KR102652022B1 - Robot for guiding way for train boarding of customer, and system - Google Patents

Abstract

A method of operating a robot is disclosed. This operation method includes the steps of identifying the occupancy of the robot by a user close to the robot, obtaining the user's movement path to move to the platform when platform information is obtained according to the user input, and the steps of obtaining the user's movement path to move to the platform. Among the obtained movement paths, the robot It includes selecting at least one destination to which the user can move and moving to the destination to guide the user.

Description

Robot and system for guiding customers on trains { ROBOT FOR GUIDING WAY FOR TRAIN BOARDING OF CUSTOMER, AND SYSTEM }

This disclosure relates to a guidance robot and system, and more specifically, to a robot and system that guides a customer's movement route based on platform information at a train station.

There is a trend for guidance robots with various functions to be developed and utilized in spaces that guide the boarding process of transportation, such as train stations and airports. The use of guidance robots has the advantage of contributing to the efficiency of human resource management by reducing the number of guidance personnel.

However, many tasks still remain to implement the process of setting/removing the user's occupancy status for the guidance robot, functions required for the target space, and a robot that provides customized services according to customer needs.

Public Patent Publication No. 10-2019-0094299

The present disclosure provides a robot and system that perform route guidance by selecting a destination to which the robot can move based on a movement path set according to user input.

The present disclosure provides a robot and system that moves within a train station according to a user's call and/or provides route guidance based on the user's ticket information.

This disclosure is related to the following research project.

[Assignment number] 0000000000

[Assignment number] 0000000000

[Ministry Name] Ministry of Trade, Industry and Energy

[Name of task management (professional) organization] Korea Robot Industry Promotion Agency

[Research Project Name] 2023 Customized Service Robot Development and Distribution Project (Phase 2)

[Research project name] Development and verification of autonomous driving for guidance and baggage transport within railway stations

[Contribution rate] 1/1

[Name of project carrying out organization] (General) Host organization: Twiny, Participating organization: Korea Railroad Corporation

[Research period] 2022-05-30~2023-11-30

The objects of the present disclosure are not limited to the purposes mentioned above, and other objects and advantages of the present disclosure that are not mentioned can be understood by the following description and will be more clearly understood by the examples of the present disclosure. Additionally, it will be readily apparent that the objects and advantages of the present disclosure can be realized by the means and combinations thereof indicated in the patent claims.

A method of operating a robot according to an embodiment of the present disclosure includes identifying occupancy of the robot by a user close to the robot, and when platform information is obtained according to a user input, movement of the user to move to the platform. It includes obtaining a route, selecting at least one destination to which the robot can move among the obtained movement routes, and moving to the destination to guide the user.

The step of identifying the occupancy of the robot includes identifying the user's occupancy of the robot according to a user input that touches the display of the robot, and when the user's occupancy is identified, the user's occupancy is stopped while the movement is stopped. You can be guided to load your luggage onto the robot.

In the step of selecting the destination, if the movement path includes movement between floors, an elevator or escalator included in the movement path may be selected as the destination.

The operation method of the robot includes, when arriving at the destination, stopping in a preset direction with respect to the destination, guiding the arrival and remaining movement routes to the destination in the stopped state, and guiding the user on the robot. It may include guiding the user to retrieve the luggage.

In this case, the operating method of the robot is to release the user's occupation and return to the waiting position when a certain period of time has passed after guiding the user to retrieve the luggage or when a user input to end the robot's route guidance is received. It may include a moving step.

Additionally, the method of operating the robot may further include detecting the weight of the load loaded on the robot through a weight sensor. Here, the step of releasing the user's occupation and moving to the waiting position is performed after a certain period of time has passed or a user input terminating the occupation of the robot is received after the unloading of the baggage is identified according to the sensed weight. When this happens, the user can release the occupation and move to the waiting position.

Meanwhile, the step of acquiring the user's movement path to move to the platform includes acquiring platform information based on ticket information obtained according to user input, based on the obtained platform information and the current location of the robot. It may include the step of acquiring a movement route.

In the step of acquiring the platform information, the departure time of the train is identified according to the ticket information, and when a threshold point corresponding to a certain time before the departure time of the train has passed, the ticket information is transmitted to the train system, Platform information matching the ticket information can be obtained from the train system.

On the other hand, in the step of acquiring the platform information, if it is determined that the critical point has not passed, the type of destination of the train identified based on the ticket information is identified, and the platforms corresponding to the identified type are identified. It is possible to identify a set temporary location and obtain platform information targeting the identified temporary location.

A method of operating a system according to an embodiment of the present disclosure includes the train system server activating call information according to a user input received through a user terminal, and when the call information is activated, the robot control server activates the robot. identifying the user's occupancy and controlling a robot to move to the call location, the train system server transmitting authentication information matching the activated call information to the robot control server, the robot After arriving at the call location, performing authentication for the user according to authentication information received according to user input. If authentication is successful, the robot moves to at least one destination to guide the user. Includes.

In this case, the operating method of the system includes, when the call information is activated, the robot control server calculating an expected time when the robot is expected to arrive at the call location based on the current location of the robot, the train It may include the step of the system server transmitting information about the expected time point to the user terminal.

In addition, the operating method of the system is that, if authentication of the user is not successful within a certain time after the robot arrives at the call location, at least one of the train system server and the robot control server deactivates the call information and It may include the step of releasing the occupation.

In addition, the operating method of the system is such that, even if a user input for calling the robot is received through at least one second user terminal while the call information of the first user terminal for the robot is activated, the train system The server may maintain deactivation of call information for the second user terminal.

The robot and system according to the present disclosure can perform route guidance by automatically setting an intermediate destination to which the robot can move as much as possible when the robot cannot move to the user's final destination.

The robot and system according to the present disclosure support robot occupancy according to a call in addition to robot occupancy according to a user's direct input.

1 is a diagram illustrating operations performed by a robot control server and a train system server in the process of providing a service through a robot according to an embodiment of the present disclosure;
2 is a flowchart for explaining the operation of a robot according to an embodiment of the present disclosure;
FIG. 3A is a diagram illustrating the operation of a robot that identifies user occupancy and guides loading of luggage according to an embodiment of the present disclosure;
FIG. 3B is a diagram illustrating a specific operation of a robot guiding a user after occupancy according to an embodiment of the present disclosure;
FIG. 3C is a diagram illustrating the operation of a robot that stops at a destination and guides the remaining movement path according to an embodiment of the present disclosure;
Figure 4 is a sequence diagram for explaining an operation in which a train system server, a robot control server, and a robot provide a call function according to an embodiment of the present disclosure; and
Figure 5 is a block diagram for explaining the configuration of a robot according to various embodiments of the present disclosure.

Before explaining the present disclosure in detail, the description method of the present specification and drawings will be explained.

First, the terms used in the specification and claims are general terms selected in consideration of their functions in various embodiments of the present disclosure. However, these terms may vary depending on the intention of technicians working in the relevant technical field, legal or technical interpretation, and the emergence of new technologies. Additionally, some terms are arbitrarily selected by the applicant. These terms may be interpreted as defined in this specification, and if there is no specific term definition, they may be interpreted based on the overall content of this specification and common technical knowledge in the relevant technical field.

In addition, the same reference numbers or symbols in each drawing attached to this specification indicate parts or components that perform substantially the same function. For convenience of explanation and understanding, the same reference numerals or symbols are used in different embodiments. That is, even if all components having the same reference number are shown in multiple drawings, the multiple drawings do not represent one embodiment.

Additionally, in this specification and claims, terms including ordinal numbers such as “first”, “second”, etc. may be used to distinguish between components. These ordinal numbers are used to distinguish identical or similar components from each other, and the meaning of the term should not be interpreted limitedly due to the use of these ordinal numbers. For example, the order of use or arrangement of components combined with these ordinal numbers should not be limited by the number. If necessary, each ordinal number may be used interchangeably.

In this specification, singular expressions include plural expressions, unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “consist of” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are intended to indicate the presence of one or more other It should be understood that this does not exclude in advance the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

In embodiments of the present disclosure, terms such as “module”, “unit”, “part”, etc. are terms to refer to components that perform at least one function or operation, and these components are either hardware or software. It may be implemented or may be implemented through a combination of hardware and software. In addition, a plurality of "modules", "units", "parts", etc. are integrated into at least one module or chip, except in cases where each needs to be implemented with individual specific hardware, and is integrated into at least one processor. It can be implemented as:

Additionally, in an embodiment of the present disclosure, when a part is connected to another part, this includes not only direct connection but also indirect connection through other media. In addition, the meaning that a part includes a certain component does not mean that other components are excluded, but that it may further include other components, unless specifically stated to the contrary.

FIG. 1 is a diagram illustrating operations performed by a robot control server and a train system server in the process of providing a service through a robot according to an embodiment of the present disclosure.

The robot 100 according to the present disclosure may correspond to a robot for providing directions to customers within a train station, but may also be used in spaces that support boarding of various means of transportation, such as subway stations, bus terminals, and airports.

The robot control server 200 is a server for monitoring the robot 100 in real time and controlling the operation and movement of the robot 100. The robot control server 200 corresponds to a server or system composed of at least one computer.

The robot control server 200 may communicate with the robot 100 and the train system server 300, respectively.

Referring to FIG. 1, the robot control server 200 may include a robot management module 210, a destination management module 220, a service control module 230, etc.

The robot management module 210 is a module for managing the status of each robot and events that occur for each robot in real time.

The robot management module 210 can communicate with the robot 100 in real time to identify the location of the robot 100 and the status of the robot 100 (e.g., waiting, guiding, receiving a call, etc.).

The destination management module 220 is a module for managing information about the map within the space where the robot 100 operates, the path along which the robot can move on the map, and setting at least one destination where the robot 100 can move. .

As an example, assume that the robot 100 operates on the second floor of a train station. At this time, if the platform of the train that the user occupying the robot 100 wants to board is on the first basement floor, the destination management module 220 is an elevator or an elevator that can go down to the first basement floor from the second floor where the robot 100 operates. The escalator can be set as the destination of the robot 100.

The service control module 230 is configured to control the robot 100 in relation to various services provided by the robot 100.

Specifically, the service control module 230 may control the movement of the robot 100 so that the robot 100 performing route guidance moves to at least one destination, and the robot (100) performs route guidance from the start to the end. Various guidance information provided by 100) can be provided to the robot 100.

Here, the guidance information includes information requesting input of platform information, information guiding loading, information guiding movement along the robot 100, user movement path to move to the platform, and information guiding unloading. It may include etc. Additionally, the guidance information may include information requesting input for various places (e.g. ticket counter, restaurant, etc.) to which the user wishes to move in addition to platform information.

Additionally, the service control module 230 may transmit call information to the robot 100 to provide a call function for the robot 100. As an example, user call information activated through the train system server 300 may be received by the robot control server 200. At this time, the service control module 230 can control the robot 100 to move to the call location according to call information. The call function will be described in more detail with reference to FIG. 4 below.

The train system server 300 is a server for monitoring the operation information of trains in the train station where the robot 100 operates, ticket information for each seat, etc. in real time and providing the information to the user terminals of various users, and includes at least one computer. It can be implemented as a server or system that includes.

Referring to FIG. 1, in relation to the robot 100, the train system server 300 may include a service information module 310, a ride information management module 320, and a call module 330.

The service guidance module 310 is a module for guiding various services provided by the robot 100. The service guidance module 310 provides various service items (ex. route guidance, calls, etc.) provided by the robot 100 through the user terminals of various users accessing the web page or application provided by the train system server 300. Detailed information can be provided. Here, detailed information may include how to use each service, location of use, time of use, precautions, etc.

The ride information management module 320 manages the operation information and ticket information of each train, and manages platform information corresponding to the departure or arrival location of each train according to the train operation information and ticket information.

The boarding information management module 320 may transmit platform information to the robot control server 200 and/or the robot 100 to support services (e.g. route guidance) of the robot 100 appropriate for each user's ticket.

The call module 330 is a module to support the user's call function for the robot 100. Specifically, when a call to the robot 100 is requested by at least one user terminal, the call module 330 may generate call information and transmit it to the robot control server 200 and/or the robot 100. .

The robot control server 200 and the train system server 300 described above may each include memory, a processor, and a communication interface.

The memory is a component for storing at least one instruction or data related to the components of the server 100 and an operating system (OS) for controlling the overall operation of the components of each server.

Memory may include non-volatile memory such as ROM and flash memory, and may include volatile memory consisting of DRAM and the like. Additionally, memory may include a hard disk, solid state drive (SSD), etc.

The communication unit may include circuits, modules, chips, etc. for communicating with at least one external device (external server, robot, etc.) through various wired or wireless communication methods.

The communication unit can be connected to external devices through various networks.

Depending on the area or size, the network may be a personal area network (PAN), a local area network (LAN), or a wide area network (WAN). Depending on the openness of the network, it may be an intranet, It may be an extranet, or the Internet.

The communications department is responsible for LTE (long-term evolution), LTE-A (LTE Advance), 5G (5th Generation) mobile communication, CDMA (code division multiple access), WCDMA (wideband CDMA), UMTS (universal mobile telecommunications system), and WiBro ( External devices through various wireless communication methods such as Wireless Broadband), GSM (Global System for Mobile Communications), DMA (Time Division Multiple Access), WiFi (Wi-Fi), WiFi Direct, Bluetooth, NFC (near field communication), and Zigbee. can be connected to Additionally, the communication unit can be connected to external devices through various wired communication methods such as Ethernet, optical fiber communication, USB, and HDMI.

The processor is configured to overall control each server. Specifically, the processor may perform operations according to various embodiments of the present disclosure by being connected to a memory and executing at least one instruction stored in the memory.

The processor may include a general-purpose processor such as a CPU, AP, or DSP (Digital Signal Processor), a graphics-specific processor such as a GPU or VPU (Vision Processing Unit), or an artificial intelligence-specific processor such as an NPU. An artificial intelligence-specific processor may be designed with a hardware structure specialized for training or use of a specific artificial intelligence model.

In this way, the robot 100 can provide functions such as route guidance and calling under the control of the robot control server 200 or independently, and communicates directly or indirectly with the train system server 300 in the process of providing various functions. can be performed.

Hereinafter, with reference to FIG. 2, the operation of the robot 100 that provides route guidance will be described in detail.

Figure 2 is a flowchart for explaining the operation of a robot according to an embodiment of the present disclosure.

Referring to FIG. 2, the robot 100 can identify the occupancy of the robot 100 by a user close to the robot 100 (S210).

As an example, assume that the robot 100 is located in a waiting area (ex. waiting station, charging station, etc.) in a train station. At this time, the robot 100 may identify the user's occupancy of the robot 100 according to a user input that touches the display (ex. touch panel) of the robot 100.

As another example, assume that the robot 100 is moving (e.g., returning to the waiting area after providing directions to other users). In this case, the robot 100 may recognize a user who is within a certain distance from the robot 100 through a proximity sensor, camera, or lidar sensor. At this time, the robot 100 may stop moving, and the user's occupancy of the robot 100 may be identified according to a user input that touches the display of the robot 100.

When the user's occupancy is identified, the robot 100 may output guidance information guiding the user to load the user's luggage onto the robot 100 while stopping movement.

In addition, the robot 100 may obtain platform information according to the user input and obtain the user's movement path to move to the corresponding platform (S220).

Platform information may include an identification number of the platform, the location of the platform, information about trains departing/arriving at the platform in at least one time period, etc.

As a specific example, the robot 100 may identify the platform number according to a user input on a virtual keypad provided through a display.

Alternatively, the robot 100 may obtain ticket information (e.g. ticket number, train number, departure/destination, departure time, etc.) held by the user according to user input. For example, the number of the ticket reserved by the user may be input, or the ticket code information (e.g. QR code, barcode, etc.) may be recognized through a sensor (e.g. camera, barcode scanner, etc.) of the robot 100. In this case, the robot 100 can transmit ticket information to the train system server 300 through the robot control server 200, and as a result, platform information matching the ticket can be received from the train system server 300. .

When platform information is acquired in this way, the robot 100 can obtain the user's movement path to move from the current location of the robot 100 to the corresponding platform. To this end, the robot control server 200 or the robot 100 may generate the user's movement path based on a map of the space in which the robot 100 operates.

When the user's movement path is acquired, the robot 100 can select at least one destination to which the robot 100 can move among the obtained movement paths (S230).

Here, the destination to which the robot 100 can move may be the final destination or an intermediate destination in the user's movement path.

As an example, assume that the robot 100 is unable to move between floors.

At this time, if the platform where the user wants to move is located on the floor where the robot 100 operates, the robot 100 can select the platform that is the user's final destination as the destination of the robot 100.

However, if the user's movement path includes movement between floors, such as when the platform is located on a different floor from that of the robot 100, the robot 100 may select an intermediate destination such as an elevator or escalator included in the movement path as the destination. Of course, if an elevator or escalator does not exist, stairs may be selected as the destination.

When the destination of the robot 100 is selected, the robot 100 can move to the destination (ex. elevator, escalator) to guide the user (S240). During the movement process, the robot 100 may output a guidance voice to move along the robot 100 through a speaker or may display guidance text.

The process of FIG. 2 described above will be described in more detail below with reference to FIGS. 3A to 3C.

FIG. 3A is a diagram illustrating the operation of a robot that identifies a user's occupancy and guides loading of luggage, according to an embodiment of the present disclosure.

Referring to FIG. 3A, the user 10 can occupy the robot 100 by touching the display of the robot 100 (which is waiting). At this time, the robot 100 can identify the user's occupancy and guide loading (S301). Specifically, the comment “Please load your luggage before moving” may be output on the display and/or through the speaker of the robot 100.

In this case, the user can load luggage into the loading box of the robot 100.

FIG. 3B is a diagram illustrating a specific operation of a robot guiding a user after occupancy according to an embodiment of the present disclosure.

Referring to FIG. 3B, the robot 100 may output a menu 311 including a plurality of selectable items related to the guidance function on the display. Referring to FIG. 3B, selection items include taking a train, ticket counter, nearby elevator, nearby escalator, view map, etc. In addition, selection items may include restaurant guidance, calling an employee, etc.

In this way, the robot 100 can provide directions to various places/areas according to the item selected according to the user input in the menu 311. Figure 3b assumes that “Go on a train” is selected.

At this time, the robot 100 can obtain platform information according to user input (S302). Specifically, the robot 100 may visually or audibly output a comment requesting input of ticket information or selection of a platform. At this time, it is also possible to recognize the code information (ex. QR code) of the ticket, so when “QR” is selected in relation to the “Go on a train” item included in the menu 311, a robot to recognize the QR code A camera or scanner at 100 may be activated.

When ticket information is input, the robot 100 can transmit the ticket information to the train system server 300 through the robot control server 200, and as a result, platform information matching the ticket is received from the train system server 300. You can receive it.

However, if the departure time included in the ticket information has already passed, the robot 100 does not transmit the ticket information to the train system server 300, but visually or audibly outputs a notice indicating that the departure time has already passed. can do.

Alternatively, if the train ticket information corresponding to the departure time has already passed is input to the robot 100 and transmitted to the train system server 300, the train system server 300 no longer provides platform information because the departure time has already passed. Information indicating that does not exist can be transmitted to the robot 100. In this case, the robot 100 may visually or audibly output a guidance message indicating that the departure time has already passed.

On the other hand, if the time at which the train system server 300 displays platform information (ex. platform number) is determined in relation to each ticket, the ticket entered into the robot 100 before the departure time has elapsed. Even if the information is transmitted to the train system server 300, platform information matching the ticket may not have been created yet.

For example, the train system server 300 may generate and provide platform information for each train at a critical point in time (e.g., 15 minutes before train departure) corresponding to a certain amount of time before the departure time of each train.

Here, if the time when the user's ticket information is input to the robot 100 has passed the above-mentioned critical time (ex. 15 minutes before train departure), the robot 100 transmits the ticket information to the train system 300 , platform information matching ticket information can be obtained from the train system. In this case, the robot 100 can specify a specific platform number and create a movement path to be described later.

On the other hand, if the time when the user's ticket information is input to the robot 100 has not passed the above-mentioned critical point (ex. 15 minutes before train departure), the robot 100 determines the destination of the train identified based on the ticket information. The type can be identified.

Here, the type may be classified according to the direction of movement of the train, such as downbound or upbound, or may be classified according to the destination area where the train moves. In relation to this, the destination management module 220 of the robot control server 200 may manage information about the type of destination of the train matching each of the plurality of platforms. For example, platforms 1 to 8 may be matched to the upbound line, and platforms 9 to 16 may be matched to the downbound line.

As described above, when the type of destination of the train is identified, the robot 100 identifies preset temporary positions for platforms corresponding to the identified type and obtains temporary platform information targeting the identified temporary positions. You can. The temporary platform information does not include a specific platform number, but may include information about a temporary location corresponding to the middle position of platforms corresponding to the matching type.

In this way, the robot 100 according to the present disclosure can utilize different algorithms for each time point in the process of acquiring platform information, considering that the exposure of platform information provided by the train system server 300 varies depending on the time point. There is a practical difference.

When platform information is obtained as described above, a movement path may be selected according to the platform information (S303). Specifically, the destination management module 220 of the robot control server 200 that controls the robot 100 controls the robot 100 for the platform based on the location of the platform according to platform information and the current location of the robot 100. You can set the movement path.

Specifically, the robot 100 can identify the location of the platform for the user to board the train based on platform information. Additionally, the robot 100 may generate the user's movement path based on the current location of the robot 100 and the location of the platform.

Meanwhile, a plurality of possible movement paths may be derived depending on the structure of the space (ex. train station) in which the robot 100 operates.

If the robot 100 can move to the user's final destination, the robot 100 can select the shortest distance among a plurality of possible movement paths.

On the other hand, if the robot 100 cannot move to the user's final destination (e.g., when movement between floors is necessary), the proportion of paths that the robot 100 can move along with the robot 100 among the plurality of possible movement paths is The highest movement path can be selected as the user's movement path.

For example, when there are a plurality of elevators for inter-floor movement, a plurality of movement paths may be derived depending on which elevator is used. At this time, the robot 100 may select the elevator closest to the target platform as the destination. That is, among the plurality of movement paths, the movement path with the highest proportion of movement on the floor where the robot 100 operates may be selected. In this case, the proportion of the route directly guided by the robot 100 among the user's movement routes increases, which not only improves the completeness of the route guidance, but also has the advantage of minimizing the user's effort to move while carrying luggage.

Then, the robot 100 can select its destination according to the user's movement path (S304).

For example, while the robot 100 can only operate within the first floor and cannot move between floors, if the target platform is located on the second basement floor, the robot 100 must use an elevator or escalator to move to the second basement floor. can be set as the destination.

Then, the robot 100 can move to the selected destination (ex. elevator, escalator, etc.) (S305). As a result, the user can comfortably move along the robot 100 while leaving his luggage on the robot 100.

However, when departing for the destination, the robot 100 is subject to the following conditions: a certain amount of time elapses after providing guidance on loading, a condition in which a user input (e.g. touch) requesting the start of route guidance is received after inputting platform information, Movement to the destination can be started (departed) under the condition that at least one of the conditions that the change in weight detected through the weight sensor of the robot 100 remains unchanged for a certain period of time is satisfied. This is to prevent safety accidents during the loading process.

FIG. 3C is a diagram for explaining the operation of a robot that stops at a destination and guides the remaining movement path according to an embodiment of the present disclosure.

Referring to FIG. 3C, the robot 100 that has arrived at the destination (e.g., elevator, escalator, etc.) may stop in a preset direction with respect to the destination (S306).

The preset direction may be a direction such that the direction in which the load is unloaded from the loading box of the robot 100 is closer to the destination, but is not limited to this. As another example, the robot 100 can identify the user's location with respect to the robot 100 in real time through a proximity sensor, lidar sensor, camera, etc., and after stopping, the display of the robot 100 is directed to face the user. You can also stop in that direction.

In a stopped state, the robot 100 can guide arrival at the destination and unloading of luggage, and if the arrived destination is not the final destination (ex. platform) to which the user ultimately wants to move, the robot 100 can guide the arrival at the destination and the unloading of luggage. The remaining travel route to reach the final destination can be guided (S307).

As an example, referring to Figure 3c, “Please unload.” Comments such as “Take the elevator to the 2nd basement floor and then go to platform 3” may be output visually or audibly.

Additionally, the robot 100 can visually display a map indicating the remaining movement path to move from the current destination to the location of the platform where the user wants to move.

Then, the robot 100 can release the user's occupation and move to the waiting position (S308).

Specifically, when a certain period of time passes after guiding the user to retrieve his or her luggage or when a user input to end the route guidance of the robot 100 is received, the robot 100 can release the user's possession and move to the waiting position. there is.

At this time, occupancy is released and the robot 100 may move to the waiting position on the condition that the unloading of the luggage is identified through the weight sensor of the robot 100.

Specifically, assume that loading of luggage on the robot 100 was detected through the weight sensor of the robot 100 during the start of the route guidance process. In this case, in the process of ending the route guidance, the robot 100 can identify the unloading of the luggage (e.g., return to the weight before loading the luggage) through the weight sensor.

That is, on the precondition that the unloading of the luggage is identified through the weight sensor of the robot 100, a certain period of time has passed after the user is guided to retrieve the luggage, or a user input to end the navigation of the robot 100 is made. As received, the robot 100 can release the user's occupation and move to the waiting position.

In addition, as an example, when the route guidance is terminated according to user input or the arrival of the robot 100, and the loaded luggage is identified as not being unloaded for more than a certain period of time, the robot 100 allows the unloading of the loaded luggage. Requested guidance phrases (ex. “Please unload your luggage”, “Please pack your luggage”) can be output visually or audibly.

Meanwhile, the train system server 300 according to the present disclosure can provide a function to call the robot 100 to the call location according to the user input received through the user terminal. Afterwards, the robot 100, which has moved to the calling location, can provide route guidance under the user's occupation.

In relation to this, FIG. 4 is a sequence diagram for explaining an operation in which a train system server, a robot control server, and a robot provide a call function according to an embodiment of the present disclosure.

Referring to FIG. 4, the call module 330 of the train system server 300 may activate call information according to user input received through the user terminal (S410).

The user terminal may correspond to various terminal devices such as smartphones, tablet PCs, and wearable devices that can access at least one web page provided by the train system server 300 or run an application.

Specifically, the call module 330 may activate call information to call the robot 100 at a specific call location according to user input. Here, the call location may be fixed, such as a platform within a train station, bus stop, entrance, or other location where guidance signs are installed, or may be selected according to user input.

For example, a user entering a train station by train may request a call through an application provided by the train system server 300 in advance through the user terminal before arrival.

Referring to FIG. 4, call information and authentication information generated by the train system server 300 may be transmitted to the robot control server 200 (S420).

To this end, the train system server 300 may generate authentication information matching the call information. Specifically, the train system server 300 generates random authentication information (ex. authentication number) and transmits it to the user terminal and robot control server 200, respectively, or the user's name, ID, and biometric information (ex. face). Authentication information consisting of images or sensing data for recognition, fingerprint recognition, iris recognition, etc.) can be generated and transmitted to the robot control server 200.

At this time, the robot control server 200 may identify/set the user's occupancy of the robot 100 and create a movement path for the robot 100 to move from the current location to the call location (S430). In the process of setting the user's occupation of the robot 100, user information (ex. name, phone number, customer number, ID, etc.) of the user occupying the robot 100 may be registered.

Additionally, the robot control server 200 may calculate an estimated time when the robot 100 is expected to arrive at the call location based on the current location of the robot 100. Specifically, the robot control server 200 may calculate the expected time point according to the generated movement path and the speed of the robot 100. As a result, the train system server 300 can transmit information about the calculated expected time to the user terminal and provide guidance on the time when the robot 100 is expected to arrive at the calling location.

Additionally, the robot control server 200 may transmit authentication information and call information received from the train system server 300 to the robot 100. At this time, information about the generated movement path may also be transmitted.

As a result, the robot 100 can move to the calling location (S450), and a user who meets the robot 100 at the calling location can approach the robot 100. However, at this time, the display of the robot 100 may be in a screen lock state (e.g., user manipulation by touch is not possible).

Here, the robot 100 may perform authentication for the user according to the authentication information received from the robot control server 200 (S460). For example, the robot 100 may compare the authentication information received through the user input of the accessing user with the authentication information previously received from the robot control server 200, and if they match, the authentication may be successful. At this time, the robot 100 may receive an authentication number consisting of numbers or letters as authentication information, and may input biometric information acquired through at least one biometric sensor (ex. camera, ultrasonic sensor, infrared sensor, etc.) as authentication information ( It can also be compared with (ex. biometric information).

However, before authentication is successful, the train system server 300 may receive a user input to cancel the call through the user terminal. If authentication is not successful, the route guidance of the robot 100 has not started, and the train system server 300 may deactivate previously activated call information. In this case, the robot control server 200 can release the user's occupation of the robot 100, and the call can be canceled.

If the user's authentication is successful, the robot 100 can unlock the screen of the display and move to at least one destination (S460). Here, the destination may be the final destination to which the user wishes to move, or it may be an intermediate destination (ex. elevator, escalator, entrance, etc.) within the route to move to the final destination.

The final destination to which the user wishes to move may be flexibly selected according to the user input of the user requesting the call.

At this time, the user input for selecting the final destination may have been received through a user terminal linked to the train system server 300 in the process of generating call information, and the user who met the robot 100 at the call location may be It may have been entered directly into (100).

As an example, a user who takes a train and gets off at the platform of a train station can meet the robot 100 that has been called in advance and perform authentication. If authentication is successful, the user can receive guidance from the robot 100 and be guided to the bus stop, which is the pre-entered final destination. You can move to .

If the robot 100 cannot move to the final destination, such as because there is movement between floors in the movement path, the robot 100 moves to a destination (e.g. escalator, elevator) to which the robot can move as much as possible, as in the embodiment of FIG. 3C described above. etc.), the possession can be released after providing directions only.

On the other hand, if user input for the robot 100 is not received within a certain time after the robot 100 arrives at the calling location, or if authentication is not successful within a certain time, the train system server 300 and the robot control server ( At least one of 200) may deactivate call information and release the user's occupation of the robot 100.

Meanwhile, in a state where the call information of the first user terminal for the robot 100 is activated, even if a user input for calling the robot 100 is received through at least one second user terminal, the train system server 300 Can maintain deactivation of call information for the second user terminal. In other words, a situation in which two or more users occupy one robot 100 at the same time can be prevented, and confusion can be prevented in the process of calling the robot 100 and providing directions.

Figure 5 is a block diagram for explaining the configuration of a robot according to various embodiments of the present disclosure.

Referring to FIG. 5, the robot 100 includes a memory 110, a processor 120, a communication unit 130, a driving unit 140, a sensor unit 150, a camera 160, an output unit 170, and a user input unit. (180), etc. may be included.

The memory 110 is configured to store an operating system (OS) for controlling the overall operation of the components of the robot 100 and at least one instruction or data related to the components of the electronic device 100.

The memory 110 may include non-volatile memory, such as ROM or flash memory, and may include volatile memory, such as DRAM. Additionally, the memory 110 may include a hard disk, solid state drive (SSD), etc.

The processor 120 is configured to overall control the robot 100. Specifically, the processor 120 may perform operations according to various embodiments of the present disclosure by being connected to the memory 110 and executing at least one instruction stored in the memory 110.

The processor 120 may include a general-purpose processor such as a CPU, AP, or DSP (Digital Signal Processor), a graphics-specific processor such as a GPU, a VPU (Vision Processing Unit), or an artificial intelligence-specific processor such as an NPU. An artificial intelligence-specific processor may be designed with a hardware structure specialized for training or use of a specific artificial intelligence model.

The communication unit 130 may include circuits, modules, chips, etc. for communicating with at least one external device through various wired or wireless communication methods. To secure the mobility of the robot 100, the communication unit 130 may be equipped with various circuits/modules/chips to perform wireless communication.

The communication unit 130 may be connected to external devices through various networks.

Depending on the area or size, the network may be a personal area network (PAN), a local area network (LAN), or a wide area network (WAN). Depending on the openness of the network, it may be an intranet, It may be an extranet, or the Internet.

The communication unit 130 supports long-term evolution (LTE), LTE Advance (LTE-A), 5th Generation (5G) mobile communication, code division multiple access (CDMA), wideband CDMA (WCDMA), and universal mobile telecommunications system (UMTS). , WiBro (Wireless Broadband), GSM (Global System for Mobile Communications), DMA (Time Division Multiple Access), WiFi (Wi-Fi), WiFi Direct, Bluetooth, NFC (near field communication), Zigbee, etc. It can be connected to external devices.

Through the communication unit 130, the robot 100 can communicate with the robot control server 200, the train system server 300, etc.

The driving unit 140 is configured to drive the movement of the robot 100. The driving unit 140 may correspond to a module implemented in software and/or hardware.

For example, the drive unit 140 can control a motor for driving the wheels of the robot 100 and can control a mechanical configuration to control the direction of the wheels. For example, straight driving, curved driving, rotation, etc. of the wheels can be controlled.

The sensor unit 150 is configured to collect various information related to the movement of the robot 100 and the surrounding environment.

The sensor unit 150 may include various sensors for self-measuring the movement situation (e.g. direction of movement, movement speed, degree of inclination, impact received, etc.) of the robot 100, such as an acceleration sensor, a gyro sensor, and a geomagnetic sensor. there is.

The sensor unit 150 includes a camera sensor for acquiring image information, a lidar sensor for identifying the surrounding terrain, an ultrasonic sensor for detecting a nearby object (ex. user), and a microphone for detecting ambient noise or objects in various directions. It may include etc.

The sensor unit 150 may include a weight sensor for detecting the weight of the robot 100 or the weight of the loading box. In this case, the robot 100 can identify whether the cargo in the loading box is overloaded through the weight sensor, and in this case, the running of the driving unit 140 may be stopped.

The camera 160 may include at least one camera for photographing the surroundings of the robot 100. Camera 160 may include one or more image sensors. The camera 160 may include an RGB camera or a depth camera.

The camera 160 can photograph the surroundings of the moving robot 100. Additionally, the camera 160 may capture at least one user approaching the robot 100.

The camera 160 may be attached to the outer surface of the robot 100 through at least one connection module capable of angle rotation. In this case, the robot 100 can adjust the shooting direction of the camera 160 by controlling the angle of the connection module.

The processor 120 can identify objects (e.g. obstacles, elevators, people, etc.) by analyzing images captured through the camera 160, and detailed movement paths (e.g. avoidance of obstacles) according to the identified objects. startup) can be controlled in real time.

The output unit 170 is configured to visually/audibly output various information. The output unit 170 may include a display, LED, speaker, etc. For example, the robot 100 may output various guidance information corresponding to the start process of route guidance, the progress process of route guidance, and the end process of route guidance, respectively, through the output unit 170.

The user input unit 180 is configured to receive input of various user commands or information. The user input unit 180 may include at least one button, touch pad, microphone, camera (face recognition, motion sensing), etc.

Additionally, the robot 100 may communicate with at least one user input device (ex. remote controller, smartphone) equipped with various user input means and obtain information about user input from the user input device.

Meanwhile, the various embodiments described above may be implemented by combining two or more embodiments as long as they do not conflict or contradict each other.

Meanwhile, the various embodiments described above may be implemented in a recording medium that can be read by a computer or similar device using software, hardware, or a combination thereof.

According to hardware implementation, embodiments described in this disclosure include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and field programmable gate arrays (FPGAs). ), processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions.

In some cases, embodiments described herein may be implemented in the processor itself. According to software implementation, embodiments such as procedures and functions described in this specification may be implemented as separate software modules. Each of the software modules described above may perform one or more functions and operations described herein.

Meanwhile, computer instructions or computer programs for performing processing operations in the robot 100, robot control server 200, train system server 300, etc. according to various embodiments of the present disclosure described above are non-transitory. It may be stored on a non-transitory computer-readable medium. Computer instructions or computer programs stored in such non-transitory computer-readable media, when executed by the processor of a specific device, are used in the robot 100, the robot control server 200, the train system server 300, etc. according to the various embodiments described above. The processing operations of are performed by the specific device described above.

A non-transitory computer-readable medium refers to a medium that stores data semi-permanently and can be read by a device, rather than a medium that stores data for a short period of time, such as registers, caches, and memories. Specific examples of non-transitory computer-readable media may include CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, etc.

In the above, preferred embodiments of the present disclosure have been shown and described, but the present disclosure is not limited to the specific embodiments described above, and may be used in the technical field pertaining to the disclosure without departing from the gist of the disclosure as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be understood individually from the technical ideas or perspectives of the present disclosure.

100: Robot
200: Robot control server
300: Train system server

Claims (13)

In the operation method of the robot,
identifying occupancy of the robot by a user in close proximity to the robot;
When platform information is obtained according to a user input, obtaining the user's movement path to move to the platform;
selecting at least one destination to which the robot can move among the obtained movement paths; and
Comprising: moving to the destination to guide the user,
The step of acquiring the user's movement path to move to the platform,
Obtaining platform information including the location of the platform based on ticket information obtained according to user input; and
A method of operating a robot comprising; acquiring a movement path based on the obtained platform information and the current location of the robot. According to paragraph 1,
The step of identifying occupancy for the robot is:
Identifying the user's occupancy of the robot according to a user input touching the display of the robot,
When the user's occupancy is identified, a method of operating a robot guides the user to load the robot with the user's luggage while stopping the movement. According to paragraph 1,
The step of selecting the destination is,
When the movement path includes movement between floors, an elevator or escalator included in the movement path is selected as a destination. According to paragraph 1,
The operation method of the robot is,
Upon arriving at the destination, stopping in a preset direction with respect to the destination; and
In a stopped state, guiding the arrival and remaining travel routes to the destination and guiding the user to retrieve the luggage loaded on the robot. According to paragraph 4,
The operation method of the robot is,
A step of releasing the user's possession and moving to a waiting position when a certain period of time has passed after guiding the user to retrieve the baggage or when a user input for ending route guidance of the robot is received; of the robot, including; How it works. According to paragraph 4,
The operation method of the robot is,
Further comprising: detecting the weight of the load carried on the robot through a weight sensor,
The step of releasing the user's occupation and moving to the waiting position,
After the unloading of the baggage is identified according to the sensed weight, when a certain period of time has passed or a user input that terminates the occupation of the robot is received, the robot releases the user's occupation and moves to a waiting position. How it works. delete According to paragraph 1,
The step of acquiring the platform information is,
Identify the departure time of the train according to the ticket information,
A method of operating a robot that transmits the ticket information to the train system and obtains platform information matching the ticket information from the train system when a critical point corresponding to a certain time before the departure time of the train has passed. According to clause 8,
The step of acquiring the platform information is,
If it is determined that the critical point has not passed, the type of destination of the train identified based on the ticket information is identified,
A method of operating a robot, identifying preset temporary positions for platforms corresponding to the identified type and acquiring platform information targeting the identified temporary positions. In the method of operating the system,
A train system server activating call information according to user input received through a user terminal;
When the call information is activated, the robot control server identifies the user's occupancy of the robot and controls the robot to move to the call location;
transmitting, by the train system server, authentication information matching the activated call information to the robot control server;
After the robot arrives at the call location, performing authentication for the user according to authentication information received according to user input; and
If authentication is successful, the robot moves to at least one destination to guide the user. According to clause 10,
The operating method of the system is,
When the call information is activated, the robot control server calculates an expected time when the robot is expected to arrive at the call location based on the current location of the robot; and
A method of operating a system comprising: the train system server transmitting information about the expected time to the user terminal. According to clause 10,
The operating method of the system is,
If authentication of the user is not successful within a certain time after the robot arrives at the call location, at least one of the train system server and the robot control server deactivates the call information and releases the occupancy. How the system operates. According to clause 10,
The operating method of the system is,
In a state where the call information of the first user terminal for the robot is activated, even if a user input for calling the robot is received through at least one second user terminal, the train system server A method of operating a system comprising: maintaining deactivation of call information.