KR102653679B1 - Automatic Movable Desk System - Google Patents

Abstract

An automatically movable desk system is disclosed. In this specification, a grid map of the indoor space is created in the server, and when destination information of the desk system is input, the movement path of the desk system is matched on the grid map and transmitted to the desk system. The desk system drives to the destination based on grid map information on which the movement route is mapped received from the server.

Description

Automatic Movable Desk System

This specification relates to an automatically movable desk system.

Manually arranging desks and chairs in public places can require a lot of manpower and time. In particular, the original desk was inconvenient when changing the arrangement, moving seats, or aligning the desks, as people had to manually drag the desk, and when changing seats, confusion often occurred because several people moved their desks.

In addition to the process of moving desks and chairs in a classroom at a school site, when chairs or desks must be aligned according to certain rules in a large space such as a performance hall, if all work is performed manually, there is a significant waste of money, manpower, and time. There is a problem.

This specification is intended to solve the above-mentioned problems and provides a movable desk system that can change the arrangement of a large number of desk systems with a simple operation through a server computing device through a communication connection between a bookshelf device, a chair device, and a server.

A movable desk system according to one aspect of the present specification includes a desk device; a chair device that is movable and coupled to at least one area of the desk device; and a server that controls a movement path in a predetermined indoor space through wireless communication with the desk device and the chair device, and controls the desk device to operate in either a moving mode or a locking mode.

The server is linked with at least one camera that photographs the indoor space and creates a grid map for the driving area of the bookshelf device based on the indoor space image acquired through the camera and the grid map on the grid map. The desk device creates a movement path to move to a specific location and transmits it to the desk device.

The desk device includes a power supply unit; A bridge part extending from the lower surface of the desk plate, having at least two drive motors on the left and right sides, respectively, and including a traveling part connected to the drive motors and movable within the indoor space; a first wireless communication unit that performs wireless communication with the chair device and the server; and a first control unit that controls the drive motor and the traveling unit to move the desk device based on the grid map of the indoor space and the movement path received from the server through the first wireless communication unit.

The first control unit switches the traveling unit to a drivable state when power is supplied by the power supply unit.

The traveling unit includes a reverse driving electromagnetic actuator that switches the traveling unit to be fixed to the floor of the indoor space when power supply is cut off by the power supply unit.

The server stores location information of the desk device in the indoor space, receives destination information to which the desk device is to be moved, and coordinates corresponding to the destination information on the grid map based on the input destination information. can be calculated, and the movement path from the current location of the desk device to the coordinates of the destination can be generated and transmitted to the desk device.

The grid map is composed of a plurality of orthogonal lines spaced at predetermined intervals, and the movement path may be configured along the lines of the grid map.

When receiving the movement path of the desk device from the server, the first control unit may control power to be supplied to the traveling unit through the power supply unit.

When the desk device reaches the destination, the first control unit may control the power supply unit to cut off power supplied to the traveling unit and control the operation of the drive motor to end.

The server further includes a display unit including a user input unit and an interface for receiving the destination information, the interface displaying the current location of the desk device on the grid map, and at least one of a plurality of desk devices. When an input for dragging to a specific location is received, the destination of the desk device may be designated.

The automatically movable desk system may further include a line on the floor of the indoor space that allows the desk device to move by a line tracer operation.

A coupling means for coupling the desk device and the chair device is provided at a position of the chair device corresponding to one side of the desk plate, and the coupling means is composed of an electromagnet, and the desk device and the chair are connected by the electromagnet. When the devices are combined, the desk device and the chair device can be moved together to the destination along the movement path.

According to an embodiment of the present specification, the arrangement of a large number of desk systems can be changed through a simple operation through a server computing device through a communication connection between the bookshelf device, the chair device, and the server.

The accompanying drawings, which are included as part of the detailed description to aid understanding of the present specification, provide embodiments of the present specification and, along with the detailed description, also explain technical features of the present specification.
1 is a diagram for explaining an automatically movable desk system according to an embodiment of the present specification.
Figure 2 is a functional block diagram of a server in a desk system according to an embodiment of the present specification.
Figure 3 is a functional block diagram of a desk device in a desk system according to an embodiment of the present specification.
FIG. 4 is a diagram illustrating an example of a combined state of a desk device and a chair device according to an embodiment of the present specification.
Figure 5 is a flowchart for controlling the operation of an automatically movable desk system according to an embodiment of the present specification.
Figure 6 is an example of displaying the movement path of a desk system on a grid map according to an embodiment of the present specification.
FIGS. 7 and 8A to 8G are diagrams for explaining an example of arranging a plurality of desks in a school classroom according to an embodiment of the present specification.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves. Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

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

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

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

In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

1 is a diagram for explaining an automatically movable desk system according to an embodiment of the present specification.

Referring to FIG. 1, the automatically movable desk system may include a server 10, a desk and chair device 20, and a network 30.

The server 10 can control the movement of the desk device and the chair device while being connected to each other through the network 30. To this end, the server 10 can manage each desk and chair with an ID assigned to each desk and chair. The server 10 can manage ID-assigned desks and chairs as one group. For example, L1_desk_ID1 and L1_chair_ID1 may mean that the desk of ID1 is managed as one group with the chair of ID1 in an indoor space each having space location information (L1). The desk and chair devices each assigned location information and ID may be stored and managed in the database of the server 10.

Additionally, the server 10 may be linked to at least one camera that photographs a specific indoor space where the desk and chair are or may be located. The camera may include a surveillance camera (CCTV). The surveillance camera may be activated when at least one desk system is moved through the method according to an embodiment of the present specification, and may be maintained in an off state at other times.

The server 10 may be linked with at least one camera that captures the indoor space and generate a grid map of the driving area of the desk device based on the indoor space image acquired through the camera. Additionally, the server 10 may calculate the movement path of the desk device on the grid map based on the input destination information of the desk. The calculated movement route, along with the grid map, can be transmitted to the desk device 20 through the wireless communication unit.

Additionally, the server 10 may store location information of the desk device in the indoor space. The server 10 may periodically receive location information from the desk and chair devices. For example, when the movement path of the desk and chair is changed according to an embodiment of the present specification, the server 10 receives location information (e.g., coordinate information in a grid map) from the desk and chair device and manages it. You can. Alternatively, the server 10 may periodically request and receive location information transmission to the desk and chair device.

In addition, the server 10 further includes a user input unit and a display unit, and can receive destination information for a specific desk device through the user input unit. For example, the server 10 may display a grid map of the specific indoor space on the display and receive destination information for a specific desk device through a touch input that positions the specific desk device at specific coordinates of the grid map. .

The desk system 20 includes a desk device and a chair device. The desk device and the chair device each include a movable traveling unit, and the traveling unit may include a movable wheel device, and may further include a drive motor for driving the wheel device. Additionally, the desk system 20 may receive movement path information from the server 10 through data communication with the server 10 and may be provided with a processor or control module that moves the desk device according to the received movement path.

Hereinafter, the functions of the server 10 and the desk system 20 will be described in more detail through FIGS. 2 and 3.

Figure 2 is a functional block diagram of a server in a desk system according to an embodiment of the present specification.

The server may include a wireless communication unit 210, an input unit 220, an output unit 240, an interface unit 250, a memory 260, and a power supply unit 270.

The wireless communication unit 210 may include at least one of a wireless Internet module 211, a short-range communication module 212, and a location information module 213.

The input unit 220 includes a camera 221 or an image input unit for inputting an image signal, a microphone 222 or an audio input unit for inputting an audio signal, and a user input unit 223 for receiving information from a user, for example. , touch keys, push keys (mechanical keys, etc.). Voice data or image data collected by the input unit 220 may be analyzed and processed as a user's control command.

The output unit 240 is intended to generate output related to vision, hearing, or tactile senses, and may include at least one of a display unit 241 and an audio output unit 242. The display unit 241 can implement a touch screen by forming a layered structure or being integrated with the touch sensor. This touch screen functions as a user input unit 223 that provides an input interface between the server device and the user, and can simultaneously provide an output interface between the server device and the user.

The interface unit 250 serves as a passageway for various types of external devices connected to the server device. This interface unit 250 connects devices equipped with a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, and an identification module. It may include at least one of a port, an audio input/output (I/O) port, and a video input/output (I/O) port. In response to the external device being connected to the interface unit 250, the server device may perform appropriate control related to the connected external device.

Additionally, the memory 260 stores data supporting various functions of the server device. The memory 260 can store a number of application programs (application programs or applications) running on the server device, data for operating the server device, and commands. At least some of these applications may be downloaded from an external server via wireless communication. In addition, at least some of these applications are used for the basic functions of the server device (e.g., indoor space scanning, monitoring location information of the desk system in the indoor space, grid map creation, movement path calculation on the grid map, etc.). It can be provided from the time of shipment, or it can be delivered and stored as a programmed code from an external source in the future. Meanwhile, the application program may be stored in the memory 260, installed on the server device, and driven by the control unit 280 to perform the operation (or function) of the server device.

In addition to operations related to the application program, the control unit 280 typically controls the overall operation of the server device. The control unit 280 can provide or process appropriate information or functions to the user by processing signals, data, information, etc. input or output through the components discussed above, or by running an application program stored in the memory 260.

The power supply unit 270 receives external power and internal power under the control of the control unit 280 and supplies power to each component included in the server device. This power supply unit 270 includes a battery, and the battery may be a built-in battery or a replaceable battery.

Below, before looking at various embodiments implemented through the server device discussed above, the components listed above will be looked at in more detail with reference to FIG. 2.

First, looking at the wireless communication unit 210, the wireless Internet module 211 of the wireless communication unit 210 refers to a module for wireless Internet access and may be built into or external to the server device. The wireless Internet module 211 is configured to transmit and receive wireless signals in a communication network based on wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), and WiMAX (Worldwide). Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc., and the wireless Internet module ( 211) transmits and receives data according to at least one wireless Internet technology, including Internet technologies not listed above.

From the perspective that wireless Internet access by WiBro, HSDPA, HSUPA, GSM, CDMA, WCDMA, LTE, LTE-A, etc. is achieved through a mobile communication network, the wireless Internet module 213 performs wireless Internet access through the mobile communication network. ) may be understood as a type of the mobile communication module.

The short-range communication module 212 is for short-range communication, including Bluetooth®, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Short-distance communication can be supported using at least one of NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology. This short-range communication module 212 is located between the server device and the desk system, between the desk device and the chair device of the desk system, or in the network where the server device and other server devices (external servers) are located through wireless area networks. It can support wireless communication between

The location information module 213 may be a module that monitors location information of the desk system.

Next, the input unit 220 is for inputting video information (or signal), audio information (or signal), data, or information input from the user. For input of video information, the server device is one or more devices. A camera 221 may be provided. The camera 221 processes image frames, such as still images or moving images, obtained by an image sensor in shooting mode. The processed image frame may be displayed on the display unit 241 or stored in the memory 260. Meanwhile, a plurality of cameras 221 provided in the server device may be arranged to form a matrix structure, and through the cameras 221 forming a matrix structure, a plurality of image information with various angles or focuses is provided to the server device. can be entered.

The microphone 222 processes external acoustic signals into electrical voice data. Processed voice data can be used in a variety of ways depending on the function (or running application) being performed on the server device.

The user input unit 223 is for receiving information from the user. When information is input through the user input unit 223, the control unit 280 can control the operation of the server device to correspond to the input information. The user input unit 223 may include a mechanical input means (or a mechanical key, or a touch input means. As an example, the touch input means is a device displayed on a touch screen through software processing. It may be made up of a virtual key, soft key, or visual key, or it may be made up of a touch key placed on a part other than the touch screen. Meanwhile, the virtual key or Visual keys can have various forms and be displayed on the touch screen, for example, they can be composed of graphics, text, icons, video, or a combination thereof. .

The display unit 241 displays (outputs) information processed by the server device. For example, the display unit 241 may display execution screen information of an application program running on a server device, or UI (User Interface) and GUI (Graphic User Interface) information according to such execution screen information.

The audio output unit 242 may output audio data received from the wireless communication unit 210 or stored in the memory 260 in a recording mode, voice recognition mode, etc.

The interface unit 250 serves as a passageway for all external devices connected to the server device. The interface unit 260 receives data from an external device, receives power and transmits it to each component inside the server device, or transmits data inside the server device to an external device. For example, an external charger port, a wired/wireless data port, a memory card port, a port for connecting a device equipped with an identification module, and audio I/O ( Input/Output ports, video I/O (Input/Output) ports, etc. may be included in the interface unit 250.

The memory 260 is a flash memory type, hard disk type, solid state disk type, SDD type (Silicon Disk Drive type), and multimedia card micro type. ), card-type memory (e.g. SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), EEPROM (electrically erasable programmable read) -only memory), PROM (programmable read-only memory), magnetic memory, magnetic disk, and optical disk may include at least one type of storage medium. The server device may be operated in connection with web storage that performs the storage function of the memory 260 on the Internet.

The power supply unit 270 receives external power and internal power under the control of the control unit 280 and supplies power necessary for the operation of each component. The power supply unit 270 includes a battery, and the battery can be a built-in battery that can be recharged, and can be detachably coupled to the server device for charging, etc.

Figure 3 is a functional block diagram of a desk device in a desk system according to an embodiment of the present specification.

Referring to FIG. 3, a desk system according to an embodiment of the present specification may include a desk device 300 and a chair device 400.

The desk device 300 may include a wireless communication unit 310 for data communication with the server 10. Since the detailed description of the wireless communication unit is the same as that described in FIG. 2, detailed description will be omitted. The wireless communication unit provided in the desk device supports IEEE 802.11 WLAN, IEEE 802.15. May include WPAN, UWB, Wi-Fi, Zigbee, Z-wave, Blue-Tooth, etc.

The location information module included in the desk system is a module for acquiring the location (or current location) of the desk system, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, if the desk system utilizes a GPS module, the location of the desk system can be acquired using signals sent from GPS satellites. As another example, when the desk system utilizes a Wi-Fi module, the location of the desk system can be obtained based on information from the Wi-Fi module and a wireless AP (Wireless Access Point) that transmits or receives wireless signals. If necessary, the location information module may replace or additionally perform any of the functions of other modules of the wireless communication unit 310 to obtain data regarding the location of the desk system. The location information module is a module used to obtain the location (or current location) of the desk system, and is not limited to modules that directly calculate or obtain the location of the desk system.

The desk device 300 may include a sensing unit 320 that detects information related to the status of the desk or the external environment. The sensing unit 320 may include at least one of a remote signal detection unit 321, an obstacle detection unit 322, an azimuth sensor 323, a warning signal detection unit 324, and a GPS detection unit 325.

The remote signal detection unit 321 receives an external remote signal. When a remote signal is transmitted by an external remote controller, the remote signal detection unit 321 can receive the remote signal. For example, the remote signal may be an infrared signal, and the received signal may be processed by the control unit 360.

The obstacle detection unit 322 detects obstacles around the desk device 300. The obstacle detection unit 322 can detect an obstacle in front. A plurality of obstacle detection units may be provided at the front and rear of the bridge constituting the desk device, and may also be provided on the side of the desk plate. The obstacle detection unit 322 may include an infrared sensor, an ultrasonic sensor, an RF sensor, a geomagnetic sensor, a Position Sensitive Device (PSD) sensor, etc.

The sensing unit 320 may further include an azimuth sensor 323 that acquires inclination information about the inclination of the running surface of the desk device 300. By detecting the inclination of the desk device through the azimuth sensor, it is possible to obtain inclination information about the inclination of the running surface on which the desk device runs. The gyro sensor 323a obtains information about the rotational angular velocity of the desk device with respect to the horizontal plane. Specifically, the gyro sensor 323a can detect rotational angular velocity around the X and Y axes, which are parallel to the horizontal plane and orthogonal to each other. The rotational angular velocity about the horizontal plane can be calculated by combining the rotational angular velocity about the X-axis and the rotational angular velocity (pitch) about the Y-axis. The rotational angular speed can be calculated as a slope value through an integration process.

The gyro sensor 232a can detect a determined reference direction. The azimuth sensor may obtain tilt information based on the reference direction.

The azimuth sensor 323 may have a gyro sensing function. The azimuth sensor may further include an acceleration sensor 323b and a magnetic field sensor 323c.

The gyro sensor 323a detects the speed of the horizontal plane of the desk device. The gyro sensor 323a may be equipped with a gyro sensing function for three axes of a spatial coordinate system that are orthogonal to each other. Information collected from the gyro sensor may be roll, pitch, and yaw information. Here, the first control unit 360 can calculate the direction angle of the desk system by integrating the collected information into the rolling, pitching, and yaw angular velocities.

The acceleration sensor 323b can sense acceleration on three axes of a spatial coordinate system orthogonal to each other, and the first control unit 360 integrates the acceleration to calculate speed, and integrates the speed to calculate the moving distance of the desk system. can be calculated.

The magnetic field sensor 323c can sense the magnetic field of three axes of a spatial coordinate system orthogonal to each other and detect the Earth's magnetic field.

The alert signal detection unit 324 is used to detect alert signals external to the desk device 300 and may be disposed in the front area of the desk plate or bridge. Through this, the boundary of the driving area can be detected in advance while moving forward, which is the main driving direction of the desk device 300. The alert signal may include a magnetic field signal, etc.

The GPS detector 325 detects a Global Positioning System (GPS) signal and can be implemented using a PCB.

Meanwhile, the bridge portion 330 extends from the lower surface of the desk plate and comes into contact with the floor to support the desk device. The bridge unit 330 may include a driving motor 331 and a traveling unit 332.

The driving motor 331 may be provided on at least two of the desk legs, one on the left and one on the right. In addition, the driving unit 332 is a reverse-driven electromagnetic actuator that switches to a driving state when power is supplied by the power supply unit 340, and switches to being fixed to the floor of the indoor space when the power supply is cut off by the power supply unit. It may be composed of ether.

The desk device 300 may further include a chair coupling portion 350 that is coupled to the chair device 400. The chair coupling portion 350 is coupled to the desk coupling portion 240 of the chair device 400 by an electromagnet device and can be moved together during path movement.

The chair device 400 may include a wireless communication unit 410, a sensing unit 420, a bridge unit 430, and a power supply unit 440 in the same manner as the desk unit 300 described above, and the bridge unit 430 is A driving motor 431 and a traveling unit 432 may each be provided. Detailed descriptions are omitted as the functions are the same or similar to those described above.

FIG. 4 is a diagram illustrating an example of a combined state of a desk device and a chair device according to an embodiment of the present specification.

Referring to Figure 4, coupling means (C1, C2) for coupling the desk device and the chair device are provided at a position (C1) of the chair device corresponding to one side of the desk plate (p). As power is supplied to the control unit of each desk and chair device through the power supply unit, the desk and chair are coupled through each electromagnet coupling means. According to one embodiment, the first control unit of the desk device may switch to a moving mode as power is supplied to the desk device through a power supply unit, and in the moving mode may transmit a coupling request signal to the chair device through a wireless communication unit. there is. As a coupling request signal is received from the desk device, the chair device can control the coupling means (C2) of the chair device to approach the coupling means (C1) of the desk device.

Figure 5 is a flowchart for controlling the operation of an automatically movable desk system according to an embodiment of the present specification.

Referring to FIG. 5, the server is linked with at least one camera that photographs the indoor space and creates a grid map for the driving area of the bookshelf device and the grid based on the indoor space image acquired through the camera. On the map, the desk device creates a movement path to move to a specific location (S500).

The server can transmit the calculated movement route to the desk device through the wireless communication unit (S510). Meanwhile, when the desk device is switched to the mobile mode, it can be coupled to the chair device through a coupling means (S520).

When the desk device receives movement route information from the server, it can switch to movement mode. According to one embodiment, the desk device may be in a locked mode before the moving mode. In the locking mode, the desk legs may be fixed to the floor and cannot be moved until a force of a certain intensity or more is applied. When the desk device switches to the movement mode, the reverse drive electromagnetic actuator is controlled according to the rotation of the drive motor to move along the movement path (S530)

Figure 6 is an example of displaying the movement path of a desk system on a grid map according to an embodiment of the present specification.

Referring to Figure 6, the server scans the indoor space and creates a grid map. Here, the boundaries of the grid map driving area can be displayed. For example, walls, obstacles, etc. are displayed on the grid map as thick black blocks. Here, obstacles other than the wall 620 may include teacher desks (A, B) located in the front of the classroom and locker areas (C) located in the back of the classroom. The desk device may regard the wall or obstacle as an area where driving is restricted because it is displayed as a boundary line on the grid map.

Meanwhile, the server monitors the indoor space, creates a boundary line, and then confirms the area excluding the boundary line as an area where the desk device can drive. The server may configure the drivable area as a plurality of orthogonal lines spaced apart from each other. Here, the size (W, L) of the grid composed of the orthogonal lines can be set according to the number of desk devices to be aligned. For example, the width (W) and length of the grid (W) and length ( By setting L), a grid map can be constructed.

Meanwhile, the server may display the movement path of the desk device 610 on the grid map as arrows on the grid based on the input destination information. Meanwhile, although only one desk 610 is shown in FIG. 6, the present specification is not limited thereto. For example, it goes without saying that the control method of this specification can be applied in the process of changing the arrangement of desks when a plurality of desks already exist inside the classroom 600.

The automatic movement algorithm of the desk device described above was implemented by matching the movement path of the desk on a grid map inside the indoor space from images acquired through a camera linked to the server, but the present specification is not limited to this and can be modified in various ways. It can be implemented. For example, the server configures a grid map based on the shape of the line tracer tape already installed on the classroom floor, and the desk device can perform movement operations to the destination according to the movement path through the line tracer operation method.

FIGS. 7 and 8A to 8G are diagrams for explaining an example of arranging a plurality of desks in a school classroom according to an embodiment of the present specification. Hereinafter, an example in which a desk device moves in the line tracer method using a line tracer tape placed on the classroom floor will be described through FIGS. 7 and 8A to 8G.

Process 1: In the original desk arrangement, the desks are located on the floor tape, making it difficult to move the desks. Therefore, change the positions of the desks through process 1.

Process 2: In order to move one desk to the location of another desk, the desk in the location to be moved must also be moved to another location to free up the space it was occupying. Therefore, if you continue to connect a desk with a desk at its destination, a desk at its destination, etc., the first desk appears. Accordingly, a ring of desks can be created by connecting a desk with a desk at that destination. By arranging desks in each ring, it is possible to prevent cases where one desk cannot enter because there is another desk at its destination.

Process 3: To prevent confusion when moving too many desks at once, divide and move one ring into multiple arrays.

Process 3-3-1, 3-3-2: This is a process that resolves confusion that occurs during the desk movement process.

Process 3-3-3: When one ring is cut into several arrays, the last desk in each array must wait until the desk at the destination appears, but while this desk is waiting, confusion with other desks may occur. This process prevents this situation.

Process 4: This is the process of restoring the overall position of the desks that were changed in Process 1.

<Attach an explanation to each number’s situation (description of desk movement, application process, etc.)>

Situation: The desk arrangement needs to be changed from the picture on the left to the picture on the right.

(1): Apply process 1 to move the desks to the middle of the floor tapes.

(2): Calculate the destination of each desk according to process 3 and connect them to create a ring.

(3): According to process 3, since the length of the loop exceeds 3, it is divided into arrays consisting of 3 desks (in a ->b->c->d, only a, b, and c are desks in the array) d is the destination of c.)

(4)

1. According to process 3-1, desks 1, 4, and 8 move to one of the intersection points of the four floor tapes around them.

2. Calculate the path to each desk through 1->4, 4->8, and 8->15 according to process 3-2.

3. Desk 1 moves to the right, desk 4 moves to the location where 8 was in (1), and desk 8 moves to the right.

4. Desk 8 to the right of desk 1 waits by process 3-3-3

5. Desk 1 moves from (1) to position 4, and since other desks have moved to position 8, moves from (1) to position 15, and moves desks 15, 7, and 5 in the next arrangement according to process 3-1.

6. According to process 3-2, determine the path of each desk by 15->7,7->5,5->2

7. Since desks 7 and 5 are going to the same place, 7 stops, 5 moves to the left, and 15 moves to the left according to process 3-3-1.

8. Desks 7 and 5 are trying to face each other, so according to process 3-3-2, 5 moves up, 7 moves to the right, and 15 moves to the left.

9. Move 7 right 5 down 15 up

10. 5 moves left to destination 7 to destination 15

11. There should be no part drawn incorrectly in this process.

12. According to process 3-1, move desks 2, 10, and 6 in the following arrangement to the intersection of the tapes and move desk 5 to the destination.

13. Calculate the paths of desks 2, 6, and 10 according to process 3-2.

14. Desk 2 right Desk 6 right Desk 10 move to the left

15. According to process 3-3-2, desk 6 moves down, desk 10 moves to the left, and desk 2 moves to the right.

16. Desk 10 moves to the left, desk 6 moves to the right, desk 2 moves to the right

17. 10 goes to the destination, 6 goes to the right, 2 goes to the destination

18. Move desks 9, 11, and 13 in the following arrangement to the intersection point and 6 to the destination according to process 3-1.

19. Calculate the paths of the desks according to process 3-2

20. Apply 3-3-1 to stop 9, move 13 upward, and 11 right (13 has just moved to the tape intersection around the destination, so apply process 3-3-3 starting from 21)

21. According to process 3-3-3, 13 sets the destination at the third intersection from the top and moves up, 9 moves to the left, and 11 moves to the destination.

22. According to process 3-3-3, 13 is standby and 9 is move to the left.

23. According to process 3-3-3, 13 is waiting and 9 is moving down.

24. Move desks 3, 12, and 14 in the following arrangement according to process 3-1, and move 9 and 13 to the destination.

25. Calculate the path of 3,12,14 according to process 3-2

26. Move 12 up, 3 right, 14 left

27. Follow process 3-3-3: 12 wait, 14 go to destination, 3 go down

28. Go to destination 12,3

29. Apply step 4 to move all desks to the intersection of the floor tape.

# In this example, there was only one ring. When multiple rings appear, select several rings at random and arrange them according to the rules.

The above-described specification can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. This also includes those implemented in the form of carrier waves (e.g., transmission via the Internet). Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered 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 (8)

desk device;
a chair device that is movable and coupled to at least one area of the desk device; and
A server that controls a movement path in a predetermined indoor space through wireless communication with the desk device and the chair device, and controls the desk device to operate in either a moving mode or a locking mode,
The server is,
A grid map of the driving area of the desk device is created based on the indoor space image acquired through the camera in conjunction with at least one camera that photographs the indoor space, and the desk device is specified on the grid map. Create a movement route to move to the location and transmit it to the desk device,
The desk device is,
power supply unit;
A bridge part extending from the lower surface of the desk plate, having at least two drive motors on the left and right sides respectively, and including a traveling part connected to the drive motors and movable within the indoor space;
a first wireless communication unit that performs wireless communication with the chair device and the server;
A first control unit that controls the drive motor and the traveling unit to move the desk device based on the grid map of the indoor space and the movement path received from the server through the first wireless communication unit,
The first control unit switches the traveling unit to a drivable state when power is supplied by the power supply unit,
The automatically movable desk system characterized in that the traveling unit includes a reverse electromagnetic actuator that switches the traveling unit to be fixed to the floor of the indoor space when the power supply is cut off by the power supply unit. According to claim 1,
The server is,
Storing location information of the desk device in the indoor space, receiving destination information to which the desk device is to be moved, and calculating coordinates corresponding to the destination information on the grid map based on the input destination information, An automatically movable desk system, characterized in that the movement path from the current location of the desk device to the coordinates of the destination is generated and transmitted to the desk device. According to claim 2,
The grid map is comprised of a plurality of orthogonal lines spaced at predetermined intervals, and the movement path is configured along the lines of the grid map. According to claim 3,
The first control unit,
An automatically movable desk system, characterized in that when the movement path of the desk device is received from the server, power is supplied to the moving unit through the power supply unit. According to claim 4,
The first control unit,
An automatically movable desk system, wherein when the desk device reaches the destination, the power supply unit is controlled to cut off the power supplied to the traveling unit and the operation of the drive motor is terminated. According to claim 2,
The server is,
Further comprising a display unit including a user input unit and an interface for receiving the destination information,
The interface is,
The current location of the desk device is displayed on the grid map, and when an input for dragging at least one of a plurality of desk devices to a specific location is received, the destination of the desk device is designated. desk system. According to claim 1,
The automatically movable desk system is,
An automatically movable desk system further comprising a line on the floor of the indoor space that allows the desk device to move by a line tracer operation.
According to claim 2,
A coupling means for coupling the desk device and the chair device is provided at a position of the chair device corresponding to one side of the desk plate,
The coupling means consists of an electromagnet,
An automatically movable desk system, wherein when the desk device and the chair device are coupled by the electromagnet, the desk device and the chair device are moved together along the movement path to the destination.

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