KR20210119888A - Method and system of operating multi-serving robot - Google Patents

Abstract

Disclosed are a multi-serving robot operation method and a system thereof. In accordance with an embodiment of the present invention, the multi-serving robot operation method includes: a step in which a multi-serving robot operating system stores serving spot information about a serving spot for each table to be served and serving zone information about each of a plurality of serving zones preset based on moving paths along which serving robots can move, including information about a plurality of serving spots grouped in a predetermined scheme; a step in which the multi-serving robot operating system determines whether a plurality of performance robots among the serving robots are performance robots of the same zone performing serving in the same first serving zone, based on the serving zone information; and a step in which the multi-serving robot operating system, when the plurality of performance robots are performance robots of the same zone as a result of the determination, changes at least one of the serving tables of the performance robots of the same zone or changes a serving sequence thereof. Therefore, the present invention is capable of preventing a deterioration in the quality of a service.

Description

Method and system of operating multi-serving robot

The present invention relates to a method for operating a multi-serving robot and a system therefor, and more particularly, when it is necessary to operate a plurality of serving robots, such as in a large store, overlapping movement paths between serving robots, collisions, etc. are prevented and efficiently It is about the technical idea for operating the serving robots.

With the development of autonomous driving and robot technology, research is being actively conducted to serve food as a serving robot in stores such as restaurants.

Serving robots drive along a set route in a store on behalf of people, or recognize obstacles on the driving route, load cooked food, and serve customers.

These serving robots are mainly provided in food service establishments (hereinafter referred to as “stores”) to perform predetermined functions. do.

In the case of a large store with a large area, it is difficult to meet the demand with only one serving robot, so it is necessary to operate a plurality of serving robots.

Even if the area is large, the movement path of the serving robots is limited, and thus, there is a problem that the efficiency may be greatly reduced due to securing a space for the movement of the serving robots, overlapping movement paths between the serving robots, and collision.

Therefore, in the related art, when a plurality of serving robots are operated, a method in which the remaining serving robots wait until all of the first moving serving robots are finished is mainly used. An example of this is shown in FIGS. 1-3 .

1 to 3 are diagrams for explaining a conventional waiting method when the movement paths of a plurality of serving robots overlap.

Referring to FIG. 1 , a case in which serving robots 1, 2, and 3 serve as tables A, B, and C, respectively, is shown.

In this case, each of the serving robots 1, 2, and 3 may be set to move on a movement path indicated by a solid line, and a serving order may be determined among the serving robots.

The serving order may be particularly important when the movement path can only move one robot, for example, the order in which the food came out of the kitchen, or if the serving order is determined in the order of 3, 2, 1 in a predetermined manner. can

The serving order may be variously determined. For example, by designating a pickup point at which the serving robot picks up food for each table area, the serving robots wait at a pickup point corresponding to the designated area and pick up the food, and the order may be determined.

Alternatively, food is automatically moved from the kitchen to the hall according to the serving order of the serving robot, and the clerk may sequentially load the food onto the serving robot according to the order in which the food is served.

The serving order can be determined in various ways, and as shown in FIG. 2 , the serving robot 3, which has the fastest serving order, serves first to table C, while serving robots 1 and 2 are served while serving robot 3 is serving. The movement path is blocked by the serving robot 3 and must wait.

And as shown in FIG. 3 , serving robot 2 next performs serving, and even at this time, serving robot 2 waits until its turn.

If there is a limit on the number of serving robots that the serving robot can move at the same time depending on the movement path, there is a very large difference in the total serving time depending on the serving order between the serving robots and/or which table the serving robot serves. can And if the operation of the serving of these serving robots is not efficient, the waiting time for the table to be served becomes longer, and the time required to serve increases, which may cause customer dissatisfaction, and the food to be served to the customer during the waiting time may be There is a problem that the quality of service can be deteriorated due to the possibility of contamination or contamination.

Therefore, there is a need for a technical idea that allows a plurality of serving robots to be operated more efficiently.

Patent Literature Korean Application No. (1020190144402, "Method for determining the movement path of a robot, system and non-transitory computer-readable recording medium")

An object to be solved by the present invention is to provide a technical idea that can reduce the overall serving time by efficiently operating a plurality of serving robots that must move simultaneously in a large store.

In particular, due to the nature of the movement path, if there is a serving robot performing serving, there are cases where other serving robots cannot move the corresponding position. In this case, the technical idea for efficiently operating a plurality of serving robots is provided. .

The multi-serving robot operating method according to an embodiment of the present invention for solving the above technical problem is the serving spot information for each serving spot for each table to be served by the multi-serving robot operating system and the moving path where the serving robots can move. Storing the serving zone information for each of the plurality of serving zones set in advance based on the information about the plurality of serving spots grouped in a predetermined manner, wherein the multi-serving robot operating system in the serving zone information determining whether a plurality of performing robots among the serving robots are the same zone performing robots performing serving in the same first serving zone, and the multi-serving robot operating system determines that the plurality of performing robots are the same In the case of zone performing robots, changing the serving table of at least one of the same zone performing robots or changing the serving order is included.

The serving zone information includes the first serving spot and the first serving spot when at least one second serving spot affected by movement exists when serving is performed at any one first serving spot included in a specific serving zone. Serving spots including at least one second serving spot may be grouped information.

The multi-serving robot operating method, when the multi-serving robot operating system performs serving in the serving order based on the serving order among the same-zone performing robots, whether a waiting event occurs in at least one same-zone performing robot The method may further include determining that, when it is determined that the waiting event occurs, the serving table of at least one of the robots performing the same zone may be changed or the serving order may be changed.

The step of changing the serving table or changing the serving order of at least one of the robots performing the same zone is that the multi-serving robot operating system is included in the serving waiting list and is included in the first serving zone and other serving zones. It may include the step of allocating the replacement serving gun to the first performing robot which is any one of the same zone performing robot.

The method for operating the multi-serving robot may further include the step of registering, by the multi-serving robot operating system, a serving case originally assigned to the first performing robot as a priority serving case of the serving waiting list.

Allocating, by the multi-serving robot operating system, an alternative serving gun that is included in the serving waiting list and that is a serving gun included in a different serving zone from the first serving zone to a first performing robot that is any one of the same zone performing robots may include selecting the alternative serving gun based on a priority or a frequency of a serving zone when there are a plurality of replacement candidate serving guns included in another serving zone in the serving waiting list.

When the multi-serving robot operating system determines that the plurality of performing robots are the same zone performing robots, changing at least one serving table among the same zone performing robots or changing a serving order includes: performing the same zone Among the serving orders among the robots, the serving order of the first same-zone performing robot having a lower serving order is changed to a serving order faster than at least one second same-zone performing robot having a higher priority serving order than the first same-zone performing robot. may include the step of

The method for operating the multi-serving robot further includes the step of maintaining, by the multi-serving robot operating system, information on at least one temporary waiting zone in which the serving robot can temporarily stand by each serving zone, the same zone performing robots Changing the serving order of the first same-zone performing robot having a lower-order serving order among the serving orders between the two to a serving order faster than at least one second same-zone performing robot having a higher priority serving order than the first same-zone performing robot is, the multi-serving robot operating system moves the second same-zone performing robot to at least one first temporary period corresponding to the first serving zone, and then controls to perform serving of the first same-zone performing robot may include the step of

A method for operating a multi-serving robot according to another aspect of the present invention provides a method for operating a multi-serving robot based on serving spot information on a serving spot for each of the tables to be served by the multi-serving robot operating system and a movement path through which the serving robots can move. Serving zone information for each of the serving zones - The serving zone information is at least one second serving spot affected by movement when serving is performed at any one first serving spot included in a specific serving zone. , including information for identifying that the first serving spot and the at least one second serving spot are included in the specific serving zone; storing the multi-serving robot operating system based on the serving zone information to identify a serving zone corresponding to each of a plurality of performing robots among the serving robots, and the multi-serving robot operating system adaptively based on a result of checking a serving zone corresponding to each of the plurality of performing robots and controlling at least one of a movement path or a serving order of the plurality of performing robots.

The above method may be implemented by a computer program stored in a computer-readable recording medium.

A multi-serving robot operating system according to another aspect of the present invention includes a processor and a memory in which a program driven by the processor is stored, and the processor drives the program to serve as a serving spot for each of the tables to be served. Storing information and serving zone information for each of a plurality of serving zones set in advance based on a movement path through which the serving robots can move, including information on a plurality of serving spots grouped in a predetermined manner, and the It is determined based on the serving zone information whether the plurality of performing robots among the serving robots are the same zone performing robots performing serving in the same first serving zone, and as a result of the determination, the plurality of performing robots are the same zone performing robots, The serving table of at least one of the robots performing the same zone is changed or the serving order is changed.

The processor drives the program to determine whether a standby event occurs in at least one same-zone performing robot when serving is performed in the serving order based on the serving order among the robots performing the same zone, and the waiting When it is determined that an event occurs, at least one serving table among the robots performing in the same zone may be changed or a serving order may be changed.

The processor drives the program, and allocates an alternate serving gun included in the serving waiting list and included in a different serving zone from the first serving zone to a first performing robot that is any one of the same zone performing robots. can do.

The processor may drive the program to register the original assigned serving case originally assigned to the first performing robot as the priority serving case of the serving waiting list.

The processor may drive the program and, when there are a plurality of replacement candidate serving cases included in other serving zones in the serving waiting list, select the replacement serving items based on priority or frequency of serving zones.

The processor drives the program so that a serving order of a first same-zone performing robot having a lower serving order among the serving orders among the same-zone performing robots is at least one having a higher priority serving order than the first same-zone performing robot. It can be changed to a faster serving order than the second same-zone performing robot of

The processor drives the program to maintain information on at least one temporary waiting zone in which the serving robot can temporarily wait for each serving zone, and at least one first temporary waiting zone corresponding to the first serving zone. After moving the second same-zone performing robot, it is possible to control to perform serving of the first same-zone performing robot.

A multi-serving robot operating system according to another aspect includes a processor and a memory in which a program driven by the processor is stored, and the processor drives the program to provide a serving spot for each serving spot of each table to be served. Serving zone information for each of a plurality of serving zones set in advance based on information and a movement path through which the serving robots can move - The serving zone information is to be served at any one first serving spot included in a specific serving zone. In the case where there are at least one second serving spot affected by movement, it includes information that can identify that the first serving spot and the at least one second serving spot are included in the specific serving zone- stores, and identifies a serving zone corresponding to each of a plurality of performing robots among the serving robots based on the serving zone information, and adapts based on a result of checking a serving zone corresponding to each of the plurality of performing robots It is possible to control at least one of a movement path or a serving order of the plurality of performing robots.

According to an embodiment of the present invention, when a movement path overlaps between a plurality of serving robots that need to move simultaneously in a large store, the serving robot can perform efficient serving, thereby preventing deterioration of service quality there is

In particular, if there is a serving robot that performs serving due to the nature of the movement path overlapping, that is, the effective operation of the serving robot is possible through the concept of the serving zone even when other serving robots cannot move the corresponding position. .

In order to more fully understand the drawings recited in the Detailed Description of the Invention, a brief description of each drawing is provided.
1 to 3 are diagrams for explaining a case in which movement paths of a plurality of serving robots overlap in the related art.
4 is a diagram for illustratively explaining systems for implementing a method for operating a multi-serving robot according to an embodiment of the present invention.
5 is a view for explaining a schematic configuration of a multi-serving robot operating system according to an embodiment of the present invention.
6 is a diagram for explaining the concept of a serving zone according to an embodiment of the present invention.
7 to 9 are diagrams for explaining the concept of changing a serving table according to an embodiment of the present invention.
10 to 12 are diagrams for explaining the concept of changing the serving order between serving robots according to an embodiment of the present invention.

Since the present invention can apply various transformations and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention. In describing the present invention, if it is determined that a detailed description of a related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted.

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

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present specification, terms such as "comprise" or "have" are intended to designate that the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification exist, and one or more other It is to be understood that this does not preclude the possibility of addition or presence of features or numbers, steps, operations, components, parts, or combinations thereof.

4 is a diagram for illustratively explaining systems for implementing a method for operating a multi-serving robot according to an embodiment of the present invention.

Referring to FIG. 4 , a multi-serving robot operating system 100 may be provided to implement the multi-serving robot operating method according to an embodiment of the present invention.

The multi-serving robot operating system 100 is a plurality of serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N ( 230)) each movement path, movement order, and/or a table to be served may be controlled.

To this end, the multi-serving robot operating system 100 is each of the serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ..., R _N (230)) and a predetermined can perform communication, and the multi-serving robot operating system 100 includes the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N ( 230)) to control the serving of the serving robots to correspond to the control signal.

In addition, each of the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ) each has its own state, the progress of the serving, etc. Of course, it is possible to transmit information about the multi-serving robot to the operating system 100 .

Of course, communication may be made between the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ) according to an embodiment.

The multi-serving robot operating system 100 in FIG. 4 is the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ) and Although illustrated as an example when implemented as a separate physical device (eg, a server), according to an embodiment, the multi-serving robot operating system 100 is the serving robots (eg, R ₁ 200 , R ₂ (210), R ₃ (220), ... , R _N (230)) may be mounted on any one of the technical idea of the present invention may be implemented. That is, one or a plurality of the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ) is the multi-serving robot operating system 100 ) can also perform the function of

The multi-serving robot operating system 100 is to implement the technical idea of the present invention, serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ... , R _N (230)) may store and maintain/manage information on a movement path that can each move.

The movement path may mean a path in space where each of the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _{N 230 ) can move.} In addition, various technical ideas capable of expressing information on such movement paths are widely known. For example, continuous coordinate values in space may be set as information on a movement path, but is not limited thereto.

In addition, the multi-serving robot operating system 100 is a table to be served by the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ). information can be stored and maintained/managed.

The information on the table may include identification information for each table and/or location information for each table.

In addition, the multi-serving robot operating system 100 may store and maintain/manage information on serving spots for each table.

The serving spot may mean a location where the serving robot stops for each table to perform serving. The information on the serving spot includes information on the location of the serving spot, and according to an embodiment, when a serving robot is serving at the serving spot, whether another serving robot can move via the serving spot It may further include information on whether or not

For example, when the serving robot 3 in FIG. 2 is serving at a serving spot corresponding to Table C, other serving robots 1 and 2 may not be able to move via the serving spot.

In this specification, this case will be defined as overlapping movement paths, and the multi-serving robot operating system 100 separately stores and maintains/manages or serves information on whether or not overlapping movement routes for each serving spot occurs. It can be maintained/managed by including information about the spot.

Then, the multi-serving robot operating system 100 may store and maintain/manage information on at least one serving zone.

The serving zone may be information obtained by grouping serving spots (or tables) in a predetermined manner.

For example, the serving zone information may be information grouping serving spots that affect the movement of the serving robot.

For example, if at least one second serving spot affected by movement exists when serving is performed at any one first serving spot included in a specific serving zone, the first serving spot and the at least one second serving spot are present. 2 serving spots may be included in the serving zone.

Here, being affected by movement may include a case in which movement paths overlap as described above.

Depending on the embodiment, even if the movement paths do not necessarily overlap (that is, even if one serving robot can pass through the corresponding point even if one serving robot is serving), the serving robot is the same on the movement path to serve. When there are serving spots that must move a specific section, these serving spots may be grouped into the same serving zone. For example, in FIG. 2 , the serving spots corresponding to each of tables A, B, and C may be positions that can be served only by using the same movement path section even if the movement routes do not overlap, and these locations, that is, the serving spots are Since they may be locations that may be restricted in movement when moving at the same time, they may be grouped into one serving zone.

In any case, the serving zone requires additional control when serving occurs at the same time, or serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N ( 230)) may be set as a set of serving spots that can be clustered.

Then, the multi-serving robot operating system 100 effectively operates a plurality of serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ). To specify a serving zone in the entire store to serve, adaptively based on information on the specific serving zone, the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , can control the serving of _{R N (230).}

According to an example, the multi-serving robot operating system 100 includes a plurality of serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ). ), the serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ... , R _N (230)) )), the serving order or the serving table may be adaptively determined according to whether the table (or serving spot) to be served is included in the same serving zone. Adaptively determining a serving order or a serving table may mean maintaining or changing a serving order or a serving table that has already been determined in a predetermined manner.

To this end, the multi-serving robot operating system 100 sets the serving order between the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ). is present and serving tables are allocated for each serving robot (eg, R ₁ (200), R ₂ (210), R ₃ (220), ... , R _N (230)), it is possible to simulate serving in advance. have. And when all or some of the serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ..., R _N (230)) serve in the same serving zone, When a predetermined situation occurs as a result of the simulation (eg, when there is a serving robot that needs to stop moving and wait), the serving order or the table to be served can be adaptively changed.

After all, according to the technical idea of the present invention, for the entire store served by the _{serving robots (eg, R 1} (200), R ₂ (210), R ₃ (220), ..., R _{N (230)).} There is an effect of effectively setting a serving zone and effectively controlling the serving of a plurality of serving robots based on the set serving zone.

A schematic configuration of the multi-serving robot operating system 100 for implementing this technical idea may be as shown in FIG. 5 .

5 is a view for explaining a schematic configuration of a multi-serving robot operating system according to an embodiment of the present invention.

Referring to FIG. 5 , the multi-serving robot operating system 100 may be implemented as a predetermined data processing device.

As described above, the multi-serving robot operating system 100 includes the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , ... , R _N 230 ) and It may be implemented as a separate server that performs communication.

Or the multi-serving robot operating system 100 is at least one of the serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ..., R _N (230)). may be installed.

The multi-serving robot operating system 100 includes a processor 110 and a storage medium (or memory, 120) for implementing the functions defined herein as shown in FIG. 5 . The processor 110 may mean an arithmetic device capable of executing a predetermined program (software code), and may include an implementation example of the data processing device or a vendor mobile processor, microprocessor, CPU, single processor, multiprocessor, It may be named by various names such as GPU, and may be implemented by one or more processors.

An average expert in the technical field of the present invention can easily infer that the processor 110 can perform data processing necessary for the technical idea of the present invention by driving the program.

The memory 120 may refer to a device in which a program for implementing the technical idea of the present invention is stored/installed. According to an embodiment, the memory 120 may be divided into a plurality of different physical devices, and according to an embodiment, a part of the memory 120 may exist inside the processor 110 . The memory 120 may be implemented as a hard disk, a GPU, a solid state disk (SSD), an optical disk, a random access memory (RAM), and/or various other types of storage media according to an embodiment, and if necessary, may be implemented in the memory 120 in a removable manner.

The multi-serving robot operating system 100 may be implemented as an independent server, but is not limited thereto, and the serving robots (eg, R ₁ 200 , R ₂ 210 , R ₃ 220 , . .. , R _N (230)) and performing communication with the data processing capability to execute the program can be implemented by any data processing device (eg, computer, mobile terminal, etc.).

In addition, the multi-serving robot operating system 100 includes the processor 110, the memory 120, and various peripheral devices (eg, input/output devices, display devices, An average expert in the art of the present invention can easily infer that an audio device, etc., 140, 141, and a communication interface (eg, communication bus, 130, etc.) for connecting these devices may be provided.

On the other hand, the multi-serving robot operating system 100 according to the technical idea of the present invention can be implemented by organically combining the program (or software) stored in the memory 120 and the processor 110, , Hereinafter, the functions and/or operations performed by the multi-serving robot operating system 100 in the present specification can be realized by the program being executed by the processor 110. An average expert in the technical field of the present invention can easily can be inferred.

The multi-serving robot operating system 100, as described above, the serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ..., R _N (230)) Serving spot information on a serving spot for each of the tables to be served and serving zone information on each of the serving zones may be stored.

The serving zone may be a grouping of a plurality of serving spots in a predetermined manner as needed to control serving.

According to an embodiment of the present invention, the serving zone is at least one second serving spot affected by movement when serving is performed at any one of the first serving spots included in the specific serving zone. As described above, serving spots including the first serving spot and the at least one second serving spot may be grouped. Also, the at least one second serving spot affected by movement may mean a serving spot where movement paths overlap when serving is being performed at the first serving spot.

However, it goes without saying that various serving zones may be set according to embodiments.

6 is a diagram for explaining the concept of a serving zone according to an embodiment of the present invention.

As shown in FIG. 6, the multi-serving robot operating system 100 sets a plurality of serving zones (S10, S20), and stores and maintains / manages information about each of these serving zones (S10, S20). have.

The first serving zone S10 may be set to tables A, B, and C (or serving spots corresponding to them). Also, the second serving zone S20 may be set to tables D and E (or serving spots corresponding to them).

In addition, the multi-serving robot operating system 100 may change the information on these serving zones (S10, S20) as needed. For example, the manager can determine the set of tables that are determined to cause problems for various reasons (people's movement, congestion, etc.) A set of these tables may be set as one serving zone.

Information on the newly set serving zone may be input to the multi-serving robot operating system 100, and then the multi-serving robot operating system 100 receives information on the new serving zone to update the existing serving zone information. can

Meanwhile, the multi-serving robot operating system 100 may store and maintain/manage information on a predetermined temporary waiting zone T10 as will be described later. One or a plurality of temporary standby zones T10 may be set for each serving zone.

The temporary waiting zone T10 may be an area in which all or some of the performing robots are set to temporarily stand by when a plurality of performing robots are to perform serving in a predetermined serving zone, as will be described later.

The temporary waiting zone T10 may be utilized when changing the serving order of the performing robots, and may be set at an appropriate location for each serving zone.

In this way, in a state in which information on the serving zones (S10, S20) and/or information on the temporary standby zone (T10) is set, the multi-serving robot operating system 100 is configured to operate the serving robots (eg, R ₁ (200) _{), R 2 (210),} R 3 (220), ..., in whole or in part carried out a plurality of robots in a R _N (230)) that can be controlled to start serving.

In this case, the performing robots may be serving robots that start moving for serving at the same time or start moving within a preset time interval.

The performing robots may have a serving order as described above.

For example, as described with reference to FIGS. 1 to 3 , the serving robots wait to load food at a predetermined location, and when food is loaded and a table is assigned, the serving robots may be set as performing robots. And between the performing robots, the serving order may be automatically or artificially set according to the position on the moving path (eg, in the order in front of the moving path), the loading order of food, and the like. For example, in the case of FIGS. 1 to 3 , the serving order of the serving robot 3, the serving robot 2, and the serving robot 1 may be faster.

The multi-serving robot operating system 100 is a plurality of serving robots (eg, R ₁ (200), R ₂ (210), R ₃ (220), ..., R _N (230)) of the performing robots. can be specified.

As described above, the performing robots may be serving robots that start serving at the same time or within a predetermined time, or at least serving robots loaded with food and assigned a table.

Table allocation may be allocated to the serving robots in the order in which the food comes out, or may be allocated sequentially according to the standby positions of the serving robots.

When food is loaded and table assignments are made to the serving robots in various ways, the multi-serving robot operating system 100 specifies the performing robots and determines whether the performing robots are the same zone performing robots to serve in the same serving zone. can It goes without saying that determining whether the performing robots are the same zone performing robots to serve in the same serving zone may include determining which of the performing robots in the same zone among the performing robots.

Then, the multi-serving robot operating system 100 can adaptively select a serving strategy for the robots performing the same zone. The selection of the adaptive serving strategy may mean including changing a serving order and/or a serving table currently set for at least one of the same-zone performing robots as needed.

For example, the multi-serving robot operating system 100 determines in advance whether a waiting event occurs in at least one of the same-zone performing robots when serving each assigned table in the serving order among the currently set same-zone performing robots. can judge

As described above, the waiting event may mean a case in which the performing robot waits without moving to a serving spot to be served due to overlapping of movement paths.

Then, the multi-serving robot operating system 100 may change the serving table or the serving order of at least one of the robots performing the same zone when it is determined that a waiting event occurs.

An example of changing at least one serving table among robots performing the same zone will be described with reference to FIGS. 7 to 9 .

7 to 9 are diagrams for explaining the concept of changing a serving table according to an embodiment of the present invention.

First, referring to FIG. 7 , the multi-serving robot operating system 100 may maintain a serving waiting list and a list of waiting serving robots waiting to be served. And when any one of the serving guns included in the serving waiting list is assigned, it can become a performing robot.

The first said multi-serving robot operating system 100 is the serving guns including the serving waiting list based on a predetermined reference (T _C, T _B, T _A, T _D) serving the robot is waiting for each (R _3, R ₂ , R ₁ ) can be assigned. This allocation may be a method in which a serving robot having a fast serving order is sequentially assigned a serving gun with a high priority, but is not limited thereto, and the serving case can be assigned in various ways.

Also, each of the serving guns T _C , T _B , T _A , and T _D may be a gun to be served in tables C, B, A, and D.

Then, the serving gun (T _C) is serving a robot (R ₃₎ 7, the serving gun (T _B) is a (T _A), the serving case the serving robot (R ₂₎ is serving a robot (R ₁ ) may be assigned. The serving gun T _D may not be assigned because there is no waiting serving robot, or may be assigned to another serving robot. Hereinafter, a case in which three serving robots exist will be described for convenience of explanation, and a case in which the serving gun (T _D ) has not yet been assigned will be described, but the scope of the present invention is not limited thereto.

In order to start serving after a serving gun is assigned, the multi-serving robot operating system 100 may _{determine whether the performing robots R 3} , R ₂ , R ₁ are the same zone performing robots. To this end, the multi-serving robot operating system 100 may check the serving table and serving zone information of serving guns assigned to each of the _{performing robots R 3} , R ₂ , R _{1 .}

And, since _{all of the serving tables of the serving guns T C} , T _B , T _A to be served by the performing robots R ₃ , R _{2 , R 1} correspond to the first serving zone S10, the multi-serving robot The operating system 100 may _{confirm that the performing robots R 3} , R ₂ , and R ₁ are the performing robots in the same zone.

Then, the multi-serving robot operating system 100 may change the serving table of any one (eg, R _{1 ) of the same-zone performing robots (R 3} , R ₂ , R _{1 ).}

For example, the multi-serving robot operating system 100 may change the serving table of the performing robot R1 to D. That is, the serving gun may be replaced with the serving gun TD from the originally allocated serving gun TA.

At this time, the serving gun to be replaced, that is, the replacement serving gun TD, is a serving gun corresponding to a serving zone different from the first serving zone S10 to be served by the _{robots R 3} , R ₂ , R _{1 in the same zone.} can

To this end, the multi-serving robot operating system 100 is included in the serving waiting list and is a replacement serving gun (eg, TD ) can be selected.

In addition, the alternative serving gun (eg, TD) may be alternatively assigned to the first performing robot (eg, R1), which is one of the performing robots in the same zone.

Various embodiments may be possible as to which of the performing robots in the same zone (R ₃ , R ₂ , R _{1 ) is to be assigned an alternative serving gun.}

For example, the multi-serving robot operating system 100 arbitrarily selects a performing robot to serve an alternative serving gun, re-simulates the serving in the case of performing the replacement assignment, and as a result of the simulation, the waiting time is shorter than the replacement assignment or waiting event It is possible to determine the performing robot to serve the alternative serving case by sequentially proceeding the process of determining whether or not it becomes a case in which it is not generated.

On the other hand, the multi-serving robot operating system 100 puts the original assigned serving gun (TA) originally assigned to the first performing robot (R1) to serve the alternative serving gun (TD) to the non-allocated serving waiting list. can do.

In this case, the multi-serving robot operating system 100 may register the original assigned serving case TA as a priority serving case of the serving waiting list, as shown in FIG. 8 .

That is, the multi-serving robot operating system 100 can give priority among serving cases included in the serving waiting list, and the original assignment serving case (TA) is, in principle, by registering as a serving case to be served preferentially. For the assigned serving case (TA), it may be preferentially processed when serving the next serving robots.

Although FIG. 8 shows a case in which the serving waiting list and the priority serving list are separately maintained/managed, it goes without saying that information on the priority may be recorded while only one serving waiting list is maintained according to an embodiment.

On the other hand, when it is determined that the performing robots R ₃ , R ₂ , R ₁ are the same zone performing robots R ₃ , R ₂ , R ₁ , the same zone performing robots R ₃ , R ₂ , R ₁ ) There may be a plurality of serving guns corresponding to other serving zones (S20) different from the serving zone (S10) to be served, that is, a plurality of candidate replacement serving guns.

In this case, the multi-serving robot operating system 100 may first determine a serving case registered as a priority among a plurality of candidate substitute serving cases as an alternate serving case.

Alternatively, it is possible to determine in which serving zone each of the candidate replacement serving guns and/or the current serving gun is included, and select the replacement serving gun according to the serving zone frequency derived as a result of the determination.

For example, a plurality of candidate replacement serving cases may exist, and the number of serving cases corresponding to the second serving zone and the number of serving cases corresponding to the third serving zone may be determined among the candidate replacement serving cases.

Then, the multi-serving robot operating system 100 may select any one of the candidate replacement serving guns corresponding to the serving zone having a higher frequency as the replacement serving gun, and select a strategy to increase the serving efficiency in the next serving step.

Alternatively, in consideration of the serving zone frequency of the serving guns to be performed in the current step, the alternative serving guns may be selected so that the serving guns to be performed in the current step are not concentrated in any one serving zone.

For example, there are currently three serving zones, in the serving of the current step, three servings corresponding to the first serving zone, two servings corresponding to the second serving zone, and zero servings corresponding to the third serving zone can be a dog And when the five performing robots in the current step process the assigned serving case, the multi-serving robot operating system 100 performs serving in the first serving zone, the same zone performing robots R ₃ , R ₂ , R ₁ ) may be substituted for the serving case, and in this case, a case corresponding to the second serving zone and a case corresponding to the third serving zone may exist in the candidate replacement serving guns, respectively. In this case, the multi-serving robot operating system 100 may reduce the risk of occurrence of congestion or waiting events in other serving zones by selecting the serving gun corresponding to the third serving zone as an alternative serving gun.

An average expert in the technical field of the present invention understands that which serving of the candidate replacement serving guns is selected as the replacement serving gun, as described above, the priority and the serving zone frequency may be considered together, and that various embodiments may be possible. can be easily deduced.

When the replacement serving gun TD is assigned instead of the original assigned serving gun TA to the first performing robot R1, the third serving robot R3, which has the fastest serving order, is the serving gun as shown in FIG. (TC) can be served. Then, the second serving robot R2, which is the fastest in the serving order, must wait, but the first serving robot R1, which is the last serving order, can process the replacement serving case TD.

In this case, there is an effect that the waiting time can be reduced compared to serving the originally allocated serving guns in the original serving order.

On the other hand, the multi-serving robot operating system 100 may change the serving table (serving gun) of at least one of the _{robots performing the same zone (R 3} , R ₂ , R _{1 ), but select a strategy for changing the serving order} may be

Such an example will be described with reference to FIGS. 10 to 12 .

10 to 12 are diagrams for explaining the concept of changing the serving order between serving robots according to an embodiment of the present invention.

Referring first to Figure 10, the serving gun (T _C) is on the serving robot (R _3), serving gun (T _B) is the serving robot (R _2), serving gun (T _A) is the serving robots (R ₁₎ may be assigned to

In addition, it may be determined whether the serving robots to which the serving gun is assigned, that is, the performing robots R ₃ , R ₂ , and R ₁ are the same zone performing robots. As a result of the determination, since they are robots performing the same zone, the multi-serving robot operating system 100 sets the serving order of the first same-zone performing robot (eg, R1) having a lower priority serving order to a higher priority serving order than the first same-zone performing robot. at least one second same-zone performing robot (eg, R2, R3) with

In addition, the second performing robot (R2) can also be changed to a faster serving order than the third performing robot (R3).

If there is no constraint on the movement path, the multi-serving robot operating system 100 may change the serving order by simply controlling the performing robots to sequentially start moving for serving in the changed order.

However, according to the embodiment, there may be a constraint that the serving robot waiting at the back cannot move first, depending on the waiting position of each of the waiting serving robots and the limitation of the number of robots that can move simultaneously on the corresponding movement path. .

In this case, the multi-serving robot operating system 100 may use the temporary standby zone T10 allocated for each serving zone, if necessary, in order to change the serving order.

For example, as shown in FIG. 11 , when the serving order is changed so that the first performing robot R1 has the fastest serving order, the multi-serving robot operating system 100 is the first serving zone S10 to be served. ), the third performing robot R3 and the second performing robot R2 may be sequentially moved to the preset temporary waiting zone T10 to correspond to the .

After that, the multi-serving robot operating system 100 moves the first performing robot R1 to the serving table, and then moves the second performing robot R2 having the serving order to the serving table, and finally the second It is possible to move the three-acting robot (R3) to the table to be served.

_{Then, as shown in FIG. 12 , the performing robots R 3} , R ₂ , and R ₁ can perform serving without a waiting event occurring through the serving progress of the performing robot having a fast serving order. Of course, a slight wait may occur when entering the temporary waiting zone T10 and changing the serving order, but this may be at a very small level compared to the waiting time caused by arriving at the serving spot and proceeding with the serving.

Of course, the temporary standby zone T10 may be set at least one for each serving zone, and may be set at a predetermined position where the serving order may be changed after entering.

After all, according to the technical idea of the present invention, when a plurality of serving robots need to move simultaneously or sequentially to perform serving, an efficient serving strategy can be adaptively selected by applying and utilizing the concept of a serving zone. It works.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a distributed manner, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention. .

Claims (18)

In the method for operating the serving robots,
Serving zone information for each of a plurality of serving zones set in advance based on the serving spot information for each serving spot of the tables to be served by the multi-serving robot operating system and the movement path through which the serving robots can move - grouping in a predetermined manner Storing - including information on a plurality of serving spots;
determining, by the multi-serving robot operating system, whether the plurality of performing robots among the serving robots are the same zone performing robots performing serving in the same first serving zone based on the serving zone information; and
When the multi-serving robot operating system determines that the plurality of performing robots are the same zone performing robots, changing at least one serving table among the same zone performing robots or changing a serving order operation method.
According to claim 1, wherein the serving zone information,
When serving is performed at any one of the first serving spots included in a specific serving zone and there are at least one second serving spots affected by movement, the first serving spot and the at least one second serving A method of operating a multi-serving robot, in which serving spots including spots are grouped information.
According to claim 1, wherein the multi-serving robot operating method,
When the multi-serving robot operating system performs serving in the serving order based on the serving order among the robots performing in the same zone, determining whether a standby event occurs in at least one robot performing the same zone further comprising: ,
A multi-serving robot operating method for changing at least one serving table among the robots performing the same zone or changing a serving order when it is determined that the waiting event occurs.
The method of claim 1, wherein changing the serving table of at least one of the robots performing the same zone or changing the serving order comprises:
Allocating, by the multi-serving robot operating system, an alternative serving gun that is included in the serving waiting list and that is a serving gun included in a different serving zone from the first serving zone to a first performing robot that is any one of the same zone performing robots A method of operating a multi-serving robot comprising a.
According to claim 4, The multi-serving robot operating method,
The multi-serving robot operating method further comprising the step of registering, by the multi-serving robot operating system, originally assigned to the first performing robot, as a priority serving case of the serving waiting list.
According to claim 4, wherein the multi-serving robot operating system is included in the serving waiting list, the first serving zone and the other serving zone that is included in the other serving zone is a replacement serving gun that is any one of the same zone performing robot performing the first The steps of alternate assignment to the robot are:
When there are a plurality of replacement candidate serving guns included in another serving zone in the serving waiting list, selecting the alternative serving gun based on a priority or a frequency of a serving zone.
According to claim 1, wherein the multi-serving robot operating system, when the determination result that the plurality of performing robots are the same zone performing robots, changing at least one serving table of the same zone performing robots or changing the serving order Is,
The serving order of a first same-zone performing robot having a lower serving order among the serving orders among the same-zone performing robots is faster than at least one second same-zone performing robot having a higher priority serving order than the first same-zone performing robot. A method of operating a multi-serving robot comprising changing the serving order.
The method of claim 7, wherein the multi-serving robot operating method comprises:
The method further comprises the step of maintaining, by the multi-serving robot operating system, information on at least one temporary waiting zone in which the serving robot can temporarily stand by each serving zone,
The serving order of a first same-zone performing robot having a lower serving order among the serving orders among the same-zone performing robots is faster than at least one second same-zone performing robot having a higher priority serving order than the first same-zone performing robot. The steps to change the serving order are:
Controlling, by the multi-serving robot operating system, to perform serving of the first same-zone performing robot after moving the second same-zone performing robot to at least one first temporary zone corresponding to the first serving zone A method of operating a multi-serving robot comprising a.
In the method for operating the serving robots,
Serving zone information for each of the plurality of serving zones preset based on the serving spot information for each of the tables to be served by the multi-serving robot operating system and the movement path through which the serving robots can move - the serving zone information is When serving is performed at any one of the first serving spots included in a specific serving zone and there are at least one second serving spots affected by movement, the first serving spot and the at least one second serving storing - including information for identifying that a spot is included in the specific serving zone;
checking, by the multi-serving robot operating system, a serving zone corresponding to each of a plurality of performing robots among the serving robots based on the serving zone information; and
A multi-serving robot operating system comprising the step of adaptively controlling at least one of a movement path or a serving order of the plurality of performing robots based on a confirmation result of a serving zone corresponding to each of the plurality of performing robots How to operate the serving robot.
A computer program installed in a data processing apparatus and stored in a computer readable recording medium for performing the method according to any one of claims 1 to 9.
processor;
and a memory in which a program driven by the processor is stored,
The processor drives the program,
Serving zone information for each of a plurality of serving zones set in advance based on serving spot information for each serving spot for each of the tables to be served and a movement path through which the serving robots can move - A plurality of serving spots grouped in a predetermined manner store - including information about
It is determined based on the serving zone information whether a plurality of performing robots among the serving robots are the same zone performing robots performing serving in the same first serving zone,
A multi-serving robot operating system for changing at least one serving table or changing a serving order among the robots performing in the same zone when the plurality of performing robots are the same zone performing robots as a result of determination.
The method of claim 11, wherein the processor drives the program,
When serving is performed in the serving order based on the serving order between the robots performing in the same zone, it is determined whether a standby event occurs in at least one robot performing the same zone, and when it is determined that the standby event occurs in the same zone A multi-serving robot operating system that changes the serving table of at least one of the performing robots or changes the serving order.
The method of claim 11, wherein the processor drives the program,
A multi-serving robot operating system for alternately allocating an alternate serving gun that is included in the serving waiting list and is a serving gun included in the first serving zone and other serving zones to a first performing robot that is one of the same zone performing robots.
The method of claim 13, wherein the processor drives the program,
A multi-serving robot operating system that is originally assigned to the first performing robot and registers the original assigned serving case as the priority serving case of the serving waiting list.
The method of claim 13, wherein the processor drives the program,
When there are a plurality of replacement candidate serving guns included in another serving zone in the serving waiting list, a multi-serving robot operating system for selecting the alternative serving gun based on a priority or a frequency of a serving zone.
The method of claim 13, wherein the processor drives the program,
The serving order of a first same-zone performing robot having a lower serving order among the serving orders among the same-zone performing robots is faster than at least one second same-zone performing robot having a higher priority serving order than the first same-zone performing robot. A multi-serving robot operating system that changes to the serving order.
The method of claim 16, wherein the processor drives the program,
Maintains information on at least one temporary standby zone in which the serving robot can temporarily stand by each serving zone, and moves the second same-zone performing robot to at least one first temporary standby zone corresponding to the first serving zone A multi-serving robot operating system that controls to perform the serving of the first same-zone performing robot.
processor;
and a memory in which a program driven by the processor is stored,
The processor drives the program,
Serving zone information for each of a plurality of serving zones set in advance based on serving spot information for each serving spot of each table to be served and a movement path through which the serving robots can move - the serving zone information is included in a specific serving zone If at least one second serving spot affected by movement exists when serving is performed at any one first serving spot, the first serving spot and the at least one second serving spot are in the specific serving zone store - containing information that can be identified as being included in
Checking a serving zone corresponding to each of a plurality of performing robots from among the serving robots based on the serving zone information,
A multi-serving robot operating system for adaptively controlling at least one of a moving path or a serving order of the plurality of performing robots based on a result of checking a serving zone corresponding to each of the plurality of performing robots.

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