using a deep learning technique.

As described above, according to the present invention, the operation of the robot can be monitored using a camera disposed in space, and the operation of the robot can be evaluated using the same. As described above, according to the present invention, motion evaluation of the robot can be performed without directly accessing the robot to evaluate the motion of the robot or without having a separate monitoring device attached to the robot.

Furthermore, according to the present invention, it is possible to evaluate the operation of the robot based on the characteristics of the space in which the robot travels and the characteristics of the person located in the space. According to this method, it is possible to evaluate whether the robot is operating correctly in a three-dimensional and comprehensive manner for each of various situations.

Furthermore, according to the present invention, the evaluation result of the robot can be used to identify a problem occurring in the robot or a problem with respect to a space in which the robot traveled. In this way, the evaluation result of the robot is reflected in direct improvement of the robot or improvement of the environment in which the robot travels, and as a result, according to the present invention, the robot can be more accurately controlled and stably operated.

As described above with reference to FIGS. 7 and 8 , the cloud server 20 may specify a destination where the robot's mission is to be performed and set a movement path for the robot to reach the corresponding destination. When a movement route is set by the cloud server 20, the robot R may be controlled to move to a corresponding destination in order to perform a mission.

The cloud server 20 may specify at least one facility that the robot must use or pass through to move to a destination among facility infrastructures (a plurality of facilities) disposed in the building 1000 .

For example, as shown in FIG. 31 , the cloud server 20 uses the robot-only passages 201 and 202 when the robot passages 201 and 202 are located on the movement path of the robot. In order to move, a movement path including a point where the passages 201 and 202 are located may be created.

31 is a conceptual diagram for explaining a facility infrastructure supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.

Referring to FIG. 31 together with FIG. 3 above, the robot-only passage may include at least one of a first-only passage (or first-type passage, 201) and a second-only passage (or second-type passage, 202). The first exclusive passage and the second exclusive passage 201, 202 may be provided together on the same floor. In this case, the first exclusive passage 201 and the second exclusive passage 202 are located on the floor of the building. They can have different heights. The robot R may move in a horizontal direction within a floor using the first exclusive passage 201 and the second exclusive passage 202 .

Hereinafter, a path dedicated to the robot supporting horizontal movement of the robot will be described in more detail with reference to FIGS. 32 to 45 .

32 to 42 are conceptual diagrams for explaining a robot-only passage according to an embodiment supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention, and FIG. 43 is a robot-friendly building according to the present invention. 44 and 45 are conceptual diagrams for explaining a passage dedicated to robots according to another embodiment for supporting horizontal movement of a robot in a building, and FIGS. 44 and 45 show horizontal movement of a robot in a robot-friendly building according to the present invention. These are conceptual diagrams for explaining a robot-only passage according to another supported embodiment.

First, referring to FIGS. 36 and 37 , a path 3610 dedicated to the robot designated in the building 1000 for the robot R to travel will be described.

36 to 37 show passages dedicated to robots for driving robots assigned to buildings, according to an example.

The passage 3610 for robots may be installed in the process of newly constructing the building 1000 or may be installed in the building 1000 in the process of constructing facility infrastructure in an already built building.

The robot passage 3610 may be configured to be identifiable by the robot R. More specifically, when the robot R identifies the robot-only passage 3610, the cloud server 20 uses map information on the robot-only passage 3610 to provide the robot R with a robot-only passage 3610. It may refer to a process of generating a control command to move to , and also detecting data related to the robot passage 3610 by the robot R and transmitting the data to the cloud server 20 .

The robot R may provide service within the building 1000 by identifying the robot-only passage 3610 and moving along a set path including driving in the robot-only passage 3610 .

The passage 3610 dedicated to the robot may be configured to be visually identifiable even by a human. That is, the robot passage 3610 may be implemented in a form visible to humans. Here, visible may mean something that a person can visually recognize as a robot-only passage 3610 . For example, the passageway 3610 dedicated to robots may have a color, lighting, or guideline that distinguishes it from other spaces using paint and/or LEDs. In this way, since the robot-only passage 3610 is implemented in a form in which a person can recognize that it is a passage used by a robot, a person can predict that the robot R will pass through the robot-only passage 3610, and thus Care can be taken when passing through the passage 3610 dedicated to robots.

This passage 3610 dedicated to the robot may be identified by a camera of the robot R. In this case, the image captured by the camera is transmitted to the cloud server 20, and the cloud server 20 analyzes the image to identify the passage 3610 dedicated to the robot and detect the position of the robot R. have. Alternatively, the robot R may include a sensor for detecting light exposed from the LED or light of a specific wavelength, and the passage 3610 dedicated to the robot may be sensed through such a sensor.

Alternatively, the robot passage 3610 may be configured to be impossible to identify with the naked eye by humans. That is, the robot passage 3610 may be implemented in a form invisible to humans. For example, the robot-only passage 3610 is provided in a corridor through which people pass, has the same color and shape as the corridor, but may be identified through infrared light or the like. The path 3610 dedicated to the robot may be identified by an infrared sensor or an infrared camera of the robot R.

The passage 3610 dedicated to the robot may be implemented to be invisible only when the robot R passes or is expected to pass the robot R (ie, when the robot R is predicted to pass within a predetermined time). may be For example, a transparent display may be provided at the boundary of the robot-only passage 3610 to output a guide line only at a specific point in time.

One side of the robot passage 3610, specifically, one side boundary may be configured to be adjacent to an outer wall of the building 1000, a window, a partition within the building 1000, or a wall for dividing spaces within the building 1000. have. That is, at least a part of the robot-only passage 3610 may be formed along the edge of the indoor area so as not to obstruct the passage of users in the building 1000 as much as possible. For example, as shown in FIGS. 36 to 40 , one side of at least a portion of the robot passage 3610 may be implemented to be adjacent to a wall or a window.

As shown in FIG. 36 , the width of the path 3610 dedicated to the robot may be greater than that of the robot R. Alternatively, the shown width of the passage 3610 for exclusive use of the robot may be wider than the actual width for the user's safety against a collision with the robot R.

As another example, the robot-only passage 3610 may be implemented such that one side of at least a portion of the passage 3610 is adjacent to a wall or a window with a predetermined space. The width of the robot passage 3610 may be smaller than that of the robot R. For example, unlike the display of the robot-only passage 3610 shown in the drawing, the robot-only passage 3610 may be implemented with only one line included in the display or narrower than the display of the robot-only passage 3610.

Meanwhile, as shown in FIG. 37 , the path 3610 dedicated to the robot may include a plurality of indicators (or LEDs). One side of the robot-only passage 3610 implemented with these indicators may also be adjacent to a wall or window with a certain space therebetween. Furthermore, the indicators may be sequentially arranged at a specific distance along the extension direction of the passage dedicated to the robot.

The passage 3610 dedicated to the robot described in FIGS. 36 and 37 may be visible or invisible to the user, or when the robot R passes or is expected to pass (ie, predetermined It can be implemented to be visible only when the robot R is predicted to pass within the time of .

The path 3610 dedicated to the robot may be implemented as a straight line as much as possible so that the robot R can easily drive. The passage 3610 for robots may be implemented so that an area intersecting with a passage (eg, an intersection, an automatic door, a door, or a corner) of a user in the building 1000 is minimized. In particular, it is also possible that the first type passage 201 of the passages dedicated to the robot is disposed in an area intersecting with the user's movement passage, and is connected to the second type passage 202 at a point outside the intersecting area. In this way, the robot-only passage 3610 may be implemented so that the user does not cross the robot-only passage 3610 as much as possible. On the other hand, unlike the illustration, when the passage (corridor) in the building 1000 is wider than a predetermined width, the robot-only passage 3610 is not provided on the wall or window side of the passage, but in the middle of the passage. A dedicated passage 3610 may be provided.

In the above, the concept and structure of the robot-only passage have been described, and in the present invention, the robot provides service using the robot-only passage. Hereinafter, a process in which such a robot provides a service using a robot-only passage will be described with reference to FIG. 32 .

Referring to FIG. 32 , first, in the path setting step (S3210), the cloud server 20 is a path for driving at least a part of the passage 3610 dedicated to the robot, a path for the robot R to move within the building 1000. can be set. In step S3210, the cloud server 20 may create the route and set the robot R to travel the route. The path may be a path from the current location of the robot R to a specific destination (eg, a location where the robot R will provide service). Alternatively, the path may be a circulation path in which the robot R travels in the building 1000 . The circular path may be a path in which the robot R returns after moving to a specific destination within the building 1000 or a path in which the robot R repeatedly travels through a specific section within the building 1000 . In the case where the robot R provides a cleaning service or a security service, such a circulation path may be set as a movement path of the robot R.

In the movement control step of the robot (S3220), the cloud server 20 may control the movement of the robot R so that the robot R moves according to the path set in the path setting step (S3210). The robot R may move along a set path. However, the cloud server 20 controls the situation within the building 1000 (eg, the user's usage rate for a space traversed by a path within the building 1000, the blocking of part of a path, or the occurrence of an unexpected situation within the building 1000). .

The cloud server 20 determines that the speed of the robot R when traveling in the robot-only passage 3610 is greater than the speed of the robot R when traveling in an area within the building 1000 other than the robot-only passage 3610. It is possible to control the movement of the robot R to be higher. That is, the robot R can move faster in the robot-only passage 3610 than in other areas. As the robot R travels through the robot passage 3610 according to such control, the efficiency of service provision of the robot R within the building 1000 may be increased.

In the robot control step (S3230), the cloud server 20 may control the robot R so that the robot R provides a service. The cloud server 20 may control the robot R to provide an appropriate service when the robot R moves along a set path and arrives at a location to provide a service.

In the process of providing the service described above, a method of setting a route will be described in more detail.

The cloud server 20 may set a route based on at least one of information about the time zone for the robot R to travel, information about the usage rate of space in the building 1000 in which the robot R travels, and waypoint information. have.

At this time, information about the time zone for the robot R to travel, information about the utilization rate of space in the building 1000 in which the robot R travels, and waypoint information may be stored in the database. The database may be provided in the cloud server 20 or may be provided in the storage unit 140 of the building.

The information about the time zone may be information representing a time zone to which the service time provided by the robot R belongs. As an example of this, a time zone can be a time related to a person's work or life. For example, the time zone may indicate any one of work time, work time, lunch time, and work concentration time. Depending on the time zone, the number of users passing through the building 1000 and the usage rate pattern for the space within the building 1000 may be different, so the cloud server 20 sets the time zone for the robot R to travel in route setting. information can be taken into account.

The information on the utilization rate of space may be information indicating the utilization rate considering the possibility of passage of users for each of the plurality of spaces in the building 1000 . The plurality of spaces may include, for example, in front of an elevator (or a path leading to an elevator), in front of a bathroom (or a path leading to a bathroom), in front of a break room (or a path leading to a break room), or a meeting room (or a path leading to a meeting room). The number of users using the spaces may vary according to time zone. For example, during lunchtime, the usage rate in front of the elevator (or the path leading to the elevator) or in front of the resting room (or the path leading to the resting room) may be high. Accordingly, the cloud server 20 may consider information about the utilization rate of space in the building 1000 in setting a route. The higher the occupancy rate for a space, the more congested the space (or the path to that space) can be considered.

The way point information may be information representing a passing point (way point) through which the robot R should pass. These waypoints may include specific locations within the building 1000 or specific locations on the dedicated road 3610 . When setting a route, the cloud server 20 may set the route so that the robot R must pass through a specific way point. For example, the cloud server 20 may set a route through at least one preset waypoint when the robot R travels during a specific time period. The cloud server 20 sets at least one waypoint to prevent the robot R from passing through the space and/or the surroundings of the space during a time period when the usage rate of the specific space is high. You can set a path to go through this. Specifically, the cloud server 20 may set a route so that the robot R passes through at least one way point that avoids the front of the elevator or the rest room during lunchtime.

On the other hand, as another example, the cloud server 20 may use the space in the building 1000 associated with the destination of the robot R (the location to provide the service) at a high rate or during a time period when the rate of use of the space associated with the destination is high. When the robot R travels, a path may be set so that the robot R travels more through the path 3610 dedicated to the robot. Alternatively, the cloud server 20 provides the robot R during a time when the usage rate of the space in the building 1000 associated with the robot R's destination (the location to provide the service) is low, or the space associated with the destination is low. In this case, the path may be set so that the robot R can move based on the shortest distance to the destination even if the path does not include (many) robot passages 3610 in the path. The space associated with the destination may refer to a space within the building 1000 through which the robot R may pass while moving from the current location to the destination.

That is, the path corresponding to the shortest distance to the destination of the robot R cannot necessarily be regarded as a path including the robot-only passage 3610 at a certain level or higher, but the time zone in which the robot R travels and the space associated with the destination. The cloud server 20 may create and set an optimal path for the robot R by including more passages dedicated to robots 3610 in the set path in consideration of the usage rate (i.e., congestion) of . In this way, even if the set path is not a path corresponding to the shortest distance, the possibility of interference/collision between the user and the robot R is low, and it can be a path that enables service to be provided at an optimal time.

The cloud server 20 determines the ratio of the robot-only passage 3610 included in the set path to the building 1000 in which the robot R travels (that is, the robot R is likely to travel to reach the destination). It can be adjusted based on information about the usage rate of the space inside and information about the time zone in which the robot R will travel. In addition, this ratio may be determined to minimize the time for the robot R to reach the destination in the time zone in which the robot R travels.

In addition, the cloud server 20 may set a path based on the score, and may set a path for the robot R when the score is the highest. For example, as the usage rate of the space in the building 1000 in which the robot R is likely to travel to arrive at the destination increases, a higher score may be given for using the passage 3610 dedicated to the robot.

The cloud server 20 may further use weights in determining the score. For example, the cloud server 20 may assign a high weight to a specific waypoint during a specific time period (for example, lunch time) and set a path via the corresponding waypoint to the robot R.

Alternatively, the cloud server 20 assigns weights to the moving distance of the robot R to the destination, the possibility of interference/collision with the user of the robot R, and the moving time to the destination, respectively, based on the score determined by the route. can be determined, and it can be set for the robot (R). The weight may be determined according to a usage rate pattern for a space in the building 1000 according to time zone.

Alternatively, the cloud server 20 considers the usage pattern of the space in the building 1000 according to time zone and uses a cost function, thereby minimizing the time taken by the robot R to the destination. can be determined, and it can be set for the robot (R).

As described above, the cloud server 20 may set a route for the robot R to travel in consideration of a usage rate pattern of space within the building 1000 according to time zone. The usage rate pattern for spaces within the building 1000 according to time zones may be obtained through learning and analysis for a predetermined period of time and stored in the cloud server 20 or a database accessible to the cloud server 20 .

Meanwhile, in the present invention, the path dedicated to the robot may be controlled in various forms in relation to the movement of the robot. As described above with reference to FIG. 4 , the control of the passage dedicated to robots is controlled by a control system ( 201a, 202a, 203a).

33 is a flowchart illustrating a method of activating an indicator corresponding to a corresponding section when a robot is predicted to pass through a section of a passage dedicated to robots according to an example.

First, an indicator disposed in association with the robot passage 3610 will be described with reference to FIGS. 38 to 40 .

38 to 40 show a passage dedicated to robots for driving a robot designated in a building and an indicator provided in association with the passage dedicated to the robot, according to an example.

The robot (R) is on the path surface of the passageway for robots 3610, above the passageway for exclusive use of robots 3610, on one side of the passageway for exclusive use of robots 3610, or in the ceiling region of the building 1000 corresponding to the passageway for robots only (3610). ) may be disposed as an indicator to indicate that the passage 3610 is driven by the robot.

38 shows an embodiment in which the indicator 3800 is disposed on one side of the passage 3610 for robots, and FIG. 39 shows an embodiment in which the indicator 3900 is disposed on or on the passage surface 3610 for robots. . As shown, the indicator 3900 may itself indicate a path 3610 dedicated to the robot. Alternatively, the robot-only passage 3610 may be invisible, but the robot-only passage 3610 may be indicated by the indicator 4000 .

40 illustrates an embodiment in which an indicator 3900 is disposed in a ceiling region of a building 1000 corresponding to a passage 3610 for robots. As shown, the robot-only passage 3610 is invisible, but the robot-only passage 3610 may be indicated by the indicator 4000 . Alternatively, the indicator 4000 itself may indicate a path 3610 dedicated to the robot.

The indicators 3800, 3900, and 4000 may include visual indicators. For example, indicators 3800, 3900, and 4000 may include LEDs or other lights. The indicator 4000 may include a ceiling light or a projector that projects a specific image.

Also, the indicators 3800, 3900, and 4000 may include auditory indicators.

The indicators 3800, 3900, and 4000 become visible only when the robot R passes or when the robot R is expected to pass (that is, when the robot R is predicted to pass within a predetermined time). can be implemented

Referring to FIG. 33, in step S3310, the robot control system 120 may determine whether or not the robot R is scheduled to pass through the first section (or second section) of the robot passage 3610. have. For example, the cloud server 20 may determine whether or not the robot R will pass through the first section of the robot passage 3610 within a predetermined time. In addition, the cloud server 20 determines that the robot R is selected when the passage 3610 dedicated to the robot intersects the passageway (for example, an intersection, an automatic door, a door, or a corner) of the user in the building 1000 . It may be determined whether to pass through the second section where the robot-only passage 3610 and the moving passage intersect within a time of . The predetermined time is a relatively short time, and may be, for example, within 5 seconds.

In step S3320, the cloud server 20 or the control systems 201a, 202a, and 203a for controlling the passage dedicated to robots allow the robot R to pass through the first section (or second section) of the passage 3610 dedicated to robots. If it is determined that the passage is not scheduled, the indicators 3800, 3900, and 4000 may be deactivated. To this end, it is possible to generate control commands in the cloud server 20 and transmit them to the control systems 201a, 202a, and 203a, or to generate control commands in the control systems 201a, 202a, and 203a. By this control, the indicators 3800, 3900, and 4000 can be maintained in an off state.

In the activation step (S3330), the cloud server 20 or the control systems 201a, 202a, and 203a for controlling the passage dedicated to robots cause the robot R to enter the first section (or second section) of the passage 3610 dedicated to robots. If it is determined that the robot is going to pass through, the indicators 3800, 3900, and 4000 of the robot passage 3610 corresponding to the first section (or the second section) may be activated. For example, the control systems 201a, 202a, and 203a that control the cloud server 20 or the robot-only passage predict that the robot R will pass through the first section of the robot-only passage 3610 within a predetermined time. When it is, the indicators 3800, 3900, and 4000 corresponding to the first section may be activated. In addition, the control systems 201a, 202a, and 203a for controlling the cloud server 20 or the robot-only passageway 3610 and the user's movement passageway within the building 1000 (eg, intersection, automatic door, door) or corner) intersect, when it is predicted that the robot R will pass through the second section where the robot passage 3610 and the movement passage intersect within a predetermined time, the indicator corresponding to the second section ( 3800, 3900, 4000) can be activated.

In this case, activation of the indicators 3800, 3900, and 4000 may output a visual indicator.

For example, as shown in FIG. 38 , an indicator 3800 corresponding to a section through which the robot R passes may be turned on. As shown, a part of the indicator 3800 closer to the robot R may be lighted more brightly (ie, gradually darker as the distance increases). That is, the indicator 3800 may be turned on with a gradation effect.

As another example, as shown in FIG. 39 , an indicator 3900 corresponding to a section through which the robot R passes may be turned on. Likewise, as shown, a portion of the indicator 3900 closer to the robot R may be lit more brightly (ie, gradually darker as the distance increases).

As another example, as shown in FIG. 40 , an indicator 4000 corresponding to a section through which the robot R passes may be turned on. That is, before the robot R passes, a visual indication notifying this may be projected onto the floor of the building 1000 . As in the cases of FIGS. 39 and 14 , in the case of FIG. 40 , a portion corresponding to the indicator 4000 closer to the robot R may be projected more brightly.

Also, activation of the indicators 3800, 3900, and 4000 may include outputting a sound. In other words, the cloud server 20 or the control systems 201a, 202a, and 203a for controlling the robot-only passage allow the robot R to approach the section of the robot-only passage 3610 corresponding to the indicators 3800, 3900, and 4000. If so, the indicators 3800, 3900, and 4000 may be controlled to output a sound indicating this.

The user can easily recognize and pay attention to the fact that the robot R will pass through a specific section of the robot passage 3610 through activation of the indicators 3800, 3900, and 4000.

Alternatively, unlike the above, the aforementioned indicators 3800, 3900, and 4000 may be constantly activated. Accordingly, a person can clearly recognize the path 3610 dedicated to the robot through the indicators 3800, 3900, and 4000.

As described above, the indicators 3800, 3900, and 4000 may be directly controlled by the cloud server 20 or the control systems 201a, 202a, and 203a that control passages dedicated to robots. Alternatively, the indicators 3800, 3900, and 4000 may be controlled by a separate indicator control system (not shown) communicating with the cloud server 20 or the control systems 201a, 202a, and 203a that control passages dedicated to robots. .

In addition, the present invention proposes a more efficient control method for a robot in a section where a user's passage in a building and a passage dedicated to robots intersect.

34 is a flowchart illustrating a method of controlling a robot when the robot travels in a section where a user's movement passage and a robot-only passage in a building intersect, according to an example.

Referring to FIG. 34 , a method for controlling the movement of the robot in relation to the intersecting section in the above-described step (S3220) will be described in more detail.

In step S3410, the cloud server 20 is dedicated to the robot when the robot-only passage 3610 and the user's moving passage (eg, an intersection, an automatic door, a door, or a corner) in the building 1000 intersect. It may be determined whether there is a user passing (or planning to pass) the second section where the passage 3610 and the moving passage intersect. The predetermined time is a relatively short time, and may be, for example, within 5 seconds. That is, the cloud server 20 may determine whether there is a user passing through or planning to pass through the second section.

As an example, the cloud server 20 is a user who passes through the second section or will pass through the second section within a predetermined time based on image information obtained from at least one camera installed in the building 1000, for example, CCTV. It can be determined whether there is The cloud server 20 may obtain image information directly from a camera or obtain image information from a system that controls the camera. The cloud server 20 may determine whether there is a user passing through the second section within a predetermined time based on image information from a camera arranged to illuminate the second section.

As another example, the cloud server 20 may perform the second section based on at least one of the user's footstep sound information detected by the robot R and the user's detection information by a sensor installed on the floor of the building 1000. It is possible to determine whether there is a user who passes through the second section or passes through the second section within a predetermined time. The sensor installed on the floor of the building 1000 is installed on the floor of the user's passage that intersects the robot passage 3610, and may be a sensor that detects a user positioned above the sensor. When a user is detected by a sensor installed on the floor, the cloud server 20 may determine that the user will pass through the second section.

As another example, when there is an automatic door in the user's moving passage that intersects the robot-only passage 3610, the cloud server 20 passes through the second section or within a predetermined time depending on whether the automatic door is opened. It may be determined whether there is a user who will pass through the second interval. The cloud server 20 may determine that the user will pass through the second section when the automatic door is opened.

In accordance with step S3410, the robot R may find out whether or not the user appears in a blind spot such as the user's passage (eg, an intersection, an automatic door, a door, or a corner). That is, with respect to whether a user exists in a blind spot where it is difficult for the robot R to independently determine, whether or not the user exists can be accurately identified through communication with the cloud server 20 . Therefore, collision/interference with the user due to the blind spot of the robot R can be prevented.

In step S3420, the cloud server 20 reduces the speed of the robot R or reduces the speed of the robot R before the robot R passes through the second section where the robot passage 3610 and the movement passage intersect. ) can be stopped. If the user is predicted to pass the second section according to the determination in step S3410, the cloud server 20 stops or decelerates the robot R before passing the second section, so that the user and the robot R ) can be prevented in advance.

As in step S3430, the cloud server 20 passes through the second section according to step S3410 (that is, passes through) or when it is determined that there is no user to pass through the second section within a predetermined time In, it is possible to control the robot (R) to pass through the second section.

In this regard, FIGS. 41 and 42 illustrate a method of controlling a robot when the robot travels in a section (intersection) where a user's passage in a building and a passage dedicated to the robot intersect, according to an example.

As shown in FIG. 41 , when there is a user predicted to pass through the second section 4100, the cloud server 20 may decelerate or stop the robot R. Meanwhile, as described above, as the robot R approaches the second section 4100, the indicator 4110 indicating this may be activated. The indicator 4110 exemplifies outputting light, but may also output sound.

As shown in FIG. 42 , when there is a user predicted to pass through the second section 4100, the automatic door or door 4200 may be opened. When the automatic door or door 4200 is opened, the cloud server 20 may determine that there is a user predicted to pass through the second section 4100 and may decelerate or stop the robot R. Meanwhile, as described above, as the robot R approaches the second section 4100, the indicator 4110 indicating this may be activated. The indicator 4110 exemplifies outputting light, but may also output sound.

Meanwhile, in controlling the movement of the robot R, the cloud server 20, when the robot R traveling on the dedicated road 3610 approaches an obstacle existing on the dedicated road 3610, the robot R ), or control the robot R to stop the robot R. The obstacle may be a person (user) or a feature or other object located in the building 1000 . The cloud server 20 may control the robot R in order to prevent collision or interference between the obstacle and the robot R. For example, when the distance between the robot R and an obstacle existing on the robot-only passage 3610 is less than or equal to a predetermined value or the speed of the robot R is considered, the cloud server 20 detects the robot R When it is expected to collide with an obstacle present on the robot passage 3610 within this predetermined time, the robot R can be controlled to reduce the speed of the robot R or to stop the robot R. . The description of the operation of the robot R for traveling in the blind spot described above may be similarly applied to the control of the robot R to avoid the obstacle existing on the robot-only passage 3610. As an example, the obstacle present on the robot-only passage 3610 is based on sensing data from the robot R and/or image information from a camera that illuminates the robot-only passage 3610 where the obstacle exists, for example, CCTV. can be identified. Identification of obstacles existing on the passage 3610 for robots may be performed by the cloud server 20 . Alternatively, the robot R may directly identify an obstacle existing on the robot passage 3610 from the acquired sensing data. Alternatively, the robot R may capture an image of the surroundings using a camera and transmit the image to the cloud server 20, and the cloud server 20 may analyze the image to identify an obstacle.

Meanwhile, control of the automatic door described with reference to FIG. 42 may be performed by the process shown in FIG. 35 .

35 is a flowchart illustrating a method of controlling an automatic door in a case where a robot travels in a building where an automatic door or a passage for a user including a door and a passage exclusively for robots intersect, according to an example.

In step S3510, the cloud server 20, when the dedicated road 3610 and the moving passage including the automatic door or door 4200 through which the user moves within the building 1000 intersect, the robot (R ) is scheduled to pass through the second section 4100 where the robot passage 3610 and the movement passage intersect within a predetermined time. The predetermined time is a relatively short time, and may be, for example, within 5 seconds.

In step S3520, when the cloud server 20 predicts that the robot R will pass through the second section 4100 where the robot-only passage 3610 and the movement passage intersect within a predetermined time, the movement passage The door or automatic door 4200 may be controlled not to be opened until the robot R passes through the second section 4100 .

In step S3530, the cloud server 20 may set the automatic door or the door 4200 to be openable after the robot R passes through the second section 4100. Meanwhile, in this example, the opening and closing of the automatic door or door 4200 is described based on the control by the cloud server 20, but the present invention is not necessarily limited thereto. An automatic door or door 4200 is an example of facility infrastructure, and a separate control system may be provided to perform the process described in FIG. 35 .

Meanwhile, when the door or automatic door 4200 is controlled to be closed, the cloud server 20 does not decelerate or stop the robot R when the robot R passes through the second section 4100, and The robot may be controlled to pass through section 2 (4100).

As an example, if steps S3510 to S3530 are applied in the example of FIG. 42 and there is a user who is predicted to pass through the second section 4100, the cloud server 20 or the control system prompts the user to enter the automatic door or Even if the door 4200 is approached, the automatic door or the door 4200 may not be opened. The cloud server 20 or the control system may control the robot R to pass through the second section 4100 without deceleration or stop if the automatic door or door 4200 is controlled not to be opened. Meanwhile, even in this case, as the robot R approaches the second section 4100, the indicator 4110 indicating this may be activated. The indicator 4110 may output a sound. After the robot R passes through the second section 4100, the automatic door or door 4200 can be opened, and thus the automatic door or door 4200 is opened and the user can pass through the second section 4100. can

Accordingly, the robot R can quickly drive on the exclusive road 3610 without considering the user passing through the second section 4100 through the automatic door or door 4200 . Also, in the second section 4100, collision and interference between the user and the robot R can be prevented.

As described above, the automatic door or door 4200 may be directly controlled by the cloud server 20 or the control system. Alternatively, the automatic door or door 4200 may be controlled by a separate automatic door or door control system (not shown) communicating with the cloud server 20 or the control system.

Meanwhile, the passage 3610 dedicated to the robot described above may be configured to include a plurality of sections (at least a first section and a second section). In this case, the moving speed of the robot R may be controlled differently in the first section and the second section.

The first section and the second section may have different colors. At this time, the user can identify whether the robot R is a fast-moving section or a relatively slow-moving section by recognizing the color of the robot passage 3610 .

Alternatively or additionally, at least one of the (activated) color and intensity of the first indicator (corresponding to the aforementioned indicators 3800 to 4000) associated with the first interval, and a second indicator associated with the second interval (corresponding to the aforementioned indicators 3800 to 4000). At least one of colors and intensities of the indicators (corresponding to indicators 3800 to 4000) may be configured to be different from each other. At this time, the person can identify whether the robot R is traveling fast or relatively slowly by recognizing the intensity (eg, brightness) or color of the indicator of the passage 3610 dedicated to the robot.

When a path for the robot R is generated by the cloud server 20, information indicating that speeds are different in the first section and the second section may be included in the route information. Accordingly, even if the robot R does not directly identify the color of the robot passage 3610 or the color/intensity of the indicator, the speed of the robot R can be controlled differently for each section of the robot passage 3610. .

In the above, the structure of the robot passage and the related control method have been described. Meanwhile, as described above, in the present invention, the robot passage may include a first type passage 201 and a second type passage 202 having different heights relative to the floor of the building. The above-described structure or control method of the robot passage may be applied to both the first type passage 201 and the second type passage 202 . However, for convenience of description, examples have been mainly given based on the second type passage 202, and the first type passage 201 will be described in more detail below.

As such, the robot-only passage according to the present invention may include a first type passage 201 and a second type passage 202 . Any one of the first type passage 201 and the second type passage 202 is spaced apart from the bottom surface 301 to form an interspace 303 between the bottom surface 301 and the interspace 303 is It is made so that the person U can move.

As a more specific example, the first type passage 201 is a passage formed on a space spaced upward from the bottom surface 301 of the floor where it is located, and the second type passage 202 is the bottom surface of the floor where it is located ( 301) may be a passage disposed on.

Referring to FIGS. 2, 3 and 31, the first type passage 201 exclusively used by the robot R according to the present invention, in at least one of a plurality of floors, moves the robot R over a person's head. It is made so that it can run. For example, like a hyperloop, the robot passage 201 may be formed to be spaced upward from the bottom surface 301 of at least one floor.

Here, the hyperloop is a new concept high-speed railway, which forms a tube-shaped passageway on the upper side of the road on the ground, and is a transportation means in which the railroad moves by magnetic force in the passageway. In this embodiment, at least a part of the passage 201 dedicated to the robot is formed on the space 302 of the indoor area 10, like a hyperloop, and through this structure, the robot R can move through the indoor area 10 It moves according to the control command of the cloud server 20 on the space 302 of .

Hereinafter, the robot-only passage spaced apart from the floor surface 301 like the first type passage 201 will be described in more detail with reference to FIG. 43 .

43 is a conceptual diagram for explaining a path dedicated to robots according to another embodiment supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.

In the description of FIG. 43 , for convenience of explanation, a path dedicated to the robot spaced apart from the floor surface 4301 like the first type passage 201 is referred to as a space passage 4300 . At least a part of the space passage 4300 is spaced upward from the floor surface 301 of the corresponding floor so that the robot R moves in the space 302 of the indoor area 10 according to the control command of the cloud server 20. to be formed

Referring to FIG. 43 , a space passage 4300 may include a driving part 4310, a connection part 4320, and a support part 4330.

The driving part 4310 is spaced apart from the floor surface 301 and may be a part where robots travel. More specifically, the driving part 4310 is formed parallel to the floor surface 301, and the driving floor part 4311 in contact with the wheels of the robot R and the protection wall disposed at the corner of the driving bottom part 4311. A portion 4312 may be provided.

The running floor 4311 may be a fixed floor. At this time, the robot R travels on the running floor 4311 only with its own power and moves along the path dedicated to the robot. As another example, the running bottom part 4311 may be formed to be movable along the extending direction of the space passage 4300 . As an example of this, the running floor 4311 may be a conveyor belt.

At this time, the movement of the running floor 4311 is added to the running of the robot R, so that the robot R can move more quickly. As another example, the robot R stops on the running floor 4311 and the running floor 4311 moves, whereby the robot R may move in the space passage 4300.

As another example, the driving unit 4310 may include a pressure device (not shown) that applies force to the robot R along the moving direction. For example, a structure in which a handle of the conveyor belt moves along the extension direction of the spatial passage 4300 and at least a part of the robot R is connected to the handle is also possible.

In this way, at least a part of the driving unit 4310 is formed to be movable, and the robots R follow the space passage 4300 using the driving of the robots R and the movement of the driving unit 4310. can move

Referring to FIG. 43 , the connection part 4320 extends from the driving part 4310 to the floor surface 301 so that the robots R move from the floor surface 301 to the driving part 4310. And is made to connect the bottom surface (301).

For example, like the escalator 205 shown in FIG. 3 , the connection unit 4320 may have a structure of a conveyor moving up and down in a tilted state. In this case, the conveyor may include a seating portion 4321 on which the robot R is seated and a fixing portion (not shown) temporarily fixing the robot R. The robot R moves to the seating part 4321, is temporarily fixed to the fixing part, moves from the floor 301 to the driving part 4310, and when it arrives at the driving part 4310, the robot R moves from the seating part 4321. It can move to the driving unit 4310.

According to the illustration, the support part 4330 is made to support the driving part 4310 at the lower side of the driving part 4310 . For example, the support part 4330 may include a plurality of pillars 4331 and 4332 protruding from the bottom surface 301 to support the driving part 4310 .

The pillars 4331 and 4332 are spaced apart from each other on the floor where they are located to support the driving part 4310. As described above, the running part 4310 is spaced apart from the bottom surface 301 by the pillars 4331 and 4332 to form an interspace 303 between the bottom surface 301 and the interspace 303. can be used by humans (U) or robots (R). In particular, the interspace 303 is formed so that the person U can move, so that the person U and the robot R can easily coexist with each other in one space.

In this case, again referring to FIG. 31 , the first type passage 201 and the second type passage 202 may be configured to overlap each other at least in part in the vertical direction. The second type passage 202 passes through the interspace 303 described with reference to FIG. 43, and through this, the cloud server 20 creates a movement path for a robot to perform a mission, within one floor. A more efficient movement path may be set by selectively utilizing the first type passage 201 and the second type passage 202 .

Furthermore, common facilities that robots share with people are disposed in the indoor area of the building, and robots can perform different tasks in the indoor area using a passage dedicated to robots and shared facilities.

In this case, the cloud server 20 has map information for a plurality of floors, and based on the map information, may control the robots so that the robots sequentially travel through a passage dedicated to robots and common facilities.

For example, referring to FIG. 7 again, in the building 1000, robot-specific facilities 201, 202, 204, 208, 209, and 211 exclusively used by robots and common facilities 205, jointly used by humans At least one of 206, 207, and 213) may be included. For example, as shown in FIGS. 2, 3, and 31, common facilities include an entrance door (206, or automatic door) and an access control gate that control access to a building 1000 or a specific area within the building 1000. (gate, 207) may include at least one. At least one of the entrance door 206 and the access control gate 207 may be made jointly usable by a human and a robot. The robot may pass through the door 206 or the access control gate 207 under the control of the cloud server 20 .

For example, a robot serving guests may greet guests by passing through an access control gate 207 and an entrance door 206 after driving through the first-type passage 201 or the second-type passage 202 . At this time, the cloud server sequentially moves the first-type passage 201, the second-type passage 202, the access control gate 207, and the entrance door 206 along the movement path so that the robot serving guests performs its mission. , and the robot can be controlled to move along this movement path.

In the above, a case in which robots perform different tasks in an indoor area using a passage dedicated to robots and common facilities has been described. On the other hand, the building according to the present invention may be provided with facilities exclusively used by the robot R performing a specific mission for a specific service in relation to a specific mission.

For example, the type of service provided by the robot may be different for each robot. That is, the building 1000 includes delivery, logistics work, guidance, interpretation, parking support, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage manufacturing, food manufacturing, serving, fire suppression, medical assistance and entertainment. Robots providing at least one of the services may be deployed. Services provided by robots may be various other than the examples listed above.

Hereinafter, equipment exclusively used by a robot providing a specific service among these services will be described with reference to FIGS. 44 and 45 .

44 and 45 are conceptual diagrams for explaining a robot-only passage according to another embodiment of supporting movement of a robot in a horizontal direction in a robot-friendly building according to the present invention.

Referring to the drawings, in the robot-friendly building of the present invention, a delivery service is provided to people using a plurality of robots (R) performing delivery missions. To this end, the building may include a facility in which the robots R receive a control command from the cloud server 20 through a communication unit and perform a delivery mission.

These facilities may be referred to as a logistics system, a logistics facility, a logistics center, a delivery system, or a delivery facility. In this specification, the term “logistics system or distribution center” will be used for explanation.

The logistics system 4400 may include a storage area 4410 ), a receiving area 4420 and a delivery passage 4430 .

The storage area 4410 may be a storage place for storing items that have been received.

In the present invention, "object" is an "object (object, object or object)" that is the target of delivery received from a delivery person, and there is no limitation on its specific type, such as courier service or mail. In the following, for unification of terminology, “objects” to be collected are unified as terms of “object”.

In order to store objects in the storage area 4410, the logistics system 4400 may collect objects at a specific place (eg, a delivery work place) in the space. Here, as described above, the object is an object delivered by a delivery man, and the delivery man may deliver the object to a specific place.

Furthermore, a reception area (not shown) for receiving collected objects may be included in a specific place operated by the system according to the present invention. The receiving area includes a scanning unit, and the scanning unit may be configured to acquire waybill information included in an object.

Waybill information is information including information about a target user (recipient) to whom the object is delivered, and in addition to information about the recipient, postal information, waybill number, delivery company information, sender information, and object description information ( For example, at least one of object types (sneakers, clothes, etc.) may be further included.

In the present invention, the cloud server 20 may include tasks of acquiring waybill information and specifying a target user of an object.

The storage area 4410 may include a plurality of storage boxes 4411 to store accepted objects. The received object may be stored in the storage box 4411 until it is delivered to the target user by the robot R.

The receiving area 4420 is made to allow a person to receive a specific item among objects, and the passage for exclusive use of delivery 4430 allows a specific robot (DR) assigned with a specific item to drive from the storage area 4410 to the receiving area 4420. done to do

For example, when the target user U2 requests to receive a specific item from the receiving area 4420 or detects that the target user U2 moves to the receiving area 4420, a plurality of robots performing a delivery mission. Among them, a specific robot (DR) loads a specific product and travels through the passage 4430 for exclusive use of delivery.

At this time, the exclusive delivery passage 4430 may include a first partition wall 4431 and a second partition wall 4432 forming a passage through which the specific robot DR travels. The first partition wall 4431 and the second partition wall 4432 are disposed to face each other at a spaced apart position, through which a passage through which the robot travels is formed between the first partition wall 4431 and the second partition wall 4432. can

According to the illustration, at least a portion of the first barrier rib 4431 may be disposed toward the indoor space 302 of the building. The indoor space 302 may be a space used by people, and as such, may be a space where the target user U2 moves to the reception area 4420 .

At this time, the first barrier rib 4431 may be formed to be light-transmitting so that a specific robot DR traveling in the delivery passage 4430 in the indoor space 302 can be seen. Through this structure, the target user U2 can recognize the movement of the specific robot DR.

As a more specific example, the first partition wall 4431 may include a body formed in a plate shape, and a plurality of through holes may be formed in the body so that a specific robot DR traveling in the passage may be seen. As another example, it is also possible that the body is made of a light-transmitting material.

Meanwhile, the second barrier rib 4432 has a body formed in a plate shape, and the body may be made opaque. The second barrier rib 4432 is formed to be opaque and is disposed toward the storage area 4410 , and through this, the exclusive delivery passage 4430 may be formed to cover the storage area 4410 .

Referring to the drawings, a specific robot (DR) traveling through a delivery passage 4430 arrives at a receiving area 4420 and directly delivers a specific product to a target user U2 or a worker in the receiving area 4420. (U1) delivers a specific object.

At this time, the receiving area 4420 may include an extension passage 4421 and an opening 4422 .

The extension passage part 4421 is a passage extending from the delivery passage part 4430, and both sidewalls forming the extension passage part 4421 have the same structure as the first partition wall 4431 and the second partition wall 4432 described above. can have Accordingly, the target user U2 can recognize the movement of the specific robot DR entering the extension passage 4421 in the indoor space 302 .

The opening 4422 may be an area opened toward the indoor space 302 in at least a part of the extension passage 4421 to pick up a specific object from the specific robot DR arriving at the receiving area 4420 .

At this time, the opening 4422 may be formed at a higher position than the specific robot DR. A lower end of the opening 4422 may be located within a range of 0 to 100 centimeters upward from the uppermost part of the specific robot DR to facilitate pick-up of a specific object. Here, the uppermost part may be defined as a part where a specific product is loaded. However, the present invention is not necessarily limited thereto, and the lower end of the opening 4422 may be formed at a lower position relative to the uppermost part of the specific robot DR.

In the above, facilities used exclusively by robots providing specific services have been described, but in the present invention, specific services may be provided using facilities shared with other robots.

As such an example, the cloud server controls the first robot and the second robot, the first robot includes a plurality of robots performing the delivery mission described above with reference to FIGS. 44 and 45, and the second robot A case of performing a different task from a robot will be described as an example. In this case, the second robot is any one of guidance, interpretation, parking assistance, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage preparation, food preparation, serving, fire suppression, medical assistance and entertainment services. It can be a robot that provides the service of

That is, the passage for exclusive use of delivery is a first facility exclusively used by the first robot, and includes the first type passage 201 or the second type passage 202 described with reference to FIGS. 2, 3, 31, and 43 . may be a second facility commonly used by the first robot and the second robot.

At this time, the cloud server 20 determines whether to deliver a specific product through the delivery-only passage 4430 or through other commonly used passages 201 and 202, and sends the robots (R ) can be controlled.

For example, when the target user U2 comes to the receiving area 4420 and picks up a specific item, the cloud server 20 receives the target user U2's intention so that the first robot uses the first facility. control to do The intent of the target user U2 may be determined by the cloud server receiving the user's input. The user's input is performed in the task management system accessed by the target user or the application used by the target user, and the task management system or the application used by the target user generates a wireless signal corresponding to the target user's input and transmits it to the cloud server. can On the other hand, if the target user U2 wants to deliver a specific item to another location, such as his or her place of work, the cloud server 20 may control the first robot to deliver the specific item using the second facility. have.

As described above, the facility infrastructure of the present invention includes a first facility and a second facility, and the first facility is configured to support any one of the different tasks of the first robot and the second robot. The second facility supports the driving of the first robot and the second robot, and may be made common so that the first robot and the second robot are used together. Through this facility infrastructure, a robot-friendly building in which a plurality of robots providing various services travel to perform their respective duties and coexist with humans can be implemented.

Meanwhile, as described above with reference to FIGS. 7 and 8 , the cloud server 20 may specify a destination where the robot's mission is to be performed and set a movement path for the robot to reach the destination. At this time, the movement path may be set including vertical movement as well as horizontal movement.

In addition to the movement in the horizontal direction described above, in the present invention, facility infrastructure supporting vertical movement of the robot may be provided, and the cloud server 20 includes facility infrastructure (a plurality of facilities) disposed in the building 1000. Among them, facilities related to vertical movement that the robot must use or pass through to move to the destination can be specified.

For example, a robot-friendly building according to the present invention includes a robot-only elevator that supports vertical movement of robots, and the robot-only elevator can be a facility used by robots providing various services.

Hereinafter, with reference to FIGS. 46 to 68, the robot-only elevator will be described in more detail.

46 is a conceptual diagram illustrating a facility infrastructure supporting movement of a robot in a vertical direction in a robot-friendly building according to the present invention, and FIGS. 47 and 48 are diagrams for boarding a robot in a robot-friendly building according to the present invention. These are conceptual diagrams for explaining an elevator control system, and FIGS. 49 to 52 are conceptual diagrams for explaining a robot-only elevator applied to a robot-friendly building according to the present invention.

First, referring to FIG. 46, the indoor space 10 of the building 1000 may be composed of a plurality of different floors 10a, 10b, 10c, ..., and the mission start location and destination are on the same floor. or may be located on different floors.

The cloud server 20 may use map information on the plurality of floors 10a, 10b, 10c, ..., to create a movement path of a robot to perform a service within the building 1000, and the robot may be included in the movement path. Equipment supporting movement between floors, such as a dedicated elevator 204, a shared elevator 213, and an escalator 205, may be provided.

The cloud server 20 sets the movement path of the target robot to perform the service, generates control commands to move to the elevators 204 and 213 or the escalator 205 to move the target robot along the movement path, and A boarding request of the target robot may be transmitted to a control system (or control server) that controls the infrastructure. At this time, the control system (or control server) that controls the facility infrastructure may perform control related to the stop of the elevator based on the boarding request of the target robot so that the target robot can get on and off the elevator.

As such an example, FIG. 47 shows a method of controlling an elevator for boarding a robot, according to an embodiment, and FIG. 48 shows a conceptual diagram of an elevator for boarding a robot, according to an embodiment.

First, in FIG. 47, an elevator 4710 installed in a building is shown. The elevator 4710 may include a carrier 4720 on which the robot R can ride, and a spine portion 4730 to which the carrier 4720 is connected. The elevator 4710 includes a carrier 4720 and a spine part 4730, and may also be referred to as an elevator system, and the robot R may be a service robot for providing service on at least one floor in a building. .

The carrier 4720 is a device for moving between floors in a building, and the robot R can ride on it to move the robot R between floors in the building. The carrier 4720 does not allow people to board, so the elevator 4710 can be a robot-only elevator. In addition, the carrier of the elevator dedicated to the robot may also be referred to as an elevator unit or a carrier unit.

As in the illustrated example, the robot-only elevator 4710 may include a plurality of carriers, and the illustrated carrier 4720 may represent any one of the plurality of carriers. Also, the robot R is one of a plurality of illustrated robots, and may represent a robot boarding the carrier 4720 or waiting to board the carrier 4720 . In the detailed description to be described later, the carrier 4720 and the robot R will also be described accordingly.

The robot elevator 4710 is controlled by the control server 4830 that controls the elevator and the cloud server 20 to move the robot R. To this end, the cloud server 20 and the control server 4830 may communicate using a communication unit to control the robot R. As described above with reference to FIG. 4, each facility provided in the building 1000 can be controlled by the facility control system 201a, 202a, 203a, 204a, ..., and the facility control system 201a, 202a, 203a, 204a, ...) may include control units 201c, 202c, 203c, 204c, ... that perform control for driving of each facility. In this case, the elevator provided in the building 1000 may be controlled by the control system 204a, and the control system 204a may include a controller 204c that controls the operation of the elevator. At this time, the controller 204c or the elevator control system (EV control system) that controls the elevator may be the control server 4830. This control server 4830 is merely an example, and may also be referred to as an elevator control system (or EV control system) or a controller, and may be implemented in other forms as long as it is not a server as long as it is in charge of control.

For example, the control server 4830 transports the carrier 4720 on which the robot R rides in response to a call (boarding request) from the service requestor, the robot R, or the cloud server 20 that controls the robot R. It moves to a predetermined service terminal floor (eg, a cafe service terminal floor on the 15th floor or a delivery service terminal floor on the 4th floor). As another example, when the cloud server 20 detects an abnormality in the robot R or receives a specific request from a service requester, in response, the carrier 4720 on which the robot R rides is transferred to a predetermined maintenance station floor (eg, , the maintenance station floor of the illustrated 14th floor).

Maintenance means inspection, repair, adjustment, etc., and may include all of daily inspections, periodic inspections, and special inspections. Accordingly, the maintenance station floor may be defined as a floor equipped with facilities for maintenance.

As a more specific example, the control server 4830, when the robot R is required to board the carrier 4720, the floor where the robot R is located (eg, the cafe service terminal floor of the 15th floor or 4 shown) The robot-only elevator 4710 may be controlled to move the carrier 4720 to the courier service terminal floor of the same floor). When the carrier 4720 arrives at the floor where the robot R is located, the robot R moves towards the carrier 4720 and boards the carrier 4720, and the carrier 4720 is the destination floor of the robot R. (eg, the service target floor of the 22nd floor).

The movement of the robot R and boarding or disembarking of the robot R from the carrier 4720 may be controlled by the cloud server 20 . For example, the cloud server 20 generates a control command for the target robot to move to the robot elevator 4710 and transmits a boarding request of the target robot to the control server 4830 . At this time, the control server 4830 stops the robot elevator 4710, more specifically, the carrier ( 4720) may perform control related to the vehicle stop.

Also, the control server 4830 and the cloud server 20 may be implemented as a single system 4825. In this case, the control server 4830 (or the cloud server 20) may be configured to control both the robot dedicated elevator 4710 and the robot R.

Referring to FIG. 48 , a robot elevator 4710 may include a plurality of carriers 4720, and each of the plurality of carriers 4720 may be connected to a spine part 4730.

The spinel part 4730 is a structure constituting the skeleton of the robot-only elevator 4710, and is configured to transport the carriers 4720 in the vertical direction. At least one robot R may ride on each of the carriers 4720 .

The robot-only elevator 4710 may be formed to provide service by a plurality of robots on a plurality of floors by one stop (stop). In this case, the distance between the carriers may be a size corresponding to a plurality of interlayer distances.

According to this structure, according to the movement of the spine part 4730, at least some carriers among a plurality of carriers can be moved up and down simultaneously. By having the carriers lift at the same time, multiple robots can be boarded or alighted simultaneously on multiple floors at once.

The spine part 4730 may be a shaft of a robot-only elevator 4710 for elevating carriers. The spine part 4730 to which the carriers are connected may be configured like a skeleton part or a spine part of the robot elevator 4710. The spinel part 4730 may move the connected carriers up and down through a translational movement in a vertical direction or a movement in one direction (in the case of the annular spinel part 4730).

According to the illustration, the carrier 4720 may have a standard and structure suitable for riding a robot R, not a human. For example, since a person does not board the carrier 4720, various safety devices included in a passenger elevator, an interior interior, and an internal user interface (such as a button) may not be disposed. In addition, waste of space/area that may occur when the robot R gets on a passenger elevator can be reduced.

Based on the control by the control server 4830, the carrier 4720 may be controlled so that the robot R riding on the carrier 4720 moves between floors of a building for service provision or maintenance. For example, according to the control by the control server 4830, the driving of the spine part 4730 is controlled so that the carrier 4720 on which the robot R rides is the target floor of the robot R (eg, the service terminal floor). , maintenance station layer or service target layer). In addition, according to the control by the control server 4830, the driving of the spinel unit 4730 is controlled, and through this, the carrier 4720 can be moved to the floor where the robot R is waiting.

For example, the spinel part 4730 may be configured in a ring shape (or an annular shape) as shown. At this time, the spinel unit 4730 may move in one direction (counterclockwise in the illustrated example) under the control of the control server 4830 . As the spinel part 4730 moves in one direction, each of a plurality of carriers connected to the spinel part 4730 may rise or fall. For example, as the spinel part 4730 moves in one direction, the carrier(s) connected to the spinel part 4730 at the first side among the plurality of carriers may rise together.

Also, the carrier(s) connected to the spine part 4730 on the second side of the plurality of elevator units may descend together. At this time, the carrier(s) connected to the spinel part 4730 on the first side may be associated with the elevator door 4760 for ascending provided on each floor in the building. Meanwhile, the carrier(s) connected to the spine part 4730 on the second side may be associated with the descending elevator doors 4770 provided on each floor. Since the spinel part 4730 is formed in a ring shape, even if the spinel part 4730 moves in only one direction, each of the carriers can circulate through all floors of the building.

At this time, an ascending elevator door 4760 and a descending elevator door 4770 may be provided on each floor in the building, and the robot R to move down from each floor uses the descending elevator door 4770. The robot R, which wants to move up from each floor, can board the carrier 4720 through the elevator door 4760 for going up.

The ascending elevator door 4760 and the descending elevator door 4770 may be doors that open left and right as shown. Alternatively, the upward elevator door 4760 and the downward elevator door 4770 may be doors that open upward. In addition, the doors 4760 and 4770 are provided separately from the doors of the passenger elevator, and opening and closing of the doors 4760 and 4770 may be controlled by the control server 4830.

The robot R intending to board the carrier 4720 may wait for the arrival of the carrier 4720 in a waiting space (front room) provided on each floor. A waiting space (front room) may be provided in front of the doors 4760 and 4770 . The waiting space (front room) may be distinguished from passages or corridors in which the person U moves in the building. For example, a sign indicating that the waiting space is a waiting space for the robot R may be provided.

Alternatively, the waiting space may be implemented so that the robot R can enter, but the person U cannot enter (normally). For example, an entrance for entering the waiting space may be provided at a height through which the person U cannot pass but the robot R can pass (that is, a height smaller than the height of the person U).

The door 4760 or 4770 may be controlled to open only when the robot R is positioned in front of the door (eg, the waiting space (front room)). Accordingly, collision/interference between the robot R and the person U waiting to board the carrier 4720 can be minimized.

As another example, the spinal part 4730 may be configured in a shape such as A, B, or C instead of a circular ring shape. At this time, the spinel unit 4730 may elevate the plurality of carriers through translational motion in the vertical direction. Only one door that serves as an upward elevator door 4760 and a downward elevator door 4770 may be provided on each floor. Even in this case, each of the plurality of carriers moves through the vertical translational movement of the spine part 4730 (eg, by providing a reserve space for the plurality of carriers at the upper end of the uppermost floor and/or the lower end of the lowest floor). You can stop at any level. The specific shape of the spinel part 4730 in other forms, including a, b, or c shape, may be formed so that each of a plurality of carriers connected to the spinel part 4730 can stop at all floors of a building.

Although not shown, the spinel unit 4730 may be driven by a motor. For example, the spinel unit 4730 may include a cable, chain, or rail.

The illustrated robot elevator 4710 may operate as a hub for a plurality of robots in that it connects a plurality of robots with a maintenance station floor, a service terminal floor, and a service target floor.

Meanwhile, the robot elevator of the present invention may have various types of structures. Hereinafter, other structural features of the robot elevator will be described with reference to FIGS. 49 to 52. However, since the description of the technical features described above with reference to FIGS. 47 and 48 can be applied as it is to FIGS. 49 to 52, the overlapping description is replaced with the previous description.

Referring to FIG. 49 , a robot elevator 4900 may include a guide rail 4910 and a plurality of carriers 4920 .

The guide rail 4910, as an example of the above-described spinal unit, may pass through at least some of the plurality of layers and extend in the vertical direction. More specifically, the guide rail 4910 may include a first guide 4911 and a second guide 4912 spaced apart from each other and disposed in parallel.

One of the first guide 4911 and the second guide 4912 may be an ascending guide rail, and the other may be a descending guide rail. However, the present invention is not necessarily limited thereto, and the first guide 4911 and the second guide 4912 may be formed to enable both upward movement and downward movement of the carriers, respectively.

In this embodiment, the first guide 4911 is for ascending and the second guide 4912 is for descending. Referring to FIG. 52 , a waiting area (or waiting space, 5210) in which the target robot R waits may be formed between the first guide 4911 and the second guide 4912 . In the waiting area 5210, the target robots R move in opposite directions, and the carrier 4921 connected to the first guide 4911 for ascending or the carrier 4922 connected to the second guide 4912 for descending You can board any one of them.

Meanwhile, the entrance of the above-described robot passage may be disposed adjacent to the robot elevator so that the target robot gets off the robot elevator and enters the robot passage. For example, the waiting area 5210 may be connected to a robot passage 5220 through which robots travel. The robot-only passage 5220 can be any of the above-described first-type passage 201 and second-type passage 202, and through this, the robot R moved using the robot-only passage 5220 is dedicated to the robot. You get on the elevator.

According to the illustration, each of the first guide 4911 and the second guide 4912 may include a pair of rails. The pair of rails may be, for example, a first rail 4911a and a second rail 4911b, each extending along a vertical direction (or a vertical direction, a gravitational direction), and at two points on the same carrier. It may be connected to the carrier 4920.

Meanwhile, a connection rail part 4913 connecting the first guide 4911 and the second guide 4912 in a horizontal direction may be disposed at upper ends of the first guide 4911 and the second guide 4912 . For example, a carrier that has moved up along the first guide 4911 can move down to the second guide 4912 using a connecting rail.

In this case, the plurality of carriers move in the vertical direction along the guide rail to transport the robots, and may be spaced apart from each other along the vertical direction.

Referring to FIG. 51 , at least one carrier 4920 among a plurality of carriers may include a moving part 4923 and a boarding part 4924.

The moving unit 4923 is connected to the guide rail 4910 and moves in the vertical direction. More specifically, the movable unit 4923 is slidably connected to the first rail 4911a and the second rail 4911b, and moves vertically along the guide rail 4910 through this. To this end, the moving unit 4923 may include a moving body 4923a erected in the vertical direction and a coupling unit 4923b that protrudes from the moving body 4923a and is coupled to the guide rail 4910. In addition, the movable body 4923a may be doors (4760, 4770, see FIG. 48) that open and close the boarding unit, or separate doors 4760 and 4770 may be provided in the movable body 4923a to open and close the boarding unit.

The boarding unit 4924 may protrude forward and backward from the moving unit 4923 so that the target robot R can board. More specifically, the boarding part 4924 protrudes from one end of the moving part 4923, for example, from the lower end along the front-rear direction. By such protrusion in the forward and backward directions, a support surface 4924a supporting the target robot R in the direction of gravity is formed, and the target robot is accommodated on the support surface 4924a of the boarding unit 4924 to move in the vertical direction. do.

Furthermore, a protection fence 4925 may be disposed on the boarding unit 4924 to protect the target robot on board. The protection fence 4925 extends in a bar shape from the side of the moving unit 4923 to prevent the target robot from falling to the outside of the boarding unit 4924 .

On the other hand, the robot-only elevator of the present invention may be provided with a system that actively responds to various types of logistics volume changes that may occur in a building. As an example, first, referring to FIG. 49 , the plurality of carriers include a first carrier 4926 and a second carrier 4927, and the boarding part of the first carrier 4926 and the second carrier The boarding unit 4927 is configured to have different capacities for the target robot R to board.

At this time, the boarding capacity may be set based on the width of the carrier. For example, the first carrier 4926 may be formed to allow a plurality of robots to board together, and the second carrier 4927 may be formed to board one robot. That is, the boarding part of the first carrier 4926 may be formed in a size corresponding to the case where two robots are placed side by side, and the boarding part of the second carrier 4927 may be formed in a size corresponding to one robot.

The control server 4830 described above may selectively control the first carrier 4926 or the second carrier 4927 so that the robots stop at the waiting floor based on boarding requests of various robots for using the elevator. . That is, the control server 4830 selects a carrier for the target robot R to board among the first carrier 4926 and the second carrier 4927 based on the boarding request received from the cloud server 20 .

As another example, in order to adjust the logistics capacity of the robot-only elevator, the elevator may include an auxiliary carrier 4928 stored separately from the guide rail 4910.

More specifically, referring to FIGS. 49, 50, and 52 , a storage compartment 5230 for storing an auxiliary carrier 4928 may be formed at one end of the guide rail (or the above-mentioned spinel part). The storage room 5230 may be provided on a basement floor among a plurality of floors.

The storage compartment 5230 may include a transport unit 4930 that transports the auxiliary carrier 4928 in a horizontal direction and couples it to the guide rail 4910 . The transfer unit 4930 is disposed in a direction perpendicular to the guide rail 4910, and an auxiliary carrier 4928 may be coupled to the transfer unit 4930. At this time, the auxiliary carrier 4928 may move in a horizontal direction in the storage compartment 5230 and be separated or connected to the guide rail 4910 .

For example, separation or connection between the secondary carrier 4928 and the guide rail 4910 may be controlled by at least one of the control server 4830 and the cloud server 20 . That is, the control server 4830 and the cloud server 20 may adjust the amount of carriers currently coupled to the guide rail 4910 based on the current amount of logistics. The quantity of logistics may be defined as the quantity of robots using the robot-only elevator or the quantity of boarding requests during a specific time period. When the amount of logistics is relatively small (shown in FIG. 49 ), the amount of carriers connected to the guide rail 4910 is relatively small compared to when the amount of logistics is relatively large (shown in FIG. 50 ). When there is a lot of logistics or when a lot of logistics is expected, the cloud server 20 or the control server 4830 transfers the secondary carrier 4828 in the storage room 5230, and as shown in FIG. The carriers of are controlled to be coupled to the guide rail 4910.

According to this structure and control method, it is possible to actively adjust the capacity of the robot-only elevator according to the amount the robots use the elevator.

In the above, the structure and control method of the robot elevator have been described as an example, and furthermore, in the present invention, various operating systems and exclusive facilities for the robot elevator can be provided in order for the robot to provide a specific service in a building. have. Hereinafter, these various operating systems or dedicated facilities will be described in more detail with reference to drawings.

53a is a conceptual diagram showing a charging or standby state of a robot riding an elevator provided in a robot-friendly building according to the present invention, and FIG. It is a conceptual diagram showing the method. 54 and 55 are conceptual diagrams for explaining a method of outputting an indicator on an external user interface associated with an elevator provided in a robot-friendly building according to the present invention, and FIG. 56 is a diagram for a robot-friendly building according to the present invention. It is a conceptual diagram for explaining how the robot provides service through the elevator control system provided. 57 is a conceptual diagram for explaining how maintenance of a robot is performed through an elevator control system provided in a robot-friendly building according to the present invention, and FIG. 58 is an elevator control provided in a robot-friendly building according to the present invention. It is a conceptual diagram for explaining how a plurality of robots move between floors in a building through the system, and FIG. 59 is a case in which an elevator control system is operated in the high and low floors of a robot-friendly building according to the present invention It is a conceptual diagram for explaining the control method of the elevator control system.

In FIG. 53, a portion of a robot-only elevator 4710 as described above with reference to FIG. 48 is shown.

A charging dock (not shown) for charging the battery of the robot R riding on the carrier 4720 may be provided in the carrier 4720 . The charging dock may be provided on the bottom surface of the carrier 4720. At this time, a supply line 4730 for supplying power to the charging dock may be provided separately.

Alternatively, the charging dock may be provided on a wall surface of the carrier 4720. The charging dock can charge the battery of the robot R riding on the carrier 4720 wired (contact type) or wirelessly (non-contact type). In the case of the contact type, when the terminal of the robot R is in contact with the terminal of the charging dock, the battery of the robot R can be charged. In the case of the non-contact type, the battery of the robot R may be charged when the robot R is positioned at a predetermined position in the carrier 4720 . Non-contact charging can be implemented by a wireless power transmission method. For this purpose, the carrier is provided with a transmitter (Tx) of a wireless power transmission device (or wireless charging module), and the robot is equipped with a receiver (Rx). can

When the charging of the robot R's battery is completed, the charging process can be stopped automatically. The robot R, which is fully charged, may correspond to “in standby” shown.

Meanwhile, each of the carriers of the robot elevator 4710 may be used as a waiting space for the robot R. For example, a robot R not requested to provide service (or a robot not requested to move to a specific floor) may stand by while boarding the carrier 4720 . Accordingly, the robot R for which service/movement is not requested can be charged, and when service/movement is requested, it can be quickly moved to the requested location. In addition, since there is no need to provide a separate space for waiting for the robot R, space in the building can be saved. At this time, the robot R may be accommodated in the secondary carrier 4928 described with reference to FIGS. 49 and 50 and wait in the storage room 5230.

Meanwhile, unlike what has been described, the charging dock is located not inside the carrier 4720, but in a space where the robot R waits to board the carrier 4720 (the aforementioned waiting space (or waiting area, front room)) on each floor. may be provided. For example, the charging dock may be provided on the floor of the aforementioned waiting space (front room).

With this charging method, in the present invention, charging of the robot can be easily implemented. In addition, the present invention proposes a method for identifying and tracking the boarding of a robot on a carrier/service provision by the robot.

In FIG. 53B, a portion of a robot-only elevator 4710 as described above with reference to FIG. 48 is shown.

As shown, the carrier 4720 may be associated with a carrier ID, the robot R riding on the carrier 4720 may be associated with a robot ID, and the service provided by the robot R riding on the carrier 4720 may be associated with a service ID. may be related to That is, a carrier ID may be assigned to each of the plurality of carriers, and a robot ID may be assigned to each of the plurality of robots R. In addition, a service ID may be assigned to a service provided by the robot R (eg, beverage delivery service, parcel delivery service, etc.). The control server 4830 (and/or the cloud server 20) controlling the elevator determines the position of the carrier 4720, the position of the robot R on board, and boarding based on the carrier ID, robot ID, and service ID. The provision status of a service provided by one robot R can be tracked (tracked).

As described above with reference to FIG. 4, the elevator provided in the building 1000 may be controlled by the control system 204a, and the control system 204a includes a control unit 204c that controls the operation of the elevator. can be provided. At this time, the controller 204c that controls the elevator may be the control server 4830. Accordingly, the control server 4830 may also be referred to as an elevator control system or a control unit, and may be implemented in other forms as long as it is a part in charge of control.

The cloud server 20 may identify the floor where the robot R is located and the position of the robot R. The cloud server 20 may determine the location of the robot R and the floor on which the robot R is located based on sensing information from the robot R and communication with the robot R. The control server 4830 can identify the number of floors on which the carrier 4720 is located, and can identify which floor the carrier 4720 is moving to and/or from which floor it has moved.

The cloud server 20 determines the progress of the service provided by the robot R (eg, whether an object is loaded on the robot R, whether the robot R is moving to the service terminal floor, whether the robot R provides service whether moving to the target floor, etc.) can be identified.

As described above, the movement of the robot R, the movement of the carrier 4720, and the progress of the service by the robot R can be identified (and tracked). This identification (and tracking) may be based on the aforementioned carrier ID, robot ID and service ID.

The cloud server 20 is located on the floor where the service is requested (ie, the service terminal floor) or located on the floor closest to the floor where the service is requested (in a standby state) in consideration of the identified positions of each of the plurality of robots. For the robot (R), it can be requested that the robot (R) provide a service. That is, a task may be assigned to the corresponding robot R.

For example, when a call to a robot is generated on the first floor (eg, a service terminal floor) of the floors of a building, based on the control by the control server 4830, the plurality of carriers, the first one of the plurality of carriers A robot R boarding the carrier 4720 located on the first floor (the waiting robot R) or a robot R boarding the carrier 4720 located on the floor closest to the first floor is located on the first floor. can be controlled to move to

Meanwhile, although the operations of the cloud server 20 and the control server 4830 have been separately described as described above, the above-described operations may be performed through a single integrated system.

Therefore, through the integrated system, the position of the robot R providing the service, the position and movement of the carrier 4720 on which the robot R rides, and the progress of the service provided by the robot R can be tracked. can

In the above, the method of identifying the robot and tracking the progress of the service has been described as an example, and by this method, in the present invention, more efficient control of the service provision of the robot can be implemented. In addition, the present invention proposes a method of outputting specific information to the outside in relation to elevator operation.

54 and 55 illustrate a method of outputting an indicator in an external user interface associated with a carrier, according to an example.

54 illustrates a method of outputting an indicator on an external user interface associated with a carrier 4720 when a person U attempts to board the carrier 4720.

As described above, the carrier 4720 and the doors 4760 and 4770 may have specifications suitable for boarding of the robot R, but may be distinguished from an elevator for boarding of a person U in a building. For example, as shown, the height of the carrier 4720 and the doors 4760 and 4770 is the height of the person U so that it is difficult for the person U to board the carrier 4720 (eg, the average of lower grades in elementary school). height) can be smaller than

Nevertheless, when it is detected that the person U is attempting to board the carrier 4720 while the door 4760 is open, at least one indicator 5520 of a visual indicator and an audible indicator may be output. . The indicator 5520 may be distinguished from the indicator 5510 when the person U's attempt to board is not detected. Indicators 5510 and 5520 may be part of an external user interface associated with carrier 4720 . The indicator 5520 is illustrated as a visual indicator, but may be an audible indicator or further include an audible indicator. An indicator that is output when it is detected that the person U is attempting to board the carrier 4720 may be output through an internal user interface of the carrier 4720 .

The person U (or the person U's attempt to board) may be detected by a sensor included in the carrier 4720 or the door 4760 or 4770 . For example, the person U (or the person U's attempt to board) may be detected by a camera included in the carrier 4720 or the door 4760 or 4770 .

55 illustrates a method of outputting an indicator on an external user interface when the robot R gets on or off the carrier 4720.

As shown, when the robot R gets on or off the carrier 4720, at least one indicator 5530 or 5540 of a visual indicator and an audible indicator indicating whether the robot R gets on or off the carrier 4720 may be output from an external user interface associated with the carrier 4720. Although the indicator 5530 or 5540 is shown as a visual indicator, it may be an audible indicator or further include an audible indicator.

Through the output control of the indicators 5510 to 5540 described above, in the present invention, collision/interference between the human U and the robot R can be minimized. Furthermore, in the present invention, various methods of providing a service by a robot using an elevator are proposed. Hereinafter, an example of a service provided by a robot will be described in more detail with reference to FIG. 56 .

Specifically, a control method of a robot-only elevator 4710 and a robot R in a case where movement to a parcel service terminal floor is requested for a plurality of robots will be described with reference to FIG. 56 . The illustrated robots 'performing tasks' are robots requested to move to the service terminal floor, and may represent robots scheduled to move to the service terminal floor. 'Waiting' robots may represent robots that have not been requested to move to the service terminal floor (ie, have not been requested for service).

As described above, when the batteries of robots that are 'on duty' or 'on standby' are not fully charged, the batteries may be charged when they board the carrier 4720.

Among floors of a building, a service terminal floor may be a floor for mounting objects 5710 required for service provision on the robot R. Mounting of the object 5710 on the robot R may be performed by a person or by another type of robot. The object 5710 may be loaded onto the robot R according to an order corresponding to the requested service. Based on the control by the cloud server 20 or the control server 4830, when a service provision by the robot R riding on the carrier(s) 4720 is requested, the corresponding robot R moves to the service terminal. Carrier 4720 may be moved to a service terminal floor to move to a floor.

In addition, based on the control by the cloud server 20 or the control server 4830, a robot R boarding the carrier 4720 on the service terminal floor (eg, a robot R carrying the object 5710) The carrier 4720 may be moved to the service target floor so that the robot R moves to the service target floor to provide service.

When the service terminal floor is a floor providing home delivery service, the movement of the robot R and the delivery status of the object 5710 by the robot R may be tracked by the cloud server 20 . In this case, the service terminal floor may be a floor where the logistics system 4400 described with reference to FIGS. 44 and 45 is located. That is, loading of the object 5710 on the robot R may be performed in the above-described distribution system 4400 .

As another example, when the service terminal floor is a floor providing cafe service, the movement of the robot R and the delivery status of the beverage 5710 and the order processing status by the robot R are tracked by the cloud server 20. can

On the other hand, if the robot R carrying a robot R of a predetermined size or larger or an object 5710 of a predetermined size or larger is boarded on the carrier 4720 (that is, this boarding is carried out by the cloud server 20 or the control server ( If determined by 4830), the cloud server 20 or the control server 4830 may control the carrier 4720 so that no other robot can board the carrier 4720 any longer. Accordingly, when the bulky robot R is to board the carrier 4720, other robots may be excluded from boarding the corresponding carrier 4720.

Also, unlike the illustration, the plurality of carriers of the robot elevator 4710 may be configured to include a first carrier of a first standard and a second carrier of a second standard larger than the first standard.

In this case, the standard may be set based on a criterion different from the width of the carrier described with reference to FIG. 49 . For example, the second carrier may have a higher floor height than the first carrier. At this time, the second carrier may be configured to allow a large robot that cannot board on the first carrier. In other words, the robot R of a predetermined size or larger or the robot R or large robot equipped with an object 5710 of a predetermined size or larger is the first carrier by the cloud server 20 or the control server 4830. It can be controlled to board the second carrier. However, of course, robots of various sizes and types can be moved by riding on one carrier 4720. Furthermore, in the standard of the carrier of this example, it is also possible to form different standards by using both the height and the width of the floor.

Also, the services provided by the robot R may be assigned respective priorities. When a robot R providing a service with a high priority (ie, higher than a predetermined priority) is on board the carrier 4720, the corresponding service is controlled by the cloud server 20 or the control server 4830. The carrier 4720 on which the robot R providing the high priority service can be controlled to move directly to the target service floor to provide the high priority service without stopping for other floors. At this time, if the robot R providing a service with a high priority boarded, the boarding was determined by the cloud server 20 or the control server 4830 or the robot that performed the service with a high priority It may include the case where there is a request for boarding.

Such a carrier 4720 can be directly moved to a service target floor in the same manner as an express train without passing through other floors. Alternatively/in addition, the carrier 4720 boarded by the robot R providing a service with a high priority may be controlled to be exclusively used by the robot R. That is, other robots may be excluded from boarding the carrier 4720 on which the robot R providing a service with a high priority is boarded.

The robot R providing a service with a higher priority may board the carrier 4720 with priority over other robots even when boarding the carrier 4720 . For example, if there is no space for the robot R providing a service with a high priority on the carrier 4720, another robot already on the carrier 4720 dismounts and the robot providing a service with a high priority ( The robots can be controlled so that R) can ride.

In this way, it is possible to provide more efficient service using robots in a building through elevator control according to priority. In addition, in the present invention, autonomous maintenance within a building may be implemented for service-providing robots.

57 illustrates a method of performing maintenance of a robot through an elevator, according to an example. Among the floors of the building, a maintenance station floor for performing maintenance of the robot R may be provided. Considering the advantage and accessibility of the robot R through the robot elevator 4710, the maintenance station floor may be provided on a middle (or approximately middle) floor among all floors of the building.

In the embodiment, when it is detected that maintenance is required for the robot R based on control by the cloud server 20, the carrier 4720 is moved to the maintenance station floor so that the robot R on board is moved to the maintenance station floor. can be moved to the floor. The maintenance of the robot R may include maintenance, repair, inspection, failure response, and the like of the robot R.

As another example, based on control by the cloud server 20 or the control server 4830, when it is detected that maintenance is required for the robot R riding on the carrier 4720, the boarding robot R The carrier 4720 may be moved to the maintenance station floor to move to the maintenance station floor.

In the illustrated example, robots marked as 'error' may be robots for which maintenance is detected.

In this way, through autonomous maintenance within the building, efficient management of robots providing various services within the building is possible. Furthermore, the present invention proposes a process for improving efficiency more when a plurality of robots move between floors in a building.

58 illustrates a method in which a plurality of robots move between floors in a building through an elevator, according to an example.

Through the illustrated example, the efficiency of service provision by the robots of the embodiment will be described. In the illustrated example, the maximum speed of the robots is 2 m/s, the acceleration is 0.5 m/s², the floor height of the building is 4.45 m, the total number of floors that the robots can move is 27 floors (3 to 29 floors), and the robots It is assumed that the time taken for each boarding/getting off is 5 s, and the time required for each robot to move between two floors is 8.45 s.

In this example, a control in which a plurality of robots simultaneously board a plurality of carriers on a floor where a carrier descends, moves horizontally, and then rises again is presented. On this floor, facilities providing services such as a distribution center may be located, and services provided using these facilities may use control of a plurality of robots boarding a plurality of carriers at the same time.

As can be seen in the illustrated example, in the case of using the robot-only elevator 4710 of the embodiment, 26 robots are moved from the distribution center on the 3rd floor (eg, the distribution system of FIGS. 44 and 45) to the entire floor (4 ~ 29th floor), it can be confirmed that it takes only about 3 minutes to send one unit to each. As you can see in <c>, it can be seen that 26 robots get off at the same time. In the embodiment, in the case where there are a plurality of robots to board the carriers of the robot elevator 4710 on the service terminal floor, the robot elevator required for the plurality of robots to provide service in their respective service target floors. Boarding sequence for carriers (ie, doors 4760 and 4770) on the service terminal floor of a plurality of robots so that the number of stops of the 4710 (ie, the number of opening and closing of the doors 4760 and 4770) is minimized can be determined. In other words, the boarding order of the robots can be determined so that as many robots as possible can get off at the respective service target floor at the same time to provide service.

In addition, in the embodiment, even in determining a plurality of robots to provide service, at the same time, as many robots as possible can board carriers and get off at the required service terminal floor (ie, robot-only elevator 4710) A plurality of robots to provide service may be determined in such a way that the number of stops of the robot is minimized.

As described above, a process of improving efficiency can be implemented by the method of riding the most robots at the same time. In addition, in the present invention, the robot and the elevator can be controlled so that the robot transfers the elevator and moves between floors.

59 illustrates a method of controlling an elevator in a case where elevators are operated respectively in a high-rise part and a low-rise part of a building, according to an example.

59 describes an embodiment in which the floors of one building are divided into a high-rise section and a low-rise section, and an elevator is used in each of the high-rise section and the low-rise section. The elevator 4710 for robots described above may be used to move a robot between floors belonging to either a high floor or a low floor.

In the illustrated example, it is assumed that a first elevator system 4710 is used for high floors and a different second elevator system 6000 is used for lower floors. The second elevator system 6000 may have the same configuration as the first elevator system 4710 .

Layers on the upper side of a specific floor may be a high-rise portion, and layers on a lower side may be a low-rise portion. At this time, a specific floor may be a transfer floor. The transfer floor shown may be a floor commonly belonging to the upper and lower floors (ie, cross floors), or may be an intermediate floor of a building that does not belong to either of the upper and lower floors. A transfer floor may be one or more floors.

In the case where the robot R needs to be moved from the first floor belonging to the high-rise portion to the second floor belonging to the low-rise portion (or the case to be moved from the second floor belonging to the low-rise portion to the first floor belonging to the high-rise portion), the robot ( The first elevator system 4710 (or the second elevator system 6000) may be controlled so that R) gets off the carrier once at the transfer floor.

The robot R after getting off gets on the carrier of the second elevator system 6000 (or the first elevator system 4710) for moving the robot between floors belonging to the lower (or higher) floors in the transfer floor, The second elevator system 6000 (or the first elevator system 4710) can be controlled to move to the second floor (or first floor).

In this way, a plurality of elevator systems may be used for one building, and the robot R may transfer between the plurality of elevator systems through a transfer floor.

In the above, with reference to FIGS. 53 to 59 , various operation systems related to an elevator for providing a specific service by a robot in a building, exclusive facilities, and the like have been described.

On the other hand, the present invention suggests various facilities and control processes that utilize a waiting area (waiting space or front room space) in an elevator. Through the use of the front room space, the robot can more efficiently control the environment in which the elevator is used.

60 shows an example of the structure of a robot-only elevator including a front room in an elevator provided in a robot-friendly building according to the present invention, and FIGS. 61 and 62 show getting on and off the elevator in a robot-friendly building according to the present invention. 63 to 68 are flowcharts illustrating a method of controlling a robot-only elevator provided in a robot-friendly building according to the present invention.

First, referring to FIG. 60 , the robot-only elevator 4710 of this example corresponds to a robot transport device for vertical movement of the robot R, and may include a front chamber space 6103. The front room space 6103 represents a space waiting for the robot R to get on and off, and may be referred to as a front room, a waiting space, a waiting area, and the like, and hereinafter referred to as a waiting space for convenience of description. Also, the waiting space may be used as a space for charging the robot R according to embodiments.

For example, the robot-only elevator 4720 is a space in which the robot R rides when the robot R moves vertically, that is, the robot carrier includes an upward carrier 6101 for upward vertical movement and a downward carrier for downward vertical movement ( 6102).

The robot-only elevator 4720 has a double door structure to prevent human entry, and includes carrier doors 6110-1 and 6110-2 separating the carriers 6101 and 6102 from the waiting space 6103 and the waiting space 6103. It may include a waiting space door 6120 separating the corridor and the corridor. In this example, it is exemplified that the waiting space 6103 and the corridor are connected, but the present invention is not limited thereto. The waiting space 6130 may be connected to the passage dedicated to the robot described above. In this case, in the example described with reference to FIGS. 60 to 68 , the hallway may be replaced with a passage exclusively for robots, and a description thereof is replaced with a description of the hallway and the waiting space 6130 .

The waiting space door 6120 is an entrance area entering the waiting space 6103 in the left section from the central position of the waiting space door 6120 based on the waiting space door 6120 viewed from the outside, and the right section is the waiting space 6103 ), it can be used by dividing it into an exit area going out.

The waiting space door 6120 shown as an example in FIG. 60 has a structure in which an entrance and an exit are common, but is not limited thereto, and the waiting space door 6120 is installed on both sides of the waiting space 6103, so that one is an entrance. You can also use one as an exit and use the other as an exit.

The carrier doors 6110-1 and 6110-2 and the waiting space door 6120 may be configured in a double-door structure that opens in both left and right directions, and depending on the embodiment, the carrier doors 6110-1 and 6110-2 are While having a structure that opens to either side, the waiting space door 6120 may have a two-door structure.

The robot-only elevator 4710 has a waiting space 6103 in which both the up-carrier 6101 and the down-carrier 6102 can be used, and the cloud server 20 and the control server that control the robot-only elevator 4710 4830 organically controls the robots getting off the carriers 6101 and 6102 and the robots boarding the carriers 6101 and 6102, so that the getting on and off of the robots can be efficiently operated.

The carrier doors 6110-1 and 6110-2 can be opened and closed simultaneously. The robots can board or get off the up carrier 6101 and the down carrier 6102 at the same time. When one robot gets off the carriers 6101 and 6102, the other robot waiting can board the carriers 6101 and 6102. When the carrier doors 6110-1 and 6110-2 are opened, the robots in the boarding state get off the carriers 6101 and 6102 and move to the waiting space 6103, and the robots waiting in the waiting space 6103 move and move to the carrier 6101 , 6102).

The cloud server 20 and the control server 4830 move the robot so that the carrier doors 6110-1 and 6110-2 and the waiting space door 6120 do not open at the same time in order to minimize safety issues and noise caused by collisions. and door opening and closing can be controlled. After checking the closed state of one of the carrier doors (6110-1, 6110-2) and the waiting space door (6120), the open state of the other door is determined. In other words, when one door is open, the other door is open. Wait for the door to open for a while.

61 illustrates an example of a node referred to by a robot for movement in relation to getting on and off an elevator, according to an embodiment.

In order to control the robot carriers 6101 and 6102, the waiting space 6103, and the movement of the robot R moving organically through the corridor outside the waiting space 6103, nodes referred to for the movement of the robot R are defined. It can be. Referring to FIG. 61 , a waiting_outside node 6101 is defined as a point waiting to pass through the waiting space door 6120 from the outside of the waiting space 6103 to the inside. The external waiting node 6201 may be assigned to at least one side of the waiting space door 6120 in front of the robot elevator 4720. The external waiting node 6201 shown as an example in FIG. 61 is designated at a point on the left side of the waiting space door 6120 facing outside, but is not limited thereto, and at least the left, right, and center of the waiting space door 6120 Can be assigned to one or more points.

A layover node 6202 is defined as a waiting point in the waiting space 6103 before boarding the carriers 6101 and 6102. The layover node 6202 may be assigned to at least one point in consideration of the number of robots that can stand by at the same time in the waiting space 6103 or the circulation between robots getting on and off the carriers 6101 and 6102 in the waiting space 6103. . The layover node 6202 may be designated as a waiting point for boarding of the upbound carrier 6101 and a waiting point for boarding of the downbound carrier 6102.

The layover node 6202 shown as an example in FIG. 61 is designated at the inner center of the waiting space 6103, but the present invention is not limited thereto. As shown in FIG. 62, according to the area or structure of the waiting space 6103 and the structure or location of the waiting space door 6120, a layover node 6202 is placed at one or more points inside the waiting space 6103. can be specified. These layover nodes 6202 are assigned adjacent to the inside wall of the carrier, some adjacent to the inside wall and some further away from the inside wall towards the door, as shown in FIG. 62, or placed adjacent to the corners of the carrier. or may be specified adjacent to some of the edges of the carrier.

Referring back to FIG. 61 , the waiting_up node 6203 is defined as a point waiting to pass through the up carrier door 6110-1 before boarding the up carrier 6101, and the down boarding waiting node ( The waiting_down node, 6204, is defined as a waiting point to pass through the down carrier door 6110-2 before boarding the down carrier 6102. The upbound boarding waiting node 6203 and the downbound boarding waiting node 6204 may be assigned to at least one side of the carrier doors 6110-1 and 6110-2. The upbound boarding waiting node 6203 and the downbound boarding waiting node 6204 shown as an example in FIG. 61 are designated at the center side points of the carrier doors 6110-1 and 6110-2. However, the present invention is not limited thereto, and the ascending boarding waiting node 6203 and the descending boarding waiting node 6204 are located at at least one or more points such as the left, right, and center of the carrier doors 6110-1 and 6110-2. can be specified.

An internal waiting_door node (6205) is defined as a point waiting to pass through the waiting space door (6120) from the inside of the waiting space (6103) to the outside. The internal waiting node 6205 is a point at which robots that get off the carriers 6101 and 6102 wait to go out of the waiting space 6103, and may be designated at least on one side of the waiting space door 6120. The internal standby node 6205 can be basically assigned to the side of the waiting space door 6120 used as an exit, and a robot waiting on the external standby node 6205, or an upward carrier 6101 and a downward carrier 6102 It can be assigned to both sides based on the waiting space door 6120 in consideration of simultaneous drop-off robots of

The cloud server 20 uses the nodes 6101 to 605 described above to control the robot carriers 6101 and 6102, the waiting space 6103, and the robot R that moves organically through the corridor outside the waiting space 6103. You can control the flow.

(1) Waiting for use of robot elevator 4720

In order for the robot R to use the robot elevator 4710, the robot R moves to the external stand-by node 6201, which is the starting point of a waypoint, and waits. In this case, the cloud server 20 transmits a control command to the robot R so that the robot R moves to the external standby node 6201, and the robot R responds to the control command to the external standby node 6201. ) will move to After this, the cloud server 20 detects that the robot R has arrived at the external standby node 6201, and transmits a control command to stop the robot R at the external standby node 6201. In this way, in this example, for convenience of description, the motion of the robot R is described with the robot as the subject, but this can be understood as the cloud server 20 controlling the robot R.

(2) Entering the waiting space 6103

The robot R moves into the waiting space 6103 when the waiting space door 6120 of the robot elevator 4710 is opened. When the robot R reaches the entrance completion point in the waiting space 6103, the waiting space door 6120 is closed. In this case, unlike the movement of the robot, the closing of the waiting space door 6120 may be performed by the control server 4830. When the control server 4830 opens and closes the waiting space door 6120, the cloud server 20 and the control server 4830 may exchange information with each other through wireless communication. However, the present invention is not necessarily limited thereto, and the cloud server 20 may perform control related to doors, such as the waiting space door 6120, instead of the control server 4830.

(3) Waiting for layover station

The robot R entering the waiting space 6103 moves to a layover station corresponding to the layover node 6202 and waits. The layover station corresponds to a place where the robot R waits for the carriers 6101 and 6102 to board.

(4) Boarding the upbound carrier (6101)

In order to move from the current floor to the upper floor, the robot R uses the upward carrier 6101. After the ascending carrier 6101 arrives at the current floor, when the robot R moves from the layover node 6202 to the ascending boarding waiting node 6203, the ascending carrier door 6110-1 is opened. The robot R moves into the ascending carrier 6101 when the ascending carrier door 6110-1 is opened. When the robot R reaches the boarding completion point in the ascending carrier 6101, the ascending carrier door 6110-1 is closed. In this case, unlike the movement of the robot R, opening and closing of the upward carrier door 6110-1 may be performed by the control server 4830.

(5) Boarding the down carrier (6102)

In order to move from the current floor to the floor below, the robot R uses the down carrier 6102. After the down carrier 6101 arrives at the current floor, when the robot R moves from the layover node 6202 to the down boarding waiting node 6204, the down carrier door 6110-2 is opened. When the down carrier door 6110-2 is opened, the robot R moves into the down carrier 6102. When the robot R reaches the boarding completion point in the down carrier 6102, the down carrier door 6110-2 is closed. In this case, unlike the movement of the robot R, opening and closing of the down carrier door 6110-2 may be performed by the control server 4830.

(6) Getting off the down carrier 6102

The robot R, which has moved from the upper floor to the current floor, gets off the down carrier 6102 when the down carrier door 6110-2 is opened. When the robot R gets out of the down carrier 6102 and reaches the down boarding waiting node 6204, the down carrier door 6110-2 is closed, and at this time, the robot R moves out of the waiting space 6103 to the inside waiting node. Move to (6205) and wait. The robot R, which gets off the down carrier 6102, moves to the internal standby node 6205 on the side of the waiting space door 6120, which is basically used as an exit, and in some cases (for example, other robots and In case of overlapping, etc.), move to the internal standby node 6205 close to the downlink carrier 6102. In an environment where the shortest route is prioritized, if there is no other robot waiting at the external standby node 6201, the robot R that gets off the down carrier 6102 is used as an entrance to the waiting space door 6120 side of the waiting area. Moving to node 6205 is also possible.

(7) Get off the upbound carrier (6101)

The robot R, which has moved from the lower floor to the current floor, gets off the up carrier 6101 when the up carrier door 6110-1 is opened. When the robot R gets out of the up carrier 6101 and reaches the up boarding waiting node 6203, the up carrier door 6110-1 is closed, and at this time, the robot R moves out of the waiting space 6103 into the waiting node inside. Move to (6205) and wait. The robot R, which gets off the upstream carrier 6101, moves to the internal standby node 6205 on the side of the waiting space door 6120, which is basically used as an exit, and in some cases (for example, the movement line with other robots is different). In case of overlapping, etc.), it moves to the internal standby node 6205 close to the uplink carrier 6101. In an environment where the shortest route is prioritized, if there is no other robot waiting at the external standby node 6201, the robot R that gets off the uplift carrier 6101 is used as an entrance to the waiting space door 6120. Moving to node 6205 is also possible.

(8) Enter the waiting space (6103)

The robot R waiting in the internal waiting node 6205 moves out of the waiting space 6103 when the waiting space door 6120 of the robot elevator 4710 is opened. When the robot R reaches the exit completion point of the waiting space 6103, the waiting space door 6120 is closed.

It is also possible to control simultaneous movements by a plurality of robots in addition to the above-mentioned movements. For example, the cloud server 20 includes the movement of two robots entering the waiting space 6103 at the same time, the movement of two robots leaving the waiting space 6103 at the same time, and the robot boarding the descending carrier 6102 and the ascending carrier. The movement line of the robot getting off at 6101, the movement line of the robot boarding the up carrier 6101 and the robot getting off the down carrier 6102, the robot entering the waiting space 6103 and leaving the waiting space 6103 The movement of the robot, the movement of the robot boarding the up-carrier 6101 and the robot riding the down-carrier 6102, the movement of the robot getting off the up-carrier 6101 and the robot getting off the down-carrier 6102, the ascending carrier 6101 and two robots getting off at the same time from the down carrier 6102 and the robot waiting in the waiting space 6103, two robots getting off at the same time from the up carrier 6101 and the down carrier 6102 and the waiting space ( 6103), it is possible to control the movement of two robots on standby, respectively, inside and outside.

Also, the cloud server 20 may change the moving line of each robot by re-determining the boarding order of the robots in the waiting space 6103 according to the priority of each robot. For example, if robot A, which needs urgent movement, is assigned an elevator with robot B, which is currently moving vertically, robot B stops at the floor where robot A is waiting, gets off at the waiting space 6103, and waits for the next elevator. Robot A rides the elevator that Robot B rode on.

Hereinafter, a method for controlling a robot-only elevator will be described in more detail.

63 to 68 are flowcharts illustrating a method of controlling a robot-only elevator according to an embodiment.

In the following description, the operation performed by the components of the robot R, the elevator control server 4830, the cloud server 20, or the gate control system 4850 is only an example for convenience of explanation, and therefore the robot (R), it can be described as an operation performed by the control system of the elevator, the cloud server 20, or the gate control system 4850. As described above, the control system (201a, 202a, 203a, 204a, ..., see FIG. 4) for controlling the facility infrastructure may include each control unit (201c, 202c, 203c, 204c, ...), and the control unit ( 201c, 202c, 203c, 204c, ...) can be a control server. This control server 4830 is merely an example, and may also be referred to as an elevator control system or a control unit, and may be implemented in other forms as long as it is a part in charge of control.

In addition, the gate control system 4850 may perform a corresponding operation in a control server or a control unit. As an example, it will be described that the gate control system 4850 controls a gate. Furthermore, in this example, the elevator control server 4830 and the gate control system 4850 are described as being provided separately, but the present invention is not necessarily limited thereto. For example, the gate control system 4850 may be replaced with an elevator control server 4830, a cloud server 20, and the like.

First, referring to FIG. 63, a waiting space entry process will be described.

Referring to FIG. 63, in order to use the robot-only elevator 4720, the robot R is located outside the standby node 6201 in front of the waiting space door 6120 of the robot-only elevator 4720 under the control of the cloud server 20. Stand by (S6401). The cloud server 20 checks whether there are other robots waiting in the layover node 6202 in the waiting space 6103 (S6402). The cloud server 20 controls the robot R to maintain a standby state in the external standby node 6201 when there is another robot waiting in the layover node 6202, and the standby state in the layover node 6202 If there is no other robot, the request to open the waiting space door 6120 is transmitted to the elevator control server 4830 (S6403). The elevator control server 4830 checks the closed state of all carrier doors 6110-1 and 6110-2 in order to check whether the waiting space 6103 can be entered in response to the request to open the waiting space door 6120. (S6404). The elevator control server 4830 waits when any one of the carrier doors 6110-1 and 6110-2 is open, and waits in the waiting space 6103 when both carrier doors 6110-1 and 6110-2 are closed. Upon determining that entry is possible, a request to open the waiting space door 6120 is transmitted to the gate control system 4850 (S6405). At this time, the elevator control server 4830 transfers the request to open the waiting space door 6120 to the gate control system 4850 and simultaneously controls the carrier doors 6110-1 and 6110-2 to remain closed. . The gate control system 4850 transmits an open command for the waiting space door 6120 to the elevator 4720 (S6406), and the elevator 4720 opens and closes the waiting space door 6120 according to the command of the gate control system 4850 (S6406). is opened (S6407), and the open state of the waiting space door 6120 may be displayed. The gate control system 4850 confirms the open state of the waiting space door 6120 (S6408) and transmits information on the open state of the waiting space door 6120 to the cloud server 20. The gate control system 4850 may directly transfer the open state information of the waiting space door 6120 to the cloud server 20 as well as through the elevator control server 4830. The cloud server 20 confirms the open state of the waiting space door 6120 and transmits a command to move to the waiting space 6103 to the robot R (S6409). The robot R moves into the waiting space 6103 of the elevator 4720 according to the movement command of the cloud server 20 (S6410) and waits at the layover node 6202 in the waiting space 6103 (S6411). When the robot R reaches the entrance completion point in the waiting space 6103, the cloud server 20 checks the completion state of the robot R entering the waiting space, and sends a request to close the waiting space door 6120 to the elevator control server. (4830) (S6412). The elevator control server 4830 transfers the closing request of the waiting space door 6120 to the gate control system 4850 (S6413), and the gate control system 4850 then moves the waiting space door 6120 to the elevator 4720. Delivers the closing command of (S6414). The elevator 4720 closes the waiting space door 6120 according to the command of the gate control system 4850 (S6415), and the gate control system 4850 checks the closed state of the waiting space door 6120 (S6416) and waits The closed state information of the space door 6120 is transmitted to the elevator control server 4830. When the closed state of the waiting space door 6120 is confirmed, the elevator control server 4830 cancels the maintenance of the closed state of the carrier doors 6110-1 and 6110-2 (S6417).

Next, a carrier boarding process will be described with reference to FIGS. 64 and 67 .

Hereinafter, a boarding process of the robot carrier corresponding to the uphill carrier 6101 will be described, but the boarding process of the downhill carrier 6102 is also the same.

Referring to FIG. 64, when the carrier 6101 arrives at the floor where the robot R is scheduled to board (S6501), the elevator control server 4830 transfers the arrival status information of the carrier 6101 to the cloud server 20. (S6502). The control server 4830 of the elevator requests the status of the waiting space door 6120 to the gate control system 4850 when the carrier 6101 arrives at the floor where the robot R is scheduled to board (S6503). The gate control system 4850 checks the state of the waiting space door 6120 according to the request of the elevator control server 4830 and then transfers the state information to the elevator control server 4830 (S6504). The elevator control server 4830 checks whether the waiting space door 6120 is currently closed (S6505). If the waiting area door 6120 is not closed, it waits until closing status information is received from the gate control system 4850, and if the waiting area door 6120 is currently closed, the carrier 6101 is moved to the elevator 4710. The command to open the door, that is, the carrier door 6110-1 is transmitted (S6506). When the elevator 4710 opens the carrier door 6110-1 (S6507), the elevator control server 4830 checks the open state of the carrier door 6110-1 and transmits it to the cloud server 20 (S6508) . Meanwhile, when the arrival state of the carrier 6101 is confirmed, the cloud server 20 prepares the robot R for boarding (S6509) and checks whether another robot to get off the carrier 6101 exists (S6510). . When there is another robot to get off the carrier 6101, the cloud server 20 transmits a command to get off the carrier 6101 and a move command to the internal standby node 6205 to the other robot (S6511). Accordingly, the corresponding robot gets off the carrier 6101 according to the command of the cloud server 20, moves to the internal standby node 6205 of the waiting space 6103, and waits (S6512). The cloud server 20 targets the robot R waiting for boarding in the layover node 6202 when there is no other robot to get off the carrier 6101 or when another robot gets off is confirmed (S6513) as a waiting node for boarding. A move command to 6203 is transmitted (S6514).

67, when the robot R moves to the boarding standby node 6203 (S6615) and the open state of the carrier door 6110-1 is confirmed, the cloud server 20 commands the robot R to board the carrier. is transmitted (S6616). When the robot R gets on the carrier 6101 according to the carrier boarding command of the cloud server 20 (S6617) and the robot R reaches the boarding completion point in the carrier 6101, the cloud server 20 sends the robot ( After confirming the boarding completion state of R), the closing request of the carrier door 6110-1 is transmitted to the control server 4830 of the elevator (S6618). The control server 4830 of the elevator transmits a command to close the carrier door 6110-1 to the elevator 4710 (S6619), and the elevator 4710 closes the carrier door 6110-1 (S6620). The carrier 6101 is moved to the destination layer of (R) (S6621).

Next, referring to FIG. 66, a carrier unloading process will be described.

Hereinafter, a process of getting off the carrier corresponding to the uplink carrier 6101 will be described, but the process of getting off the downlink carrier 6102 is also the same.

66, when the carrier 6101 arrives at the destination floor of the robot R (S6701), the control server 4830 of the elevator transfers the arrival status information of the robot carrier 6101 to the cloud server 20. (S6702). When the carrier 6101 arrives at the destination floor of the robot R, the elevator control server 4830 requests the status of the waiting space door 6120 to the gate control system 4850 (S6703). The gate control system 4850 checks the state of the waiting space door 6120 according to the request of the elevator control server 4830, and then transfers the state information to the elevator control server 4830 (S6704). The elevator control server 4830 checks whether the waiting space door 6120 is currently closed (S6705). If the waiting space door 6120 is not closed, it waits until closing status information is received from the gate control system 4850, and if the waiting space door 6120 is currently closed, the carrier 6101 is moved to the elevator 4710. The command to open the door, that is, the carrier door 6110-1 is transmitted (S6706). When the elevator 4710 opens the carrier door 6110-1 (S6707), the elevator control server 4830 checks the open state of the carrier door 6110-1 and transmits it to the cloud server 20 (S6708) . When the arrival state of the carrier 6101 is confirmed, the cloud server 20 prepares the robot R to get off (S6709), and when the open state of the carrier door 6110-1 is confirmed, the robot R is targeted. The command to move to the internal standby node 6205 is transmitted along with the command to get off the carrier 6101 (S6710). Accordingly, the robot R gets off the carrier 6101 according to the command of the cloud server 20 and moves to the internal standby node 6205 of the waiting space 6103 to stand by (S6711). When the robot R gets off the carrier 6101, the cloud server 20 verifies that the robot R has finished getting off, and then transmits a request to close the carrier door 6110-1 to the elevator control server 4830. (S6712). The elevator control server 4830 transmits the closing command of the carrier door 6110-1 to the elevator 4710 (S6713), and thus the elevator 4710 closes the carrier door 6110-1 (S6714).

Likewise, when the robot R gets on or gets off the carrier 6101, the waiting space door 6120 is controlled to remain closed to open and close the carrier door 6110-1, and the robot When getting on and off of (R) is completed and the closed state of the carrier door 6110-1 is confirmed, the maintenance of the closed state of the waiting space door 6120 is released.

Next, referring to FIG. 67, a process of entering the waiting space will be described.

Referring to FIG. 67 , after the robot R gets off the carrier 6101 and moves to the internal standby node 6205 of the waiting space 6103 and the carrier door 6110-1 is closed, the cloud server 20 waits. The request to open the space door 6120 is transmitted to the control server 4830 of the elevator (S6801). The elevator control server 4830 checks the closed state of all carrier doors 6110-1 and 6110-2 according to the request to open the waiting space door 6120 (S6802). The control server 4830 of the elevator waits when any one of the carrier doors 6110-1 and 6110-2 is open, and when both carrier doors 6110-1 and 6110-2 are closed, the gate control system 4850 ), and transmits a request to open the waiting space door 6120 (S6803). At this time, the elevator control server 4830 transfers the request to open the waiting space door 6120 to the gate control system 4850 and simultaneously controls the carrier doors 6110-1 and 6110-2 to remain closed. . The gate control system 4850 transmits an open command for the waiting space door 6120 to the elevator 4720 (S6804), and the elevator 4720 opens and closes the waiting space door 6120 according to the command of the gate control system 4850 (S6804). is opened (S6805), and the open state of the waiting space door 6120 may be displayed. The gate control system 4850 confirms the open state of the waiting space door 6120 (S6806) and transmits information on the open state of the waiting space door 6120 to the cloud server 20. The gate control system 4850 may directly transfer the open state information of the waiting space door 6120 to the cloud server 20 as well as through the elevator control server 4830. The cloud server 20 confirms the open state of the waiting space door 6120 and transmits a movement command to move out of the waiting space 6103 to the robot R (S6807). The robot R moves out of the waiting space 6103 of the elevator 4720 according to the movement command of the cloud server 20 (S6808). When the robot R reaches the exit completion point outside the waiting space 6103, the cloud server 20 checks the completion state of the robot R entering the waiting space, and sends a request to close the waiting space door 6120 to the elevator control server (4830) (S6809). The elevator control server 4830 transfers the closing request of the waiting space door 6120 to the gate control system 4850 (S6810), and the gate control system 4850 then moves the waiting space door 6120 to the elevator 4710. Delivers the closing command of (S6811). The elevator 4710 closes the waiting space door 6120 according to the command of the gate control system 4850 (S6812), and the gate control system 4850 checks the closed state of the waiting space door 6120 (S6813) and waits The closed state information of the space door 6120 is transmitted to the control server 4830 of the elevator. When the closed state of the waiting space door 6120 is confirmed, the elevator control server 4830 releases the maintenance of the closed state of the carrier doors 6110-1 and 6110-2 (S6814).

Next, referring to FIG. 68, an anomaly detection process will be described.

Referring to FIG. 68, the elevator 4710 detects an elevator abnormality due to a person entering the waiting space 6103 using a camera (eg, CCTV) or a motion sensor (S6901). When an abnormality is detected in the elevator 4710, the gate control system 4850 converts the current floor where the abnormality is detected into an emergency state (S6902). The gate control system 4850 transmits emergency state information according to an elevator failure to the cloud server 20, and the cloud server 20 converts the robot R to an elevator disabled state (S6903). In addition, the gate control system 4850 may inform the disaster prevention room associated with the security system of emergency state information according to the elevator failure (S6904). Then, the gate control system 4850 transfers emergency state information according to the elevator abnormality to the elevator control server 4830, and the elevator control server 4830 transfers the elevator 4710 to the carrier door 6110-1 of the corresponding floor. , 6110-2 is transmitted (S6905), and at the same time, the carrier doors 6110-1 and 6110-2 are controlled to be kept closed. The elevator 4710 closes all of the carrier doors 6110-1 and 6110-2 according to the command of the elevator control server 4830 (S6906), and turns on the emergency light in the waiting space 6103 to display a warning color according to the emergency state. In addition to the display box (S6907), a guide broadcast for inducing people to get off is output. Thereafter, the gate control system 4850 checks whether the abnormal state in which the person does not get off continues for a predetermined time or more (S6908). The gate control system 4850 sends out an announcement directing a person to get off the room directly from the disaster prevention room or visits the floor to request processing when the abnormal state in which the person does not get off continues for a certain period of time (S6909). Meanwhile, the gate control system 4850 converts the emergency state of the corresponding floor to a normal state when a person gets off within a certain period of time (S6910). The gate control system 4850 transfers the normal state information to the cloud server 20, and thus the cloud server 20 converts the robot R to an elevator usable state (S6911). In addition, the elevator control server 4830 releases the maintenance of the closed state of the carrier doors 6110-1 and 6110-2 of the corresponding floor as the person gets off the waiting space 6103 and switches to a normal state (S6912) , turn off the emergency light in the waiting space 6103 (S6913).

As described above, according to the embodiments of the present invention, as a robot-only elevator having a waiting space usable as a waiting space and a charging space for a robot, the carrier and the waiting space, and the waiting space and the corridor outside the waiting space are divided into separate doors to provide access to people's Boarding can be prevented. Moreover, according to the embodiments of the present invention, the carrier and the waiting space, and the double door that separates the waiting space and the corridor outside the waiting space can be organically controlled according to the robot's movement, thereby promoting safety and efficiency in using the elevator. can do.

In the above, the facility and operating system have been described in relation to the robot-only elevator.

On the other hand, as described above, the facilities supporting the movement of the robot in the building 1000 according to the present invention may have any one type of robot-only facilities exclusively used by the robot and common facilities used jointly with people. can

At this time, the elevator may also include a common elevator 213 that people commonly use, as shown in FIG. 2 .

When the robot needs to move between floors when moving, the cloud server 20 according to the present invention selects an elevator to be used by the robot among a common elevator and a robot-only elevator based on at least one of the robot's movement path and the situation of facilities. .

In addition, the cloud server 20 may transmit a boarding request of the target robot for the selected elevator to the elevator control system (or control server).

As described above, the cloud server 20 may communicate with a control system (or control server) of at least one facility used or scheduled to be used by the robot for smooth movement of the robot. As described above with reference to FIG. 4, the unique control systems for controlling the facilities communicate with at least one of the cloud server 20, the robot R, and the building 1000 so that the robot R uses the facilities. Appropriate control can be performed for each facility to

For example, the cloud server 20 may be configured to communicate with a control system of a robot-only elevator or a shared elevator. In the embodiments described with reference to FIGS. 46 to 68 , it has been exemplified that the cloud server 20 communicates with the control server of the robot elevator to perform control. As described above, the control server of the robot elevator has been described as an example of a control system, and hereinafter, based on the fact that the cloud server 20 communicates with the control system of the robot elevator or shared elevator to operate the elevator. Explain.

When receiving a boarding request for a robot from the cloud server 20, the control system of the robot-only elevator or common elevator stops the robot-only elevator or shared elevator so that the robot can board and get off the robot-only elevator or shared elevator. It is possible to perform control related to

As an example, a control system for a robot-only elevator or shared elevator may control the robot-only elevator or shared elevator based on location information of the robot. The cloud server 20 is configured to monitor the location information of the robot R traveling in the building, and can transmit the location information of the robot and the information of a specific floor corresponding to the destination to a control system for a robot-only elevator or a shared elevator. have.

And, the control system of the robot-only elevator or shared elevator controls the robot-only elevator or shared elevator so that the robot gets on the robot-only elevator or shared elevator based on the location information of the robot received from the cloud server 20 ( For example, a first control, a control for stopping an elevator for boarding a robot) may be performed. And, the control system of the robot-only elevator or common elevator controls the robot-only elevator or shared elevator so that the robot gets off from the robot-only elevator or shared elevator based on the information of the specific floor corresponding to the robot's destination (eg For example, the second control, the control of stopping the elevator to get off the robot) can be performed.

As described above, in the building 1000 according to the present invention, the cloud server 20 and the control systems of various facilities are interlocked with each other to provide various support so that the robot can smoothly provide services.

Hereinafter, a shared elevator in which a robot can be used with a person will be looked at in detail.

First, FIG. 69 is a conceptual diagram for explaining an elevator control environment for boarding a robot in a robot-friendly building according to the present invention.

69 shows elevators EV1 to EV8 installed in the building 1000 . The elevators EV1 to EV8 6911 are devices that move between floors in the building 1000, and allow a user or the shown robot R to move between floors in the building. For example, elevators designated by reference numerals EV1 to EV8 may be elevators (or elevator systems) of units 1 to 8, and are hereinafter referred to as elevators.

At this time, each single carrier (or elevator car) may be operated in the elevator. However, the present invention is not necessarily limited thereto, and the elevator may be provided with a plurality of carriers like the above-mentioned robot-only elevator. Hereinafter, for convenience of explanation, it is separately referred to as a carrier when a description is necessary limited to a plurality of carriers, and otherwise referred to as an elevator.

Each of the elevators 6911 is configured to be usable by both general users and the robot R, and as discussed above, they can be used exclusively for robots.

Of course, the control system described below can be commonly applied to robot-only elevators and shared elevators.

Each of the elevators 6911 may be called and moved by the elevator control system 6920 (or control server).

Here, the elevator control system 6920 may correspond to the facility control system described in FIG. 4 above.

For example, the elevator control system 6920 may select an appropriate elevator according to a call from the user or the robot R (the cloud server 20 controlling the robot R), and move the selected elevator to the called location. can

In the illustrated example, one of the elevators (EV8) 6910 may be an elevator called for the robot R to board according to a call from the robot R (or the cloud server 20 that controls the robot). Alternatively, the called elevator 6910 may be set as a dedicated elevator for boarding the robot R.

The robot R may be a service robot used to provide services within a building. Robot R may be configured to provide services on at least one floor. Also, when there are a plurality of robots R, each of the plurality of robots may be configured to provide services on at least one floor. That is to say, depending on the type/frequency of service and/or the shape/structure of the building (floor), the robot R can be configured to provide service on one or more floors, and a plurality of robots can be configured to provide service on one floor. It may also be configured to provide a service.

The service provided by the robot R may include, for example, at least one of a parcel delivery service, a beverage (coffee, etc.) delivery service according to an order, a cleaning service, and other information/content providing services.

At least part of the movement of the robot R, provision of services, and calls to the elevator 6910 may be performed through the cloud server 20 . For example, according to a call by the cloud server 20, the elevator control system 6920 may select an appropriate elevator 6910 and move the specific elevator 6910 to the floor where the robot R is located.

The elevator control system 6920 may detect that at least one robot R is boarding in a specific elevator 6910, and control the specific elevator 6910 so that the robot R moves to a floor to provide service. can The elevator control system 6920 may be configured to indicate whether the robot R uses the elevator using at least one of an elevator internal user interface and an external user interface of the elevator, which will be discussed together with FIGS. 76 and 77.

Hereinafter, a method of controlling an elevator to allow a robot to board the elevator will be described in more detail. The control described below can be applied to both robot-only elevators and shared elevators.

70 is a flowchart illustrating a method of controlling an elevator for boarding a robot in a robot-friendly building according to the present invention, and FIG. 71 is an elevator depending on whether or not a robot can board an elevator called in a robot-friendly building according to the present invention. It is a flow chart showing how to call again. Furthermore, FIG. 72 is a flowchart illustrating a method of recalling an elevator depending on whether the waiting space of an elevator to be called in a robot-friendly building according to the present invention is congested, and FIG. It is a flowchart showing a method of setting an elevator in a callable/unavailable state according to whether or not a robot can board the elevator to be used. 74 is a flowchart illustrating a method of calling an elevator for boarding of a corresponding robot and controlling boarding of the robot by a control system for controlling a robot in a robot-friendly building according to the present invention, and FIG. 75 is a robot according to the present invention. It is a conceptual diagram showing how a plurality of robots get on and off the elevator in a friendly building. Furthermore, FIG. 76 is a conceptual diagram for explaining an external interface provided in an elevator in a robot-friendly building according to the present invention, and FIG. 77 is a conceptual diagram illustrating an internal interface provided in an elevator in a robot-friendly building according to the present invention. to be.

First, referring to FIG. 70, an elevator (7520, see FIG. 75) is called according to an elevator call by the cloud server 20, and the robot R boards the elevator to the floor where the robot R will provide service. The elevator control method for moving 7520 will be described in more detail.

In step S7010, the elevator control system (6920, see FIG. 69) may allocate at least one of the plurality of elevators 6911 provided in the building as an elevator for boarding the robot. For example, the elevator control system 6920 may set one of the elevators 69111 as an elevator for boarding of the robot R during a predetermined time interval. At this time, the control system 6920 may set any one of the elevators as a dedicated elevator for boarding of the robot R during a predetermined section. That is, the elevator according to the present invention may be operated in any one of a robot-only elevator and a shared elevator under the control of the cloud server 20 or the control system 6920.

The predetermined time period may be a time period in which users in the building relatively rarely use the elevators 6911 during the day. The predetermined time interval may be, for example, a time interval between 2:00 PM and 4:00 PM. A predetermined time interval may be set in advance by the manager of the elevator control system 6920.

In this case, the control system 6920 sets at least one of the external user interface 7620 and internal user interfaces 7710-2 and 7720-2 of the elevator 7520 (see FIGS. 76 and 77) set as a dedicated elevator as an elevator. 7520 may be configured to indicate that it is set as a dedicated elevator for boarding the robot R. For example, a robot image (see (c) of FIG. 76 ) may be displayed on a display corresponding to the external user interface 7620 of the elevator 7520 .

Meanwhile, a specific method of configuring the internal user interface and/or the external user interface of the elevator 7520 by the control system 6920 to be described later is regardless of whether or not the robot R is actually boarding the elevator 7520. , can be performed when the elevator 7520 is set as a dedicated elevator. Alternatively, in a specific method of configuring the internal user interface and/or the external user interface of the elevator 7520, even if the elevator 7520 is not set as a dedicated elevator, the robot R gets on the elevator 7520 and Alternatively, it may be performed when the elevator 7520 is called by the cloud server 20 .

When calling an elevator by a general user, a robot-only elevator can be excluded from the call target, and when a person is on the dedicated elevator, floor selection using the internal user interface of the elevator 7520 is disabled, so that people can get off. can

A dedicated elevator is only an elevator where use of the robot R is prioritized and recommended (in the external user interface and/or internal user interface), and may not be an elevator that completely excludes use by general users.

In step S7020, the elevator control system 6920 may receive an elevator call from the cloud server 20. Here, a call may be understood as an elevator call request or call information. The call is related to the robot identification information (eg, robot ID, etc.) for identifying the robot R and the target floor to be moved, such as the current floor where the robot R is located and the floor where the robot R will provide services. information may be included. Depending on the embodiment, the call may further include information about an area required by the robot R, including an area physically occupied by the robot R as a required space within the elevator 7520 . Depending on the embodiment, this call may be transmitted directly from the robot R to the elevator control system 6920. In addition, the call is information on the expected time for the robot R to arrive at the waiting space (elevator room) of the elevator 6920, information on whether speed is required (eg, if the robot R is going to deliver, it will require speed, , if it is to return, it will not require promptness).

In step S7030, the elevator control system 6920 selects the elevator 7520 to be moved to the floor where the robot R is located among a plurality of operable elevators based on the call received from the cloud server 20 (ie, The elevator to be called) may be assigned and identification information indicating the assigned elevator 7520 (elevator number (unit number information)) may be transmitted to the cloud server 20. For example, the elevator control system 6920 in step S7010 An elevator set as a dedicated elevator can be selected as the elevator 7520 to be called. Alternatively, the elevator control system 6920 can select the elevator closest to the floor indicated by the call among the elevators as the elevator 7520 to be called. Alternatively, the elevator control system 6920 may calculate the time for each elevator to move to the floor indicated by the call, and the elevator that can move to the floor indicated by the call most quickly (eg, stop before moving to the floor indicated by the call) An elevator with the fewest floors to be called can be selected as the elevator 7520 to be called.

In addition, the elevator control system 6920 may not select an elevator that is being used for a special purpose (eg, moving, checking, VIP use, etc.) or an elevator that is 'full' among elevators as an elevator to be called.

The elevator control system 6920 may allocate an elevator that can guarantee an available area of the robot R according to the degree of congestion of each elevator. When using an elevator together with a general user, an elevator to be used by the robot may be selected in consideration of the degree of congestion in the elevators in order to secure a space and an exit route for the robot R. The degree of congestion of each elevator may be calculated based on the number or weight of people and robots R on board. According to the elevator control logic, if the congestion level in the elevator that arrives first is high, the robot R can call and use another elevator. In addition, if it is determined that the congestion level of the elevator in which the robot R is currently boarding is high based on the robot, the stop of the requested other floor may be skipped and another elevator may be assigned to the corresponding floor. Therefore, the elevator control system 6920 may exclude some elevators from a call target based on the degree of congestion according to the internal boarding situation of each elevator.

When the elevator control system 6920 receives a call from the cloud server 20 including an area required by the robot R when boarding the robot R, the area indicated by the call is determined by considering the area of each elevator. An elevator 6920 that can accommodate can be assigned. When an area larger than the area physically occupied by the robot R is required, the cloud server 20 may transmit information about the corresponding area to the elevator control system 6920 .

The elevator control system 6920 may transmit identification information (number information, number information, etc.) indicating the elevator 6920 assigned to the robot R among the elevators to the cloud server 20 .

In step S7040, the elevator control system 6920 may control the elevator 7520 so that the assigned elevator 7520 moves to the floor indicated by the corresponding call.

In step S7050, the elevator control system 6920 receives state information related to getting on and off of the robot R from the cloud server 20, and opens the door of the elevator 7520 according to the state information of the robot R. and closing can be controlled. The status information indicates the status of the robot R assigned to the elevator 7520, and may indicate waiting in front of a scheduled boarding machine, boarding cancellation, boarding, boarding complete, getting off, getting off completed, and the like.

In step S7060, the elevator control system 6920 stops the elevator 7520 on which the robot R has boarded when the robot R completes boarding the elevator 7520 according to the door opening and closing of the elevator 7520. The robot R can be controlled to move to the destination floor to provide service. The elevator control system 6920 may automatically move the elevator 7520 to the corresponding floor based on the information on the target floor to be provided by the robot R included in the above-mentioned call.

When the robot R boards the elevator 7520, the elevator control system 6920 can automatically move the elevator 7520 to the target floor where the robot R will provide service (without a separate floor input).

The elevator control system 7520 may maintain a control right for opening and closing the door of the elevator 7520 when the robot R gets on or off. When the elevator 7520 moves to the floor indicated by the call and the door of the elevator 7520 is opened, the robot R can board the elevator 7520, and the elevator 7520 is used for the purpose of the robot R providing service. When moving to a floor and the door of the elevator 7520 is opened, the robot R may get off the elevator 7520. Boarding and getting off of the elevator 7520 may be performed under the control of the cloud server 20 .

The elevator control system 7520 provides state information related to getting on or off the robot R through linkage with the cloud server 20 using the S2S (server to server) method without a separate button input when getting on or off the robot R. Based on this, the door of the elevator 7520 can be automatically opened or closed.

The elevator control system 6920 opens the door of the elevator 7520 when the robot R arrives at the waiting space (elevator room) of the elevator 7520 and is waiting for boarding, and the robot R boards the elevator 7520. The door of the elevator 7520 may be kept open until the operation is completed, and then the door of the elevator 7520 may be closed.

The elevator control system 6920 opens the door of the elevator 7520 and allows the robot R to get off the elevator 7520 when the elevator 7520 arrives at the destination floor where the robot R will provide service. The door of the elevator 7520 may be kept open until completion, and then the door of the elevator 7520 may be closed.

Accordingly, the elevator control system 6920 may directly control the opening and closing of the door of the elevator 7520 based on the state information of the robot R received from the cloud server 20 .

The elevator control system 6920 may adjust the fullness of the elevator 7520 to secure a boarding space for the robot R when the robot R is boarding or is scheduled to board. For example, the elevator control system 6920 may set a full rate indicating a pre-determined criterion for handling the elevator 7520 at a lower predetermined rate depending on the number of robots R boarding or scheduled to board, the required area, and the purpose of movement. have.

As shown in FIG. 76 , when the robot R is boarding the elevator 7520, the external user interface 7600 of the elevator 7520 may indicate that the robot R is boarding the elevator 7520. . In addition, it may be displayed on the internal user interface of the elevator 7520 that the robot R is boarding. As shown in FIG. 77 , the internal user interface 7700 of the elevator 7520 may display a floor where the robot R is to provide service. That is, the internal user interface of the elevator 7520 may display a floor from which the robot R gets on to provide service. Display control for the external user interface and the internal user interface may be performed by the elevator control system 6920.

The elevator control system 6920 may configure at least one of the internal user interface and external user interfaces 7600 and 7700 of the elevator 7520 to indicate whether the robot R uses the elevator. This interface may be composed of information output means and may include a display unit. For example, as described above, elevator control system 6920 can configure at least one of the external user interface and the internal user interface to indicate that elevator 7520 has been set as a dedicated elevator, and/or, additionally, elevator 7520 At least one of an external user interface and an internal user interface may be configured to indicate that the robot R is boarded.

On the other hand, when the elevator 7520 is set as a dedicated elevator or the robot R rides on the elevator 7520, the elevator control system 6920 controls the elevator 7520 and the user who wants to use the elevator 7520. Even if there is a call, it can be controlled so that the user does not move to the called floor. That is, when the elevator 7520 is set as a dedicated elevator or the robot R rides in the elevator 7520, the elevator 7520 may be controlled so that the use of the robot R takes precedence over a user's call.

71 is a flowchart illustrating a method of calling an elevator again depending on whether or not a robot can board the called elevator, according to an example.

Referring to FIG. 71, when the called elevator 7520 arrives at the floor for the robot R to board, the elevator control method in the case where the robot R cannot board the elevator 7520 Explain.

In step S7110, the elevator control system 6920 sends the robot R to the elevator 7520 through interworking with the cloud server 20 when the called elevator 7520 arrives at the floor where the robot R will board. It can be determined whether or not it can be boarded. The cloud server 20 may determine whether the robot can board the elevator 7520 based on the image received from the robot. Furthermore, the elevator control system 6920 may determine whether the robot can board the elevator based on the projection received through the camera provided inside the elevator.

The cloud server 20 or the elevator control system 6920 interlocks with the robot R and determines whether the elevator 7520 to be boarded has enough space for the robot R to board the elevator 7520. It is possible to determine whether or not the robot R can board. When it is determined that it is possible to board, the robot R may board the elevator 7520.

Meanwhile, in step S7120, if it is determined that boarding is impossible, the elevator control system 6920 performs call cancellation of the elevator 750 by itself or cancels the call of the elevator 7520 from the cloud server 20 can receive

In step S7130, the elevator control system 6920 may receive a call including information about the floor where the robot R is located as a call for requesting another elevator from the cloud server 20 again.

In this way, when the door of the elevator 7520 is opened, the robot R detects that there is no space in the elevator 7520 or attempts to board the elevator, but if it is difficult to secure a sufficient space, the robot R returns to the cloud server 20. You can signal to cancel boarding and request another elevator to be called. Furthermore, it goes without saying that the boarding cancellation signal and call request may be performed by the cloud server 20 .

Meanwhile, when it is determined that boarding of the elevator is impossible, the cloud server 20 may transmit a call cancellation of the elevator 7520 to the elevator control system 6920, and the robot R is located to request another elevator. A call containing information about the floor may be sent back.

According to a call for another elevator, the elevator control system 6920 may select another elevator to move to the floor where the robot R is located and control the other elevator to move to the corresponding floor.

When boarding cancellation and elevator recall are repeated more than a predetermined number of times, the elevator control system 6920 may operate the elevator 7520 set as a robot-only elevator. Meanwhile, the elevator control system 6920 may call an appropriate elevator for the robot R in consideration of the degree of congestion inside the operating elevators.

72 is a flowchart illustrating a method of calling an elevator again according to whether a waiting space of an elevator to be called is crowded, according to an example.

Referring to FIG. 72, the elevator control method in the case where the waiting space of the elevator 7520 is crowded before (or even after) that the called elevator 7520 arrives at the floor where the robot R will board is shown. Explain.

In step S7210, the elevator control system 6920 determines the space waiting for the arrival of the elevator 7520 before (or even after) the elevator 7520 arrives at the floor where the robot R will board (that is, waiting). space) can be determined whether or not it is congested. For example, the robot R (or the cloud server 20) may determine that the waiting space is crowded when there are more than a predetermined number of users or robots in the waiting space for boarding the elevator 7520. . When it is determined that the waiting space is not crowded, the robot R may board the elevator 7520.

When it is determined that the waiting space is crowded, the elevator control system 6920 may cancel the call of the elevator 7520 under its own judgment or may receive the call cancellation of the elevator 7520 from the cloud server 20. . Also, the elevator control system 6920 may receive a call including information about the floor where the robot R is located as a call to request another elevator from the cloud server 20 again.

As such, when it is determined that the waiting space is congested, the cloud server 20 may transmit a call cancellation of the elevator 7520 to the elevator control system 6920, and the robot R is located to request another elevator. A call containing information about the floor may be sent back.

According to a call for another elevator, the elevator control system 6920 may select another elevator to move to the floor where the robot R is located and control the other elevator to move to the corresponding floor.

73 is a flowchart illustrating a method of setting an elevator in a callable/unavailable state according to whether or not a robot can board an elevator to be called, according to an example.

In step S7310, the elevator control system 6920 may determine whether there is a sufficient space for the robot R to board in the elevator 7520. For example, whether or not there is sufficient space for the robot R to board the elevator 7520 is detected by the robot R boarding the elevator 7520 or the robot R to board the cloud server 20 (or directly via the robot R) or to the elevator control system 6920.

Furthermore, whether or not there is sufficient space for the robot R to board the elevator 7520 may be determined by the cloud server 20 or the elevator control system 6920 through a camera provided inside the elevator 7520. .

In this way, whether or not there is a sufficient space in the elevator 7520 for the robot R to board may be detected by a sensor included in the elevator 7520 or the like. For example, this may be determined by a camera installed in the elevator 7520 or by a weight sensor installed in the elevator 7520.

In step S7320, when it is determined that there is sufficient space for the robot R to board the elevator 7520, the elevator control system 6920 may set the elevator 7520 to a callable state.

In step S7330, when it is determined that there is not enough space for the robot R to board the elevator 7520, the elevator control system 6920 may set the elevator 7520 to a non-callable state. For example, in this case, the elevator control system 6920 may set the elevator 7520 to be full. The elevator 7520 set to a full state may be set to a non-calling state.

Elevator control system 6920 may configure the internal user interface of elevator 7520 to output an indicator indicating a full state. This indicator may be an indicator that induces a user who has boarded the elevator 7520 to get off. For example, the elevator control system 6920 may output a visual and/or additionally audible indicator on an internal user interface, such an indicator may be transmitted to the elevator 7520 as a user (or robot) exiting the elevator 7520. It may be output until a sufficient space for the robot R to board is secured. When a sufficient space for the robot R to board the elevator 7520 is secured, the output of the indicator may be stopped, and the full state may also be released. When the full state is released (that is, when sufficient space for boarding is secured), the elevator 7520 may be set to a callable state. An audible indicator may be output from the robot R.

Meanwhile, whether the elevator 7520 is full may also be displayed on an external user interface of the elevator 7520 .

74 is a block diagram illustrating a method of calling an elevator for boarding of a corresponding robot and controlling boarding of the robot by a control system for controlling the robot, according to an embodiment.

Referring to FIG. 74, an operation from the viewpoint of the cloud server 20 will be described.

In step S7410, the cloud server 20 may transmit a call including information about the current floor where the robot is located and the destination floor to which the robot R provides service to the system controlling the elevators 6911. have.

In step S7420, the cloud server 20 may control the robot R to board the elevator 7520 moving to the floor where the robot R is located, according to the call. .

The elevator 7520 may be automatically moved to the floor where the robot R will provide service based on information about the destination floor on which the robot R will provide service included in the call.

In step S7430, the cloud server 20 controls the robot R to get off the elevator 7520 as the elevator 7520 arrives at the floor where the robot R will provide service. can do.

In step S7440, the cloud server 20 may control the robot R to provide a service at the floor where the robot R gets off the vehicle.

As described above, when the robot R arrives at the waiting space of the elevator 7520, the cloud server 20 transmits the waiting state of the robot R to the elevator control system 6920. When the cloud server 20 receives the door open state of the elevator 7520 from the elevator control system 6920, the cloud server 20 controls the robot R to board or get off the elevator 7520. . Then, the cloud server 20 transmits the corresponding state information of the robot R to the elevator control system 6920 when boarding or getting off the robot R is completed. The elevator control system 6920 may switch the door of the elevator 7520 to a closed state when receiving a boarding completion state or alighting completion state of the robot R from the cloud server 20 .

Meanwhile, as described above, the cloud server 20, according to a call, when there are more than a predetermined number of users or robots in the waiting space of the elevator 7520 moving to the floor where the robot R is located, or If the robot R cannot board the elevator 7520 moved to the floor where the robot R is located, the cancellation of the corresponding call may be transmitted to the elevator control system 6920, and to request another elevator. The call can be retransmitted.

The above steps may be implemented to be performed by the robot R instead of the cloud server 20 according to the configuration of the embodiment.

75 illustrates a method for a plurality of robots to get on and off an elevator, according to an example.

The illustrated elevator 7520 may be set as a common elevator or a dedicated elevator for boarding the robot R.

75, a plurality of robots R1 to R5 are boarded in the elevator 7520, and as the elevator 7520 arrives at the 11th floor, the robot R1 set to provide service on the 11th floor is in the elevator 7520. Indicates the case of leaving. In the illustrated example, robot R1 is configured to provide service on the 11th floor, robot R2 is configured to provide service on the 13th floor, robot R3 is configured to provide service on the 16th floor, Robot R4 is configured to provide service on the 14th floor, and robot R5 is configured to provide service on the 12th floor.

The elevator control system 6920 may control the elevator 7520 so that each of the plurality of robots R1 to R5 sequentially moves to a floor to provide service (refer to the above-described step S7060). The plurality of robots R1 to R5 may board the elevator 7520 by calling the elevator 7520 according to a request associated with each robot.

That is, in the above-described step S7020, the elevator control system 6920 may receive calls associated with the plurality of robots R1 to R5 from the cloud server 20, and in the above-described step S7030 , it is possible to select an elevator to call the floor indicated by each of the calls. A plurality of elevators may be called. In the illustrated example, the elevator 7520 is selected and called.

The elevator control system 6920 may control the elevator 7520 so that the robot R3, which will get off later in the elevator 7520 among the plurality of robots R1 to R5, boards the elevator 7520 earlier. have. In the illustrated example, the robot R1, the robot R5, the robot R2, the robot R4, and the robot R3 will get off the elevator 7520 in the order (regardless of the calling order). The elevator 7520 may be controlled so that the robot R3, the robot R4, the robot R2, the robot R5, and the robot R1 board in the order. According to this embodiment, a plurality of robots (R1 to R5) can get off at floors to provide services without interference between the plurality of robots (R1 to R5). This embodiment may be performed where there are multiple calls within a given (relatively short) period of time.

Alternatively, boarding of each of the plurality of robots (R1 to R5) in the elevator 7520 may be performed according to the order of the call, and the plurality of robots (R1 to R5) properly inside the elevator 7520 By moving, the robot R1 that gets off first can be arranged in front (closer to the door).

Meanwhile, the plurality of robots R1 to R5 may board the elevator 7520 in a group on one floor.

Hereinafter, a method of providing information on elevator operation through an interface provided in the elevator will be described. 76 shows the external user interface of the elevator, and FIG. 77 shows the internal user interface of the elevator.

External user interfaces may include, for example, displays and buttons external to the elevator 7520 . Similarly, the internal user interface may include, for example, at least one of a display and buttons inside the elevator 7520.

In the present invention, at least one of the internal user interface and the external user interface of the elevator 7520 is configured to indicate whether the robot R is used for the elevator 7520, so that a user who wants to use the elevator 7520 can use the elevator ( It is possible to check whether the robot R is riding in 7520 or whether the elevator 7520 is set as a robot-only elevator.

Therefore, according to the embodiment, the user can refrain from using the elevator used by the robot or the dedicated (robot) elevator, and interference between the robot and the user can be minimized in using the elevator.

The external user interface 7600 of the elevator 7520 may be disposed on one side (or both sides) of an external door of the elevator 7520 as shown. The external user interface may include a display.

The external user interface 7600 is an external user interface screen (or information, 7610) in general use and an external user interface screen (or information, 7620) when the elevator 7520 is set as a (robot) dedicated elevator. may contain at least one.

When the elevator is operated in a general mode in which people can use it, the external user interface 7600 displays whether or not the elevator 7520 is going up or down (( a): rise (up arrow), (b) fall (down arrow)), current location of the elevator 7520 ((a): 10th floor, (b): 18th floor) and scheduled stop of the elevator 7520 Layers ((a): 19th floor, 16th floor, (b): 8th floor, 1st floor) may be displayed.

Furthermore, when the elevator 7520 is set as a (robot)-only elevator, the external user interface 7600 may include a method of displaying a robot boarding-only state and inducing a person not to board even if the door is opened. have. As shown in (c) of FIG. 76 (refer to reference numeral 7620), the external user interface screen 7600 in the case where the elevator 7520 is set as a (robot) dedicated elevator, the elevator 7520 is a dedicated elevator. An image indicating that it has been set (a robot-shaped image) may be displayed. Whether the elevator 7520 goes up or down, the current location of the elevator 7520, and the floor to be stopped by the elevator 7520 may not be displayed on the external user interface 7600.

That is, the elevator control system 6920 displays an external user interface 7600 of the elevator 7520 that the robot R is boarding or that the elevator 7520 is used as a dedicated elevator for boarding the robot R. Displays whether the elevator 7520 is ascending or descending, the floor the person is targeting, the current location of the elevator 7520, and the floor where the elevator 7520 is scheduled to stop (or at least one of these) is displayed. You can configure it not to. According to the configuration of the external user interface 7600, the user may refrain from using the elevator 7520 used by the robot R or the elevator dedicated to the robot.

An image indicating the use of the elevator 7520 representing a special purpose may be displayed in the status display area where the robot-shaped image of the external user interface 7600 is displayed. In addition to using the robot exclusively, the special purpose may be, for example, VIP use, full capacity, maintenance, or moving.

On the other hand, in the case of a dedicated elevator, use by a general user is not completely excluded, so when a user boards an elevator 7520 set as a dedicated elevator, the user uses an internal user interface (eg, a floor selection button) of the elevator 7520. You can move to the desired floor by manipulating it.

77 illustrates an internal user interface of an elevator, according to an example.

The interior user interface 7700 of the elevator 7520 may be disposed on both sides (or one side) of the interior door of the elevator 7520 as shown. The internal user interface may include displays and buttons. In the present invention, a button means an input device that encompasses concepts such as a physical button, a touch button, and a voice input.

As shown, internal user interface 7700 includes a first portion 7710 (ie, illustrated first portions 7710-1 and 7710-2) and a second portion 7720 (ie, illustrated second portion). (7720-1, 7720-2)).

The first portion 7710 may represent a user interface for displaying information related to the elevator 7520, and the second portion 7720 may be implemented as a floor selection user interface, for example, a touch screen.

The first part 7710-1 and the second part 7720-1 represent the configuration of the internal user interface 7700 in general use of the elevator 7520, and the first part 7710-2 and the second part 7710-2 Portion 7720-2 shows the configuration of internal user interface 7700 for dedicated use of robot R of elevator 7520.

The second part 7720-1 is a floor selection touch screen and may be configured as a general floor selection screen. The second part 7720-1 may display information on a floor to which the elevator 7520 can move and a button corresponding to the floor. Also, a door open button and a door close button of the elevator 7520 may be displayed on the second part 7720 - 1 .

The first part 7710-1 may basically display the current location of the elevator 7520, whether or not the elevator 7520 is going up or down, and the floor the elevator 7520 is scheduled to stop at. The floor scheduled to stop may include a floor where the robot is scheduled to get on and off, and in the case of a floor where the robot is scheduled to get on and off, an indicator for distinguishing it from other floors to be stopped may be displayed together.

The floor on which the robot is scheduled to get on and off displayed in the first part 7710-1 has the purpose of asking the occupants for their understanding in advance because the robot R is scheduled to get on or off along with information that it will stop on that floor.

A scheduled stop floor for the robot R to board may be displayed in the first part 7710-1 of the elevator 7520 to which the robot R is assigned, and when the elevator 7520 arrives at the corresponding floor, the corresponding stop scheduled The floor display disappears.

When the elevator 7520 arrives at the floor where the robot R is scheduled to board, an arrival sound and a robot boarding guide voice (“The robot is scheduled to board”) may be provided. At this time, the first part 7710-1 A boarding guidance phrase (“The robot is scheduled to board”) may be displayed on one side area, for example, a lower area. Since the robot R may cancel boarding for various reasons even after the elevator 7520 arrives and the door is opened, 'to board' is announced prior to boarding.

While the robot R is boarding the elevator 7520, a boarding guide message (“The robot is boarding”) may be displayed in the first part 7710-1, which indicates that the robot R is boarding the robot. It has the purpose of securing the path of (R) and asking for your understanding to wait for a while. In addition, the cloud server 20 may display information about the destination floor to get off on the robot R boarding the elevator 7520 so that passengers in the elevator 7520 can recognize it.

After the elevator 7520 arrives at the floor where the robot R is scheduled to board and the door of the elevator 7520 is opened, the close button is not operated immediately and is delayed for a predetermined time. At this time, one side of the second part 7720-1 An area, for example, a lower area or an area adjacent to the close button, may display a closing button delay guidance message (“Please wait until the robot gets into the elevator.”).

When the robot R has completed boarding in the elevator 7520, a boarding guidance phrase (“The robot has completed boarding”) may be displayed in the first part 7710-1 as a status indication of completion of boarding. Since the robot R may not board the assigned elevator 7520, after the robot R boards the elevator 7520, the destination floor of the robot R, which has completed boarding, is displayed together with the robot display indicator. It may be displayed as a stop scheduled floor in part 1 (7710-1).

If the robot R fails to reach the waiting space of the elevator 7520 in time and it is difficult to board, or if it is determined that boarding is impossible due to lack of space after trying to board, the robot R stops boarding the elevator 7520. It will be canceled, and the information can be notified to other passengers. If the status of 'to boarding' or 'in boarding' is changed to 'boarding canceled', a boarding cancellation message ("robot boarding has been cancelled") may be displayed in the first part (7710-1).

The elevator 7520 may be full due to a decrease in the occupancy rate of the elevator 7520 due to boarding or scheduled boarding of the robot R, and in this case, the first part 7710-1 ) may display a full notification message. If the elevator (7520) is full while the robot (R) has not yet boarded, as additional information for the purpose of asking for the understanding of passengers, a voice guide according to the robot boarding schedule (“The robot is scheduled to board. Next Please use the elevator.”) can be printed together.

When the elevator 7520 arrives at the destination floor of the robot R and the robot R is scheduled to get off, a getting off guide phrase (“The robot is getting off”) may be displayed in the first part 7710-1, , This has the purpose of securing the path of the robot R and asking for your understanding to wait for a while since the robot R is getting off.

When the elevator 7520 arrives at the floor where the robot R is scheduled to get off, an arrival sound and a voice for getting off the robot (“The robot is scheduled to get off”) may be provided, and after the door of the elevator 7520 is opened, The close button is not operated immediately but delayed for a certain period of time. At this time, the close button delay guide text (“until the robot gets off the elevator Please wait.”) may be displayed.

When the robot R has completed getting off the elevator 7520, a guide phrase (“The robot has finished getting off”) may be displayed on the first part 7710-1.

After the elevator 7520 arrives at the destination floor of the robot R and the door of the elevator 7520 is opened, the close button does not operate immediately and is delayed for a certain period of time. At this time, one side area of the second part 7720-1 , For example, a closing button delay guidance phrase (“Please wait for the robot to get off the elevator”) may be displayed in the lower area or an area adjacent to the closing button.

While the close button is delayed, the close button on the second portion 7720 - 1 may be displayed in an inactive state so that the user cannot forcibly close the door of the elevator 7520 . Deactivation of the close button can be performed only when the robot R is getting on or off after the door of the elevator 7520 is opened.

Deactivation of the close button is made so that the user cannot input using the button, so that the button is not displayed on the second part 7720-1 or the button is displayed on the second part 7720-1 (or It may be displayed (for example, obscured) to be distinguished from the activated button, but not to input the button.

That is, the elevator control system 6920 may forcibly keep the door of the elevator 7520 open until the boarding or alighting process of the robot R is completed.

An indicator indicating that the elevator 7520 is set as a dedicated elevator may be displayed on the first part 7710-2 and the second part 7720-2. Indicators include, for example, an image of a robot shape and “Elevator for robots only. You can include text such as “Please use another elevator.”

As described above, in the robot-only mode, the elevator 7520 used exclusively for the robot R can be operated only for a specific time period. The purpose of the elevator 7520 is to prevent people from boarding when the elevator 7520 is used in the robot-only mode. To this end, the second part 7720-2 may be configured in a state in which the floor selection button is inactivated. In the robot-only mode, it is possible to turn off lights in the elevator 7520 without providing information on whether or not the elevator 7520 is going up or down, on which floor the elevator 7520 stops, and the like, as well as making it impossible to select a floor. In other words, the second part 7720 - 2 may be configured in a state in which both the floor select button and the door close button are inactivated.

Meanwhile, the elevator operated in the building according to the present invention may control the robot so that the robot rides at an optimal position inside the elevator under the control of the cloud server 20 or the elevator control system. That is, in the present invention, the cloud server 20 can more efficiently control a robot boarding a moving means such as an elevator. More specifically, the cloud server 20 can efficiently control the waiting and movement of the robot in the elevator in terms of energy and time of the robot, and more efficiently operate the accommodation space of the elevator. Furthermore, the present invention provides a remote control method and system for a robot in which a human and a robot can safely coexist in a moving means.

78 to 86 are conceptual diagrams for explaining a method of boarding a robot at an optimal position of an elevator in a robot-friendly building according to the present invention.

On the other hand, of course, the following description can be commonly applied to various means of transportation having an accommodation space (or internal space) as well as an elevator. In this case, the term “elevator” may be replaced with “movement means” or the name of another type of transportation means (eg, car, train, unmanned vehicle, etc.).

As shown in (a) and (b) of FIG. 78 , at least one robot (R1 to R6, etc.) can board (or board), stand by, or get off the elevator 7800 as needed.

In this case, the elevator 7800 may include an accommodation space 7810 configured to accommodate a robot or a person. This accommodating space 7810 may also be referred to as “the interior (or interior space) of the elevator 7800”. Therefore, in the present invention, the term accommodation space 7810 is used interchangeably with the internal space or interior of the elevator 7800, and in this case, reference numeral 7810 is assigned to both.

Furthermore, the elevator 7800 may include an entrance door 7830 and an entrance area 7831 . A person or robot may enter the inside of the elevator 7800 or exit from the elevator 7800 through the entrance area 7831 .

Meanwhile, the accommodating space 7810 of the elevator 7800 may include a plurality of areas 7801 to 7816 partitioned according to a predetermined criterion. This is to efficiently manage the robot's occupied position (or standby position) and movement within the accommodation space 7810.

In this case, the accommodating space 7810 may include a plurality of areas 7801 to 7816 divided in a grid form. The cloud server 20 may control the robot so that the robot is located in at least some of the plurality of areas. Furthermore, the cloud server 20 may control a moving path of the robot to move between a plurality of areas.

Each of the plurality of areas 7801 to 7816 may have an area to include one robot. The cloud server 20 may control the occupancy state of the elevator accommodation space 7810 by locating robots in any one of the plurality of areas 7801 to 7816 .

On the other hand, in the present invention, "occupancy state" is i) how much the accommodation space 7810 is filled by robots or people (or animals), ii) which area of the accommodation space 7810 is occupied by robots or people , iii) which area of the accommodating space 7810 is empty. This occupancy state may be defined by information sensed through a sensor (eg, camera, etc.) provided in the robot or elevator.

Meanwhile, the cloud server 20 may flexibly cope with changes in the accommodation space 7810 by monitoring and updating the occupancy state of the accommodation space 7810 in real time or at preset intervals.

On the other hand, the cloud server 20 specifies the standby position of the robot in the accommodation space 7810, and the robot is located in the specified area, as shown in (a) of FIG. Each robot can be controlled to

At this time, the standby position of the robot may also be referred to as “the occupied position of the robot”. The waiting position or occupied position may be understood as a position where the robot stops and waits in the elevator 7800 while the robot moves through the elevator 7800 .

Meanwhile, the cloud server 20 may control in which area within the elevator 7800 each robot waits in units of robots.

For example, as shown in (a) of FIG. 78, the cloud server 20 arranges the first robot R1 and the second robot R2 close to the entrance area 7831, and the fifth robot ( R5) may be placed in an area farthest from the entrance area 7831.

At this time, which robot to place in which area or which robot to move depends on the tasks assigned to each robot, the robot's hardware, the robot's destination, the robot's battery status (energy status), and the accommodation space (7810). ) may be determined based on at least one of the occupancy states.

The cloud server 20 may control each of the robots getting on, off, or waiting in the accommodation space 7810 based on at least one of the various factors described above.

Furthermore, as shown in (b) of FIG. 78 , the cloud server 20 provides the elevator 7800 for a target robot (eg, the sixth robot R6) to get on or off the elevator 7800. ) can control at least one other robot (or a nearby robot) that was boarding first.

For example, as shown in the drawing, in order for the target robot (eg, the sixth robot R6) to enter the accommodation space 7810 through the entrance area 7831, the first and second robots R1 and R2 ), there is a case where at least one of them needs to move to another area. In this way, the cloud server 20 is not only a target robot, but also at least one other robot (or surrounding robot) in order for a plurality of subjects (at least one robot, at least one person, etc.) to use the elevator 7800 smoothly. robot) can be controlled together.

Meanwhile, in the present invention, an example of controlling the waiting position of a robot by dividing the interior of the elevator 7800 into a plurality of areas 7801 to 7816 in a grid form as described in FIG. 78 has been reviewed. However, in the present invention, there is no particular limitation on how to partition the interior of the elevator 7800. That is, the accommodation space 7810 of the elevator 7800 may be defined as a plurality of areas in various ways. For example, the accommodating space 7810 may be represented as a node map including a plurality of nodes. In this case, the robot may move the accommodation space 7810 by moving from one of the plurality of nodes to another. Furthermore, in this case, it is also possible for the robot to wait while the elevator moves at any one node among a plurality of nodes.

Hereinafter, for convenience of explanation, a method of partitioning the accommodating space 7810 in the grid method described above will be described as an example, but the present invention is not limited thereto.

Hereinafter, a method of remotely controlling a robot boarding an elevator will be described in more detail.

First, in the robot remote control method according to the present invention, a process of specifying a target robot in which an elevator boarding event has occurred may proceed (S7910).

Here, the boarding event is a case where a situation in which a robot needs to board an elevator occurs, and recognition of the occurrence of the boarding event can be achieved through various paths. As an example, the cloud server 20 may monitor the location of a robot traveling in space in real time or at preset time intervals. In addition, the cloud server 20 may determine whether or not the robot needs to board the elevator as a result of the monitoring. As a result of the determination, when the robot needs to board the elevator in order to move to the destination, the cloud server 20 may determine that a boarding event has occurred in the robot. In this case, the recognition of the boarding event may be performed by the cloud server 20 .

Unlike this, the cloud server 20 may receive information about a boarding event from the robot. The information on the boarding event may include information notifying that a boarding event has occurred in the robot. The robot may travel in space along a pre-planned movement path, and when the use of an elevator is included in the movement path, the robot may proceed to board the elevator based on the previously-planned movement path.

The robot may transmit the current location of the robot, environment information surrounding the robot, and situation information to the cloud server 20 in real time or at predetermined time intervals. At this time, if it is determined that the use of the elevator is necessary in the current situation, the robot may generate a boarding event for the elevator and transmit information about it to the cloud server 20.

Furthermore, information on boarding events may be received from an elevator or an elevator control system. The elevator or the elevator control system may sense a robot approaching or located around the elevator, or may sense a robot that transmits a request to use the elevator. In this case, the elevator or the elevator control system may determine that a boarding event for the corresponding robot has occurred, and may transmit information on the boarding event to the cloud server 20 together with identification information on the robot.

Meanwhile, when a boarding event occurs through various paths, the cloud server 20 may specify a target robot in which the boarding event occurs.

The target robot may refer to a robot to be controlled for boarding an elevator, among various robots traveling in space.

In this way, when the target robot is specified, in the present invention, a process of controlling driving of the target robot so that the target robot gets on the elevator may proceed (S7920).

The cloud server 20 may transmit a control command for the target robot to board the elevator to the target robot. The target robot can board the elevator based on the control command.

Meanwhile, in the present invention, based on the occupancy state of the accommodating space provided in the elevator, a process of determining a target occupied position of the target robot in the accommodating space may proceed (S7930).

Here, the target occupied position, as shown in (a), (b), (c) and (d) of FIG. may be a location.

Furthermore, the target occupied position may be understood as a waiting position in which the target robot riding the elevator 7800 waits in the elevator 7800 while moving through the elevator 7800 .

In the present invention, the term of the target occupied location may be used interchangeably with terms having similar meanings such as “standby location” and “occupied location”.

Furthermore, a “position” in an occupied position, a standby position, etc. may also be understood as at least a partial area of an accommodating space, and such at least a partial area may be an area occupied by a target robot.

Meanwhile, in the present invention, the target occupied position of the target robot can be determined based on various criteria.

The cloud server 20 includes i) occupancy status of the accommodation space, ii) destination information of other robots or people who boarded the elevator first, iii) time at which the task assigned to the target robot should be completed, iv) energy of the target robot state (ex: battery charge state), v) various criteria such as a predetermined space management standard in relation to the accommodation space, vi) size of the target robot (weight, size, etc.), vii) driving parts of the target robot (motor, wheel, end) The target occupied position of the target robot may be determined based on at least one of effectors, manipulators, types of actuators, etc.).

As an example, the cloud server 20 may determine the occupied position of the target robot based on the occupancy state of the accommodation space of the elevator 7800 and a predetermined space operation criterion related to the accommodation space. As another example, robots may have different types of structures or sizes depending on the type of robot. For example, when the types of robots are different, such as guide robots and delivery robots, different end effectors may be provided. In this case, the cloud server 20 may determine the occupied position of the target robot in consideration of the case where the target robot has a different end effector from other robots in order to provide a specific service.

In the accommodation space, an occupable space that can be occupied by a robot may be preset and exist. The cloud server 20 may set the occupation position of the target robot so that the target robot can be located in the occupancy space.

This occupancy space can be set in a variety of ways, and for example, as shown in (a) of FIG. 80, an area 8010 adjacent to the entrance area (or entrance) of the elevator 7800 can be occupied. space can be specified. In this case, the cloud server 20 may set at least one area of the occupancy space 8010 as a target occupancy position so that the target robot can be disposed in the occupancy space 8010 .

The database may include a map (map) of the accommodation space of the elevator 7800, and the corresponding map may include information on occupancy spaces.

The cloud server 20 may refer to the map, extract occupancy space of the elevator, and set at least one area of the extracted occupancy space 8010 as a target occupancy position.

As shown in (b) of FIG. 80, such an occupable space may be set along the edge area 8020 of the accommodation space of the elevator 7800, and as shown in (c) of FIG. Similarly, it can be set in the central area 8030 of the accommodation space.

Furthermore, as shown in (d) of FIG. 80 , the elevator 7800 may be a means by which a human 8060 as well as a robot can board together. In this case, for safety and complexity reduction between the robot and human, the accommodation space of the elevator 7800 can be divided into a first area 8040 that can be occupied by robots and a second area 8050 that can be occupied by humans. have.

When the robot gets on the elevator 7800, the cloud server 20 may set the occupied position of the robot so that the robot is positioned on the first area 8040 of the accommodation space.

Meanwhile, the cloud server 20 may output a guide broadcast when a person boards the elevator 7800 so that the person is located in the second area. Furthermore, information on the area where the robot and the person should be respectively located may be output on the floor of the elevator. Through this, a person (user) can recognize which area in the elevator 7800 should be located.

Meanwhile, even when at least a part of the accommodation space of the elevator 7800 is set as an occupancy space, the cloud server 20 may determine and determine which area of the occupancy space to locate the target robot.

This is because another robot or person may already be located in the occupied space. To this end, the cloud server 20 may check whether an object occupying the accommodating space exists by using sensing information sensed through at least one sensor provided in the elevator or robot. Here, the object may be a person, a robot, or another object (cargo, etc.). Also, the cloud server 20 may specify the occupancy state of the accommodating space based on whether an object occupying the accommodating space exists.

In the present invention, "occupancy state" is i) how much the accommodation space is filled by robots, objects or people (or animals), ii) which area of the accommodation space is occupied by robots, objects or people, iii) accommodation It may mean a state about which area of the space is empty. This occupancy state may be defined by information sensed through a sensor (eg, camera, etc.) provided in the robot or elevator.

Meanwhile, the cloud server 20 can flexibly cope with changes in the accommodation space by monitoring and updating the occupancy status of the accommodation space in real time or at preset intervals.

The cloud server 20 may specify an occupancy position in which the target robot is to be located in an occupancy area of the accommodating space based on the occupancy state. The occupied position that the target robot can occupy may be an empty area that is not filled by an object while being on a movement line in which the target robot can move through the entrance area.

The cloud server 20 uses at least a part of the remaining area of the accommodation space, excluding the area occupied by the object, of the target robot so that the target robot does not overlap with the area occupied by the object riding the elevator 7800 in the accommodation space. It can be determined as the target occupied position.

Furthermore, the cloud server 20 can set the target occupation position of the target robot in the elevator even if the occupancy area is not previously set.

As an example, the cloud server 20 may set at least a part of occupancy areas (or empty areas) that can be occupied by the target robot as a target occupancy position based on the occupancy state of the elevator. At this time, as shown in (a) of FIG. 81 , the cloud server 20 may set a specific area 8101 closest to the access area as a target occupied position. And, as shown in (b) of FIG. 81, the cloud server 20 may control the target robot R3 so that the target robot R3 is located in the target occupied position 8101. That is, the cloud server 20 may set a location closest to the entrance area (or entrance) among the areas that the target robot can occupy as the target occupancy position. In this case, the time for the target robot to get on and off the elevator can be minimized. This is to determine the target occupied position in consideration of the time efficiency of the target robot. In this case, the target robot can save the time required to use the elevator.

As another example, the cloud server 20 may set, as the target occupancy position, a position within the elevator where the movement distance is minimized among occupancy areas (or empty areas) that the target robot can occupy, based on the occupancy state of the elevator. . In this case, the cloud server 20 may refer to destination information of another object (robot or person (user)) who has boarded or is scheduled to board the elevator.

The cloud server 20 may compare the destination of the target robot and the destination of another object to determine whether there is an object that gets off before the destination of the target robot. In addition, the cloud server 20 sets a position where the movement of the target robot is minimized to get off the object as a target occupied position so that the occupied position of the target robot is not included in the getting off movement line of the object getting off the elevator before the target robot. can

This minimizes the moving distance of the target robot in the elevator, and may be a method of setting a target occupied position in consideration of energy efficiency of the target robot.

For example, the cloud server 20 may determine whether an elevator stop floor exists between destination floors corresponding to the destination of the target robot. In addition, the cloud server 20 may identify an object scheduled to get off at the corresponding stop floor. The cloud server 20 assumes that the object scheduled to get off overlaps with the getting off movement line of the object scheduled to get off based on the occupied position of the object scheduled to get off. A small area can be set as the target occupied position of the target robot.

Meanwhile, as described above, it has been seen that the cloud server 20 can set the target occupied position of the target robot in the elevator in consideration of either time efficiency or energy efficiency of the target robot.

The cloud server 20 may determine based on the operation mode of the target robot whether to determine the occupied position of the target robot by giving priority to time efficiency or energy efficiency.

The target robot may be operated in one of a plurality of different operation modes based on the importance, urgency, and energy state (power supply or battery charging state) of the mission assigned to the target robot.

In addition, the occupied position of the target in the accommodating space may vary depending on which operation mode the target robot operates in.

Among the plurality of operation modes, a first operation mode may be an operation mode prioritizing time efficiency of the target robot, and a second operation mode among the plurality of operation modes may be an operation mode prioritizing energy efficiency of the target robot.

When the target robot is operated in the first operation mode, the cloud server 20 may determine, as the target occupation position, an area closest to an elevator doorway among occupable areas of the accommodation space. In this case, the target robot can repeat movement and return from the target occupied position in the elevator by getting on or off another object.

And, when the target robot is operated in the second operation mode, the cloud server 20 may determine an area where the moving distance of the target robot can be minimized as the target occupied position in consideration of the destinations of objects located in the accommodating space. .

In this way, the cloud server 20 may check the operation mode of the target robot and set the occupied position of the target robot based on the operation mode of the target robot.

Meanwhile, the cloud server 20 may control an object (or other robots R1 and R2) boarded in the elevator 7800 to place the target robot R3 in the target occupied position. In this case, the occupied position of at least one of the other robots R1 and R2 in the elevator 7800 may be changed in order to position the target robot R3 at the target occupied position.

As an example, the cloud server 20 tries to set the target occupied position of the target robot R3 to an edge region 8102 closest to the entrance. However, as shown in (a) of FIG. 81, another object R1 may already be located in the corresponding area. In this case, as shown in (a) of FIG. 82, the cloud server 20 moves at least one other robot (R1, R2) to another in order to position the target robot (R3) in the target occupied position (8102). Control for moving to areas 8103 and 8104 can be performed. In this case, at least one other robot (R1, R2) may be moved to another area (8103, 8104) based on the control command of the cloud server 20.

In this way, when setting the target occupied position of the target robot, the cloud server 20 does not consider only the operation mode of the target robot or the occupancy state of the elevator, but also considers the occupancy state of other objects in the elevator. It is possible to determine whether to change the occupancy state of and perform appropriate control for this.

At this time, the cloud server 20 determines whether the target robot changes to the target occupied position 8102 while changing the occupied position of the other robot in consideration of various conditions such as the energy state, mission, operation mode, and destination of the other robot. can decide whether That is, the cloud server 20 may determine the priority of an object to occupy the target occupied location 8102 . In addition, a target with high priority (a target robot or other object) may be located in the target occupied position. For example, when the priority of the target robot R3 is low, the target robot may not be allocated an area closest to the entrance as a target occupied position.

As an example, a method of setting a target occupied position of the target robot R3 based on the destination of the target robot R3 and other objects (other robots) will be described.

The cloud server 20 may set a target occupied position based on destination information of an object (such as a robot or a person) who has boarded or is scheduled to board the elevator.

In this case, the cloud server 20 may control not only the target robot but also the object riding in the elevator, for example, another robot, in consideration of the destination information of the object, in addition to the method of setting the target occupied position described above. have.

For example, as shown in (a) of FIG. 81 , when determining the target occupied position of the target robot R3, the cloud server 20 determines the other objects R1 and R2 that boarded the elevator 7800 first. destination can be checked. Further, the cloud server 20 may determine the target occupied position of the target robot based on the destination of the object, and control the target robot and other robots together to locate the target robot to the determined target occupied position.

Based on the destination of the target robot R3 and the destinations of the other robots R1 and R2, the cloud server 20 determines the order of getting off the elevator 7800 for the target robot R3 and the other robots R1 and R2. can be specified Also, the cloud server 20 may determine whether to position the target robot R3 closer to the doorway of the elevator 7800 than the other robots R1 and R2 according to the order of getting off.

The cloud server 20 may position the target robot R3 and the other robots R1 and R2 close to the entrance, according to the order of getting off. For example, as shown in (a) of FIG. 82, when the order of getting off the target robot R3 is the fastest among the target robot R3 and the other robots R1 and R2, the target robot R3 is the target. The occupied position may be set to a specific area 8102 closest to the entrance. In this case, compared to (a) of FIG. 81, the occupied positions (standby positions) of the other robots R1 and R2 may be changed. The cloud server 20 may control the movement of the other robots R1 and R2 to position the target robot R3 to the target occupied position 8102 .

For another example, as shown in (b) of FIG. 82, the order of getting off the target robot R3 is later than that of the first robot R1 among the other robots R1 and R2, and the second robot R2 ), the target occupation position of the target robot R3 can be determined as the region 8103 between the first robot R1 and the second robot R2.

And, as shown in (c) of FIG. 82, when the order of getting off the target robot R3 is later than that of the other robots R1 and R2, the target occupied position of the target robot R3 is set as the first robot It can be determined as an area 8104 next to (R1) and the second robot (R2).

On the other hand, the cloud server 20 considers the state information of the other robots together, even when the target robot R3 should be located closest to the entrance in the order of getting off the target robot R3 and the other robots R1 and R2. It is possible to determine the target occupied position of the target robot (R3). For example, when the remaining battery capacity of the other robot is low (eg, less than a predetermined reference value or insufficient to perform an assigned task), movement of the other robot may be restricted. In this case, even if the order of getting off the target robot R3 is earlier than that of other robots, the target robot R3 may be located far from the entrance. In this way, the cloud server 20 may monitor status information of robots traveling in space in real time or at preset time intervals, and perform control appropriate to the status of the robots.

Meanwhile, humans as well as robots can board the elevator 7800 together. In this case, since the cloud server 20 recognizes the size of the robot and the moving path of the robot, it is possible to predict the possibility of collision between the robots. However, in the case of a person, it is difficult for the cloud server 20 to completely predict the direction and size of a person's movement. Therefore, the cloud server 20 determines the occupied position of the target robot in consideration of the characteristics of the object in order to reduce the complexity of the elevator 7800 by preventing the possibility of collision between humans and robots and preventing overlapping of the movement lines between humans and robots. can be set

In the present invention, the size of the occupied area of the object may be specified differently based on the object type of the object. In the present invention, an object may mean a person or a robot. The object type may include a first type and a second type according to the object type. As shown in (a) of FIG. 83 , objects according to the first type may correspond to robots R1 , R2 , and R3 remotely controllable by the cloud server 20 . And, as shown in (b) of FIG. 83, the object according to the second type may correspond to a specific object 8300 (eg, a person) that cannot be remotely controlled.

As for the robot, which is the object of the first type, the cloud server 20, as shown in (a) and (b) of FIG. , 8313) as an occupied area for each robot.

Unlike this, the cloud server 20 may use a plurality of occupancyable areas of the accommodating space for the people 8300 and 8320, which are objects of the second type, as shown in (a) and (b) of FIG. 83 . Areas 8301 , 8302 , 8303 , 8304 , 8305 , 8307 , and 8308 corresponding to the cells of may be allocated as occupied areas for each second type object.

As described above, the size of the area occupied by the object of the second type, which cannot be controlled by the cloud server 20, may be larger than the size of the area occupied by the object of the first type.

Meanwhile, in the cloud server 20, as shown in (a) and (b) of FIG. 83, the target robot R3 occupies areas 8301, 8302, 8303, 8304, 8305, and 8307 of the second type of object. , 8308), the target occupied position of the target robot R3 can be set.

The cloud server 20 may set the target occupied position of the target robot R3 based on the occupancy state of objects in the elevator 7800 using a sensor provided in the elevator 7800 or the robot.

In this way, in the present invention, the occupied position of the target robot can be determined in consideration of various situations surrounding the robot and the object on the elevator. And, in the present invention, when the target occupied position is determined, a process of transmitting a control command related to the target occupied position to the target robot may proceed (S7940).

The target robot may move in the elevator 7800 to be located in the target occupied position based on receiving a control command related to the target occupied position.

Meanwhile, while the target robot is on the elevator, an event of another object getting off the elevator may occur.

The cloud server 20 may receive a getting off event of a specific object located in the accommodation space in a state where the target robot is located in the target occupied position of the accommodation space in the elevator 7800 . Also, the cloud server 20 may determine whether the target robot is located on the getting off path of a specific object in response to the getting off event.

Further, the cloud server 20 may reset the occupied position of the target robot for getting off the specific object from the elevator when the target robot is located on the path of getting off the specific object.

In this case, the controller may determine whether to reset the occupied position of the target robot in order to get off the specific object where the getting off event has occurred.

The cloud server 20 determines i) the remaining battery capacity of the target robot, ii) the remaining battery capacity of the specific object in which the drop-off target event occurs, iii) the shortest distance movement line of the specific object in which the drop-off target event occurs, iv) the occupied position of the target robot , Whether or not the occupied position of the target robot is reset can be determined based on whether the destination event is a necessary movement line for getting off the specific object where the event has occurred.

On the other hand, the occupied position of the reset target robot may be set in a variety of ways. As an example, the cloud server 20 may set the occupied position of the target robot to a position closest to an elevator doorway among areas other than the getting off path of a specific object where the getting off event has occurred.

Furthermore, the cloud server 20 may compare the destination of the target robot with the destination of another object included in the elevator when the occupied position of the target robot is reset in order to get off the specific object. This is to ensure that the reset occupied position of the target robot is not included in the getting off path of other objects that get off earlier than the target robot.

The cloud server 20 may compare the getting off time of another object and the getting off time of the target robot based on the destination of another object located in the elevator as well as the specific object where the getting off event occurred.

Further, the cloud server 20 may specify the getting off path of the other object when the getting off point of the target robot is later than the getting off point of the other object as a result of the comparison. In addition, the cloud server 20 may reset occupied positions in areas other than the drop-off path of a specific object and the drop-off path of other objects.

That is, the cloud server 20 may reset the occupied position of the target robot by considering all the getting off paths of other robots that get off earlier than the target robot.

Meanwhile, when the elevator arrives at the target robot's destination, the target robot must get off the elevator. In this case, when the elevator arrives at the destination of the target robot, an event of getting off the target robot may occur.

Meanwhile, when the target robot gets off the elevator, movement of other objects included in the elevator may be requested according to circumstances. In this case, the cloud server 20 may reset occupied positions of other nearby robots in order to disembark the target robot.

The cloud server 20 includes i) the battery remaining amount of the target robot, ii) the battery remaining amount of the surrounding objects (surrounding robots), iii) the shortest distance course for getting off the target robot, iv) the essential course for getting off the target robot, v) Based on the task completion required time allocated to the target robot, the occupied position of other nearby robots may be reset in order for the target robot to get off.

As shown in (a) of FIG. 84, when the remaining battery power of the target robot R3 is sufficient, the cloud server 20 occupies the surrounding robots R1 and R2 in order to disembark the target robot R3. You may not change your location. In this case, the target robot R3 can get off the elevator 7800 through at least three areas 8414, 8415, and 8416.

Furthermore, as shown in (b) of FIG. 84 , when the battery level of the target robot R3 is not sufficient or the target robot R3 is set to move in the shortest distance, the cloud server 20 operates the surrounding robots. The occupied position of (R2) can be reset. The cloud server 20 may control the target robot R3 and the surrounding robots R2 so that the target robot R3 can get off the elevator 7800 in the shortest distance.

In this case, the target robot R2 can get off the elevator 7800 via two areas 8412 and 8417. In this case, the occupied position of the neighboring robot R2 may be reset.

In addition, in the present invention, as described above, a charging dock may be provided in a carrier of a robot-only elevator. In addition, a charging dock (not shown) for charging the battery of the robot R on board may be provided in the common elevator of this example.

The charging dock may be provided on the floor or wall of the elevator, and may charge the battery of the robot R riding in the elevator by wire (contact type) or wirelessly (non-contact type).

In this case, when the remaining battery power of the target robot R3 is insufficient, the cloud server 20 resets the occupied position of the surrounding robot R2 to a position where the target robot R3 connects to the charging dock. You can control it to move.

On the other hand, as shown in (a) and (b) of FIG. 85, in order to get off the target robot R3 on the shortest distance, there may be a case where the occupied position of a person 8510, not a robot, needs to be changed. can

For example, as shown in (a) of FIG. 85, when a person does not move to get off the target robot R3, the target robot R3 has at least five areas 8502, 8503, 8504, 8505, 8506) to get off the elevator (7800). However, as shown in (b) of FIG. 85, the target robot R2 can get off the elevator 7800 via two areas 8507 and 8508.

In this case, as shown in (a) of FIG. 86, when a specific person 8510 moves from a specific area 8507 included in the shortest distance movement line of the target robot R3 to another area, the target robot R3 ) can get off the elevator 7800 as the shortest distance. The cloud server 20 may determine whether to request movement for a specific person based on i) the remaining battery capacity of the target robot, or ii) a task completion request time allocated to the target robot. In addition, when it is determined that the movement of a specific person is necessary, the cloud server 20 may output guide information 8530 for movement of the specific person 8510 as shown in (b) of FIG. 86 . have. Such guidance information may be output through any one of visual, tactile, and auditory methods through an output unit provided in the target robot R3 or the elevator.

As described above, the cloud server 20 may determine the occupied position of the robot within the moving means based on the occupancy state of the moving means, such as an elevator. More specifically, the cloud server 20 may reduce the risk of collision with the robot or person by setting the occupied position of the robot so as not to overlap with the area occupied by the robot or person already boarding the means of transportation.

In addition, the cloud server 20 may set the occupied position of the robot in consideration of the occupancy state of the means of transportation and information on getting on and off of other robots or people. At this time, in the present invention, when the robot gets on and off the means of transportation, the energy efficiency of the robot can be maximized by setting an occupied position in which the robot can move by the minimum distance within the means of transportation.

Unlike this, in the present invention, the time efficiency of the robot can be maximized by setting an occupied position where the robot can move in the least amount of time when getting off the vehicle. Furthermore, in accordance with the present invention, by resetting the occupied position of the robot based on information on getting off the other robot on the means of transportation, it is possible to assist other robots in getting off the means of transportation while reducing the complexity of the moving space. .

Meanwhile, as described above with reference to FIGS. 7 and 8 , the cloud server 20 may specify a destination where the robot's mission is to be performed and set a movement path for the robot to reach the destination. When a movement route is set by the cloud server 20, the robot R may be controlled to move to a corresponding destination in order to perform a mission.

The cloud server 20 may generate a movement path of a robot to perform a mission based on a map (or map information) corresponding to the indoor space 10 of the building 1000 .

Here, the map may include map information for each space of the plurality of floors 10a, 10b, 10c, ... constituting the indoor space of the building.

Furthermore, the movement route may be a movement route from a mission performance start location to a destination where the mission is performed. As described above with reference to FIG. 8 , the indoor space 10 of the building 1000 may be composed of a plurality of different floors 10a, 10b, 10c, ..., and the mission start location and destination are the same floor. or may be located on different floors. The cloud server 20 may use map information on the plurality of floors 10a, 10b, 10c, ..., to create a movement path of a robot to perform a service within the building 1000. The cloud server 20 may specify at least one facility that the robot must use or pass through to move to a destination among facility infrastructures (a plurality of facilities) disposed in the building 1000 . In this way, in order to create a movement path including at least one facility, the cloud server 20 may use a map (or map information) reflecting characteristics of various facilities disposed in the indoor space.

Hereinafter, a building in which a robot passes through facilities such as an entrance door or an access control gate will be examined. 87 to 89 are conceptual diagrams for explaining a method of performing control related to a robot using an access control system in a robot-friendly building according to the present invention.

For example, an entrance door 8710 may be included on the movement path as shown in FIG. 87 or an access control gate (or speed gate) may be included as shown in FIG. 88 .

As reviewed together with FIGS. 12 and 17 , the cloud server 20 may create a movement route for passing through (or passing through) facilities included in the movement route, based on a map generated by considering the facilities. In this case, the facility may be an entrance door (8710, or automatic door) as shown in FIG. 87, or an access control gate (or speed gate, 8810) as shown in FIG. 88.

The cloud server 20 may perform communication with a control system corresponding to each facility when the robot needs to pass through or use a facility to move to a destination.

For example, the door 8710 may be controlled by the door control system (or door control server), and the access control gate 8810 may be controlled by the access control system (or access control server).

The door 8710 or the access control gate 8820 may be opened or closed according to the control of each control system.

Taking an access control gate as an example, the access control gate 8810 may be controlled based on a control command received from the access control server through the communication unit 110 .

On the other hand, the cloud server 20, when the access control gate 8810 is included on the moving path, identification information of a robot (which may be named a “target robot”) scheduled to pass through the access control gate 8810 can be transmitted to the access control system.

In this case, the access control system may control the access control gate 9120 so that the robot passes through the access control gate 9120 based on the identification information of the robot received from the cloud server 20 .

The access control gate 8810 may sense identification information of a robot approaching the access control gate using a sensor provided in the access control gate 8810 . The identification information of the robot may be sensed based on the identification mark of the robot discussed above with reference to FIG. 11 .

Meanwhile, the access control gate 8810 may transmit the sensed identification information of the robot to the access control system. In this case, the access control system compares the identification information received from the access control gate 8810 with the identification information of the robot received from the cloud server 20, so that the robot approaching the access control gate 8810 enters and exits. The access control gate 8810 may be controlled to pass through the control gate 8810 .

For example, the access control system compares the identification information received from the access control gate 8810 with the robot identification information received from the cloud server 20, and the identification information received from the access control gate 8810. When the identification information of the robot received from the cloud server 20 coincides with each other, the access control system may control the access control gate 8810 to open the door of the access control gate 8810 . In this case, the robot can pass from one area of the access control gate 8810 to another area. In this case, one area and the other area may be areas separated by the door of the access control gate 8810 therebetween.

Meanwhile, the cloud server 20 may receive information indicating that the robot has passed through a specific access control gate from the access control system. That is, the access control system may transmit identification information of the robot passing through the access control gate to the cloud server 20 .

Based on the information received from the access control system, the cloud server 20 transmits information related to the robot, such as the entry and exit area (or area passed through), access date and time, as shown in FIG. 89 . It can be stored on a database as information. Meanwhile, the example described above can be commonly applied to not only access control gates but also various facilities (eg, doors as shown in FIG. 87 ) disposed in a space in which a robot travels along a movement path.

On the other hand, as described above, the robot R travels in the indoor space of the building 1000 or moves using facility infrastructure to achieve a “purpose” based on a certain “purpose”, and furthermore, facilities infrastructure is available.

At this time, the purpose to be achieved by the robot is to perform the robot's original mission, or, on the other hand, to perform a mission or function other than the robot's original mission, which may be a purpose unrelated to the robot's original mission. have.

Looking at the purpose unrelated to the robot's original mission, the robot needs sufficient power for operation in order to perform the robot's original mission, and the robot must maintain cleanliness in order to provide pleasant service to people. Furthermore, in order for a plurality of robots to operate efficiently in a building, sometimes there may be a situation where they wait in a certain space. 90 to 93 are conceptual diagrams for explaining a method for providing functions for operation, performance maintenance, and cleaning of a robot in a robot-friendly building according to the present invention.

More specifically, the cloud server 20 may perform appropriate control for each of the robots located in the building based on information corresponding to each of the plurality of robots located in the building stored in the database.

Meanwhile, various information on each of a plurality of robots located in a building may be stored on the database, and information on the robot R may be very diverse. As an example, i) identification information for identifying the robot R disposed in the space 10 (eg, serial number, TAG information, QR code information, etc.), ii) task assigned to the robot R Information (eg, type of mission, operation according to the mission, target user information for the target of the mission, mission location, scheduled mission time, etc.), iii) driving route information set in the robot (R), iv) robot (R) location information, v) robot (R) status information (eg, power status, failure status, cleaning status, battery status, etc.), vi) image information received from a camera installed in the robot (R) , vii) motion information related to the motion of the robot R may exist.

The cloud server 20 may perform appropriate control necessary for the current robot based on the state information of the robot listed above.

As an example, the cloud server 20 may check the remaining battery capacity of the robot and, based on the checked remaining battery capacity, control the robot so that the robot's battery can be charged. In this case, the cloud server 20 may control the robot to move to the charging facility 9010 as shown in FIG. 90 . The cloud server 20 may create a movement path from the current location of the robot to the charging facility 9010, and control information on the created movement path with the robot. The robot may move to the charging facility 9010 based on the received information on the movement path and perform charging.

A robot charging area corresponding to the charging facility 9010 may be included in at least one floor of the plurality of floors of the building 1000 according to the present invention. A plurality of such charging facilities may be installed in different locations of the building 1000 . The cloud server 20 may move the robot to a specific charging facility located closest to the current location of the robot to perform charging among charging facilities located in the building 1000 .

To this end, the cloud server 20 may create a movement path with a destination of a specific charging facility located closest to the current location of the robot to perform charging among the charging facilities located in the building 1000 . On the other hand, when the robot is performing another task (eg, serving), the cloud server 20 is on the moving path for the other task so that charging is performed after completing the other task, the moving path with the charging facility as the destination. can be further included. In this case, the final destination of the robot may be a place where a charging facility is located rather than a destination for performing another mission.

Meanwhile, the robot receives a control command related to charging from the cloud server 20 through the communication unit 110 and moves to a specific charging facility (or target charging facility) included in the control command based on the received control command. can

Meanwhile, the cloud server 20 may check the remaining battery capacity of the robot in real time or at preset time intervals. Furthermore, the cloud server 20 may check the remaining battery capacity of the robot based on a specific event. Here, the specific event may be an event in which the robot completes a pre-assigned task.

In this case, the cloud server 20 may receive state information of the robot from the robot through the communication unit 110 in response to the robot completing the task. This state information may include information about the remaining battery capacity of the robot.

Furthermore, the cloud server 20 may move the robot to a charging facility based on the state information of the robot.

Meanwhile, the cloud server 20 may assign a new task to the robot when the robot does not need charging as a result of checking the state information of the robot.

Furthermore, as a result of checking the state information of the robot, the cloud server 20 determines that the robot does not need to be charged, and when there is no task to be assigned to the robot, as shown in FIG. 91, the robot waiting space (or robot The robot can be moved to the waiting area, 9220). This robot waiting space 9110 can also be understood as a facility provided in the building 1000. Meanwhile, a charging facility may be included in the robot waiting space 9110, and the robot may perform battery charging in the robot waiting space 9110.

Furthermore, an area supporting wireless charging may exist in the robot waiting space 9110, and in this case, the robot may perform charging simply by being located in the robot waiting space 9110. The area supporting such wireless charging may be located on at least one of a floor surface, a ceiling surface, and a wall surface of the robot waiting space 9110.

Meanwhile, a charging pad for charging the robot may be provided in the charging facility 9010 or the robot waiting space 9110 described above.

Meanwhile, in the present invention, as described above, a charging dock supporting robot charging may be provided in a robot-only elevator or a shared elevator. The cloud server 20 may move the robot to the charging dock by determining to charge the robot on a moving path for performing the mission, in consideration of the robot state information and the mission. In this case, a charging dock that may be provided in a robot-only elevator or a shared elevator may include the charging pad described below.

The charging pad may charge the robot R located on the charging pad. The charging pad may support wired or wireless charging, and in the case of supporting wired charging, a configuration for forming a contact between the charging pad and the robot R may be additionally included.

The robot R can move in an autonomous driving manner, and when charging is required, a driving route can be set to pass the charging pad. Here, whether or not the robot R stays at the charging pad to perform charging may vary depending on the operating state of the charging pad, and the operating state of the charging pad may be classified as an operation interrupted state or an operation standby state.

The operation standby state corresponds to a state in which the robot R can be charged through the charging pad. That is, when the robot (R) is located on the charging pad in the operation standby state, the charging unit of the charging pad can charge the robot (R). On the other hand, the operation suspension state is a state in which the charging pad does not perform a charging operation, and charging of the robot R through the charging pad is impossible. Therefore, in the operation interrupted state, charging of the robot R may not be performed even if the robot R is located on the charging pad.

According to one embodiment of the charging pad, the charging pad can provide electromagnetic induction type wireless charging, in this case, the charging pad in the operation standby state can generate an electromagnetic field on the charging pad. Therefore, when the robot (R) is placed on the charging pad while the charging pad is in an operation standby state, the induced current generated by the electromagnetic field of the charging pad can be transmitted to the wireless charging receiver in the robot (R), and the wireless charging receiver A battery connected to can be charged. On the other hand, since the charging pad does not generate an electromagnetic field in the operation interrupted state, charging of the robot R is not performed even when the robot R is located on the charging pad.

However, such an electromagnetic induction method is an example of a wireless charging method, and other wireless charging methods may be used, or a contact type wired charging method may be used.

On the other hand, if the operation state of the charging pad is in an operation suspension state, charging does not start even if the robot R passes over the charging pad while traveling along the set path, and the robot R passes through the charging pad and travels on a preset driving path. You can drive according to

On the other hand, when the operation state of the charging pad is an operation standby state, charging of the robot R may be started when the robot R is located on the charging pad while driving. Here, the robot R may stop moving when charging is sensed, land on the charging pad, and continuously receive charging from the charging pad. Thereafter, when charging is completed, the robot R can move away from the charging pad. That is, the robot R can perform charging by stopping on the charging pad in an operation standby state, and when charging is completed, it can move away from the charging pad.

However, in the case of utilizing a plurality of robots (R), since only one charging pad is insufficient, it is necessary to efficiently connect and utilize a plurality of charging pads. The building 1000 may include a charging array in which a plurality of charging pads are connected in at least one of a row direction and a column direction.

Here, the charging array may be set in order of priority from the rightmost charging pad, and the robot R may be charged sequentially according to the priority of each charging pad. That is, the robot R may be induced to occupy charging pads having a high priority first, so that the charging array may efficiently perform charging.

The charging pad may include an input terminal, an output terminal, a charging unit, and a control unit of the charging pad.

An input terminal of the charging pad may be connected to a higher priority charging pad, and an output terminal of the charging pad may be connected to a lower priority charging pad. Here, each of the rankings between the charging pads may be determined according to the order of being connected in series from the highest priority charging pad located at the outermost.

The charging pad located on the far right can be set as the highest priority charging pad, and then the charging pad connected to the left of the highest priority charging pad is the second priority, and the subordinate charging pad connected to the left of the second priority charging pad is the third priority. ranking can be determined.

Here, the highest priority charging pad may be set by the user's selection, and depending on the embodiment, it is also possible to automatically set a charging pad to which no other charging pad is connected to the input terminal of the charging pad as the highest priority charging pad. .

The charging pad may receive a state signal output from the higher priority charging pad through an input terminal of the charging pad, and output a state signal of the charging pad to a lower priority charging pad through an output terminal of the charging pad. Here, the state signal may be a signal indicating that the corresponding charging pad is charging the robot (R).

The charging unit of the charging pad may charge the robot R located on the charging unit of the charging pad according to the operating state of the charging pad. That is, in the case of an operation standby state, the robot R located on the charging pad may be charged, and in the case of an operation stop state, the robot R may not be charged. The charging unit of the charging pad may support wired or wireless charging of the robot R, and when the charging pad is occupied by the robot R and charging is performed, it may notify the controller of the charging pad that charging is in progress. Depending on the embodiment, it is also possible to notify the control unit of the charging pad that charging is being performed by transmitting the charging current generated during charging to the control unit of the charging pad.

The control unit of the charging pad may switch the operating state of the charging unit of the charging pad from an operation interrupted state to an operation standby state when the state signal of the priority charging pad is received from the input terminal of the charging pad. That is, when the status signal is received, it indicates that the robot (R) is located in the charging pad of the highest priority and is being charged, so the charging part of the charging pad can be switched to an operation standby state so that another robot (R) can be charged on the charging pad. can

Thereafter, when the occupancy or charging of the robot R for the charging unit of the charging pad is detected in the operation standby state, the control unit of the charging pad may output a state signal through the output terminal of the charging pad. That is, since the current charging pad is also occupied and being charged, the status signal of the current charging pad can be transmitted so that the next lower priority charging pad can perform charging.

On the other hand, the controller of the charging pad can periodically or continuously check whether a status signal is received from the input terminal of the charging pad, and if the status signal is not received from the input terminal of the charging pad, the current operating state of the charging unit of the charging pad You can check. Here, when the operation state of the charging unit of the charging pad is the operation stop state, the operation stop state may be maintained. That is, since charging in the priority charging pad is not being performed, the operating state of the charging pad can be maintained in an operation interrupted state.

On the other hand, if the operation state of the charging unit of the charging pad is in the operation standby state when the state signal is not received, it may be switched from the operation standby state to the operation interruption state. That is, when the state signal is not input while the current charging pad is in an operation standby state, it corresponds to a case where the robot R's occupation of the senior charging pad is completed, such as charging in the senior charging pad is completed. In this case, since the priority charging pad is empty, the control unit of the charging pad may stop charging in the charging pad by switching the operation state of the charging pad to an operation suspension state in order to fill the priority charging pad first.

Therefore, if there is a robot (R) currently being charged in the charging pad, since the current charging in the charging pad is stopped, the robot (R) starts driving according to the preset path, passes the senior charging pad while driving, and Charging can be performed again at the priority charging pad. In addition, even if there is no robot R currently charging in the charging pad, since the current charging pad is switched to an operation suspension state, when the robot R approaches for charging, priority is given to the charging pad in priority. charging can be performed.

Additionally, when the controller of the charging pad is switched from the operation standby state to the operation suspension state, after waiting for a set time in the operation standby state, it may be switched to the operation suspension state. That is, after granting sufficient movement time for the robot R located on the priority charging pad to escape, it is possible to switch to the operation suspension state. If, in the case of immediately switching to the operation suspension state without waiting for the set time, a problem such as a robot located on the charging pad colliding with a robot located on the priority charging pad may occur. Therefore, when the controller of the charging pad switches from the operation standby state to the operation suspension state, it can wait for a set time and then switch to the operation suspension state. Here, the setting time can be set to about 30 seconds.

Meanwhile, the control unit of the charging pad may stop outputting the state signal through the output terminal of the charging pad when the occupancy of the robot R is not sensed in the operation standby state. That is, since the status signal is output to the lower priority charging pad only when the charging unit of the charging pad is occupied in the operation standby state, when the charging unit of the charging pad is not occupied, the output of the status signal can be stopped. In this case, since the lower priority charging pad is switched to an operation suspension state, the robot R that enters thereafter can induce charging to be performed on the current charging pad rather than on the lower priority charging pad.

Here, the control unit of the charging pad receives the charging current generated when the charging unit of the charging pad charges the robot R from the charging unit of the charging pad, and determines whether the robot R is located on the charging unit of the charging pad. can That is, when the charging part of the charging pad starts charging the robot R, it can be determined that the robot R is located on the charging part of the charging pad. can be identified.

In addition, depending on the embodiment, it is also possible to determine whether the robot (R) occupies the charging part of the charging pad by using the detection signal received from the detection sensor after providing the detection sensor on the charging pad. Here, any sensor can be used as long as it can determine whether or not the robot R is located on the charging part of the charging pad, such as an illuminance sensor or a distance sensor.

Furthermore, the control unit of the charging pad waits for the operating state of the charging unit of the charging pad regardless of whether or not the status signal is received when there is no senior charging pad connected to the input terminal of the charging pad or when the charging pad is set as the highest priority charging pad. condition can be maintained. That is, in the case of the highest priority charging pad, the robot R can be charged from the highest priority charging pad by always setting the operation standby state.

The controller of the charging pad may first determine whether the charging pad corresponds to the highest priority charging pad. Here, in the case of the highest priority charging pad, it can always be maintained in an operation standby state. On the other hand, if it is not the highest priority charging pad, it can be confirmed whether a state signal is input to the input terminal. When the state signal is input, it means that the robot is located in the priority charging pad and is being charged, so the control unit of the charging pad can switch the charging pad to an operation standby state.

Thereafter, when the occupancy of the robot for the charging pad is detected, a status signal may be output through an output terminal. That is, a status signal may be transmitted to the lower priority charging pad to convert the lower priority charging pad into an operation standby state. On the other hand, when the occupancy of the robot is not sensed, the output of the state signal to the output terminal is stopped to switch the lower priority charging pad to an operation suspension state.

The control unit of the charging pad can check whether the state signal is input to the input terminal periodically or continuously, and when the state signal is input, it can check whether the robot R occupies the charging pad while maintaining the operation standby state. On the other hand, when the state signal is not input, it is possible to check the operating state of the charging unit of the charging pad. That is, when the charging unit of the charging pad is in an operation standby state, after waiting for a set time, it is switched to an operation interruption state, and the state signal output to the output terminal may be stopped.

On the other hand, when a state signal is not input to the input terminal and the operation is in an interrupted state, the operation may be maintained in an interrupted state and a state in which the state signal is not output through the output terminal may be maintained.

In the present invention, it is also possible to set the state signal to always be input to the input terminal of the highest priority charging pad.

Meanwhile, in the present invention, a charging station may be provided in the charging facility 9010 or the robot waiting space 9110. The control unit of the robot may generate location information of the robot R using the sensing data, and may set a driving route based on the generated location information. Thereafter, the controller of the robot may control the driving unit of the robot to move along the driving route, and when the state of charge (SOC) of the battery is less than a reference value, the charging station is placed within the driving route to pass through a preset charging station. It can be set as a priority waypoint. In this way, a charging facility located on the travel path of the robot or a facility having a charging dock (eg, an elevator) may be referred to as a charging station.

Of course, whether to set the charging station as a priority stopover may be determined under the control of the cloud server 20 .

The charging station may include an inlet and an outlet, and may include a charging matrix in which a plurality of charging arrays are arranged in parallel. In addition, the robots R may be formed to be seated on the charging pad while avoiding other robots within the charging station by including spare spaces for movement of the robot R therein.

Here, the controller of the robot can set a driving path so that the robot R travels one-way from the entrance to the exit of the charging station, and the robot R performs charging by sitting on a charging pad in an operation standby state in the charging matrix. can do. In this case, the control unit of the robot may stop the movement when charging of the battery is detected. Specifically, the control unit of the robot can detect whether the battery is charged through the BMS (Battery Management System) included in the robot R, and when charging is detected, the robot stops moving to receive charging on the corresponding charging pad. can

The control unit of the robot may then control the driving unit of the robot to move along the driving path again when charging is stopped or charging is completed. For example, when the charging pad is switched to an operation suspension state, charging of the robot (R) located on the corresponding charging pad is stopped, so the controller of the robot controls the robot (R) to follow the driving route again to the charging station. You can drive inside. In addition, when the charge amount of the battery is equal to or greater than the charge completion value, it corresponds to charge completion, so the controller of the robot may cause the robot R to move along the driving path and leave the charging station.

On the other hand, depending on the embodiment, all the charging pads in the charging station may be occupied, or the robot R may move past the empty charging pad during an avoidance operation. In this case, since the robot R is set to walk one way through the charging station, it can pass through the charging station without returning. That is, there may be a case where the robot R leaves the charging station in an insufficiently charged state. In this case, the control unit of the robot may reset the charging station as a first waypoint in the driving route so that the robot R passes the charging station again.

Specifically, the cloud server 20 or the control unit of the robot may first set the driving path to pass the charging station by setting it to a charging required state when the amount of charge of the battery falls below a reference value. After that, if the robot R leaves the charging station before charging is completed, the driving route to return to the charging station may be set since the charging required state has not yet been released. Thereafter, when charging is completed, the charging required state may be released to return to the existing driving route. Here, the reference value may be set to 10% of the total battery capacity, and the charge completion value may be set to 90% of the total battery capacity. However, the reference value and the charging completion value may be variously selected according to embodiments.

Additionally, the cloud server 20 or the control unit of the robot may control the driving unit 220 to move while avoiding the obstacle when an obstacle exists on the driving path of the robot R. Therefore, when there are other robots (R) being charged in the charging station, they can move while avoiding them, and through this, they can be induced to land on an empty charging pad in the charging station. Depending on the embodiment, it may leave the charging station during avoidance movement, and in this case, the control unit of the robot may reset the priority waypoint on the driving route so that the robot R passes the charging station again.

Depending on the embodiment, the operation of the robot in the charging station can be learned through machine learning, and through this, it is also possible to induce the robot R to quickly settle in the charging pad in the charging station.

Looking more specifically at the operation of the robot R, the robot R may perform a preset robot mission, and a driving route (or movement route) for performing the mission may be set. Thereafter, it may be checked whether the capacity (or charge amount) of the battery included in the robot is less than or equal to the reference value, and if the charge amount is less than or equal to the reference value, a charging required state may be set. The confirmation of the charging amount may be performed by the cloud server 20 or the control unit of the robot R.

On the other hand, as a result of the check, if it corresponds to a charging need state, the cloud server 20 or the robot R may add the charging station as a priority stopover to the driving route so that the robot R can be charged. Accordingly, the robot R may drive into the charging station, and when charging is detected, the robot R may stop moving and perform charging. Thereafter, if the charge amount is greater than or equal to the charge completion value, it is determined that the charge is complete, and a preset robot task may be performed.

On the other hand, if charging is not detected in a state in which charging is not completed, it may be determined whether or not the charging station has passed. Here, when it does not pass through the charging station, charging may be performed on a charging pad where charging is sensed by driving inside the charging station. However, when the robot passes through the charging station while the charging is not completed, the charging station may be added to the driving route as a first stopover so that the robot R may drive into the charging station again. The above control may be performed under the control of at least one of the cloud server 20 and the robot R.

Looking specifically at the charging array, a charging array including a plurality of charging pads may be provided in the building 1000 . A charging pad in an operation standby state and a charging pad in an operation suspension state may have different visual appearances. When there is no robot being charged in the charging array, the charging array may be operated in a suspended state so that the outermost charging pad is charged first, except for the outermost charging pad. This control may be controlled by the charging facility control system.

The robot R can move past the charging pads in an operation-suspended state, is in an operation standby state among the charging arrays, and can stop and receive charging on the outermost charging pads. In this case, the outermost charging pad may transmit a status signal to a neighboring lower priority charging pad to induce the corresponding charging pad to switch to an operation standby state.

When the charging is completed, the robot R can move away from the charging array, and in this case, the outermost charging pad can stop transmitting the status signal. Here, the secondary charging pad is switched from the operation standby state to the operation suspension state, but after waiting for the set time (eg, 30 seconds) to secure time for the robot R to leave, the operation suspension state will switch to

In this way, on the charging array according to the present invention, the robots can be sequentially positioned and charged from the outermost charging pad on the charging array, and when the robot leaves the outermost charging pad after charging is completed, Robots being charged in other pads or robots waiting for charging can move and fill the vacancy of the outermost charging pad. Therefore, it is possible to secure charging pads that can be charged as much as possible, and it is possible to efficiently charge the robots.

Meanwhile, the charging station may include a charging matrix in which a plurality of charging arrays are arranged in parallel, and may include spare spaces for movement of the robot R therein. Accordingly, the robot R can perform charging by sitting on the charging pad while avoiding other robots within the charging station. The charging station may be installed in a specific space in a building, and depending on the embodiment, the charging station may be installed in the waiting space 9210 or in an elevator so that the robot may charge while waiting or moving.

On the other hand, each robot R may have a preset driving route (or moving route), and among the robots R, a new driving route may be set so that the robots R requiring charging pass through the charging station. have. Here, each of the robots R may set a driving path to move one-way from the entrance to the exit of the charging stay, and may receive charging by sitting on an empty charging pad while moving along the driving path. The robots (R) that have been charged may come out of the charging station and travel along the existing driving path again.

Depending on the embodiment, there may be cases where the robot R leaves the charging station in a state where it is not fully charged. In this case, the robot R may reset its driving path to pass the charging station again.

As described above, in the building 1000 according to the present invention, a situation in which the robot cannot be utilized due to the battery state of the robot can be prevented in advance by providing various facilities for the robot to perform charging.

Meanwhile, as shown in FIGS. 92 and 93 , the building 1000 according to the present invention may include a facility (eg, a washing facility 9310) for washing (or cleaning) the contaminated robot. have. A robot traveling in the building 1000 may be contaminated based on various causes, and such contamination may cause a sensor provided in the robot to malfunction. Furthermore, contaminated robots may cause discomfort to users of the building. Accordingly, the building according to the present invention enables the robot to always be kept clean through the cleaning facility 9310 for the robot. The contaminated robot may be monitored by the cloud server 20, and may be controlled to be moved to the cleaning facility 9310 at an appropriate time and cleaned.

The cloud server 20 may monitor the robots using a camera provided in the building, and if the contaminated robot is sensed as a result of the monitoring, it may control the contaminated robot.

In this way, the building according to the present invention may have at least one camera and a washing facility 9310 for washing robots on each of a plurality of floors. In addition, the cloud server 20 monitors a robot located in the building 1000 or driving the building 1000 through a camera, and as a result of monitoring, when a specific robot (or target robot) satisfies a preset pollution standard. , you can create a cleaning schedule for the target robot.

Here, the washing schedule is a schedule for a specific robot to move to the washing facility 9310 and perform cleaning, such as when the specific robot moves to the washing facility 9310, the moving route, the type of washing, the washing method, and the specific robot to use. It may include at least one of information on the cleaning facility 9310.

The cloud server 20 may determine a washing facility to be used by a specific robot based on the state information of the washing facility 9310 . The state information of the washing facility 9310 is information on whether there is a washing facility 9310 available for use by a specific robot at a specific time point, and this may be understood as an operating schedule of the washing facility 9310.

Meanwhile, when the contaminated robot is performing a task, the cloud server 20 schedules cleaning so that cleaning is performed after the contaminated robot completes the task (eg, after completing the service according to the task). can create The cloud server 20 may include a path through which the contaminated robot reaches the cleaning facility via a destination according to a mission in the robot's moving path. In this case, the contaminated robot may move to the cleaning facility 9310 via the destination according to the mission.

As described above, the building according to the present invention may be equipped with facilities for supporting robots to provide services within the building, as well as facilities for maintaining robot functions and maintaining cleanliness, and the cloud server is configured to monitor the status and cleanliness of robots. Appropriate control of the robot to use the facility can be performed by comprehensively considering the situation of the facility.

As described above with reference to FIGS. 44 and 45 , the building according to the present invention may be provided with equipment exclusively used by a robot R performing a specific mission for a specific service.

For example, the type of service provided by the robot may be different for each robot. That is, the building 1000 includes delivery, logistics work, guidance, interpretation, parking support, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage manufacturing, food manufacturing, serving, fire suppression, medical assistance and entertainment. Robots providing at least one of the services may be deployed. Services provided by robots may be various other than the examples listed above.

Hereinafter, a method of performing a delivery service in a building 1000 according to the present invention using facilities corresponding to a distribution system will be described in more detail with accompanying drawings. 94 is a conceptual diagram for explaining facility infrastructure providing a delivery service built in a robot-friendly building according to the present invention, and FIGS. 95 and 96 are delivery built in a robot-friendly building according to the present invention. These are conceptual diagrams for explaining robot-only pathways that support the robot's movement in the horizontal direction in the service-providing facility infrastructure. Furthermore, FIGS. 97 to 108 are conceptual diagrams for explaining a method of providing a delivery service using a facility infrastructure for providing a delivery service built in a robot-friendly building according to the present invention.

The present invention proposes a method for efficiently handling product delivery using a logistics system in a building according to the present invention. Hereinafter, together with the accompanying drawings, a space in which the robot travels and a cloud server surrounding it will be reviewed. Meanwhile, in the following description, the logistics system controlled by the cloud server 20 is described, but the following description can be made by a control server or control system of a logistics system separate from the cloud server 20, of course. .

In a building where many people live together, a very large amount of objects can be collected, from tens to hundreds, and even thousands of objects a day.

Here, "collecting" means that goods are collected for delivery. In a specific space corresponding to various places (company buildings, hospitals, schools, apartments, etc.) discussed above, the work of collecting the goods delivered to the individual living in the specific space is preceded, and then the specific space is The product delivery system may be operated in a manner of performing product delivery to individuals using the traveling robot R.

Accordingly, in the present invention, i) a process of collecting goods from a delivery person, ii) a process of specifying a specific user to receive the collected goods, and iii) a process of delivering goods to a specific user using the robot R are organically Suggest how to deal with it.

In the present invention, "object" is an "object (object, object or object)" that is the target of delivery received from a delivery person, and there is no limitation on its specific type, such as courier service or mail. In the following, for unification of terminology, “objects” to be collected are unified as terms of “object”.

Referring to FIG. 94 , in the delivery method and system using the robot R according to the present invention, objects 9403 may be collected at a specific place (eg, a delivery work place) in the space 10. . As described above, the object 9403 is a product delivered by a delivery man, and the delivery man may deliver the object 9403 to a specific place.

Furthermore, a specific place operated by the system according to the present invention may include a robot driving area 9420 in which the robot R travels. The robot driving area 9420 may be configured as a robot-only space. The robot R may be made to run on the robot driving area 9420 for efficiency of delivery work. In this case, the robot R may be programmed to travel within the robot travel area 9420 .

Meanwhile, the robot driving area 9420 may include first and second areas 9421 and 9422 in different driving direction areas. The robot R may travel only in one of the first and second areas 9421 and 9422 according to the traveling direction.

Furthermore, the robot driving area 9420 may be formed as a path dedicated to the robot, and a description thereof will be replaced with the above description. In addition, as shown in FIGS. 95 and 96, the robot driving area 9420 may be formed of a delivery-only passage 4430, and detailed descriptions corresponding to FIGS. 95 and 96 are described above in FIGS. 44 and 45 Replace with description.

A specific location of the logistics system according to the present invention may include a plurality of robot operating areas 9404, 9405, and 9406. The plurality of robot operating areas 9404, 9405, and 9406 operate robots for different purposes, and the first robot operating area 9404 is an area where at least one robot to receive a task to deliver an object waits. can be

Among the plurality of robot operation areas 9404 , 9405 , and 9406 , the second robot operation area 9405 is a power charging area, and a robot requiring power charging may be located there. When a robot is located in the second robot operating area 9405, the corresponding robot R may perform power charging using at least one of a wired or wireless method.

Next, among the plurality of robot operation areas 9404 , 9405 , and 9406 , the third robot operation area 9406 may be an area where the robot R that has not completed its mission waits. Here, the fact that the task has not been completed means that the robot R started driving to deliver the object to the target user, but did not complete the delivery of the object to the target user due to the situation of the target user or other circumstances. could mean something that doesn't. That is, the third robot operation area 9406 may be an area where the robot R waits for transport of objects stored in the robot R.

Meanwhile, in the distribution system according to the present invention, the robot to be operated may be located in any one of the plurality of robot operation areas 9404, 9405, and 9406 described above, depending on the purpose.

Furthermore, a reception area 9402 for receiving collected objects 9403 may be included in a specific place operated by the distribution system according to the present invention.

As illustrated, the receiving area 9402 may include at least one of the display unit 131 and the scanning unit 9830. The scanning unit 9830 may acquire waybill information of an object included in the object 9403 .

In this specification, for convenience of explanation, the term “invoice information” is uniformly used, but the term “invoice information” may be replaced with other terms.

For example, “invoice information” may also be expressed as “information on an object”.

Waybill information is information including information about a target user (recipient) to whom the object is delivered, and in addition to information about the recipient, postal information, waybill number, delivery company information, sender information, and object description information ( For example, at least one of object types (sneakers, clothes, etc.) may be further included.

In the present invention, when the objects 9403 are collected, an operation of accepting the collected objects may be performed in the reception area 9402. Acceptance of the object may include tasks of obtaining waybill information included in the object using the scan unit 9830 and specifying a target user of the object.

Furthermore, a specific place operated by the logistics system according to the present invention may include a storage place (or storage area 9410) for storing objects 9403 that have been received in the reception area 9402. As shown, the storage area 9410 may include a plurality of storage boxes 9410b. The received object may be stored in the storage box 9410b until it is delivered to the target user by the robot R. Meanwhile, in the reception area 9402, the received object may be stored in a specific storage box 9410a. In the present invention, different identification information 9411 may be assigned to each storage box. In the system according to the present invention, when receiving an object in the reception area 9402, i) waybill information of the object, ii) target information on a target user corresponding to the recipient of the object, and iii) identification of a storage box in which the object is stored. Information 9411 may be matched and stored. Accordingly, the system according to the present invention can provide a systematic process from when an object is collected in a specific place to being delivered to a target user by using the above matched information.

Referring to FIG. 97 , in the present invention, a process of obtaining waybill information for an object may proceed based on the object being scanned by the scanning unit (S9710).

As previously reviewed in FIG. 94 , the scanning unit 9830 may be provided in the receiving area 9402 (see FIG. 94 ) where objects are collected. The scanning unit 9830 may acquire waybill information of an object included in the object 9403 .

In this specification, for convenience of explanation, the term “invoice information” is uniformly used, but the term “invoice information” may be replaced with other terms.

Waybill information obtained by the scan unit 9830 may also be expressed as “information on an object”.

Waybill information is information including information about a target user (recipient) to whom the object is delivered, and in addition to information about the recipient, postal information, waybill number, delivery company information, sender information, and object description information ( For example, at least one of object types (sneakers, clothes, etc.) may be further included.

In the present invention, when the objects 9403 are collected, an operation of accepting the collected objects may be performed in the reception area 9402. Acceptance of the object may include tasks of obtaining waybill information included in the object using the scan unit 9830 and specifying a target user of the object.

Meanwhile, the scanning unit 9830 may scan an object in various forms and at various places.

For example, as shown in (a) of FIG. 98 , the scanning unit 9830 is movable by a worker (eg, a person who accepts an object or a robot (or work robot)). can be made in the form For example, as shown in (a) of FIG. 98, the scan unit 9830 may be made of a handheld type. In this case, the operator holds the scan unit 9830 in his hand and applies the scan unit (9810) to the object 9810. 9830) can be approached. Accordingly, the scanning unit 9830 may obtain waybill information by scanning the waybill 9811 provided in the object 9810.

As another example, as shown in (b) of FIG. 98 , the scan unit 9830 may be provided on a work table (eg, desk, table, etc. 9820 ) of the reception area 9402 . In this case, the scan unit 9830 may be installed in a fixed form on the work table 750 . An operator may take an action to bring the object 9810 closer to the scanning unit 9830, and the scanning unit 9830 may scan the object 9810 located around the scanning unit.

Meanwhile, the work table 9820 may include a guide area 9821 . Here, the guide area 9810 may include guide information for a 2D or 3D space.

The guide area 9810 may have a size equal to or smaller than the size of the container provided in the robot R. After placing an object in the guide area 9810, the operator may select an object smaller than the guide area as an object to be delivered through the robot R.

Meanwhile, although not shown, the scan unit 9830 may be disposed in at least one area of the guide area 9810. Therefore, in the present invention, the information of the waybill provided in the object is scanned through the scanning unit 9830 simply by the operator positioning the object in the guide area 9810 in order to select an object acceptable for the robot Ra. It can be.

As another example, as shown in (c) of FIG. 98 , the scan unit 9830 may be disposed in at least one area of the storage box 9840 . In this case, information on the waybill provided in the object may be scanned by the scanning unit 9830 through an operation of moving the object to the storage box in order for the operator to store the object in the storage box 9840 .

Meanwhile, in this case, identification information of the scanning unit 9830 provided in the storage box 9840 and identification information of the storage box 9840 may exist in the database, and these information may be matched to each other. Accordingly, when an object is scanned through the scanning unit 9830 provided in the storage box 9840, the cloud server 20 may acquire both identification information of the box where the object is stored and information about the waybill of the object.

That is, in this case, when waybill information is received from the scan unit 9830, the cloud server 20 may extract identification information of the scan unit 9830 that scanned the waybill information from the received information. Also, the cloud server 20 may extract identification information of the storage box 9840 matched with identification information of the scan unit 9830 from the database. In addition, the cloud server 20 may specify the storage box 9840 corresponding to the extracted identification information as a storage box in which objects are stored.

In this way, if the waybill information is obtained based on the object being scanned, next, in the present invention, a process of specifying a target user matching the waybill information and extracting target information corresponding to the specified target user may proceed. Yes (S9720).

As described above, a user DB in which information related to a user is stored may exist in the database.

Information related to the user includes the user's name, date of birth, address, phone number, employee number, ID, face image, biometric information (fingerprint information, iris information, etc.), user's location information (eg, within the space 10). At least one of the user's living place (eg, work place (or work area), residence place, etc.), identification information of electronic devices possessed by the user, user's e-mail address, and information related to the user's schedule (schedule) may contain one.

The cloud server 20 may specify a target user corresponding to the waybill information by comparing the waybill information and the user DB. When the target user is specified, the cloud server 20 may extract target information of the target user from the previously reviewed user DB.

The target information may include location information of a target user in a space accessible to the robot R delivering the object. Furthermore, the target information may include at least one of the target user's name, phone number, identification information (telephone number) of an electronic device possessed by the target user, e-mail address, biometric information, schedule (schedule) information, face image, employee number, and ID. may further include.

For example, as shown in FIG. 99, the cloud server 20 specifies a target user (recipient: Kim Jun-wan) corresponding to waybill information (invoice number: 380678608965) from the user DB, and the target information of the target user ( For example, Department: ME Hardware) can be extracted.

On the other hand, as shown in FIG. 99, the cloud server 20 stores waybill information (invoice number: 380678608965, sender: Care Optics), target information of a target user (recipient: Kim Jun-wan, department: ME Hardware), and objects. At least one of identification information (for example, 03) of the storage box and identification information of a specific robot (R) assigned a delivery mission for the corresponding object may be matched and stored.

As shown, it is also possible that a user DB related to object delivery exists separately. When waybill information is acquired from an object and a target user corresponding to the obtained waybill information is specified, the cloud server 20 may update information related to delivery of the object to the target information of the target user. Here, updating may mean matching and storing information related to delivery of an object based on a target user.

Such updates may be sequentially performed according to the delivery status of the object.

First, the cloud server 20 may update target information included in a user DB when a target user is specified from waybill information of a specific object.

The cloud server 20 may update the target information so that the waybill information is included in the target information of the target user.

In addition, when a specific object is stored in the storage box and identification information of the storage box is received, the cloud server 20 includes a user DB (more specifically, a target included in the user DB) so that the identification information of the storage box is included in the target information of the target user. information) can be updated.

Here, the identification information of the storage box may be received by scanning an identification mark provided in the storage box by the scanning unit 9830 described above, or may be received by a worker's input through the input unit 130 .

Furthermore, when the robot R delivering a specific object is specified, the cloud server 20 may update the identification information of the specified robot R to the target information of the target user.

That is, the cloud server 20 may update the user DB (more specifically, target information included in the user DB) so that the target information of the target user includes identification information of the specific robot R.

Therefore, in the user DB, as shown in FIG. 99, the target information of the target user includes i) information about the object (eg, waybill information), iii) identification information of the storage box in which the object is stored, and iii) corresponding Identification information of a specific robot (R) assigned a delivery mission for an object may be matched and stored.

Meanwhile, in the present invention, a process of generating identification information included in an identification mark to be attached to an object using waybill information and target information may proceed (S9730). As shown in FIGS. 100 and 101 , the identification information 10020 may include at least one of waybill information and target information. At this time, the identification information may include at least a part of waybill information.

The cloud server 20 may generate identification information using at least one of waybill information, target information, and storage box information.

Meanwhile, as shown in (a) of FIG. 100 , the distribution system according to the present invention may output an identification mark 10020 including identification information. A means for outputting the identification mark 10020 may be various types of printing devices. This identification mark 10020 is made in the form of a sticker and can be attached to the object 10030 as shown in FIG. 100(b). The cloud server 20 may output the identification mark 10020 including identification information by controlling the output unit 10010 when an output request for the identification mark 10020 is received by a worker. As shown in FIG. 99 , a function icon (eg, a “print” icon) for outputting an identification mark may be output on the operator's display unit 9910 . A user's request may be received based on a function icon being selected by an operator.

As illustrated, the cloud server 20 may output an identification mark of a target user (eg, name: Songhwa Chae) corresponding to the selected icon using a printing means.

On the other hand, the identification information may include CODE information that can be identified by the scan unit provided in the robot R that delivers the object. Here, the code information may be in the form of at least one of a barcode, serial information (or serial information), QR code, RFID tag, or NFC tag.

Meanwhile, the code information included in the identification information may include at least one of waybill information about an object, name information of a target user about the object, and location information of the target user. Furthermore, identification information may include a serial number of an object. Here, the serial number of the object may be a number assigned by the cloud server 20 in order to intuitively identify the object.

As shown in FIG. 101 , the identification mark 10020 may include at least one of code information 10121 and target information (eg, name: Chae Song-hwa) of the target user. Furthermore, the identification mark 10020 may further include a serial number (eg, 90) for the object.

On the other hand, as shown in (a) of FIG. 100, when the identification mark 10020 is output by the output unit 10010, as shown in (b) of FIG. 100, the identification mark 10020 is sent to the operator. , it can be attached to the object 10030. Furthermore, the object 10030 to which the identification mark 10020 is attached may be stored in the storage box 10040 as shown in (c) of FIG. 100 .

The object 10030 may be stored in the storage box 10040 until a delivery event for the object starts. As described above, the storage box in which the object 10030 is stored may be a storage box matched with target information of a target user.

On the other hand, as described above, when there is an object to be delivered to the target user, the cloud server 20 may send the target user's electronic device or a mailbox corresponding to the target user's account (eg, e-mail mailbox, messenger mailbox, etc.) ), it is possible to transmit notification information notifying that a delivery event for an object exists.

As shown in FIG. 104 (a) or FIG. 105 (a), the target user's electronic device (or the electronic device to which the target user's account is logged in (hereinafter referred to as 'target user's electronic device') Notification information 10460 notifying that an object to be delivered exists may be output on the business card 10460. Through this, the target user may recognize the existence of the object.

The cloud server 20, when the waybill information for the object, storage box information, etc. for the object is updated in the user DB, based on this, the electronic device of the target user registered in the user DB, notifies that there is a delivery event for the object. Notification information can be transmitted.

Meanwhile, the cloud server 20 may control transmission timing of notification information notifying that a delivery event exists in various ways.

As an example, the cloud server 20 may determine a transmission time to transmit notification information to the target user based on the history information of the target user. The history information may include information about a delivery time (or a delivery reservation time) requested in the past by a target user. The cloud server 20 may determine a point in time (or time) at which the notification information is to be transmitted in consideration of a delivery time frequently requested by the target user.

Furthermore, the history information may include information about a time (eg, 3:00 PM) at which a delivery reservation was requested by a target user in the past. The cloud server 20 may determine a point in time (or time) at which notification information is to be transmitted in consideration of a time at which a target user frequently requests delivery reservation.

As another example, when there are a plurality of received objects, the cloud server 20 may classify a plurality of target users corresponding to the plurality of objects into a plurality of groups and transmit notification information in groups at different times. This is to reduce congestion in the delivery business.

Next, in the present invention, a process of controlling the robot to deliver the object to the target user may proceed (S9740).

In the present invention, a series of processes for delivering an object to a target user may be performed based on a delivery request for the object.

Here, the delivery request may be made based on receiving delivery request information from a target user, worker, or control unit.

A delivery request from the target user may be received from an electronic device owned by the target user or an account (eg, an e-mail account, etc.) of the target user.

As shown in (a) of FIG. 104, the received delivery request may include information about the delivery request time. Here, the delivery request time may also be expressed as “reservation time” or “reservation time related to the delivery event”.

Here, the delivery request time may mean a time at which the target user wants to receive delivery of the object. As shown in (b) of FIG. 104 , the delivery request time (eg, 11:00) may be selected or input in the electronic device 10460 of the target user.

Based on the delivery request being received, the cloud server 20 may assign a task related to object delivery to the robot R so that the object is delivered to the target user by the robot R. Furthermore, the cloud server 20 may control the robot R to deliver the object at the delivery request time (or reservation time) included in the received delivery request.

That is, the cloud server 20, based on receiving the delivery request information including the reservation time related to the delivery event for the target user, from the target user's electronic device, the robot so that the object is delivered to the target user at the reservation time. (R) can be controlled. The cloud server 20 may control the time for the robot R to perform the mission based on the delivery request time.

When a delivery request is received, the cloud server 20 may extract object information corresponding to the delivery request. At this time, as shown in FIG. 102, the information of the object is identification information of the storage box in which the object corresponding to the delivery request is stored (or information about the storage location, eg, storage box 1) and the serial number of the object (eg, storage box 1). For example, at least one of No. 35). As shown in (a) of FIG. 102 , object information may be output to the display unit 131 . The cloud server 20 may output object information to the display unit 10200 based on the delivery request being received. Therefore, the operator checks the information of the object output on the display unit 10200, and as shown in (b) and (c) of FIG. 102, the information and delivery information of the storage box 10201 in which the delivery-requested object is stored. The target object 10210 can be easily identified.

Meanwhile, the cloud server 20 sends the robot R to deliver objects based on distance information between a target user and a specific place (eg, a delivery work place) controlled by the logistics system shown in FIG. 94 . It is possible to determine information about when delivery starts.

The cloud server 20 may calculate the movement time required for the robot R to move from the specific place to the place where the target user is located, based on distance information between the specific place and the place where the target user is located.

At this time, the place where the target user is located may be extracted from the user DB. Here, the place where the target user is located is a delivery place where the object is delivered, and as described above, it may be a place requested by the target user as well as one extracted from the user DB. In addition, the cloud server 20 may output information on the object for which the delivery request is received to the display unit 131 before a preset time including the calculated movement time. That is, the cloud server 20 may allow the robot R to load the object at an appropriate time to prevent the robot R from delivering the object too early or too late. have.

For example, if the calculated travel time is 10 minutes, the preset time is the calculated travel time (eg, 10 minutes) and the minimum work time for the operator to load the object on the robot R (eg, 10 minutes). Accordingly, in this case, information on the object for which the delivery request is received may be output on the display unit 131 20 minutes before the reservation time. The operator may check object information output to the display unit and load the object onto the robot R.

On the other hand, as shown in (a) of FIG. 103 , the object 10210 requested for delivery may be accommodated in the receiving box 10350 of the specific robot R by the worker 10200 . The worker may load the object 10210 into the receiving box 10350 of the specific robot R so that the delivery requested object 10210 is delivered to the target user.

At this time, the cloud server 20, as shown in (b) of FIG. 103, through the scanning unit 9830, the identification mark 10320 attached to the delivery requested object 10210 loaded on the specific robot R. ) can be scanned. The identification mark 10320 at this time may be the identification mark 10210 output through the output unit 10010 previously described in FIG. 100 . Furthermore, the scanning unit 9830 may scan identification information 10330 of a specific robot R, as shown in (c) of FIG. 103 . The cloud server 20 requests delivery based on the scan unit 9830 scanning the identification mark 10320 attached to the delivery requested object 10210 and the identification information 10330 of the specific robot R. Target information of a target user to receive the object 10210 and identification information of a specific robot R that will perform a delivery mission for the delivery-requested object 10210 may be extracted.

Meanwhile, the cloud server 20 is based on sequentially scanning the identification mark 10320 attached to the object 10210 requested for delivery and the identification information 10330 of the specific robot R by the scanning unit 9830. Thus (the order is irrelevant), it can be determined that the robot R to deliver the delivery-requested object 10210 has been specified. Then, the cloud server 20 can update the identification information of the specified robot R to the target information of the target user.

That is, the cloud server 20 may update the user DB (more specifically, target information included in the user DB) so that the target information of the target user includes identification information of the specific robot R. In this case, robot identification information may be additionally included in the user DB discussed above in FIG. 99 . Furthermore, when a robot to deliver an object is specified, the cloud server 20 may generate an event “the corresponding object is loaded on the robot R”.

Meanwhile, the “event that the object is loaded on the robot R” may also be expressed as a delivery start event.

The cloud server 20 may generate a delivery start event when the identification mark 10320 attached to the object 10210 requested for delivery is scanned by the scanning unit provided in the robot R.

Information that such a delivery start event has occurred may be updated in a user DB including target information of a target user for a delivery-requested object.

That is, information on a delivery start event may be updated in target information of a target user included in the user DB.

Meanwhile, the cloud server 20 may transmit notification information indicating that delivery of the object requested for delivery has started, to the electronic device of the target user, based on the information on the delivery start event being updated in the user DB.

For example, as shown in FIGS. 104(c) and 105(b), notification information (10464) notifying that delivery of a delivery-requested object has started is displayed on the target user's electronic device (10460, 10570). , 10572) may be transmitted.

As illustrated, notification information 10464 and 10572 may further include information about an estimated time of arrival at which the robot R is scheduled to arrive at a place where the target user is located.

On the other hand, in the present invention, as shown in FIG. 105 (c), from the target user's electronic device, a change request for delivery reservation time (10573), a delivery cancellation request (10574), as shown in FIG. 106 , various requests related to delivery, such as a delivery stop request (10611), may be received. When the delivery-related request described above is received from the electronic device of the target user, the cloud server 20 may perform a control corresponding to the received delivery-related request with respect to the robot R. For example, when a request for time change, suspension, or cancellation of delivery is received from an electronic device of a target user while the robot R has started delivery, the cloud server 20 assigns You can cancel the mission and return the robot (R) to a specific location.

On the other hand, as shown in FIG. 106, the target user's electronic device 10610 has information about the delivery status (for example, delivery) and expected arrival time of the robot R in real time or at preset time intervals. can be updated That is, the cloud server 20 may transmit information about the delivery status (eg, being delivered) and the expected arrival time of the robot R to the electronic device of the target user in real time or at preset time intervals.

On the other hand, the cloud server 20, as shown in (b) of FIG. 106, when the robot R is located at the place where the target user is located (or the delivery place where the object is reserved for delivery), the robot R Notification information notifying that the user has arrived at the corresponding place may be transmitted to the electronic device of the target user.

Furthermore, the cloud server 20, when the robot R does not meet the target user by the delivery reservation time for the object, as shown in (c) of FIG. 106, waits for the target user's electronic device to be added. Information about time can be transmitted.

In this case, information on the additional dash time may be determined based on a relative distance between the current location of the target user and the delivery location.

The cloud server 20 performs face recognition from an image received from a camera disposed in the space 10, recognition of an identification mark possessed by the target user 10200, and recognition of an electronic device possessed by the target user 10200. The current location of the target user in the space 10 can be confirmed by a method or the like.

Further, the cloud server 20 may set an additional waiting time when the distance or expected movement time from the current location of the target user to the delivery location is within a preset range or a preset time. Here, the additional waiting time means the time for the robot R, which delivers the object, to wait for the target user at the delivery location beyond the delivery reservation time in order to deliver the object to the target user.

When the additional waiting time is set, the cloud server 20 may transmit a control command to the robot R to additionally wait for a target user at the delivery location during the additional waiting time.

Meanwhile, in the present invention, the cloud server 20 may assign a task to the robot R for object delivery. As shown in (c) of FIG. 103 , the cloud server 20 may assign a task for delivering an object to the robot R whose identification information is scanned by the scanning unit 9830 .

The cloud server 20 may transmit a control command for performing an object delivery mission to the corresponding robot R. Such a control command may include place information (or location information) about a delivery place where an object is to be delivered.

“Assigning a task to the robot (R)” means assigning a task to the robot (R), and more specifically, by inputting a control command to the robot (R) so that the robot (R) performs the assigned task, or It can mean sending. The robot (R), when assigned a task, may include an algorithm to perform the assigned task. That is, the robot R can be programmed to perform assigned tasks. The control unit of the robot R may perform an operation for performing an assigned task (eg, delivery of an object) according to a preset algorithm and program. The motions of robots to perform assigned tasks can be very diverse. For example, the operation of the robot R can be understood as a concept that includes all operations related to driving of the robot, tasks performed by the robot, power state of the robot, and the like.

Meanwhile, in order to assign a task to the robot R, the control command input or transmitted to the robot R includes at least one command for driving the robot R so that the robot R performs the assigned task. can do. Assignment of tasks to the robot R may be performed through various paths, and may be assigned by the cloud server 20 as an example. The cloud server 20 may be configured to assign tasks to the robot R. The cloud server 20 may transmit a control command related to a mission to the robot R by using the communication unit 110 in order to assign a task to the robot R. Such a control command may include control for the robot R to perform a mission.

At this time, the cloud server 20 may perform control related to driving of the robot R so that the robot R moves to a specific location matched to a mission. The cloud server 20 may control the robot R to move to a specific place matched to the mission by transmitting a control command corresponding to the mission to the robot R. A control command corresponding to a mission assigned to the robot R may include information related to the mission. As discussed above, mission-related information includes the type of mission, operation according to the mission, target user information that is the target of the mission, mission performance location (or a specific location matched to the mission (eg, delivery location)) and information related to at least one of scheduled mission performance time (eg, delivery reservation time).

Meanwhile, upon receiving a control command corresponding to a mission from the cloud server 20, the robot R may move to a specific location matched to the mission in order to perform an assigned mission based on information related to the mission. have. The control unit of the robot R may move to the place where the mission is performed based on information related to the mission received from the cloud server 20 .

On the other hand, the assignment of the task to the robot (R) can be assigned based on the information on the task is input to the robot (R). In this case, the robot R may receive task-related information from a scan unit provided in the robot R. A target for inputting information related to a mission through the scan unit of the robot R may be a human or a robot different from the robot assigned to the mission.

In this way, the task assignment to the robot R may be performed in various ways, and the robot R may perform an operation for performing the task based on the assignment of the task.

As described above, the task assigned to the robot R may be a task of providing a service of delivering an object to a target user.

Meanwhile, the control unit of the robot R may control the driving unit of the robot R to stop driving at the delivery location when it arrives at the delivery location to perform the mission. The robot R may perform an operation of waiting for a target user at a delivery location. At this time, the operating state of the robot R may be an operating state of a sleep mode, a standby mode, or a power saving mode in which power of an output unit such as a display unit is turned off or operated in a minimum power consumption mode.

In this operating state, the control unit of the robot R may monitor the surrounding situation of the robot R at a preset time interval or in real time using a camera provided in the robot R. The robot R may collect images of a surrounding situation through a camera, and identify a target user U from the collected images, as shown in (a) of FIG. 107 .

In this case, the control unit of the robot R may output identification information (eg, name) of the target user 10200 through the display unit 10720 or the speaker. Accordingly, the target user U can easily recognize the robot R that will perform the service in relation to the target user U.

On the other hand, the control unit of the robot (R), through the user authentication process for authenticating the target user (10200), when the user authentication for authenticating the target user (U) is completed, to perform the task for the target user (U) can The control unit of the robot R, through at least one of various user authentication methods such as face recognition (see (b) of FIG. 107), fingerprint recognition, iris recognition, voice recognition, password input, and identification mark scanning, targets the user ( U) can be authenticated. The controller of the robot R may perform user authentication using various sensors (eg, a camera 10710) provided in the robot R.

That is, the control unit of the robot (R), through the process of authenticating whether the user approaching the robot (R) is a true user corresponding to the target user matched to the assigned task, the assigned task is not related to the task It can be prevented from being performed by a third party.

Meanwhile, the controller of the robot R may provide a service corresponding to a mission to the target user U when user authentication is completed. For example, when the assigned task is product delivery, the control unit of the robot R, as shown in (c) of FIG. By controlling the storage box to be opened, the target user 10200 can take out the object. Through this, the control unit of the robot R can complete the task for the target user 10200.

Meanwhile, when user authentication (for example, authentication through face recognition) in the robot R shown in FIG. 107 fails (see (a) in FIG. 108), the cloud server 20 provides an additional authentication method. can do. For example, as shown in (b) and (c) of FIG. 108 , the cloud server 20 may provide a user environment for user authentication in the electronic device 10840 of the target user. As shown in (c) of FIG. 108 , a function icon 10842 corresponding to a function of opening a box of the robot R may be output to the electronic device 10840 of the target user. When a selection signal for the function icon 10842 is received from the electronic device 10840 of the target user, the cloud server 20 may transmit a control command to the robot R to open the box of the robot R. have. Through this, the user can take out the object from the robot R.

As described above, according to the present invention, information on a target user corresponding to a recipient of a delivered item can be obtained using waybill information attached to a delivered item (or object). Furthermore, in the present invention, a delivery method in which an identification mark that can be scanned by a robot is generated using the acquired information of the target user and the waybill information, and the product is delivered to the target user by the robot scanning the identification mark, and system can be provided. Through this, the delivery method and system using a robot according to the present invention enables the robot to deliver goods to a target user even if the manager who manages delivery of goods does not individually input the delivery address information of the goods to the robot, thereby increasing work efficiency. this may increase

Furthermore, according to the present invention, by inputting information on a place where collected objects are stored in a user DB, when a target user requests delivery of an object, information on a place where the objects are stored can be provided from the user DB. Accordingly, a manager who manages the delivery of goods can reduce the inconvenience of having to individually find the place where the goods are stored in order to deliver the goods to the target user.

Meanwhile, in the following, a method of controlling a robot assigned a mission will be described in more detail. At this time, the mission may be a mission to provide the delivery service described above or other missions. Furthermore, such a task may be performed for a user. Hereinafter, a method of controlling a robot when performing a task for a user (or target user) will be described in more detail.

More specifically, a method of controlling a task assigned to a robot in consideration of a user's situation and a method of more flexibly controlling a task assigned to a robot based on a user's situation will be described.

109 to 114 are conceptual diagrams for explaining a method of controlling a robot providing services to users in a robot-friendly building according to the present invention.

First, referring to FIG. 109 , a process of assigning a task to a robot in the cloud server 20 proceeds (S10910).

In the present invention, “assigning a task to a robot” means assigning a task to the robot, and more specifically, inputting or transmitting a control command to the robot R so that the robot R performs the assigned task. that can mean The robot (R), when assigned a task, may include an algorithm to perform the assigned task. That is, the robot R can be programmed to perform assigned tasks. The control unit of the robot R may perform an operation for performing the assigned task R according to a preset algorithm and program.

The motions of robots to perform assigned tasks can be very diverse.

For example, the operation of the robot may be understood as a concept including all operations related to driving of the robot, tasks performed by the robot, power state of the robot, and the like.

The motion related to driving of the robot may include various motions related to driving of the robot, such as a driving speed, a driving direction, a rotation direction, a rotational speed, a driving start, a driving stop, and a driving end of the robot.

Next, an operation related to a task performed by the robot may be different depending on the type of task performed by the robot. For example, if the robot is a robot providing a road guidance service, operations related to missions performed by the robot may include a road finding operation for road guidance, a driving operation for road guidance, and the like. As another example, if the robot R is a robot that provides a product delivery service, operations related to tasks performed by the robot include a driving operation for delivering products and driving hardware of the robot for delivering products. actions, etc.

Next, the operation related to the power state of the robot is an operation of turning on or off the power of the robot R, an operation of driving the robot in a standby state, and a sleep mode of the robot. mode), and the like. In addition to the examples listed above, the types of motions of the robot may vary, and the present invention is not limited to the above examples.

In this way, the operation of the robot is diverse, and the robot R may perform at least one of the various operations described above in order to perform the assigned task.

Meanwhile, in order to assign a task to the robot R, the control command input or transmitted to the robot R includes at least one command for driving the robot R so that the robot R performs the assigned task. can do.

Assignment of tasks to the robot R may be performed through various paths, and as an example, assignment may be performed by the cloud server 20 according to the present invention. The cloud server 20 may be configured to assign tasks to the robot R. The cloud server 20 may transmit a control command related to a mission to the robot R by using the communication unit 110 in order to assign a task to the robot R. These control commands may include controls for the robot R to perform a mission.

At this time, the cloud server 20 may perform control related to driving of the robot R so that the robot R moves to a specific location matched to a mission. The cloud server 20 may control the robot R to move to a specific place matched to the mission by transmitting a control command corresponding to the mission to the robot R.

At this time, the control command corresponding to the mission assigned to the robot R may include information related to the mission. As described above, the information related to the mission is at least one of the type of mission, operation according to the mission, information on the target user who is the target of the mission, the place where the mission is performed (or a specific place matched with the mission), and the expected time of the mission. may contain information related to

Meanwhile, upon receiving a control command corresponding to a mission from the cloud server 20, the robot R may move to a specific location matched to the mission in order to perform an assigned mission based on information related to the mission. have. The control unit of the robot R may move to the place where the mission is performed based on information related to the mission received from the cloud server 20 .

On the other hand, the assignment of the task to the robot (R) can be assigned based on the information on the task is input to the robot (R). In this case, the robot R may receive information related to the mission through the configuration of the input unit provided in the robot R. Through the configuration of the input unit of the robot R, a target for inputting information related to a mission may be a human or a robot different from a robot assigned to a mission.

In this way, the task assignment to the robot R may be performed in various ways, and the robot R may perform an operation for performing the task based on the assignment of the task.

As described above, a task assigned to the robot R may be a task of providing a service to a user. In this case, the robot R directly meets (or faces) the target of the mission, that is, the user who is the target of the service (hereinafter referred to as “target user”) on the indoor space 10, It can be made to provide a service to a target user,

Accordingly, the robot R may move to a specific place to perform a mission for the target user (or to perform a service according to the mission) based on the assignment of the mission.

At this time, the robot R may move to a specific place based on information related to the assigned mission. The cloud server 20 may control the robot R so that the robot R moves to a specific place corresponding to information related to an assigned task.

As described above, the information related to the mission is at least one of the type of mission, operation according to the mission, information on the target user who is the target of the mission, the place where the mission is performed (or a specific place matched with the mission), and the expected time of the mission. may contain relevant information.

Based on information related to the mission, the robot R may move to a specific place matched with the mission to perform the mission until the scheduled time to perform the mission.

The cloud server 20 may control the robot R so that the robot R moves to a specific place matched with the mission to perform the mission, based on information related to the mission, until the scheduled time to perform the mission. have.

Meanwhile, the scheduled time for the mission to be performed may also be expressed as “scheduled time” or “reserved time”. The scheduled time or reservation time may be determined based on selection from a target user or control in the cloud server 20 . For example, the target user can make a reservation to the cloud server 20 for the robot R to perform a specific task (eg, parcel delivery task) for the target user. At this time, the target user may input a time (eg, 3:00 PM) to receive a service according to a specific mission to the cloud server 20 through an electronic device. This specified time may be expressed as the scheduled time or reservation time discussed above. In addition, it is also possible for the target user to transmit scheduled time information directly to the robot R through an electronic device without going through the cloud server 20 .

On the other hand, the robot R may be programmed to receive information about the scheduled time to perform the mission through various paths, and to perform the mission at the corresponding time.

Furthermore, a specific place where the mission is performed may also be set in various ways. For example, when a target user to whom a service is performed is specified, the cloud server 20 may extract location information such as a place of work or a place of residence of the target user by referring to the user DB discussed above. And, the cloud server 20 may set a place related to the extracted place information as a specific place (or destination) where the mission is to be performed. As another example, a specific place where a mission is performed may also be specified based on information received from a target user.

Meanwhile, the robot R may be programmed to move to the specific place to perform the mission when receiving information on a specific place where the mission is to be performed through various routes. The robot R may perform driving with the specific place as a “destination”.

In this way, when the task is assigned, the robot R performs the task until the scheduled time (or before the preset time before the scheduled time (for example, when the scheduled time is 3:00 PM, until 2:50)) ) can be moved to a specific location.

The cloud server 20 may control the robot R to move to a specific place by a predetermined time in order to perform the assigned task. At this time, the cloud server 20 may control the driving of the robot R.

Meanwhile, in the present invention, a process of confirming a location of a target user to whom a service according to a mission is to be provided may be performed using an image received from a camera disposed in an indoor space (S10920).

When a target user is specified, the cloud server 20 may receive an image from a camera disposed in the space 10, identify the target user, and extract location information of the target user from the received image. The cloud server 20 may check the current location of the target user on the space 10 before a predetermined time from the scheduled time for performing the mission. This is to determine whether the target user can arrive at a specific place matched to the mission by the scheduled time by checking the target user's current location before the preset time from the scheduled time.

Here, the preset length of time may be set differently according to circumstances.

At this time, as shown in FIG. 110 , the robot R may be in a state of arriving at a specific place (indoor space in a building corresponding to the specific place, 10) matched to the mission, or in a state of moving to a specific place.

Meanwhile, in the present invention, a method of determining the location of a target user may be varied. More specifically, as shown in FIG. 111 , the cloud server 20 may extract a target user U from an image received through a camera 121 disposed in the indoor space 10 . The cloud server 20 may specify an image including a face image corresponding to the target user U from among a plurality of images disposed in the indoor space 10 by using a face recognition algorithm. The face image of the target user U may already exist in a user DB stored in the database.

On the other hand, when an image including a face image corresponding to the target user U is specified, the cloud server 20 assigns a place where a camera that captured the specified image is disposed to the location (or current location) of the target user. can be specified.

As described above, identification information about a camera and location information about a place where a camera is placed may be matched and present in the database. Accordingly, the cloud server 20 may extract the location information matched with the identification information of the camera that captured the image from the database and specify it as the location of the target user.

Meanwhile, the location of the target user U may be determined based on recognizing an identification mark possessed by the target user U. The cloud server 20 may recognize an identification mark possessed by the target user U through a robot, facility infrastructure, or various sensors provided in a building. Furthermore, the cloud server 20 may recognize the identification mark by using a scanning unit that scans the identification mark disposed in the space 10 or a recognition unit that recognizes the identification mark. Such an identification mark may include a component that can be recognized through communication, such as an antenna (eg, NFC antenna, etc.), a barcode, a QR code, and the like. Such an identification mark may be composed of a specific company's access card or the like. Meanwhile, in the database, identification information of a scan unit or recognition unit that recognizes an identification mark may be matched with location information about a place where the scan unit or recognition unit is placed. Accordingly, the cloud server 20 may extract location information matched with the identification information of the scan unit or recognizer that recognizes the identification mark from the database, and may specify the location of the target user.

As another example, the location of the target user U may be determined based on recognizing an electronic device possessed by the target user U. Here, the electronic device may include a mobile phone (or smart phone) of the target user U. These electronic devices are pre-registered in the user DB, and identification information corresponding to the electronic device of the target user U may be stored in information related to the target user U according to the user DB. The cloud server 20 may recognize an electronic device possessed by the target user U using the communication unit 110 .

In the database, identification information of the communication unit that communicated with the electronic device with the strongest signal strength and location information on a place where the communication unit is located may be matched and present. Accordingly, the cloud server 20 may extract location information matched with identification information of a communication unit communicating with the electronic device with the strongest signal strength from the database, and may specify the extracted location information as the location of the target user.

In this way, when the location information of the target user is confirmed (or specified), in the present invention, based on the relative location information between the location of the target user and a specific place where the task is performed, control related to the time when the task is performed is performed. The process of doing may proceed (S10930).

As described above, the time at which the mission is performed may mean a scheduled time at which the robot R is scheduled to perform the mission (or scheduled to meet the target user).

Here, the relative location information may include distance information corresponding to a distance between the location (or current location) of the target user identified in step S10920 and a specific place. The relative location information is information about how far the target user U is from a specific place, and may include at least one of horizontal distance information and vertical distance information.

Here, the horizontal distance information may mean information on how far the target user U is from a specific place, assuming that the specific place and the target user U exist on the same floor. . This horizontal distance information may be expressed in units such as meters.

Furthermore, the vertical distance information is information on how many floors the target user U is away from a specific place when it is assumed that the specific place and the target user U are located on different floors. can mean Such vertical distance information may be expressed as “the number of floors” obtained by subtracting the floor on which the target user U is located from the floor where the specific place is located. For example, as shown in FIG. 111 , the indoor space 10 may be composed of a plurality of different floors (floor, 10a, 10b, 10c, 10d, …). In this case, the target user U may be located on the first floor 10a, and the specific place may be located on the fourth floor 10d. In this case, relative position information (specifically, vertical distance information) between a specific place and the target user U may correspond to the third floor.

In this way, when the location of the target user U is confirmed, the cloud server 20 may calculate relative location information between the target user U and a specific place using the confirmed location information. Then, the cloud server 20, based on the relative position information including at least one of vertical distance information and horizontal distance information, exceeds the scheduled performance time of the mission assigned to the robot R, so that the robot performs the mission. You can decide whether to control (R) or not.

Meanwhile, the robot R may be programmed (or controlled) to wait for the target user U at a specific place only until the scheduled time to perform the mission, until the mission is controlled to be performed beyond the scheduled time.

On the other hand, the robot R, when a service for a mission (eg, product delivery) is not provided to the target user U by the scheduled time, regardless of the completion of the mission, the target user U ), it is possible to return to a preset place without performing a standby. In this case, it may also be expressed that the task assigned to the robot R is canceled.

Therefore, in the robot (R), the mission is performed beyond the scheduled time of the assigned mission, as shown in FIG. 110, the robot (R) is a specific place matched to the mission beyond the scheduled time. It can mean being located in .

That is, if the robot R is controlled to perform a mission beyond the scheduled time, the robot R may wait for the target user U at a specific location.

Meanwhile, the robot R may perform a pre-assigned task beyond a predetermined time based on a control command received from the cloud server 20 . That is, the control unit of the robot R may continue to be located in a specific place based on a control command received from the cloud server 20 even if the predetermined time has elapsed. At this time, the robot R may exist in any one of a standby mode, a power saving mode, and a sleep mode.

A method of controlling the robot R so that the task is performed in the robot R beyond the scheduled time for performing the task assigned to the robot R will be described in more detail.

The cloud server 20 may set an additional task execution time for the scheduled time based on various criteria. Here, “additional task performance time” may also be expressed as “additional waiting time”. The “additional waiting time” is a time that exceeds the scheduled task execution time, and may be specified as, for example, 10 minutes or 20 minutes. For example, if the scheduled time to perform the mission is 3:00 PM and the additional waiting time is 10 minutes, the robot R will meet the target user (or provide service according to the mission to the target user) at 3:00 PM. It can be located in a specific place for up to 10 minutes.

Looking more specifically at the method of setting the additional mission execution time, the cloud server 20 sets the additional mission execution time with respect to the scheduled mission execution time when the distance between the target user and a specific place is within a reference range. can

Here, the distance between the target user and a specific place may be specified based on at least one of horizontal distance information and vertical distance information discussed above.

In addition, the cloud server 20 may perform control related to the additional task execution time for the robot R so that the robot R exceeds the scheduled time and performs the mission during the additional mission execution time. As described above, the control related to the execution time of the additional mission may include control to wait at the specific place for the duration of the additional mission beyond the scheduled time after the robot R arrives at a specific place.

In the database, as shown in FIGS. 112 and 113 , various guide information for setting an additional mission performance time may be stored and present. The cloud server 20 may set an additional task execution time based on guide information and relative location information (eg, a distance between the target user's location and the specific place) stored in the storage unit.

In this case, the length of time for performing the additional mission (or length of time, duration) may be set differently depending on the distance between the location of the target user and a specific place.

For example, as shown in FIG. 112, when the distance between the location of the target user and a specific place is “on the same floor and within 10 meters (m)”, the length of the additional task performance time is “5 minutes” can be set. The cloud server 20 may transmit information about the additional task execution time to the robot R. Based on the information on the additional task execution time received from the cloud server 20, the robot (R) exceeds the predetermined task execution time, so that the assigned task can be performed during the additional task execution time. You can stay on standby in place.

As another example, as shown in FIG. 112 , when the distance between the location of the target user and a specific place is within “5th floor”, the length of the additional task execution time may be set to “10 minutes”. That is, since the longer the distance between the target user and the specific place, the longer the target user needs to move to the specific place, the cloud server 20 additionally waits according to the distance between the target user and the specific place. You can set different times.

Meanwhile, even in this case, the cloud server 20 may transmit information about the additional task performance time to the robot R. Based on the information on the additional task execution time received from the cloud server 20, the robot (R) exceeds the predetermined task execution time, so that the assigned task can be performed during the additional task execution time. You can stay on standby in place.

On the other hand, if the distance between the target user and a specific place is out of the standard range, the task assigned to the robot R may be canceled.

For example, as shown in FIG. 111 , a specific place may be located on a specific floor 10d among a plurality of floors 10a, 10b, 10c, and 10d constituting the space 10 . In this case, the reference range may be based on “floor”. The cloud server 20 may check which floor of a plurality of floors the target user is located on, and may not set an additional task execution time when the floor where the target user is located and the specific floor where the specific place is located are different from each other.

In addition, the cloud server 20 may not set an additional task execution time when the distance between floors between the location of the target user and a specific place is out of a reference range.

For example, as shown in FIG. 112, when the distance between the location of the target user and a specific place exceeds “5th floor”, the cloud server 20 cancels the task assigned to the robot R so that the robot ( A control command for mission cancellation may be transmitted to R). In this case, the robot R may return to a predetermined place without completing the mission. The cloud server 20 may determine that the target user will not be able to arrive at the specific place within a predetermined time to perform a task when the target user is located at a distance outside the reference range from the specific place.

At this time, the cloud server 20 may control the robot R to return to a preset place before the scheduled time for the mission to be performed. In this case, the robot R may return to a preset location without waiting at a specific location until the scheduled time. Alternatively, the cloud server 20 may also control the robot R so that the robot R waits for a target user at a specific place until a predetermined time. That is, the above-mentioned “control command for mission cancellation” may include any one of the above two situations.

Meanwhile, the cloud server 20 may perform control related to the execution time of the additional task in consideration of not only the distance between the target user and a specific place, but also the situation information of the target user. That is, even when the distance between the target user and the specific place is short, the target user may not reach the specific place until the scheduled mission execution time and the additional mission execution time depending on the current situation of the target user.

Context information of the target user may be collected through various paths.

As an example, the cloud server 20 not only recognizes a target user from an image received from a camera 121 disposed in the space 10, but also behavioral information of the target user and characteristic information of a place where the target user is located. At least one of them can be extracted. For example, the cloud server 20 determines whether the target user is i) moving toward a specific place, ii) having a conversation with a third party, iii) meeting in a conference room, as shown in FIG. 113 , from the video. Context information of the target user, such as whether or not the user is playing, can be grasped. Further, the cloud server 20 may predict a possibility that the target user may not reach the scheduled mission execution time and the additional mission execution time based on the situation information of the target user. Accordingly, the cloud server 20 may not set an additional task execution time based on context information of the target user even when the target user and the specific place are located within the reference range. For example, as shown in FIG. 113 , when a situation of a target user “moving toward a specific place” is analyzed, an additional task execution time (or waiting time) may be set. And, as shown in FIG. 113, when the situation of the target user who “meeting in the conference room” is analyzed, even when the target user is located within a standard range from a specific place, an additional task execution time (or waiting time) is set. It may not be.

Meanwhile, the cloud server 20 may analyze the user's context information based on the user's schedule information stored in the user DB. For example, the cloud server 20 may extract meeting end time information from schedule information of the user. If the extracted meeting end time information is within the scheduled mission execution time or within the configurable additional mission execution time, the cloud server 20 may set the additional mission execution time based on the user's schedule information.

On the other hand, the cloud server 20, when the situation information of the target user moving to a specific place is obtained, even if the distance between the target user and the specific place is out of the reference range, set the additional task execution time. can This is to reflect the target user's intention to receive the service according to the mission. In this case, the cloud server 20 may set the additional task execution time in consideration of the scheduled task time according to the other task pre-allocated to the robot R.

On the other hand, in the above embodiment, the setting of the length of time for performing the additional task was considered in consideration of only the situation of the target user, but in the present invention, the length of the time for performing the additional task is set in consideration of the schedule of the robot (R). It can be. The cloud server 20 may check other missions preset in the robot R, and calculate maximum additional mission execution time information allowed for the robot R. Also, the cloud server 20 may set an additional task execution time for the target user within a maximum additional task execution time.

On the other hand, in order to provide services to the target user, the cloud server 20 starts moving to a specific location, or a target user's electronic device before a predetermined time from the scheduled time to perform the mission. Notification information can be transmitted. Such notification information may include information notifying that the robot R is moving to a specific place or is located in a specific place.

Meanwhile, the cloud server 20 may receive information on at least one of an expected arrival time and availability of arrival at a specific place from the electronic device of the target user. Then, the cloud server 20 controls the additional mission execution time (eg, determining the length of the additional mission execution time, determining whether to set the additional mission execution time, etc.) based on the information received from the electronic device of the target user. can be done

Meanwhile, the cloud server 20 may receive, from the robot R, status information including arrival at a specific place to perform a mission. The cloud server 20 may determine the location of the target user and perform a series of controls as described above, based on the state information being received.

Furthermore, in the above embodiments, the method for setting the additional task execution time for the robot R under the control of the cloud server 20 has been reviewed, but in the present invention, by the control unit of the robot R However, it is also possible that an additional task performance time can be set.

The robot R includes a communication unit that receives mission information on a mission to be performed from the cloud server 20, a driving unit that moves to a specific place where the mission is scheduled to be performed, and a target that is the target to be performed from the remote control system. A controller for receiving location information of a target user and calculating a distance between the target user and a specific place based on the location information of the target user may be included. Also, the control unit of the robot R may set an additional task performance time so that the task is performed beyond the scheduled time when the distance between the target user and the specific place is within the reference range. At this time, i) calculating the distance between the target user and a specific place, and ii) accordingly, the method of setting the additional task execution time is the same as the configuration performed in the cloud server 20 of the cloud server 20 described above Therefore, a detailed description thereof will be omitted. That is, as discussed above, the cloud server 20 can be understood as a controller of the robot R.

Furthermore, the control unit of the robot R receives at least one of i) location information of the target user and ii) relative location information between the target user and the target place from the cloud server 20, and sets an additional task execution time that is also possible

Meanwhile, when the robot R waits for the target user U at a specific place, it may be located in a preset area 11010 (or a preset waiting area) of the specific place. Here, the preset area 11010 may be an area that does not obstruct human traffic (eg, see 11010 in FIG. 110 and 11010 in FIG. 114 ). The control unit of the robot R may collect images of a specific place using a camera provided in the robot R, and may determine a waiting area (preset area 11010) in which to wait for a target user. Information on criteria for setting the waiting area 11010 may be previously stored in the storage unit of the robot R or the cloud server 20 . For example, there may be criteria for setting the waiting area, such as “waiting at a distance greater than a preset distance from the door” or “waiting near a wall”. Meanwhile, the location of the standby area may also be designated by the cloud server 20 of the cloud server 20 .

On the other hand, the control unit of the robot (R), when arriving at a specific place to perform a mission, can control the robot (R) to be located in the waiting area (10a).

The control unit of the robot R may control the driving unit of the robot R to stop traveling within the waiting area 11010 of the specific location when the robot R completes moving to the specific location. have. The robot R may perform an operation of waiting for a target user in the waiting area 11010 . At this time, the operating state of the robot R may be an operating state of an output unit such as an output unit being turned off or a sleep mode operating in a minimum power consumption mode, a standby mode, or a power saving mode.

In this operating state, the control unit of the robot R may monitor the surrounding situation of the robot R at a preset time interval or in real time using a camera provided in the robot R. The robot R may collect an image of a surrounding situation through a camera, and identify a target user U from the collected image, as shown in FIG. 114(b). Then, the control unit of the robot R can start traveling toward the target user U when it is confirmed that the target user U has arrived at (entered or positioned) the specially equipped place. At this time, the control unit of the robot R may travel toward the target user U at a predetermined speed or less. Furthermore, the control unit of the robot R may output identification information (eg, name) of the target user U through an output unit or a speaker. Accordingly, the target user U can easily recognize the robot R that will perform the service in relation to the target user U.

On the other hand, the control unit of the robot (R), through the user authentication process for authenticating the target user (U), when the user authentication for authenticating the target user (U) is completed, to perform the task for the target user (U) can The control unit of the robot R may perform authentication of the target user U through at least one of various user authentication methods such as face recognition, fingerprint recognition, iris recognition, voice recognition, password input, and identification mark scanning. have. That is, the control unit of the robot (R), through the process of authenticating whether the user approaching the robot (R) is a true user corresponding to the target user matched to the assigned task, the assigned task is not related to the task It can be prevented from being performed by a third party.

Meanwhile, the controller of the robot R may provide a service corresponding to a mission to the target user U when user authentication is completed. For example, when the assigned task is product delivery, the control unit of the robot R may control the storage box of the robot R to open, so that the target user U can take out the product. . Through this, the control unit of the robot R can complete the performance of the mission for the target user U.

Meanwhile, in the above example, a method of authenticating a user using a camera provided in the robot R was examined, but the present invention is not limited to this example. In the present invention, it is possible to authenticate the target user U, who is the target of performing the mission, by performing user authentication using a camera installed in the space as well as a camera provided in the robot R.

At this time, the cloud server 20 may transmit an image acquired from a camera disposed in space to the robot R using the communication unit 110 . The control unit of the robot R may perform a user authentication process for authenticating the target user U as described above using the video transmitted from the cloud server 20 .

Furthermore, unlike the above example, in the present invention, user authentication may be performed using an image obtained through a camera disposed in space in the cloud server 20, and the authentication result may be transmitted to the robot R. . The cloud server 20 may transmit information indicating that authentication of the target user U has been completed to the robot R side. The control unit of the robot R may perform a task for the target user U based on the information received from the cloud server 20 .

In this case, the cloud server 20 may obtain a user's face image from an image received through a camera disposed in the space where the robot R is located. At this time, the cloud server 20 may select a camera that can approach the robot R or acquire a user's face image located closest to the robot R from among a plurality of cameras disposed in the space.

Then, the cloud server 20 determines whether the obtained face image corresponds to the target user U's face image through analysis of the face image acquired through the camera disposed in the space, thereby providing the target user U authentication can be performed.

The cloud server 20 may determine whether the user corresponding to the obtained facial image corresponds to the target user U by referring to a user DB (database).

As such, in the present invention, by efficiently authenticating the target user U by utilizing not only the camera provided in the robot R, but also the camera disposed in the space, the task assigned to the robot R is related to the task. It can be prevented from being performed by a third party without

As described above, in the building according to the present invention, the location of the user is confirmed using a camera installed in the space, and the time at which the mission is performed is controlled based on the distance between the user and the place where the mission is performed. can

In particular, in the building according to the present invention, if the user is located not far from the mission performance place, even if the scheduled time for the mission to be performed passes, the robot can be controlled so that the mission for the user is completed by waiting for the user. can

Therefore, from the robot side, it is possible to complete the task for the user by waiting for the user for an additional waiting time. Furthermore, the building according to the present invention allows the tasked robot to complete the task. By controlling, it is possible to efficiently operate the robot.

Meanwhile, as described above, a plurality of robots may be disposed in a building according to the present invention to provide various services, and in this case, an efficient control method for the robots is required. Hereinafter, a method of remotely controlling a robot will be described in more detail with accompanying drawings. 115 to 124 are conceptual views for explaining a method of remotely controlling robots traveling in a robot-friendly building according to the present invention.

As shown in FIG. 115, the indoor space 10 of the building 1000 may be composed of a plurality of different floors (floor, 10a, 10b, 10c, 10d, ...), and the robots (R1 to R12, ...). ) may be disposed on any one of a plurality of different floors (floor, 10a, 10b, 10c, 10d, ...) according to circumstances. Furthermore, a robot disposed on one floor may move from one floor to another based on a task or control to be performed.

Meanwhile, in the present invention, it is possible to recognize at least one of the user and the robot R through the camera 121 disposed in the indoor space 10, and remotely control the robot R based on the recognized result. do. Here, the user is a subject having management authority for the robot R, and may be named a controller, manager, or the like, depending on circumstances.

Hereinafter, a method of remotely controlling the robot R using the camera 121 disposed in the indoor space 10 will be described in more detail.

As shown in FIG. 116 , in the cloud server 20, a process of recognizing a user's gesture using an image received from a camera 121 disposed in the indoor space 10 is performed (S11610).

A gesture can also be expressed as a user's “movement” or “motion”. For example, as shown in FIG. 117 , the gesture may mean a human motion such as “an operation in which the user U spreads his or her hand in one direction”. As shown in FIG. 117 , the cloud server 20 may recognize the user's gesture by using an image captured by the camera 121 disposed in the space 10 where the user U is located. The cloud server 20 may recognize a gesture of the user U corresponding to a subject based on an image analysis algorithm. At this time, the gesture of the user U is related to the control of the robot R, and more specifically, may mean a gesture for controlling the operation of the robot R.

The gesture for controlling the operation of the robot R may be a specific gesture matched with a control command for controlling the operation of the robot R.

When a gesture or action (or gesture) of the user U is detected from the image received through the camera 121, the cloud server 20 controls the motion of the robot R based on the recognized gesture of the user U. A process of determining whether the command is a matched gesture may be performed. Further, the cloud server 20 may not proceed with a series of processes described below when the recognized user's gesture is not a gesture for controlling the operation of the robot R.

On the other hand, as described above, the control command for controlling the operation of the robot R is a control command for controlling at least one of operations related to driving of the robot R, tasks performed by the robot, and the power state of the robot. can be

Furthermore, as shown in FIG. 117, the camera 121 that recognizes the user U is a camera 121 disposed in the space 10, through the building system 1000a or directly to the cloud. Any camera capable of sharing images with the server 20 is not limited to its type and location. Furthermore, in the present invention, the camera for recognizing the user U may be a camera provided in the robot.

Next, in the present invention, a process of checking whether or not a control right exists for the user proceeds (S11620).

In the present invention, “control right” may also be expressed as “control right”. Here, the control right means the right to control the robot. More specifically, that the user has the right to control means that the user has the right to control the robot.

The cloud server 20 may control the robot based on the recognized gesture only when the user U has control authority, even when the gesture of the user U is recognized from the image. The cloud server 20 may generate a control command for the robot only for the gesture of the user U to whom control authority is granted, in order to prevent the robot from being indiscriminately controlled by an arbitrary user.

Meanwhile, when the user's gesture recognized in step S11610 is a gesture matched with a control command for controlling the operation of the robot R, the cloud server 20 may determine whether the user has control authority. That is, the cloud server 20 may determine whether the user who made the gesture is a user having control authority for the robot R only when the user's gesture is a valid gesture for controlling the robot R. have.

Meanwhile, in the present invention, the sequence of the process of recognizing the user's gesture (S11610) and the process of confirming whether or not the user has the control right (S11620) can be changed, and it is also possible that the two processes can be performed simultaneously.

That is, the cloud server 20 i) recognizes a user having control authority and then recognizes the user's gesture, or ii) recognizes the user's gesture and determines whether the user has control authority. can Alternatively, the above processes of i) and ii) may be performed simultaneously.

Whether or not the control authority exists for the user can be made in various ways.

As an example, determination of whether the control authority exists for the user may be made based on a face recognition algorithm. However, the present invention is not necessarily limited thereto, and determination of whether the control authority exists for the user may be made based on other algorithms such as a fingerprint recognition algorithm, an iris recognition algorithm, and a voice recognition algorithm.

More specifically, the cloud server 20 may obtain a face image of the user from an image received through the camera 121 disposed in the indoor space 10 for photographing the user. In addition, the cloud server 20 may determine whether the control authority exists for the user through analysis of the acquired face image. At this time, the cloud server 20 may perform analysis on the face image of the user who has taken the aforementioned gesture.

The cloud server 20 may determine whether a user corresponding to the acquired face image has control authority for the robot by referring to a user DB (database). As described above, the user DB may mean a set of user-related information. Information related to the user includes the user's identification information (eg, name, date of birth, address, phone number, employee number, ID, face image, biometric information (fingerprint information, iris information, etc.)) and user's authority information (eg For example, at least one of control authority information on the robot).

For example, as shown in FIG. 118 , user identification information and ranges of control authority allocated to each user may be matched and present in the user DB. The range of the control authority may include a range related to at least one of a place authority, a robot authority, an operation authority, and a control time.

Furthermore, as shown in FIG. 118 , the user DB may include face images U1 , U2 , U3 , U4 , and U5 matched to different users. The cloud server 20 may determine whether a face image obtained from an image is a face image of a user having control authority by referring to the user DB. The cloud server 20 may compare the obtained face image with the face image of the user DB by using a face recognition algorithm that uses image information corresponding to the acquired face image as input data. Further, the cloud server 20 may determine whether a user corresponding to the acquired face image has control authority based on the comparison result.

As another example, determination of whether the user U has control authority may be made based on recognizing an identification mark possessed by the user U. The user U may possess an identification mark given to the user U having the right to control the robot. The cloud server 20 may recognize an identification mark possessed by the user U by using at least one of a robot, a facility infrastructure, and a sensor provided in a building. Furthermore, the cloud server 20 may recognize the identification mark by using a scanning unit that scans the identification mark disposed in the space 10 or a recognition unit that recognizes the identification mark. Such an identification mark may include a component that can be recognized through communication, such as an antenna (eg, NFC antenna, etc.), a barcode, a QR code, and the like. Such an identification mark may be composed of a specific company's access card or the like.

The cloud server 20 recognizes an identification mark possessed by the user U, and when user information corresponding to the recognized identification mark includes control authority for a robot, it may be determined that the user has control authority. have.

Meanwhile, when it is determined whether the control authority exists for the user through the identification mark, the cloud server 20 may compare a place where the identification mark is recognized and a place where the camera 121 photographing the user is placed.

That is, the cloud server 20 provides first location information about the place where the identification mark is recognized and second information about the place where the camera 121 is located so that the robot can be controlled by a user who directly possesses the identification mark. Location information can be compared. Further, the cloud server 20, as a result of comparing the first and second location information, when the place where the identification mark is recognized and the place where the camera 121 that has photographed the user is placed match or are similar, take a gesture The control authority can be determined by the user. Here, the first and second location information may include coordinate information. The cloud server 20 calculates the distance between the coordinates corresponding to the first and second location information, and when the distance according to the calculated result is within the reference distance, it may be determined that the user holding the identification mark has made a gesture. .

Meanwhile, in the database, identification information of a scan unit or recognition unit that recognizes an identification mark may be matched with location information about a place where the scan unit or recognition unit is placed. Accordingly, the cloud server 20 may extract location information matched with the identification information of the scan unit or recognizer that recognizes the identification mark from the database and specify it as the first location information.

Similarly, location information on a place where a camera is placed may be matched with identification information on a camera and present in the database. Therefore, the cloud server 20 may extract the location information matched with the identification information of the camera that has taken the image from the database and specify it as the second location information.

As another example, determination of whether the user has control authority may be made based on recognizing the electronic device possessed by the user U. Here, the electronic device may include a user's mobile phone (or smart phone). These electronic devices are pre-registered in the user DB, and identification information corresponding to the user's electronic device may be stored in information related to the user according to the user DB. The cloud server 20 may recognize an electronic device possessed by the user U by using the communication unit 110 . The cloud server 20 recognizes the electronic device possessed by the user U, and when the user information corresponding to the identification information corresponding to the recognized electronic device includes the right to control the robot, the electronic device possessed by the user U. It may be determined that the user has the control authority.

On the other hand, when it is determined whether the user has control authority through recognizing the electronic device, the cloud server 20 may compare the location where the electronic device is recognized and the location where the camera 121 that captures the user is located. .

That is, the cloud server 20 provides first location information about the place where the electronic device is recognized and second location information about the place where the camera 121 is located so that the robot can be controlled by a user who directly owns the electronic device. Location information can be compared. And, the cloud server 20, as a result of comparing the first and second location information, when the place where the electronic device is recognized and the place where the camera 121 that has photographed the user is placed coincide or are similar, a gesture is taken. The control authority can be determined by the user. Here, the first and second location information may include coordinate information. The cloud server 20 calculates the distance between the coordinates corresponding to the first and second location information, and when the distance according to the calculated result is within the reference distance, it may be determined that the user carrying the electronic device made a gesture. .

Meanwhile, in the database, identification information of a communication unit communicating with the electronic device with the strongest signal strength and location information on a place where the communication unit is located may be matched and present. Accordingly, the cloud server 20 may specify the first location information by extracting location information matched with identification information of a communication unit communicating with the electronic device with the strongest signal strength from the database. The cloud server 20 may specify the location of the electronic device based on the location of the communication unit and the signal strength between the electronic device and the communication unit. The location of the specified electronic device may be expressed as first location information.

Similarly, location information on a place where a camera is placed may be matched with identification information on a camera and present in the database. Therefore, the cloud server 20 may extract the location information matched with the identification information of the camera that has taken the image from the database and specify it as the second location information.

As another example, the determination of whether the control authority exists for the user may be made based on the user's gesture.

Here, the user's gesture may be a specific gesture defined in advance to prove that the control authority of the robot exists. When a predefined specific gesture is captured through the camera 121, the cloud server 20 may determine that the user who made the specific gesture has control authority to control the robot.

Meanwhile, in addition to the method described above, determination as to whether or not the user has the right to control the robot may be performed in various ways.

Meanwhile, in the present invention, whether or not the user has control authority may mean whether or not the user who made the gesture has authority to control the operation of the robot corresponding to the gesture.

Information on authority to control the robot's operation may also be referred to as operation authority. These operating rights may be set for each user. As shown in FIG. 118, various rights related to robot control rights may be set for each user in the user DB.

Looking more specifically at the operating authority, the operating authority is information about what operations the user can control for the robot, and as shown in FIG. 118, the operating authority can be set according to the user.

For example, a control authority capable of controlling all motions of the robot may be set for the first user JENIFER. In addition, a control authority capable of controlling driving of the robot may be set for the second user SAM.

As we have seen before, the types of “robot movements” can be very diverse. For example, the operation of the robot may be understood as a concept including all operations related to driving of the robot, tasks performed by the robot, power state of the robot, and the like.

The motion related to driving of the robot may include various motions related to driving of the robot, such as a driving speed, a driving direction, a rotation direction, a rotational speed, a driving start, a driving stop, and a driving end of the robot.

Next, an operation related to a task performed by the robot may be different depending on the type of task performed by the robot. For example, if the robot is a robot providing a road guidance service, operations related to missions performed by the robot may include a road finding operation for road guidance, a driving operation for road guidance, and the like. For another example, if the robot R is a robot providing a serving service, operations related to tasks performed by the robot may include a driving operation for serving, an operation for driving hardware of the robot for serving, and the like. can

Next, the operation related to the power state of the robot is an operation of turning on or off the power of the robot R, an operation of driving the robot in a standby state, and a sleep mode of the robot. mode), and the like. In addition to the examples listed above, the types of motions of the robot may vary, and the present invention is not limited to the above examples.

In this way, the operation of the robot is diverse, and in the present invention, various operation rights for the operation of the robot set based on the user's job, job, etc. may be set in the identification information of the user according to the user DB.

On the other hand, as shown in FIG. 119, different gestures may be matched for each motion of the various robots examined above. Gesture information and motion information may be matched with each other and stored as matching information in the storage unit 120 (or database), as illustrated.

The cloud server 20 may compare a gesture recognized through an image with matching information stored in a database, and extract a gesture corresponding to the recognized gesture and a robot operation corresponding thereto. In addition, the cloud server 20 may determine whether the extracted motion of the robot is included within the control authority range set for the user who made the recognized gesture. And, as a result of the determination, if the user making the gesture has control authority to control the operation of the extracted robot, it may be determined that the user who made the gesture has control authority. That is, the cloud server 20 may first determine whether the user has control authority to control the operation of the robot corresponding to the gesture taken by the user, before specifying the robot to be controlled.

For example, it is assumed that a gesture taken by the second user SAM is recognized through the camera 121 disposed in the indoor space 10 . In this case, the cloud server 20 may recognize a gesture taken by the second user SAM and extract a motion of the robot corresponding to the recognized gesture. If the motion of the robot corresponding to the gesture taken by the second user (SAM) corresponds to the gesture of turning off the power of the robot, the cloud server 20 provides the second user ( SAM), it may be determined that there is no control authority for the operation of turning off the power of the robot. Accordingly, in this case, the cloud server 20 may not specify a robot to be controlled based on the gesture of the second user SAM.

In this way, the cloud server 20 recognizes the user who made the gesture in various ways, and confirms whether or not the recognized user has an operating authority capable of controlling the operation of the robot corresponding to the gesture, thereby providing control to the user. You can check if the permission exists.

On the other hand, in the present invention, it is also possible that the operation authority for the operation of the robot is not separately set for each user. In this case, the cloud server 20 may not check whether or not there is authority to control an operation corresponding to the gesture taken by the user, or whether the operation authority of the user exists. That is, in this case, the cloud server 20 may determine whether or not the user who made the gesture has authority related to controlling the robot.

On the other hand, in the present invention, it is also possible to determine whether the control authority exists for the user who made the gesture according to the control time for performing control on the robot. That is, as shown in FIG. 118, in the present invention, a control time capable of controlling a robot can be set for each user.

For example, the first user (JENIFER) may have control authority for the robot 24 hours a day. Also, the third user ANNE may have control authority for the robot from 18:00 to 24:00. When a user for a gesture is recognized according to the method described above, the cloud server 20 may check control authority matched to the recognized user. Further, it may be determined that the recognized user has the control authority only when the time at which the user makes the gesture is within the control period included in the control authority. For example, when a gesture is made by the third user ANNE at 15:30, the cloud server 20 determines that the gesture taken by the third user ANNE is not valid for the third user ANNE's operation authority. Even if it corresponds to the operation of the robot included in the robot, it may be determined that the control right does not exist for the third user ANNE.

Meanwhile, the cloud server 20 may determine that the user has the control right only when a user having both an operation right and a control time right for the robot is recognized. On the other hand, the criterion for determining whether a control right exists for a user can be very diverse, and the present invention is not limited to the examples listed above.

As described above, when a gesture for controlling the robot is taken by a user having control authority for the robot, in the robot remote control method according to the present invention, a process of specifying a robot to be controlled may proceed (S11630). ). And, in the method for remotely controlling a robot according to the present invention, a process of transmitting a control command corresponding to a gesture taken by a user to a specified control target robot may proceed (S11640).

More specifically, the cloud server 20 checks whether the user making the gesture has control authority (or control authority), and if the control authority exists in the user, the control target robot to be controlled by the gesture may be specified.

As shown in FIGS. 115 and 117 above, a plurality of different robots may exist in the space 10 .

Accordingly, the cloud server 20 performs a task of specifying at least one robot controlled based on the user's gesture among the robots located in the space 10, thereby clearly specifying the control target.

In the present invention, a method of specifying a control target robot may be various.

As an example, the cloud server 20 may check the identification information of the robot to which the control authority of the user who made the gesture applies, from the user DB. In addition, a robot corresponding to the identification information of the robot to which the control authority of the user is affected may be specified as a control target robot. For example, as shown in FIG. 118 , user identification information and ranges of control authority allocated to each user may be matched and present in the user DB.

First, looking at the place right, the place right may mean a right for a user to control a robot disposed at any place among a plurality of different places in the space 10 .

For example, as shown in FIG. 115 , a plurality of places may mean places 10a, 10b, 10c, and 10d respectively corresponding to different floors in the space 10.

The cloud server 20 may specify a robot disposed in a place corresponding to the place authority as a robot to be controlled based on the place authority matched with the identification information of the user who made the gesture.

Next, looking at the robot authority, the robot authority may mean the authority for the user to control which robot among the robots arranged in the space 10 . As shown, the robot authority may be assigned based on the robot type (or robot identification information). For example, robots may be classified according to tasks performed, and control authority for each controllable type of robot may be set for each user in identification information of the user.

For example, a control authority capable of controlling all types of robots may be set for the first user (JENIFER). In addition, a control authority capable of controlling only the guidance robot may be set for the second user SAM.

In this way, the cloud server 20 may specify a control target robot based on the robot authority matched to the user who made the gesture. That is, the cloud server 20 may check the identification information (or type) of the robot matched with the control right granted to the user, and specify at least one robot corresponding to the checked identification information as the robot to be controlled.

Here, robot identification information can be interpreted in various ways, and as shown in FIG. 118, it can mean the type of robot. Alternatively, robot identification information may mean unique information for each individual robot. In this case, even if the robots are of the same type (eg, delivery robot type), control authority for different robots may be set for each user.

Meanwhile, the cloud server 20 may specify a plurality of robots as control target robots when there are a plurality of specified robots based on the robot authority matched to the user making the gesture. In this case, as shown in FIG. 117 , the cloud server 20 may collectively control the plurality of robots R1 , R2 , R3 , and R4 based on the user's gesture. Accordingly, the user can collectively control a plurality of robots by making only one gesture.

Furthermore, the cloud server 20 may specify a robot that satisfies both the place authority and the robot authority described above as a control target robot. The cloud server 20 may specify at least one robot corresponding to both the place right and the robot right matched to the identification information of the user who made the gesture as a robot to be controlled.

For example, when a gesture taken by the first user (JENIFER) to control a robot is captured from the camera 121, the cloud server 20 provides for all robots located on all floors in the space 10, A control corresponding to a gesture taken by the first user (JENIFER) may be performed (refer to the table in FIG. 118). For example, when the gesture taken by the first user (JENIFER) corresponds to an action of stopping the robot from running, as shown in FIGS. 117 and 119 , the cloud server 20 operates on all floors within the space 10 It is possible to generate a control command to stop the driving of all robots located in . Then, the generated control command may be transmitted to all robots located on all floors within the space 10 . As a result, the driving of all robots located on all floors within the space 10 can be collectively stopped.

As another example, when a gesture for controlling a robot by the second user (SAM) is captured by the camera 121, the cloud server 20 sends a guidance robot located in a space corresponding to the first floor. It can be specified as a control target robot. In addition, the cloud server 20 may perform control corresponding to the gesture taken by the second user SAM with respect to the guidance robot located in the space corresponding to the first floor (refer to the table in FIG. 118).

Meanwhile, a method of specifying a control target robot may be performed in a method other than the method of referring to the user DB described above. In the following description, it is assumed that the user who made the gesture has control authority over the robot.

As an example, the control target robot may be specified based on the cloud server 20 and the user's gesture. As shown in FIG. 120 , the cloud server 20 may specify at least one of a place, a robot type, and an operation based on a user's gesture.

Different information or commands may be matched with each of the different gestures that may be taken by the user.

For example, the database may include gesture information on different gestures respectively corresponding to different buildings and places. Here, the place is a place where the robot is located, and the cloud server 20 may specify the place based on the user's gesture, and specify the robot located at the specified place as the robot to be controlled. For example, when the user's gesture corresponds to a “gesture of clenching a fist”, the cloud server 20 may specify a robot included in the entire building as a robot to be controlled.

As another example, the database may include gesture information about different gestures respectively corresponding to different robots (or different types (types) of robots). The cloud server 20 may specify the type of robot based on the user's gesture, and may specify a robot corresponding to the specified type as a robot to be controlled. For example, when the user's gesture corresponds to “a gesture of raising the right arm upward,” the cloud server 20 may specify the cleaning robot as the robot to be controlled.

In this way, when both the first gesture for specifying a place and the second gesture for specifying a robot are recognized from the image, the cloud server 20 selects a type corresponding to the second gesture among robots located at a place corresponding to the first gesture. A robot can be specified as a control target robot.

In this case, the cloud server 20 may specify a robot that satisfies both the place condition and the robot condition as the robot to be controlled. In this way, a user's gesture may include a plurality of gestures, and the cloud server 20 may specify a robot to be controlled and perform an operation on the robot based on information or motion corresponding to each of the plurality of gestures. have.

That is, the user can designate the place where the robot to be controlled is located, the type of the robot, and its operation through gestures. In this case, the user's gestures may be plural. The user may take a first gesture for specifying a place, a second gesture for specifying a type of robot, and a third gesture for specifying an operation of the robot. The cloud server 20 may extract first, second, and third gestures from images captured by the camera 121 located in the indoor space 10 . Then, the cloud server 20 refers to the database and specifies the robot to be controlled based on information (at least one of location information and robot information) matched to the extracted first, second, and third gestures. can Furthermore, the cloud server 20 may generate a control command corresponding to the motion of the robot corresponding to the third gesture so that the motion of the robot corresponding to the extracted third gesture is performed by the controlled robot. Such a control command may be transmitted to a specified control target robot.

Another example of specifying a control target robot will be described. In the following description, it is assumed that the user who made the gesture has control authority over the robot.

The cloud server 20 may specify a robot to be controlled based on a place where the camera 121 that captures the user is placed.

The cloud server 20 may identify a camera that has photographed the user among cameras disposed in the space 10 . Here, identification of the camera may be performed using identification information related to the camera stored in the database. The cloud server 20 may specify a location where a camera that captures a user is disposed among a plurality of locations included in the space 10 based on identification information related to the camera stored in the database. In addition, the cloud server 20 may specify at least one robot located in a specified place as a robot to be controlled.

Meanwhile, the cloud server 20 may monitor information about which robot is located in which place in real time or at preset time intervals. The cloud server 20 may monitor location information of the robot based on location information received from the robot. Accordingly, the cloud server 20 may specify a robot located at a specific place as a control target robot based on the location information of the robot received from the robot.

Meanwhile, a plurality of places included in the space 10 may be different places that are physically, conceptually, or ideologically distinguished. For example, as shown in FIG. 121 , a plurality of places may be areas (or places, 10a, 10b, 10c, and 10d) respectively corresponding to different floors in the space 10 . As shown in FIG. 121, the cloud server 20 specifies the floor (eg, the second floor, the space corresponding to 10b) where the camera for photographing the user U making the gesture is located among the different floors. In this case, the robots (R4, R5, R6, ...) located on the specified floor may be specified as control target robots. In addition, the controller may control the communication unit 110 to transmit a control command according to the operation of the robot corresponding to the user's gesture to all of the robots to be controlled located on the specified floor.

Meanwhile, the cloud server 20 may additionally specify a control target robot based on the user's gesture or the user DB described above. That is, the cloud server 20 may selectively specify at least one robot as a control target robot among robots located at a location where the camera is located. In this case, the place where the camera is identified may be used to specify the place where the robot is located.

Another example of specifying a control target robot will be described. In the following description, it is assumed that the user who made the gesture has control authority over the robot. As shown in FIG. 121 , the cloud server 20 may specify the recognized specific robot as a control target robot when a specific robot R is also recognized in the image in which the gesture of the user U is recognized. . That is, the cloud server 20 may specify the robot R included in the angle of view of the camera 121 that captures the user making the gesture as the robot to be controlled.

For example, as reviewed in FIG. 11 , the cloud server 20 may specify a control target robot by recognizing an identification mark provided on the robot R from an image. For another example, the cloud server 20 may compare the location information of the robot with the location information of the location where the camera 121 photographing the user is placed, and may specify the control target robot.

For another example, the cloud server 20, as shown in FIG. 122, a user's gesture for specifying a robot (eg, a gesture pointing at the robot R as shown in FIG. 122) Based on this, it is possible to specify a control target robot.

Meanwhile, the cloud server 20 may specify at least one other robot of the same type as the specified robot as a control target robot when a robot included in the angle of view of a camera that captures a user making a gesture is specified. . This is to reflect the user's need to collectively control the same type of robot. In this case, the cloud server 20 may transmit a control command corresponding to a gesture taken by the user to at least one other robot located within a predetermined distance from the specified robot.

In this way, in the present invention, the control target robot can be specified in various ways. Meanwhile, the cloud server 20 may use the communication unit 110 to transmit a control command corresponding to a user's gesture as a robot to be controlled. The control command corresponding to the user's gesture is a control command for controlling the operation of the robot, and may be understood as a control command for the robot to perform an operation corresponding to the user's gesture. A robot receiving such a control command may perform an operation corresponding to the control command.

Meanwhile, as shown in FIGS. 119 and 120 , motions of different robots may be matched for each different gesture. The cloud server 20 may extract a robot motion according to a user gesture recognized from an image by referring to a database matching robot motions and gestures.

On the other hand, as shown in FIG. 123, the user may take different gestures 12310, 12320, and 12330 respectively corresponding to the motions of different robots consecutively or at different time points t1, t2, and t3.

When a plurality of different gestures 12310, 12320, and 12330 are recognized from an image captured by the camera 121, the cloud server 20 may extract a plurality of actions respectively corresponding to the plurality of gestures from a database. In addition, the cloud server 20 may generate a plurality of control commands respectively corresponding to a plurality of operations so that the plurality of operations are performed in the control target robot specified in the manner described above. These plurality of control commands may be transmitted to the control target robot. Accordingly, the robot to be controlled may perform an operation corresponding to each of the plurality of control commands received.

The cloud server 20 may determine the priority of the plurality of control commands so that the plurality of operations corresponding to the plurality of control commands are sequentially performed in the controlled robot. That is, the cloud server 20 may assign priorities among a plurality of control commands. For example, the cloud server 20 may determine a priority among a plurality of control commands based on the order in which a plurality of gestures are recognized in an image. That is, the priority may be based on the order in which a plurality of gestures are recognized from an image. At this time, the robot may sequentially perform operations according to priorities to be set among operations corresponding to the received control commands. For example, as shown in FIG. 123 , the cloud server 20 performs a first gesture 12310 corresponding to a robot operation to move a parcel to a designated place at a first time point t1 from an image, and a second time point t1. At (t2), a second gesture 12320 corresponding to a robot operation to wait for 10 minutes and a third gesture 12330 corresponding to a robot operation to switch the robot to standby mode at a third time point t1 are sequentially performed. can be recognized as Further, the cloud server 20 assigns priorities according to the order in which the first to third gestures are recognized to the first to third control commands corresponding to the first to third gestures, respectively, so that the robot (R) can be sent to In this case, the robot R may sequentially perform i) moving the courier to a designated place, ii) waiting for 10 minutes, and iii) switching to a standby mode.

Meanwhile, in the robot remote control method according to the present invention, the process of receiving feedback information about an operation corresponding to the control command transmitted to the robot to be controlled from the robot to be controlled and the process of transmitting the feedback information to the user's terminal At least one process may be further included. In this case, as shown in FIG. 124 , feedback information 12400 may be output to the user's electronic device or the display unit 12410 of the cloud server 20 . Meanwhile, the user may also apply a control command to the robot through the user's electronic device or the cloud server 20, as illustrated.

Furthermore, as shown in FIG. 124, various graphic user interfaces (GUIs) for remotely controlling the robot are provided on the user's electronic device or the display unit 12410 of the cloud server 20 (12420, 12430, 12441). 12442. 12443. 12444) may be provided, and the user may remotely control various robots located in the indoor space 10 by using such a graphic user interface.

As described above, in the present invention, a control command for the robot may be generated using a user's gesture from a camera disposed in space. That is, the user can control the robot only by making a gesture to a camera disposed in space, without manipulating a device to control the robot or a process of manipulating the robot. According to the present invention, it is possible to reduce the hassle of individually searching for a robot or controlling a separate manipulation device in order to control the robot.

Furthermore, in the present invention, a control command for a plurality of robots may be generated based on a user's gesture recognized from a camera disposed in space. Accordingly, the user can control the plurality of robots with only one gesture without the need to apply a plurality of control commands to control the plurality of robots, and through this, the time for controlling the robots can be efficiently managed.

Meanwhile, in the building 1000 according to the present invention, the cloud server 20 may control the driving of the robot so that the robot can move based on social norms along with efficient movement of the robot. Hereinafter, a method of controlling driving of a robot based on social norms will be described in more detail with accompanying drawings.

125 to 137 are conceptual diagrams for explaining a method of controlling driving of a robot based on social norms in a robot-friendly building according to the present invention.

The path plan generation method described in the present invention is a process of processing a path plan for generating path data for indoor autonomous driving of the robot R, and may be performed by the cloud server 20 . On the other hand, it goes without saying that such an exchange plan can be established by the robot R. When a path plan is generated by the robot R, the robot R can directly process indoor autonomous driving of the robot R by generating path data through a path planning processing module and a mapping processing module. These may be integrated into the control unit and named.

As shown, in step S12510, the cloud server 20 moves the robot R as a waypoint on the map based on the map created by the mapping robot (or indoor map) or the map created in another way. You can specify a node for At this time, the node may define a plurality of types reflecting social norm principles according to indoor space requirements and attributes for each type for global path planning of the robot R. The node designation principle is to help the human-friendly navigation of the robot R in an indoor environment based on social norms as well as the efficient movement of the robot R.

In step S12520, the cloud server 20 may designate nodes and edges connecting the nodes as a moving path of the robot R. Edge, like a node, can define a plurality of types and attributes for each type that reflect social norms according to indoor space requirements for global path planning of the robot R. When planning a path of the robot R, environmental factors that affect the efficient movement of the robot R and edge designation principles reflecting them may be defined.

The types and attributes of nodes and edges will be described in more detail with reference to FIGS. 128 to 136 to be described later.

In step S12530, the cloud server 20 may generate a global path plan for indoor autonomous driving of the robot R using nodes and edges in which social norms based on indoor space requirements are reflected. The cloud server 20 may generate route data for indoor autonomous driving of the robot R using nodes and edges defined based on social norms. Human-friendly navigation can be achieved simply by robot R moving along a global path created using nodes and edges defined by socially normative principles.

The basic principles for human-friendly global navigation of the robot R can be defined as follows, and the basic principles below can be varied in various ways depending on the situation.

Examples of basic principles:

(1) Based on social norms, the robot R does not interfere with people's movement and moves along an optimal route to its destination while receiving less interference from people.

(2) Move safely by minimizing collisions in blind spots such as corners, intersections, and in front of doors.

(3) Move at a speed that does not feel threatening according to environmental changes such as narrow corridors or exclusive robot paths.

In this way, social normative principles on indoor space can be established taking into account space requirements. The indoor space 10 in which the robot R moves may be classified as shown in FIG. 126 according to characteristics. For example, the indoor space 10 includes a standard space 12610 and a connecting space. 12620, and a composite space 12630.

The standard space 12610 means an architecturally closed space such as a room such as a conference room.

The connection space 12620 refers to elements connected to other spaces, including a door 12621, a corridor 12622, a junction 12623, and supporting movement in the vertical direction. A moving means (or a left-well 12624) may be included. The door 12621 is a casement door, a sliding door, an automatic door, an entrance without a door, and the like, and means a space connecting and passing through two spaces at the boundary between spaces. The passage 12622 is a space connecting space to space like a corridor and is used for the purpose of moving to another space. Even if there is no wall other than a general hallway, a long passageway that divides spaces within an office space can also be included here. Some of the aisles 12622 may include robot lanes. The intersection 12623 means a space where passages 12622 and passages 12622 meet, and a space such as a lobby that can be moved to various spaces may also be included here. The movement means (or the vertical movement path 12624) supporting movement in the vertical direction is a space capable of vertical movement and may include stairs, ramps, escalators, slopes, elevators, and the like.

The complex space 12630 means a wide open space such as a central hall, and is partitioned with furniture to form a sub-space such as a standard space 12610 or a connection space 12620.

Based on these space requirements, the movement principle of the robot R is defined. In particular, the movement principle of the robot R may be defined around the connection space 12620, which is a space in which the robot R mainly moves. In the present invention, the cloud server 20 may generate a control command for the robot based on the movement principle.

The movement principle of the robot can be defined as follows, and the following movement principle can be varied depending on the situation.

Examples of robot movement principles:

(1) Movement principle at the door (12621)

a) Passing in front of the door

- Be aware that people may appear suddenly.

- Reduce your speed in the area in front of the door.

- In the case of a door that opens and closes, avoid the area where the door opens.

b) through the door

- Pass the middle point of the door.

- When waiting in front of a door to pass through, wait with enough space in front of the door.

c) in front of the elevator door

- If you are waiting for an elevator, wait by the elevator door.

- When passing through the elevator door, pass the center point of the door.

d) Pass in front of the stairs

- Pass in front of the stairs where there is a risk of falling at a sufficient distance.

(2) Principle of movement in passage 12622

a) Ordinary hallways (eg hallways less than 3m wide)

- Considering social norms, right-hand traffic is the default.

- Move while maintaining a certain distance from the right wall of the hallway.

- As the robot (R) moves leaning toward one side of the wall, it induces people to pass naturally to the wide side of the wall.

- If the hallway width is below a certain standard, move along the center of the hallway.

- If the width of the corridor is less than the minimum standard, it is excluded from the movement path of the robot (R).

b) wide corridors (eg corridors with a width of more than 3 m);

- Right-hand traffic is the default, but if the corridor is wide enough, widen the distance from the right wall or give priority to the shortest route rather than right-hand traffic.

(3) Movement principle at the intersection (12623)

a) When a robot (R) traveling on the right enters another passage at a corner or intersection section, it enters in the right-hand direction of the passage to be entered.

- When turning right at a corner, stick to the right wall to enter.

- When turning left at the corner, stick to the right wall of the hallway to enter.

- When entering the opposite corridor from the intersection section, stick to the right wall of the corridor to enter.

b) When passing a corner or intersection, be careful not to pose a threat to anyone who may emerge from your blind spot.

- Slow down before entering the intersection section from the hallway.

As in the above example, in the present invention, the movement principle of the robot may be defined, and the cloud server 20 may control the driving or movement of the robot in consideration of at least one of the social norm principle and the movement principle of the robot described above. have. Furthermore, it goes without saying that the movement principle of the robot can also be variously modified according to circumstances.

127 illustrates components of a map required for movement control of a robot, according to an embodiment.

The map 12700 is composed of a set of all information necessary for controlling the movement of the robot R, such as a virtual wall 12710, an edge 12720, a node 12730, and a space layer 12740.

Such a map 12700 may be interchangeably named as an “indoor map” and, as discussed above, may be generated using a mapping robot or may be generated by various other methods.

The virtual wall 12710 represents a polygon area for preventing the robot R from entering, and the cloud server 20 can prevent the robot R from entering the polygon area by observing the real-time coordinates of the robot R.

The edge 12720 is a line connecting the nodes 12730 and 12730, and may include information related to the movement property of the robot R. A separate interface 12721 for giving properties to the edge 12720 may be included.

The node 12730 is a reference point for movement of the robot R, and may include metadata such as a movement speed and a movement direction of the robot R.

The space layer 12740 includes a layer serving as a skeleton of a building and a structure through which the robot R cannot actually pass.

The designation principle of nodes and edges for global (or global) path planning of the robot R is as follows.

128 illustrates an example of an indoor map representing a moving space of a robot.

128 shows a spatial layer representing the indoor space 10 in which the robot R moves. As shown, the indoor space 10 has a door 12801, a passage 12802, an intersection 12803, a passage dedicated to the robot 12804, and a vertical direction of the robot according to the space classification criteria described above with reference to FIG. 126 . It can be divided into a means of movement supporting movement (or a vertical movement path 12805), a room 12806, and the like.

129 to 133 show examples of node designation processes according to indoor space requirements. A node for movement of the robot R may be designated by reflecting social norms according to indoor space requirements on the spatial layer of the indoor space 10 .

As a reference point for movement of the robot R, the node types are Corridor Entry node (12901), Corridor End node (12902), and Door Area start node (Door Area) according to the indoor space requirements. Start node (12903), Door Area End node (12904), Door Pass node (12905), Door Open Prevention node (12906), dedicated robot path It can be divided into a robot lane node (12907), a basic passing node (12908), and a waiting node (12909).

Referring to FIG. 129 , an aisle entry node 12901 indicates a starting point of a right passage in a corridor, and an aisle end node 12902 indicates an end point of a right passage in a corridor. The passage entry node 12901 and the passage exit node 12902 have attribute values including coordinates representing corresponding points and a direction of right passage parallel to the wall. For example, for a hallway taller than 1.2m, a point 600mm from the right wall and 300mm from the hallway entrance side is designated as the aisle entry node (12901), and a point 600mm from the right wall and 300mm from the hallway exit side is designated as the aisle exit node. node 12902. When the corridor width is 1.2 m or less, the passage entry node 12901 and passage exit node 12902 may be designated at the center of the entire width of the corridor.

Referring to FIG. 130 , a door area start node 12903 indicates the start point of the door area caution section, and a door area end node 12904 indicates the end point of the door area attention section. The door area start node 12903 and the door area end node 12904 have coordinates representing corresponding points and attribute values including a direction of right passage parallel to the wall. For example, a point 600 mm from the right wall and 300 mm before the door is designated as the door area start node 12903, and a point 600 mm from the right wall and 300 mm past the door is designated as the door area end node 12904.

Referring to FIG. 130 , a door passage node 12905 is a point through which a door passes, representing the center position of the entire width of the door, and has coordinates representing the corresponding point and attribute values including vertical directions of the door.

Referring to FIG. 131, the door open protection node 12906 is to avoid this in case the door is opened for a casement door that opens in the direction of the hallway, and includes coordinates representing the point and the right-hand passage direction parallel to the wall. has an attribute value of For example, the door open protection node 12906 can be specified at 300 mm on the extension line of the door when the door is opened 90 degrees. In the case of a hinged door that opens in a corridor direction, a door area start node 12903 and a door area end node 12904 may be designated based on when the door is completely folded.

Referring to FIG. 132 , a robot-only path node 12907 is a node on the robot-only path, and has a coordinate indicating a corresponding point and an attribute value including a direction parallel to a wall. For example, a point 500 mm away from the wall and 300 mm away from the side of the intersection may be designated as a node 12907 for exclusive use of robots. In the case of a robot-only path, it is basically possible to pass in both directions except for at least some sections.

Referring to FIG. 133 , a basic passage node 12908 can be designated at a point other than a corridor where a separate node designation is required for the purpose of changing direction, etc., and has an attribute value including coordinates representing the corresponding point and a direction of travel. In the case of the basic pass node 12908, the direction value may be omitted from the attribute value. For example, in the case of an elevator hall, since people gather in front of an elevator door, in order to avoid this as much as possible, a basic passage node 12908 can be designated on the route by taking the center line of the hall as a basic movement route. And, in order to pass through a door, a basic passage node 12908 may be designated before and after the door passage node 12905.

Referring to FIG. 133 , a waiting node 12909 may be designated as a waiting location to wait for an elevator or the like, and has attribute values including coordinates representing the corresponding point and a direction toward the door. The standby node 12909 may be designated at a location adjacent to the door area start node 12903 close to the direction in which the robot moves, and at this time, a direction value may be designated so that the heading of the robot R is directed toward the door.

134 to 136 show examples of edge designation processes according to indoor space requirements. On the space layer of the indoor space 10, social norms according to indoor space requirements may be reflected, and nodes and edges connecting nodes may be designated as a moving path of the robot R.

The edge type can be divided into a basic edge (13401), a caution edge (13402), and a speedy edge (1303) according to the indoor space requirements, and each edge is the direction the robot travels. It has attribute values that include and speed limits.

Referring to FIGS. 134 and 135 , a basic edge 13401 represents a movement path connecting a passage entry node 12901 and a passage exit node 12902 in a corridor. The basic edge 13401 is basically designated in one direction from the aisle entry node 12901 to the aisle end node 12902, and both directions may be allowed in a narrow corridor. In the case of the basic edge 13401, the basic speed of the robot R is set as the speed limit, and if it encounters a person or an obstacle while moving, it can be avoided by local path planning.

Referring to FIGS. 134 and 135 , all edges overlapping intersections are designated as cautionary edges 13402 corresponding to cautionary sections. For example, for a crossroad, one node serves three cautionary edges 13402; 13402). The elevator hall also corresponds to an intersection, so all edges within the hall are designated as the cautionary edge 13402, and the section where the cautionary section in front of the door, the robot-only road and the intersection meet may also be designated as the cautionary edge 13402. In this warning edge 13402, the robot R may be set to drive at a reduced speed of 70% or less of the basic speed. The caution edge 13402 at the intersection is directed from the aisle entry node 12901 to the aisle end node 12902, and in front of the door, from the door area start node 12903 to the door area end node 12904. It can be. Although the caution edge 13402 in the corner section is shown as a straight line, it may be set to drive in an arc and rotate form for collision avoidance or natural driving.

Referring to FIG. 136 , a fast edge 1303 indicates a robot movement path connecting a robot-only path. In the case of the robot-only path, it is basically possible to pass in both directions except for at least some sections, and the corridor with the robot-only path avoids movement through the node or edge of the opposite wall. In the high-speed edge 1303, it may be set to run at a high speed of 160% or more of the basic speed of the robot R.

The cloud server 20 may automatically designate nodes and edges for movement of the robot R according to indoor space requirements on the map. For example, the cloud server 20 may automatically designate nodes and edges for movement of the robot R according to indoor space requirements on the 3D map based on the 3D map generated by the mapping robot.

Referring to FIG. 137, in the case of the node designation principle in the passage, for example, after making a block by taking four vertices 1601 of the passage 12700, 300 mm from the entrance and exit sides 12710 and 12720, and the left and right wall sides 12730 , 12740), four vertices 1602 of sides offset by 600 mm can be created as nodes. At this time, the side 1603 parallel to the wall is created as an edge, for example, a basic edge 13401, and the direction of the edge can be designated together.

The cloud server 20 may add a node on the robot path in the same way as the node designation principle in the path. In addition, after making a block by taking four vertices based on the robot-only path, an edge of the robot-only path, that is, a high-speed edge 13703, can be created at the end of a side offset by 300 mm from the entrance/exit side and 500 mm from the wall side.

In the case of the intersection designation principle, the space where passages meet is designated as the intersection area, and nodes touching the intersection area can be connected with edges. The passage end node 12902, which is the starting node in the intersection section, is connected to all neighboring passage entry nodes 12901. All edges across the intersection area may be designated speed limits as cautionary edges 13402.

The cloud server 20 may add a node of the passage section in front of the door, for example, a node passing through the door (12905) may be added at a point 300 mm left and right based on the width of the door to the right traffic edge, and between them The edge can be designated as the caution edge 13402.

As described above, the cloud server 20 moves the robot R based on an offset value predetermined by social norms for each of the indoor spaces classified according to characteristics on a map (eg, a 3D map). You can specify nodes and edges for The cloud server 20 may designate nodes according to indoor space requirements in a batch setting method or a sequential setting method. For example, the cloud server 20 may generate all vertices of sides offset with respect to an indoor space on a map as nodes at once. As another example, the cloud server 20 first determines a reference point according to the moving direction of the robot R in transmitting a movement command of the robot R, and then sets a point offset by a predetermined offset value from the reference point based on the reference point. They can be created as nodes in turn.

As described above, according to the embodiments of the present invention, by defining nodes and moving path (edge) principles for global path planning of the robot, together with the efficient movement of the robot, the robot's human being in an indoor environment based on social norms. A friendly search can be achieved.

As described above, the robot-friendly building according to the present invention can expand the type and range of services that can be provided by robots by providing a robot-friendly facility infrastructure that can be used by robots.

As described above, the robot-friendly building according to the present invention uses a technological convergence in which robots, autonomous driving, AI, and cloud technologies are converged and connected, and these technologies, robots, and It can provide a new space where facility infrastructure is organically combined.

This new space implements a new service in which the space itself becomes an assistant, and can present a new standard as a robot-friendly building.

Furthermore, the robot-friendly building according to the present invention can expand the types and ranges of services that can be provided by robots by providing a robot-friendly facility infrastructure that can be used by robots.

Furthermore, the robot-friendly building according to the present invention can systematically manage the driving of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud server that works in conjunction with a plurality of robots. can Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless form controlled by a cloud server, and according to this, a plurality of robots disposed in the building can be inexpensively manufactured without expensive sensors. In addition, it can be controlled with high performance/high precision.

Furthermore, in the building according to the present invention, robots and humans can naturally coexist in the same space by taking into account the tasks and movement situations assigned to a plurality of robots arranged in the building, as well as driving to be considerate of people.

Furthermore, in the building according to the present invention, by performing various controls to prevent accidents by robots and respond to unexpected situations, it is possible to give people a perception that robots are friendly and safe, not dangerous.

Meanwhile, the present invention described above is executed by one or more processes in a computer and can be implemented as a program that can be stored in a computer-readable medium.

Furthermore, the present invention described above can be implemented as computer readable codes or instructions in a medium on which a program is recorded. That is, various control methods according to the present invention may be integrated or individually provided in the form of a program.

On the other hand, the computer-readable medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. there is

Furthermore, the computer-readable medium may be a server or cloud storage that includes storage and can be accessed by electronic devices through communication. In this case, the computer may download the program according to the present invention from a server or cloud storage through wired or wireless communication.

Furthermore, in the present invention, the above-described computer is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit), and there is no particular limitation on its type.

On the other hand, the above detailed description should not be construed as limiting in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (72)

In a building where a plurality of robots provide services,
said building,
a plurality of floors having an indoor space where the robots coexist with people;
a communication unit performing communication between the robots and the cloud server; and
An elevator dedicated to the robot that is used exclusively by the robots and moves between the plurality of floors,
At least some of the robots are configured to provide services different from those of other robots, and information on services each of which the robots can perform is stored in a database,
The cloud server,
When a request for a specific service is received, a robot capable of performing the specific service among the robots located in the building is specified as a target robot based on information about information on services each of which the robots can perform stored in the database. do,
Creating a movement path of the target robot to perform the specific service in the building using map information on the plurality of floors;
Specify at least one specific robot-specific elevator that the target robot must use or pass through to move to a destination in the building corresponding to the specific service, and specify the specific robot-specific elevator to be included in the movement path. create a path,
The robot-only elevator,
Guide rails extending along the vertical direction;
a plurality of carriers moving along the guide rail;
a transfer unit disposed in a horizontal direction perpendicular to the guide rail; and
It includes an auxiliary carrier coupled to the transfer unit, stored in a storage room where the transfer unit is located, and optionally connected to or detachable from the guide rail,
The target robot,
Based on the movement between floors in the vertical direction using the specific robot elevator along the movement path, after getting off at the specific floor corresponding to the destination, the specific floor is made to travel in the horizontal direction,
The cloud server,
A building characterized in that a use order of facilities to be used by the target robot is included on the movement path so that the target robot uses at least one facility including an elevator dedicated to the specific robot to reach the destination. According to claim 1,
The cloud server,
Specifying at least one facility that the target robot must use or pass through to move to the destination among a plurality of facilities arranged in the building;
generating the movement route including a point where the at least one facility is located in the building;
The target robot,
A building characterized in that it travels to the destination while sequentially using or passing through the at least one facility along the movement route. According to claim 2,
The plurality of facilities,
At least one of an elevator dedicated to the specific robot, a passage dedicated to the robot, a common elevator that can be used by a person and the target robot together, an escalator supporting movement between floors, and an access control gate. Building characterized in that it comprises. According to claim 3,
The passage dedicated to the robot,
A first exclusive passage and a second exclusive passage are provided,
The building, characterized in that the first exclusive passage and the second exclusive passage have different heights relative to the floor. According to claim 3,
The cloud server,
Checking the specific floor corresponding to the destination among the plurality of floors;
Based on the position of the target robot at the time of starting the mission corresponding to the specific service, it is determined whether the target robot needs to move between floors to perform the specific service,
Based on the determination result, a building characterized in that an elevator dedicated to the specific robot is included on the movement path. According to claim 5,
The cloud server,
It is made to communicate with the control server of the elevator dedicated to the specific robot,
The control server of the elevator dedicated to the specific robot,
When a boarding request for the target robot is received from the cloud server, control related to the stop of the specific robot elevator is performed so that the target robot gets on and off the elevator for the specific robot. . According to claim 6,
The cloud server,
It is made to monitor the location information of the target robot traveling in the building,
The location information of the target robot and the information of the specific floor corresponding to the destination are transmitted to the control server of the elevator dedicated to the specific robot,
The control server of the elevator dedicated to the specific robot,
Based on the location information of the target robot, first control is performed on the robot elevator so that the target robot gets on the specific robot elevator,
Based on the information of the specific floor corresponding to the destination, a second control for the elevator dedicated to the specific robot is performed so that the target robot gets off the elevator dedicated to the specific robot. delete According to claim 7,
The target robot,
Based on the degree of congestion around the robot-only passage, it is characterized in that the driving characteristics on the robot-only passage are different,
The degree of congestion is
The building, characterized in that calculated based on the image received from at least one of the camera disposed in the building and the camera disposed in the target robot. delete According to claim 1,
The target robot,
After reaching the destination using the specific robot elevator, providing the specific service to a target user who is the target of the specific service,
When the target robot completes providing the specific service to the target user, a specific task corresponding to the specific service assigned to the target robot is processed as completed. According to claim 11,
Further comprising a robot charging area disposed on at least one of the plurality of floors,
The cloud server,
In response to the target robot completing the specific task, receiving state information of the target robot from the target robot through the communication unit;
Based on the state information of the target robot, the target robot is moved to the robot charging area or a new task is assigned to the target robot. According to claim 12,
The cloud server,
As a result of checking the state information of the target robot, when the charging level of the target robot satisfies a preset criterion, a control command for moving the target robot to the robot charging area is generated;
The control command is
A movement path for moving the target robot to a target robot charging area located closest to the current position of the target robot among robot charging areas located in the building,
The target robot,
The building characterized in that for receiving the control command through the communication unit, and moving to the target robot charging area based on the received control command. According to claim 3,
The access control gate,
It is controlled based on a control command received from the access control server through the communication unit,
The cloud server,
When the access control gate is included in the movement path, the identification information of the target robot is transmitted to the access control server;
The access control server,
and controlling the access control gate so that the target robot passes through the access control gate based on the identification information of the target robot received from the cloud server. According to claim 14,
The access control gate,
Sensing identification information of the target robot approaching the access control gate using a sensor provided in the access control gate;
The building characterized in that for transmitting the sensed identification information of the target robot to the access control server. According to claim 1,
said building,
At least one camera on each of the plurality of layers and
A washing facility for washing the robots is provided;
The cloud server,
Monitoring the target robot driving the building through the camera,
As a result of the monitoring, when the target robot satisfies a predetermined contamination criterion, a cleaning schedule for the target robot is created. According to claim 16,
The cloud server,
Creating the cleaning schedule so that cleaning is performed after the target robot completes the performance of the specific service;
A building characterized in that a path for the target robot to reach the cleaning facility via the destination is included in the movement path. According to claim 1,
The movement path is
A building comprising a global path plan generated according to a node designation principle defined based on a social norm for the indoor space. According to claim 18,
The building, characterized in that the cloud server generates the global route plan using nodes and edges designated as a right-of-way based principle. According to claim 19,
Properties including location coordinates and movement directions are defined in each of the nodes,
A building characterized in that each of the edges is defined with a property including a moving speed. According to claim 19,
The node designation principle is,
A building characterized in that it includes a designation principle for an aisle entry node indicating a right aisle start point in the aisle of the indoor space, and an aisle end node indicating a right aisle end point in the aisle. delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete In a building where a plurality of robots provide services,
said building,
a plurality of floors having an indoor space where the robots coexist with people;
a communication unit performing communication between the robots and the cloud server;
An elevator on which the robots can ride and which moves between the plurality of floors,
the elevator,
Guide rails extending along the vertical direction;
a plurality of carriers moving along the guide rail;
a transfer unit disposed in a horizontal direction perpendicular to the guide rail; and
It includes an auxiliary carrier coupled to the transfer unit, stored in a storage room where the transfer unit is located, and optionally connected to or detachable from the guide rail,
At least some of the robots are configured to provide services different from those of other robots, and information on services each of which the robots can perform is stored in a database,
The cloud server,
having map information on the plurality of floors, and controlling the robots to drive the robots in the indoor space based on the map information;
When a request for a specific service is received, a robot capable of performing the specific service among the robots located in the building is specified as a target robot based on information about information on services each of which the robots can perform stored in the database. do,
Creating a movement path of the target robot to perform the specific service in the building using map information on the plurality of floors;
Among the plurality of carriers, at least one specific carrier that the target robot must use or pass through to move to a destination in the building corresponding to the specific service is specified, and the specified specific carrier is on the movement path. generating the movement path so as to be included;
The target robot,
Following the movement path, after completing the disembarkation at a specific floor corresponding to the destination based on the vertical inter-floor movement using the specific carrier, traveling in a horizontal direction within the specific floor,
Characterized in that the cloud server includes on the moving path a sequence of using facilities to be used by the target robot so that the target robot uses at least one facility including the specific carrier to reach the destination. building to do. delete delete delete delete delete delete 39. The method of claim 38,
The building characterized in that the cloud server receives operation information related to the operation of the elevator and controls the driving of the robot using the operation information. delete delete a plurality of floors having different interior areas; and
A facility infrastructure disposed on at least one of the plurality of floors and used by a plurality of robots that execute control commands received from a cloud server;
The facility infrastructure,
A first facility related to the horizontal movement of the robots in the indoor area;
a second facility associated with the vertical movement of the robots between the floors;
The cloud server
When a request for a specific service is received, a robot capable of performing the specific service among the robots located in the building is specified as a target robot based on information on information on services each of which the robots can perform stored in the database,
At least one specific first facility and a specific second facility that must be used or passed in order for a specific robot assigned a mission to perform the specific service to move to a destination in the building corresponding to the specific service, and generating the movement route so that the first specific facility and the specific second facility are included on the movement route;
The target robot,
After getting off at a specific floor corresponding to the destination based on inter-floor movement in the vertical direction using the specific second facility along the movement path, the first floor within the specific floor is completed to reach the destination. It is made to drive the equipment in a horizontal direction,
The cloud server,
Including the order of using facilities to be used by the specific robot on the movement path so that the specific robot sequentially uses the first specific facility and the specific second facility to reach the destination;
The first facility is exclusively used by the robots and includes a path dedicated to robots disposed on at least one of the plurality of floors;
The second facility is exclusively used by the robots and includes a robot-only elevator that moves between the plurality of floors,
The robot-only elevator,
Guide rails extending along the vertical direction;
a plurality of carriers moving along the guide rail;
a transfer unit disposed in a horizontal direction perpendicular to the guide rail; and
A building characterized in that it comprises an auxiliary carrier coupled to the transfer unit, stored in a storage room where the transfer unit is located, and optionally connected to or detachable from the guide rail. delete The method of claim 48,
The building characterized in that the entrance or exit of the robot-only passage is connected to the robot-only elevator. A communication unit that performs wireless communication with a plurality of robots;
an indoor area configured to drive the plurality of robots; and
A facility infrastructure disposed in the indoor area for use by the robots;
The facility infrastructure,
a first facility related to the movement of the robots within a floor and a second facility related to the movement of the robots between floors;
The robots perform tasks by moving within and between floors according to the control command received from the cloud server through the communication unit to use the first facility and the second facility,
The first facility is exclusively used by the robots and includes a path dedicated to robots disposed on at least one of the plurality of floors;
The second facility is exclusively used by the robots and includes a robot-only elevator that moves between the plurality of floors,
The robot-only elevator,
Guide rails extending along the vertical direction;
a plurality of carriers moving along the guide rail;
a transfer unit disposed in a horizontal direction perpendicular to the guide rail; and
A building characterized in that it comprises an auxiliary carrier coupled to the transfer unit, stored in a storage room where the transfer unit is located, and optionally connected to or detachable from the guide rail. delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete delete

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