KR20230081348A - Robot-friendly building, method and system for collaboration using multiple robots - Google Patents

Abstract

A collaboration method using a plurality of robots according to the present invention includes the steps of assigning a specific task to a first robot performing a first function, and performing a first task associated with the specific task in the first robot; In a first robot, sensing a second robot located around the first robot and performing a second function different from the first function, based on the sensing of the second robot by the first robot, 2. The step of specifying a robot as a collaboration target robot that will perform collaboration with the first robot for the specific task, based on data communication between the first robot and the second robot, the first robot and the second robot. Based on the step of performing the second task related to the specific task by the robots and the completion of the second task, the third task related to the specific task may be performed by the second robot.

Description

Robot-friendly building, collaboration method and system using multiple robots

The present invention relates to a method and system for collaboration between robots. More specifically, the present invention relates to a method for performing communication between robots to enable a cooperative mission between robots even in an offline situation.

Furthermore, the present invention relates to a method and system for a collaborative task between robots that can be applied to robot-friendly buildings.

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

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

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

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

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

On the other hand, in order for robots to provide various services or live in an indoor space, robots must perform collaboration, and in some cases, there is a need to perform collaboration between robots even in an offline situation where a network is absent.

Therefore, in order to provide a higher level of service using robots in buildings, it is essential to study not only robot control technology in the presence of a network, but also how to provide services through collaboration between robots even in an offline situation. Research is needed.

The robot collaboration method and system according to the present invention is to provide a process capable of collaboration between robots even in an offline situation.

More specifically, the robot collaboration method and system according to the present invention is intended to provide a process enabling collaboration between robots even in the absence of a network by performing communication between robots using visual means.

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

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

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

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

A collaboration method using a plurality of robots according to the present invention includes the steps of assigning a specific task to a first robot performing a first function, and performing a first task associated with the specific task in the first robot; In a first robot, sensing a second robot located around the first robot and performing a second function different from the first function, based on the sensing of the second robot by the first robot, 2. The step of specifying a robot as a collaboration target robot that will perform collaboration with the first robot for the specific task, based on data communication between the first robot and the second robot, the first robot and the second robot. Based on the step of performing the second task related to the specific task by the robots and the completion of the second task, the third task related to the specific task may be performed by the second robot.

Furthermore, the service robot traveling in space according to the present invention includes a display unit, a driving unit, and a control unit that controls information output to the display unit based on an operating state of the service robot, wherein the control unit , In the service robot, based on the progress of collaboration related to a specific robot disposed in the space and a specific task, the information output to the display unit is controlled, and the service robot is displayed on the display unit. A first marker capable of identification and a second marker capable of identifying the current operating state of the service robot may be output.

Furthermore, the robot according to the present invention includes a camera unit recognizing a marker output to a specific robot performing collaboration, an output unit outputting a control signal for controlling the operation of the specific robot, and controlling the camera unit and the output unit. and a control unit that transmits a control signal corresponding to the specific operation through control of the output unit so that a specific operation is performed in the specific robot according to a progress state of a specific task corresponding to the collaboration. can be printed out.

Furthermore, the building in which the first robot and the second robot communicating with the cloud server according to the present invention are located includes a space where the first robot and the second robot are located, and the first robot and the second robot In the step of assigning a specific task to the first robot performing a first function based on a control command received from the cloud server, and performing a first task associated with the specific task in the first robot; In the first robot, sensing a second robot located around the first robot and performing a second function different from the first function, based on the second robot being sensed by the first robot, The second robot is specified as a collaboration target robot to perform collaboration with the first robot for the specific task, based on data communication between the first robot and the second robot, the first robot and the second robot Through a step of performing a second task related to the specific task by second robots and a step of performing a third task related to the specific task by the second robot based on the completion of the second task , The specific task is performed in the building, and a work input for the specific task may be updated in the cloud server based on work history information received from at least one of the first robot and the second robot. .

Furthermore, in the robot collaboration system in which collaboration is performed between the first robot and the second robot according to the present invention, a specific task is assigned to the first robot performing the first function, and a first robot associated with the specific task is assigned to the first robot. Performing 1 task, sensing a second robot located around the first robot and performing a second function different from the first function in the first robot, and sensing by the second robot in the first robot Based on that, the second robot is specified as a collaboration target robot that will perform collaboration with the first robot for the specific task, and based on data communication between the first robot and the second robot, the first robot A second task related to the specific task is performed by the first robot and the second robots, and based on the completion of the second task, the second robot performs a third task related to the specific task. Through this, collaboration on the specific task can be made.

A collaboration method and system using a plurality of robots according to the present invention, based on data communication between the output unit and the sensing unit provided in each of the first robot and the second robot, by the first robot and the second robot, By performing task-related collaboration, collaboration work can be performed even in the absence of a network or network failure. Therefore, in a building containing robots according to the present invention, various services can be provided through collaborative work between a plurality of robots even in an environment where a network does not exist, and user convenience can be further improved.

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

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

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

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

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

1, 2 and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention.
4, 5 and 6 are conceptual diagrams for explaining a robot driving a robot-friendly building and a system for controlling various facilities provided in the robot-friendly building according to the present invention.
7 and 8 are conceptual diagrams for explaining facility infrastructure provided in a robot-friendly building according to the present invention.
9 to 11 are conceptual diagrams for explaining a method of estimating the position of a robot traveling in a robot-friendly building according to the present invention.
12 is a conceptual diagram for explaining a collaboration method using a plurality of robots according to the present invention.
13 and 14 are block diagrams for explaining a robot performing collaboration.
15 is a flowchart illustrating a collaboration method using a plurality of robots according to the present invention.
16, 17, 18 and 19 are conceptual diagrams for explaining information output from the robot according to the present invention.
20A and 20B are conceptual diagrams for explaining a method of performing data communication for collaboration using a plurality of robots according to the present invention.
21 are conceptual diagrams for explaining interlocking for collaboration between robots in the present invention.
22 is a conceptual diagram for explaining that a robot according to the present invention updates a work history.
23 and 24 are conceptual diagrams for explaining how a manager intervenes in robot collaboration according to the present invention.

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Furthermore, the illuminance sensor 125 is configured to sense the illuminance around the illuminance sensor 125, and the infrared sensor 126 has a built-in LED to take pictures of the building 1000 in a dark room or at night. can

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Meanwhile, the term of the tag 1010 described above may be variously named. For example, this tag 1010 can be variously named as a QR code, a barcode, an identification mark, and the like. On the other hand, the term of the tag reviewed above can be used by replacing it with “marker”.

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

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

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

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

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

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

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

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

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

On the other hand, as technology develops, the utilization of robots is gradually increasing. Conventional robots have been utilized in special industrial fields (eg, industrial automation related fields), but are gradually transforming into service robots capable of performing useful tasks for humans or facilities.

In this way, the robot capable of providing various services is made to travel in the space 10 as shown in FIG. 8 in order to perform assigned tasks, or to manufacture food (food) at a specific location. can As such, the robot may be arranged in various spaces to provide useful services to humans by performing assigned tasks or tasks.

The “task” described in the present invention is also expressed as a task or service to be performed by the robot (R), and for a specific purpose, the robot (R) performs a specific action with respect to a specific object such as a person or an object. can mean doing.

The “mission” performed by the robot R may include a plurality of “jobs” related to the corresponding mission.

A “task-related task” may be understood as an action, step, or process that the robot R must perform in order to provide a specific task.

The “mission-related task” may be variously determined based on the task performed by the robot R, the type of the robot R, and the characteristics of the space where the robot R is located.

For example, if the task is “serving food,” the tasks associated with the task are: i) food manufacturing operations, ii) food packing operations, iii) food pickup operations, iv ) a driving task for serving, v) a task of approaching a serving target (user or table) for serving, and vi) a task of driving hardware of the robot for serving.

In addition to the examples listed above, the robot's mission and the type of task related to the mission may vary, and the present invention is not limited to the above examples.

Meanwhile, “operation” described in the present invention refers to a movement (or motion) performed by the robot R to perform a task (ex: one component provided in the robot R (ex: robot movement of an arm, wheel, etc.) or other components provided in the robot R (ex: movement of an article container, tray, etc.). A specific task may consist of at least one action.

For example, when a specific task is a food manufacturing task, the operation may include an operation of moving the robot R towards the material, an operation of grabbing the material, an operation of lifting the material, an operation of manufacturing food using the material, and the like. can

As another example, when a specific task is a driving task for serving, the operation includes driving, stopping, turning a corner, grabbing the food to be served, opening and closing the product container, loading the food to be served on the tray, etc. can do.

That is, it may be understood that a specific “task” is performed through at least one “operation” described in the present invention, and a specific “task” is performed through at least one “task”.

However, a specific task can be performed as a single task. A specific task can be performed in one action. Therefore, in the present invention, “mission”, “task” and “action” can be used interchangeably depending on the situation. Furthermore, “mission”, “work” and “action” are all robots (R ), of course.

On the other hand, the robot (R) is made so that one robot (R) performs a plurality of tasks (overall processes) related to a specific task, or a plurality of robots (R) divides and performs a plurality of tasks related to a specific task can be done to

In the present invention, a task performed by a plurality of robots R by dividing a plurality of tasks related to a specific task may be referred to as “collaborative task”, “collaborative task”, “collaborative service”, “collaborative task”, and the like.

For example, if the task is “providing food”, i) food manufacturing operations and food packaging operations are performed by robots specialized in food manufacturing and packaging operations, ii) The driving task for serving, the task of approaching the serving target (user or table) for serving, and the task of driving the hardware of the robot for serving can be performed by a robot specialized in delivery (delivery or serving).

On the other hand, the collaboration mission by the plurality of robots is accomplished by controlling the plurality of robots by the cloud server 20 based on the network 40 (first collaboration method) or by direct communication between the plurality of robots. (Second collaboration method).

In the present invention, without using the network 40, information output means (ex: marker, infrared LED, RGB LED, etc.) and sensing means (camera, By performing communication using a marker reader, an infrared receiver, etc.), it is possible to provide a collaboration method and system (hereinafter, a robot collaboration method and system) using a plurality of robots to perform a collaborative mission.

Hereinafter, a robot collaboration method and system according to the present invention will be described in detail along with the accompanying drawings. 12 is a conceptual diagram for explaining a collaboration method using a plurality of robots according to the present invention. 13 and 14 are block diagrams for explaining robots that perform collaboration, and FIG. 15 is a flow chart for explaining a collaboration method using a plurality of robots according to the present invention, and FIGS. 16, 17, 18 and FIG. 19 is conceptual diagrams for explaining information output from a robot according to the present invention, and FIGS. 20A and 20B are conceptual diagrams for explaining a method of performing data communication for collaboration using a plurality of robots according to the present invention. 21 is conceptual diagrams for explaining the linkage for collaboration between robots in the present invention, FIG. 22 is a conceptual diagram for explaining that the robot according to the present invention updates the work history, and FIGS. 23 and 24 are the robots according to the present invention It is a conceptual diagram to explain how managers intervene in collaboration.

The present invention relates to a robot collaboration method and system that allows a plurality of robots (R) to perform tasks in collaboration.

Robots described in the present invention may be classified into types based on functions (or specialized functions) performed. In the present invention, a robot performing a first function may be referred to as a first robot R1, and a robot performing a second function may be referred to as a second robot R2.

Here, “function” is related to the task performed by the robot and can be understood as the ability to perform a specific task.

For example, as shown in FIG. 12, the task of “providing food” involves a first robot R1 performing functions of manufacturing food and packing food, and serving. It can be performed by the collaboration of the second robot (R2) that performs the driving task for serving, the task of approaching the serving target (user or table), and the task of driving the hardware of the robot for serving. .

In the present invention, for convenience of explanation, the first robot (R1) will be described by taking a manufacturing robot or a cooperative robot as an example. For example, the collaborative robot, which is the first robot R1, may interact with a person (or a user) or independently perform functions such as manufacturing food or assembling or creating an object.

Furthermore, in the present invention, for convenience of explanation, the second robot (R2) will be described as an example of a service robot having a function of providing various services. For example, the service robot, which is the second robot R2, is a robot that delivers objects (eg, food, courier service, objects, etc.) to people while traveling in the space 10, or cleans the space 10. It may be a cleaning robot that does.

The contents listed above are only examples for convenience of explanation, and both the first robot R1 and the second robot R2 are cooperative robots (or manufacturing robots), or the first robot R1 and the second robot ( R2) All may be service robots, or the first robot R1 may be a service robot and the second robot R2 may be a cooperative robot.

That is, the present invention is not limited to the example in which the first robot R1 is a cooperative robot and the second robot R2 is a service robot.

On the other hand, in the present invention, by performing communication using the information output means and the sensing means provided in the first robot (R1) and the second robot (R2) without using the network 40, it is possible to perform a collaborative task. can Hereinafter, the first robot (R1) and the second robot (R2) capable of performing a collaborative mission will be described in detail.

As shown in FIG. 13, the first robot R1 includes at least one of a communication unit 1310, a storage unit 1320, an output unit 1330, a sensing unit 1340, and a control unit 1350. can be done to

The communication unit 1310 of the first robot R1 may communicate with at least one of the cloud server 20 and another robot (ex: R2). For example, the communication unit 1310 may transmit collaboration information stored in the storage unit 1320 to the cloud server 20 or transmit/receive information to perform a mission in collaboration with another robot (ex: R2).

Next, the storage unit 1320 of the first robot R1 may be configured to store various information related to the present invention. In the present invention, information on the first robot R1 may be stored in the storage unit 1320 .

The information on the first robot (R1) may be very diverse, and as an example, i) identification information (eg, serial number, ID) for identifying the first robot (R1) disposed in the space (10) etc.), ii) task information assigned to the first robot (R1), iii) state information of the first robot (R1), iv) information sensed by a sensor provided in the first robot (R1), v) th 1 Motion information related to the motion of the robot R1 may exist.

Furthermore, the storage unit 1320 of the first robot R1 may include collaboration information including various information related to tasks or tasks performed in collaboration with another robot (eg, the second robot).

Collaboration information related to the first robot (R1) includes i) an image including a blinking signal 1441 output from the first robot (R1), ii) a blinking signal 1441 output from the first robot (R1) information (control command, etc.), iii) information on the date and time when the blinking signal 1441 was output from the first robot R1, vi) the first marker 1441 and the second marker 1442 sensed by the first robot R1 ), v) included (or interpreted information) in at least one of the first marker 1441 and the second marker 1442 sensed by the first robot R1, vi) the first It may include at least one of information about the action performed by the robot R1 and the date and time of the action.

The “work history” described in the present invention may include at least one such collaboration information or may be information generated based on collaboration information.

Next, the output unit 1330 of the first robot R1 may output a control signal to the second robot R2 in order to perform a task in collaboration with the second robot R2.

The output unit 1330 of the first robot R1 may include a plurality of light (eg, infrared LED, RGB LED) output units. The control unit 1350 of the first robot R1 controls the output unit 1330 so that at least one of the plurality of light output units is turned on or off, thereby generating a control signal for the second robot R2. A blinking signal corresponding to may be output.

The “blinking signal” is information generated when a plurality of light output units included in the output unit 1330 of the first robot R1 are turned on or off, and the control unit 1350 determines i) a light-on state (a plurality of light output units) A state in which at least some of the light output units are turned on and other light output units are turned off), ii) a light flickering state (a specific light output unit among a plurality of light output units turns on and off at regular intervals and at regular intervals) information may be generated using at least one of a repetitive state) and iii) a pulse (voltage, current, or wave of light).

Next, the sensing unit 1340 of the first robot R1 can sense the markers 1441 and 1442 output to the display unit 1440 of the second robot R2.

For example, the sensing unit 1340 of the first robot R1 includes at least one of a camera, a QR code reader, and a barcode reader, and the first marker ( 1441) and the second marker 1442 may be sensed.

Next, the control unit 1350 of the first robot (R1) may be configured to control the overall operation of the first robot (R1). The controller 1350 of the first robot R1 can process data, information, etc. input or output through the components of the first robot R1 described above, or provide or process appropriate information or functions to an institution.

The controller 1350 of the first robot R1 may control the operation of the first robot R1 in order to perform a specific assigned task. For example, when a specific task is a “food provision task”, the control unit 1350 of the first robot R1 controls the first robot R1 to perform food preparation among a plurality of tasks included in the food provision task. 1 The operation of the robot R1 can be controlled.

Furthermore, the control unit 1350 of the first robot R1 cooperates with the second robot R2 to perform a specific task, and the control signal corresponding to the control command for controlling the operation of the second robot R2 (or flickering signal) can be controlled to be output on the output unit 1330 of the first robot R1.

Meanwhile, as shown in FIG. 14 , the second robot R2 includes a communication unit 1410, a storage unit 1420, a driving unit 1430, a display unit 1440, a camera unit 1450, a sensing unit ( 1460) and at least one of the control unit 1470.

The communication unit 1410 of the second robot R2 may communicate with at least one of the cloud server 20 and another robot (ex: R1). For example, the communication unit 1410 may transmit collaboration information stored in the storage unit 1420 to the cloud server 20 or transmit/receive information in collaboration with another robot (eg: R1) to perform a mission.

Next, the storage unit 1420 of the second robot R2 may be configured to store various information related to the present invention. In the present invention, information on the second robot R2 may be stored in the storage unit 1420 .

The information on the second robot (R2) may be very diverse, and as an example, i) identification information (eg, serial number, ID) for identifying the second robot (R2) disposed in the space (10) etc.), ii) mission information assigned to the second robot (R2), iii) travel path information set to the second robot (R2), iv) location information of the second robot (R2), v) the second robot ( Status information of R2), vi) information sensed by a sensor provided in the second robot R2, and vii) motion information related to the operation of the second robot R2 may exist.

Furthermore, the storage unit 1420 of the second robot R2 may include collaboration information including various information related to tasks or tasks performed in collaboration with another robot (first robot).

Collaboration information related to the second robot R2 includes i) at least one of the first marker 1441 and the second marker 1442 output from the second robot R2 (eg, an image of the marker), ii ) Information (identification information, status information, etc.) included in at least one of the first marker 1441 and the second marker 1442 output from the second robot R2, iii) the first marker 1441 from the second robot R2 date and time information when at least one of the marker 1441 and the second marker 1442 was output, vi) an image including the blinking signal 1441 sensed by the second robot R2, v) from the second robot R2 It may include at least one of (or interpreted information) included in the sensed blinking signal 1441, vi) an action performed by the second robot R2, and information on the date and time of the action.

Next, the traveling unit 1430 of the second robot R2 provides a means for moving the second robot R2 within a specific space in relation to traveling. More specifically, the driving unit 1430 of the second robot R2 includes a motor and a plurality of wheels, and these are combined to perform functions of driving, changing directions, and rotating the second robot R2.

Next, the display unit 1440 of the second robot R2 includes a first marker 1341 including identification information of the second robot R2 and a second marker including state information of the second robot R2. By outputting 1342, it may serve to transfer identification information and status information of the second robot R2 to the first robot R1.

On the display unit 1440 of the second robot R2, a first mark 1341 including identification information of the first robot R1 is output in one area, and the second robot R2 is displayed in another area. A second marker 1342 that is changed based on the change of the state information of may be output. Meanwhile, the terms of the markers 1441 and 1442 described above may be variously named. For example, these markers 1441 and 1442 can be variously named as terms that refer to visual means including information such as QR codes, barcodes, and identification marks.

Next, the camera unit 1450 of the second robot R2 may serve to photograph the flickering signal 1331 output from the first robot R1. The camera unit 1450 may have various types, and may be provided in the second robot R2 to capture an area corresponding to a specific angle of view.

Next, the sensing unit 1460 of the second robot R2 can sense the flickering signal 1331 (see FIG. 18 ), a control signal, output through the output unit 1330 of the first robot R1. It can be done.

For example, the sensing unit 1460 of the second robot R2 includes at least one of an infrared receiver and an RGB receiver, and at least one of an infrared LED, an RGB LED, and a wavelength output from the first robot R1 through the infrared receiver. One can be sensed.

Next, the control unit 1470 of the second robot (R2) may be configured to control the overall operation of the second robot (R2). The control unit 1350 of the second robot R2 can process data, information, etc. input or output through the components of the first robot R1 described above, or provide or process appropriate information or functions to an institution.

The controller 1470 of the second robot R2 may control the operation of the second robot R2 to perform a specific task. For example, when a specific task is a “food provision task”, the controller 1470 of the second robot R2 performs a driving task for serving among a plurality of tasks included in the food provision task of the second robot R2. It is possible to control the operation of the traveling unit 143 of the first robot R1 to perform.

Furthermore, the control unit 1470 of the second robot R2 cooperates with the first robot R1 to perform a specific task, based on the control command included in the sensed blinking signal 1331 (see FIG. 18), The second robot R2 may be controlled to perform a specific operation.

Meanwhile, the body part (or case) of the second robot R2 may include an article container (or storage box) 1480 capable of accommodating objects (articles). The article container 1480 of the second robot R2 changes the open/closed state of the door provided in the article container 1480, thereby opening the door provided in the article container 1480. or it can be closed. When the door provided in the article container 1480 is in an open state, the user can accept (storage, load, receive) objects (articles) in the article container 1480 or unload (take out the article). can

In addition to the configuration of the first robot R1 and the second robot R2 described above, visual means such as markers, infrared rays, and visible rays are output and sensed so that the network 40 is absent or the cloud server 20 intervenes. Even without it, let's explain how to do the collaboration mission.

In the present invention, a process in which a specific task is assigned to the first robot (R1) performing the first function, and a first task associated with the specific task is performed in the first robot (R1) may proceed (S110, FIG. 15).

As described above, the first function may mean the ability to perform a specific task in the first robot R1.

Furthermore, the first task may be understood as a task performed solely by the first robot R1 among a plurality of tasks associated with a specific task. That is, the first task may be understood as a task performed by the first robot R1 performing the first function.

Specifically, a food manufacturing robot (first robot) having a function related to food manufacturing (first function) and a food delivery robot (second robot) capable of performing a food delivery function (second function) ) assuming

The food manufacturing robot (first robot) performs a plurality of tasks related to food providing tasks (e.g., food manufacturing, food packaging, driving for serving, approaching to a serving target for serving, serving) Among the tasks of driving hardware of the robot, tasks related to the food manufacturing function (first function) (food manufacturing task, food packaging task, first task) may be performed.

The food delivery robot (second robot) performs tasks related to the food delivery function (second function) among a plurality of tasks related to the food provision mission (traveling for serving, approaching to the serving target for serving, and serving). The task of driving the hardware of the robot) may be performed. Assignment of tasks to the first robot may be performed based on information received from the server 20 .

Next, in the present invention, in the first robot (R1), a process of sensing a second robot (R2) located around the first robot (R1) and performing a second function different from the first function may proceed ( S120, see FIG. 15).

The second robot R2 transmits the marker information 1441 and 1442 in a form that can be sensed by the first robot R1 to the display unit of the second robot R2 in order to perform a cooperative task with the first robot R1. It can be output on (1440).

The first marker 1441 may be information including identification information of the second robot R2.

The robot identification information is information for distinguishing each robot, and may have different identification information even if the robots are of the same type. Specifically, even if the driving robots are of the same type, the identification information of the first driving robot and the second driving robot may be different from each other.

While the second robot R2 collaborates with the first robot R1, by continuously displaying the first marker 1441 on the display unit 1440 of the second robot R2, the first robot R1 This second robot R2 can be continuously recognized.

In this case, the first robot R1 may identify the second robot R2 performing the collaboration while collaborating with the second robot R2 by sensing the first marker 1441 .

Specifically, as shown in FIG. 16, while the second robot R2 is collaborating with the first robot R1, according to the collaboration state with the first robot R1, the display unit 1440 Even if the type of the output second marker 1442 is changed, the first marker 1441 may not be changed.

The first robot R1 senses the first marker 1441 to determine which robot outputs the first marker 1441 and the second marker 1442 or which robot is currently performing a collaborative task. can be distinguished.

Meanwhile, the second marker 1442 may include various state information related to the state of the second robot R2. Specifically, the second marker 1442 includes information related to the current state of the second robot R2 (ex: position information of the robot) and information related to the working state of the second robot R2 (ex: first The type of work being collaborated with the robot R1, the degree of progress of the work being collaborated with the first robot R1, etc.), and information related to different operating states of the second robot may be included.

That is, it may be understood that the second marker 1442 includes state information corresponding to each of various states (eg, operating states) of the second robot R2.

In the present invention, as a term that collectively refers to the position state, work state, and operation state of the second robot R2, “state” or “operation state” may be used. That is, "state" or "operation state" means the motion state of the second robot (R2), means a task or task assigned to the second robot (R2), or indicates the position of the second robot (R2). can mean

The type of the second marker 1442 may be plural, and each of the plurality of first markers 1442 may include different state information of the second robot R2. That is, the second marker 1442 may have different types of markers output according to the state (or state information) of the second robot R2.

As shown in FIG. 17, the second marker 1442 is a database (database (second robot R2) by matching various markers including state information corresponding to the operating state of the second robot R2 to different state information At least one of the storage unit 1420 of ) and the storage unit 1320 of the first robot R1, hereinafter referred to as a database). That is, the first robot R1 and the second robot R2 may share the same matching information related to the second marker 1442 .

For example, as shown in FIG. 17 , the second marker 1442 includes i) state information notifying that the second robot R2 can perform a delivery (or delivery) mission (1442a) or , ii) includes state information notifying the current location coordinates of the second robot R2 (1442b), iii) includes state information notifying that the location of the second robot R2 has changed (1442c), or vi ) State information indicating that the door of the storage box 1480 provided in the second robot R2 has been opened (1442d), or v) notifying that the second robot R2 is currently performing a delivery mission State information may be included (1442e).

Furthermore, information related to generation and interpretation (encoding and decoding) of the second marker 1442 may be stored in the database.

Information related to generation and interpretation (encoding and decoding) of the second marker 1442 includes criteria for generating (encoding) and interpreting (decoding) the state information of the second robot R2 as the second marker 1442 and It may be relevant information. For example, the information related to the generation and interpretation (encoding and decoding) of the second marker 1442 includes information on how to generate the state information and current position coordinates of the second robot R2 as the second marker, There may be, based on this, the location coordinates of the second robot (R2) can be generated as a second marker (1442).

Hereinafter, for convenience of description, as shown in FIG. 17 , the existence of a plurality of second markers 1442 matched to each state information of the second robot R2 will be described as an example.

On the other hand, the second robot R2 checks the second marker 1442 that matches the state of the second robot R2 in the database (storage unit 1420 of the second robot R2), The second marker 1442 may be output to the display unit 1440 .

As shown in FIG. 16, the second robot R2 outputs a first marker 1441 to a first area of the display unit 1440, and a second marker 1442 to a second area distinguished from the first area. ) can be output.

The second robot R2 may change the second marker 1442 output to the second area of the display unit 1440 based on the change in the state of the second robot R2. That is, when the operating state is changed, the second robot R2 may output the second marker 1442 including state information corresponding to the changed operating state to the display unit 1440 .

Furthermore, even if the second robot R2 changes the second marker 1442 output to the second area, while the collaboration task is performed (while the second task is performed), the first marker 1442 output to the first area is performed. Marker 1441 may not change.

The second robot (R2), while performing a collaborative mission or collaborative work with the first robot (R1), so that the first robot (300) can identify the second robot (R2), the display unit of the second robot ( 1440), the same first marker 1441 may be output.

Meanwhile, the terms of the markers 1441 and 1442 described above may be variously named. For example, these markers 1441 and 1442 can be variously named as terms that refer to visual means including information such as QR codes, barcodes, and identification marks.

On the other hand, in the robot collaboration method according to the present invention, in the first robot (R1), the first marker 1441 output to the second robot (R2) and the A process of sensing the 2 markers 1442 may proceed.

The first robot R1 may have sensors corresponding to the types of the first marker 1441 and the second marker 1442 to sense the first marker 1441 and the second marker 1441. there is. For example, if the first marker 1441 and the second marker 1442 are QR codes, the first robot R1 is provided with a camera or a QR code reader capable of sensing the QR codes, and the first marker 1441 ) and the second marker 1442 are barcodes, the first robot R1 may include a camera or barcode reader capable of sensing barcodes. However, hereinafter, the sensor 1340 provided in the first robot R1 is referred to as the sensing unit 1340 of the first robot R1 or the sensor 1340 provided in the first robot R1 without distinguishing the type of the sensor provided in the first robot R1. let me explain

Meanwhile, in the first robot R1, the sensor unit 1340 provided in the first robot R1 detects the first marker 1441 and the second marker ( At least one of the position and direction of the sensor unit 1340 provided in the first robot R1 may be controlled to sense 1442 .

Specifically, when the first robot R1 is not performing a collaboration mission with the second robot R2, the second marker 1441 including state information indicating that it can perform the collaboration mission is displayed. Until recognition, the movement and position of the sensor unit 1340 provided in the first robot R1 can be freely controlled.

Furthermore, when the first robot R1 is performing a collaborative mission with the second robot R2, based on the location information of the second robot R2, the sensor provided in the first robot R1 Movement (for example, at least one of a direction and a position) of the sensor unit 1340 provided in the first robot R1 so that the unit 1340 can sense the display unit 1440 of the second robot R2. ) can be controlled. For example, the first robot R1 has a sensor unit provided in the first robot R1 to correspond to the movement of the second robot R2 or the movement of the display unit 1440 of the second robot R2. 1340) can be controlled.

Meanwhile, in the present invention, the second robot R2 is specified as a robot that will collaborate with the first robot R1 for a specific task based on the sensing of the second robot R2 by the first robot R1. A process may proceed (S130, see FIG. 15).

Specifying the second robot (R2) as a robot to perform collaboration in the first robot (R1) is to share and perform at least one of a plurality of tasks related to a specific mission, the specified second robot (R2) and It can be understood as a process of interlocking to share each other's status information and control commands.

In order to specify the second robot R2, the first robot R1 senses the first marker 1441 output on the display unit 1440 of the second robot R2 to determine the first robot R1. You can check if it is possible to collaborate with.

The first robot R1 outputs the first marker 1441 and the second marker ( 1441 ) to the display unit 1440 of the second robot R2 through the sensor unit 1340 provided in the first robot R1. 1442), information included in the first marker 1441 and the second marker 1442 may be checked to determine whether collaboration is possible.

First, the first robot R1 uses the second robot R2 as a robot to collaborate based on the recognition of the first marker 1441 through the sensing unit 1340 provided in the first robot R1. can be specified.

Specifically, the first robot R1 checks the identification information of the second robot R2 included in the first marker 1441 to determine whether the second robot R2 is a robot that can perform a collaborative task. You can check.

For example, it is assumed that a specific task assigned to the first robot R1 is “a task to provide food”. Based on the identification information included in the first marker 1441, the first robot R1 may determine whether the second robot R2 is a robot performing a delivery function or a robot performing a cleaning function.

Based on the identification information of the second robot R2 included in the first marker 1441, the first robot R1 determines whether or not to collaborate with the second robot R2 (that is, as a robot to be collaborated). whether), and furthermore, whether to transmit at least one of state information (eg, collaboration request information) of the first robot R1 and a control command for the second robot R2 to the second robot R2. Can be determined.

Furthermore, the first robot (R1), based on the determination result, the state information of the first robot (R1) and the control command for the second robot (R2) to the output unit 1330 of the first robot (R1). You can decide to output at least one.

As a result of checking the identification information of the second robot R2 included in the first marker 1441, if the second robot R2 is not a robot related to a collaborative task, the first robot R1 is capable of collaborating. In order to recognize the other second robot R2, the movement of the sensor unit 1340 provided in the first robot R1 may be controlled.

On the other hand, as a result of checking the identification information of the second robot R2 included in the first marker 1441, when the first robot R1 is a robot related to a collaborative task, The second robot R2 can be specified as a robot to be collaborated.

Furthermore, the first robot R1 may determine whether or not to proceed with a collaboration mission with the collaboration target robot based on state information of the second robot R2 specified as the collaboration target robot.

More specifically, the first robot (R1) checks the state information of the second robot (R2) included in the second marker 1442, and outputs the output unit 1330 of the first robot (R1) to the first robot ( It is possible to determine whether to output at least one of state information of R1 and a control command for the second robot R2.

That is, based on recognizing the second marker 1442 through the sensing unit 1340 provided in the first robot R1, the current operating state of the second robot R2 may be identified.

Meanwhile, as described above, the first robot R1 may share matching information related to state information matched to the second marker 1442 with the second robot R2. Based on the matching information shared with the second robot R2, the first robot R1 may check information matched to the sensed second marker 1442.

Furthermore. The first robot R1 may share information related to generation and analysis of the second marker 1442 with the second robot R2. The first robot R1 interprets (decodes) information matched to the sensed second marker 1442 based on information related to generation and analysis of the second marker 1442 shared with the second robot R2. ) can do.

When the first robot R1 determines that the second robot R2 is in a state capable of performing a collaborative task based on the state information of the second robot R2 included in the second marker 1442, 2 Can attempt a cooperative mission with the robot (R2).

Specifically, when the first robot (R1) includes state information indicating that the second robot (R2) is in a cooperative state (eg, state information indicating that the delivery mission can be performed, see 1442a, FIG. 17) , at least one of state information of the first robot R1 and control commands for the second robot R2 may be output to the output unit 1330 of the first robot R1.

On the other hand, based on the state information of the second robot R2 included in the second marker 1442, the first robot R1 determines that the second robot R2 cannot perform the cooperative task. , it is possible to specify another robot as a collaboration target robot.

Specifically, the first robot (R1), state information notifying that the second robot (R2) is not in a cooperative state to the second marker 1442 (eg, state information notifying that the delivery mission is being performed, 1442e, 17) is included, the movement of the sensor unit 1340 provided in the first robot R1 may be controlled in order to recognize another second robot R2 capable of collaborating.

As such, the first robot R1 and the second robot R2 may use the first marker 1441 and the second marker 1442 to attempt data communication to perform a collaborative mission even in an offline situation. Hereinafter, a specific method for the first robot R1 and the second robot R2 to perform a collaborative mission in an offline situation will be continuously described.

Next, in the present invention, based on the data communication between the first robot (R1) and the second robot (R2), the second task related to the specific task by the first robot (R1) and the second robot (R2) This process may proceed (S140, see FIG. 15).

The “second task” described in the present invention is a task (or tasks) performed while the first robot R1 and the second robot R2 cooperate through data communication among a plurality of tasks related to a specific task. can be understood as For example, let's assume that a specific mission is a “food provision mission”. In order to deliver food prepared by the first robot (R1) to the second robot (R2), the first robot (R1) and the second robot (R2) perform data communication while changing their positions and postures. It can be 2 jobs.

For example, let's assume that a specific mission is a “food delivery mission”. The second job may be a job of delivering food manufactured by the food manufacturing robot (first robot) to the food delivery robot (second robot) so that the food delivery robot (second robot) can deliver the food.

The first robot R1 can perform data communication with the second robot R2 to perform the second job based on the specification of the second robot R2 as a robot to be collaborated.

Data communication between the first robot R1 and the second robot R2 is performed by the output unit 1330 and the sensing unit 1340 of the first robot R1 and the display unit 1440 of the second robot R2. , can be made using the sensing unit 1460.

The first robot R1 and the second robot R2 output visual information (blinking signals or markers) corresponding to the information to be transmitted to the collaborating robot on the output unit 1330 and the display unit 1440, respectively. can do.

Furthermore, the first robot R1 and the second robot R2 may sense visual information (blink signal or marker) output from the collaborating partner robot using the sensing units 1340 and 1460 respectively provided therein. there is.

First, the first robot R1 uses an output unit 1330 provided in the first robot R1 to deliver the fact specified as a collaboration target robot to the second robot R2 specified as a collaboration target robot. A control signal can be output through

The first robot R1 may output a control signal for controlling a specific operation of the second robot R2 in relation to the second task through the output unit 1340 provided in the first robot R1. there is.

As described above, the output unit 1330 of the first robot R1 may include a plurality of light output units. The plurality of light output units may include at least one of an infrared LED module and an RGB LED module.

The first robot R1 may output a blinking signal 1341 to perform the second task through the output unit 1330 of the first robot R1.

The blinking signal 1341 described in the present invention transmits at least one of a control signal corresponding to a control command for instructing a specific operation of the second robot R2 and a state signal corresponding to state information of the first robot R1. can be understood as including That is, the blinking signal 1341 is information that the first robot R1 wants to transmit to the second robot R2 (eg, control command information, information notifying that the second robot has been specified as a collaboration target task, etc.) It can be understood as a signal corresponding to

The flickering signal 1341 is information generated by turning on or off the plurality of light output units included in the output unit 1330 of the first robot R1, i) the light output unit lighting state (at least one of the plurality of lights) A state in which some light output units are turned on and other light output units are turned off), ii) a state in which the light output units are blinking (a specific light output unit among a plurality of light output units turns on and off repeatedly at regular intervals and at regular intervals) state), iii) pulse (voltage or current or wave of light) can be generated using at least one.

The blinking signal is output through the output unit 1330 of the first robot R1 while the first robot R1 performs the second task and the entire process of the collaboration task with the second robot R2, The robot R2 may perform a specific operation according to the control command of the first robot R1.

A specific operation may exist in various ways. It may be specified in various ways based on a specific task, the type of the second robot R2, the current state of the second robot R2, and the like. For example, the specific operation includes an operation of changing the position of the second robot (R2), an operation of changing the posture of the second robot (R2), and an article container (1480) provided in the second robot (R2). It may include at least one of operations for changing an open/closed state.

As shown in FIG. 18 , different blinking signals 1331 may be output to the output unit 1330 of the first robot R1 according to a control command for the second robot R2.

The type of blinking signal 1331 may be plural, and each of the plurality of blinking signals 1331 includes state information of different first robots R1 or includes control commands for different second robots R2. can do. That is, the type of blinking signal 1331 may be different according to the state of the first robot R1 or a control command for the second robot R2.

As shown in FIG. 19, the blinking signal 1331 is a blinking signal corresponding to the state (or status information) of the first robot R1 or a control command for the second robot R2, the first robot R1 ) Matches the state (or state information) or the control command for the second robot R2 and may exist as matching information.

The matching information for the blinking signal 1331 may exist in a database (the storage unit 1420 of the second robot R2 and the storage unit 1320 of the first robot R1, hereinafter referred to as a database). there is.

For example, as shown in FIG. 19, the blinking signal 1331 includes the first blinking signal 1710, and the first blinking signal 191 includes a control requesting position coordinates from the second robot R2. Command 1331a may be matched. At this time, the first flickering signal 1710 indicates that the second light output unit 1900b, the third light output unit 1900c, and the fifth light output unit 1900e among the plurality of light output units 1900 are turned on. The other light output units 1900a, 1900d, and 1900f may be blinking signals 1331a turned off.

As another example, i) a control command requesting a position change of the second robot R2 (for example, “Change the position to (30, 25, 12) coordinates”) is matched to the second flashing signal 1920. ii) the third flashing signal 1930 is matched with a control command requesting rotation of the first robot R1 (eg, “rotate 30° clockwise”), and iii) the fourth The blinking signal 1940 is matched with a control command (for example, “open the locker door”) that controls the door of the second robot R2 in an open state, and vi) the fifth blinking signal In (1950), state information of the first robot (R1) (for example, “food manufacturing work is completed”) is matched, and iii) the sixth blinking signal (1960) is matched to the second robot (R2). A control command requesting delivery (eg, “Deliver to table 314”) may be matched.

That is, the first robot R1 and the second robot R2 may share matching information related to the blinking signal 1331 and matching information related to the second marker 1442 .

Furthermore, the first robot R1 and the second robot R2 may share information related to generation and interpretation (encoding and decoding) of the flickering signal 1331 .

Information related to the generation and interpretation (encoding and decoding) of the blink signal 1331 generates (encodes) the blink signal 1331 corresponding to the state information of the first robot R1 and the control command for the second robot R2. ), and may be information related to a criterion for interpretation (decoding).

For example, the information related to the generation and interpretation of the blinking signal 1331 is how to generate a control command requesting a movement to a specific coordinate as a blinking signal in order to move the second robot R2 to a specific coordinate. information may be included, and based on this, the positional coordinates of the second robot R2 may be generated as the second marker 1442 .

Meanwhile, the first robot R1 may determine an operation that the second robot R2 needs to perform based on a work guide related to a specific task. For example, the first robot R1 may determine whether there is a need to change the position or direction of the second robot R2 based on information confirmed by sensing the second marker 1432b.

In the present invention, the “work guide” describes how the first robot R1 and the second robot R2 should operate in order for the first robot R1 and the second robot R2 to perform a collaborative task. It may contain action information.

These work guides are the tasks being performed by the first robot (R1) and the second robot (R2), the characteristics of the space in which the first robot (R1) and the second robot (R2) are arranged, the first robot (R1) and the first robot (R1). It may include information about the motions of the first robot R1 and the second robot R2 determined in consideration of at least one of the types of the two robots R2.

As such, the first robot R1 outputs the blinking signal 1331 through the output unit 1330 of the first robot R1, so that the second robot R2 operates even without using the network 40. A control command for controlling may be transmitted to the second robot R2.

Meanwhile, the second robot R2 may sense the control signal output to the output unit 1340 of the first robot R1 through the sensing unit 1460 provided in the second robot R2. Furthermore, the second robot R2 may perform a specific operation included in the control signal based on sensing the control signal.

The second robot R2 corresponds to the blinking signal 1331 output from the first robot R1 so that the blinking signal 1441 output to the output unit 1330 of the first robot R1 can be sensed. It may have a sensor.

For example, the blinking signal 1331 indicates a light-on state of the plurality of light output units included in the output unit 1330 of the first robot R1 (at least some of the plurality of light output units are turned on and other light output units are turned on). When based on the state in which the output unit is turned off) and the light blinking state (the state in which the light repeats turning on and off at regular intervals and at regular intervals), the second robot R2 uses the camera unit 1450 to A blinking signal 1441 may be sensed.

As another example, when the blink signal 1331 is based on a pulse (voltage, current, or wave of light), the second robot R2 transmits the blink signal 1441 using a sensor unit 1360 such as an infrared receiver. can sense

However, in the following description, for convenience of explanation, a means for sensing the blinking signal 1331 is not distinguished, and a sensor provided in the second robot R2 is named and described. That is, it may be understood that the sensor provided in the second robot R2 includes at least one of the camera unit 1450 and the sensor unit 1360 of the second robot R2.

Meanwhile, the second robot R2 senses the blinking signal 1331 output from the output unit 1330 of the first robot R1, and transmits the signal of the first robot R1 through the sensed blinking signal 1331. At least one of state information and a control command corresponding to a specific operation may be checked.

The second robot R2 is based on the matching information related to the blinking signal 1331 shared with the first robot R1, and state information of the first robot R1 corresponding to the sensed blinking signal 1331 and At least one of the control commands for the second robot R2 may be confirmed.

Furthermore, the second robot R2 may interpret (or decode or decode) the sensed blinking signal 1331 based on information related to interpretation (encoding and decoding).

As described above, the first robot R1 and the second robot R2 share at least one of matching information related to the blinking signal 1331 and information related to generation and interpretation (encoding and decoding) of the blinking signal 1331. may be doing

The information shared by the first robot R1 and the second robot R2 is stored in the storage unit 1320 of the first robot R1 and the storage unit 1420 of the second robot R2, respectively. can

If information corresponding to the blinking signal 1331 is a control command for a specific operation, the second robot R2 may perform a specific operation included in the control command based on the control command included in the blinking signal 1331. there is.

For example, as shown in FIG. 19, if the information matched to the blinking signal 1331b is a request to move to a specific coordinate (eg, “change the location to coordinates (30, 25, 15)”) , The second robot R2 may move to a specific coordinate based on the control command included in the flickering signal 1331b.

Furthermore, when the second robot R2 performs a specific operation or completes the operation according to the control command included in the blinking signal 1331, the operating state of the second robot R2 may be changed.

Based on the fact that the operating state is changed based on the blinking signal 1331, the second robot R2 sets a marker including state information of a specific operating state corresponding to the changed operating state of the second robot R2. It can be output to the display unit 1440. That is, the second robot R2 may change the flickering signal 1331 according to the changed operating state.

For example, when the second robot R2 is changing its position to a specific coordinate according to the blinking signal 1331, the second marker 1432 corresponding to the position changing to the specific coordinate is displayed by the second robot R2. ) may be output to the display unit 1440 to inform the first robot R1 that the specific operation has been performed.

When the second marker 1441 output to the display unit 1440 of the second robot R2 is changed, the first robot R1 performs a specific operation related to the second task in the second robot R2. or to identify that a specific action has been completed.

When the first robot R1 identifies that the second robot R2 has completed a specific operation, the blinking signal 1331 is transmitted to control another specific operation of the second robot R2 in relation to the second task. , It can be output through the output unit 1340 provided in the first robot (R1).

The first robot R1 and the second robot R2 output the blinking signal 1331 or the markers 1441 and 1442 to the output unit 1330 and the display unit 1440, respectively, and the sensing units 1340 and 1460 ), it is possible to perform data communication while repeating the sensing process.

Furthermore, the first robot R1 and the second robot R2 may perform the second task based on data communication.

20A and 20B are conceptual diagrams for explaining how the first robot R1 and the second robot R2 cooperate to perform a “food provision mission”. Together with FIGS. 20A and 20B , a method for the first robot R1 and the second robot R2 to perform the second task related to the food providing task will be described.

As shown in (a) of FIG. 20A, the first marker 1441 including identification information of the second robot R2 and the second marker including state information of the second robot R2 (for example, , “Current position coordinates are (60, 78, 20)”, 1432b) can be output. The first robot (R1) senses the markers (1331, 1432b) of the second robot (R2) approaching the surroundings, and checks whether or not collaboration with the second robot (R2) is possible, so that the second robot (R2) is a collaboration target. It can be identified as a robot.

Based on the information confirmed by sensing the second marker 1432b, the first robot R1 determines an operation that the second robot R2 needs to perform for collaboration with the second robot R2, A flickering signal 1331 instructing the determined operation may be output to the output unit 1330 .

As shown in (b) of FIG. 20A, the first robot R1 transmits a blinking signal 1331c corresponding to a control command requesting rotation of the second robot R2 as an output of the first robot R1. By outputting through the unit 1330, a control command may be transmitted to the second robot R2.

The second robot R2 performs a specific operation included in the blinking signal 1331c, and displays a second marker 1442c including state information of the second robot R2 changed based on the performance of the specific operation. It can be output to the display unit 1440 of the second robot R2.

As shown in (c) of FIG. 20A, the second robot R2 rotates (or changes location) according to the control command included in the sensed blinking signal 1331c, and the state is changed according to the execution result. A second marker (eg, “position change has been completed”, 1432c) including state information corresponding to may be output to the display unit 1440 .

At this time, even if the second robot R2 changes the second marker 1432b previously output to the display unit 1440 to a new second marker 1442c, the second robot R2 includes the identification information of the second robot R2. The first marker 1331 may continuously output.

The first robot R1 can check the information transmitted from the second robot R2 by re-sensing the first marker 1331 and the second marker 1442c output again from the second robot R2. .

The first robot (R1), when the identification information included in the sensed first marker 1331 does not match the identification information of the second robot (R2) specified as a collaboration target robot, sensed second marker (1432) information contained in may not be verified.

On the other hand, if the identification information included in the sensed first marker 1331 matches the identification information of the second robot R2 specified as a collaboration target robot, the first robot R1 senses the second marker ( 1442c) can be checked.

The first robot (R1) performs an operation that needs to be performed by the second robot (R2) for collaboration with the second robot (R2) based on the information and work guide included in the sensed second marker (1442c). The process of determining and outputting a blinking signal 1441d requesting the second robot R2 to perform a specific operation may be performed again.

As shown in (a) of FIG. 20B, the first robot R1 sends a blinking signal (for example, , “Open the storage box door”, 1441d), so that a control command can be transmitted to the second robot R2.

The second robot (R2) re-sensing the blinking signal (1331d) re-outputted from the first robot (R1) through a sensor (eg, camera) provided in the second robot (R2), and the re-sensed A specific operation included in the blinking signal 1441d may be performed.

As shown in (b) of FIG. 20B, the second robot R2 performs an operation according to the control command included in the sensed blinking signal 1331c and provides state information according to the result of performing the specific operation. The second operation with the first robot R1 may be performed by outputting with 2 markers (for example, “The storage box door has been opened”, 1432d).

Furthermore, as shown in (c) of FIG. 20B, when the second task is completed, the first robot (R1) is transferred to the second robot (R2), and a control command for the third task among a plurality of tasks related to a specific task is given. A blinking signal (eg, “Deliver to table 314”, 1331f) including a can be output.

In the present invention, based on the completion of the second task, a process of performing a third task related to a specific task in the second robot R2 may proceed (see S150 and S15).

The third task described in the present invention may be understood as a task performed solely by the second robot R2 among a plurality of tasks associated with a specific task.

The third task may be a task related to the second function of the second robot R2.

For example, let's assume that a specific mission is a “food delivery mission”. The third task may be a task in which the food delivery robot (second robot) delivers food manufactured by the food manufacturing robot (first robot) to a destination (eg, a user or a table).

In the present invention, when the second robot R2 completes the third task, it may be determined that the specific task is completed. That is, in the present invention, a specific task may be completed based on sequentially performing the first task, the second task, and the third task.

Meanwhile, as described above, in the first robot R1 and the second robot R2, the first robot R1 senses the second robot R2 and the second robot R2 is used as a robot to collaborate. Collaborative tasks can be performed based on what is specified.

Hereinafter, a process in which the first robot R1 specifies the second robot R2 as a robot to be collaborated will be described in detail. Hereinafter, a process in which the first robot R1 specifies the second robot R2 as a robot to be collaborated may be described as “interlocking” between the first robot R1 and the second robot R2.

Interlocking of the first robot R1 and the second robot R2 may proceed through a process in which the first robot R1 senses a marker of the second robot R2 approaching the surroundings.

The second robot R2 uses the map information stored in the storage unit 1420 of the second robot R2 to obtain location information corresponding to the current location (for example, “3rd floor A area (3, 1, 1)”) can be extracted. Based on the location information corresponding to the extracted current location, the second robot R2 may move an area included within a predetermined radius from the location corresponding to the extracted current location.

That is, even when the second robot R2 is not directly controlled by the cloud server 20 or is off-line, the second robot R2 freely moves in a preset area based on the location corresponding to the current location and interlocks with the second robot. You can try.

The second robot R2 may move to a position corresponding to the position of the first robot R1 based on map information stored in the storage unit 1420 of the second robot R2.

The map information may include information about a location corresponding to the location of the first robot R1. The second robot R2 may move around the first robot R1 based on a position corresponding to the position of the first robot R1 included in the map information.

Furthermore, while moving based on the map information, the second robot R2 senses the first robot R1 through a sensor (eg, camera) provided in the second robot R2, and senses the first robot R1 through the sensed first robot R2. It can move around the robot (R1).

Meanwhile, when there are a plurality of first robots R1_a and R1_b in the space 10, a specific second robot R2_a is prioritized among the plurality of first robots R1_a and R1_b based on a predetermined criterion. It can move to the periphery of any one of the first robots (R2_a) with high .

Priorities for the plurality of first robots R1_a and R1_b may be determined based on various criteria. For example, the priorities of the plurality of first robots R1_a and R1_b are the types of the first robot R1 and the second robot R2, the importance and the order of tasks assigned to the first robot R1. 1 may be determined based on at least one of the mission progress status (or interlocking status) of the robot (R1).

Here, the mission progress state of the first robot R1 may include a state in which the first robot R1 is collaborating with another second robot R2 (or an interlocking state).

As shown in FIG. 21, the mission progress state (or interlocking state) of the first robot R1 is the location information of the first robot R1 and the second robot R2_b different from the specific second robot R2_a. ) can be determined based on the information of More specifically, the mission progress state (or interlocking state) of the first robot (R1) is a predetermined radius based on a position corresponding to the position of the first robot (R1) (eg, the position of the first robot (R1)) When a second robot (R2_b) and a second robot (R2) different from the specific second robot (R2_a) are located in the same area), the first robot (R1) collaborates with the other second robot (R2). It may be determined as an ongoing state (or an interlocked state).

The specific second robot (R2_a) gives priority to the first robot (R1_a) not interlocked with the other second robot (R2_b) over the first robot (R1_b) interlocked with the other second robot (R2_b). can do.

The specific second robot R2_a may move to a position corresponding to the position of the first robot R1_a not interlocked with the other second robot R2_b based on the priority order.

In this way, the second robot R2 may perform a cooperative mission with the first robot R1_a by moving around the first robot R1_a that does not perform a cooperative mission with the other second robot R2_b. .

Meanwhile, each of the storage unit 1320 of the first robot R1 and the storage unit 1420 of the second robot R1 includes at least one of a first task, a second task, and a third task related to a collaboration task. A work history may exist.

Here, the work history may include at least one piece of collaboration information related to the performance of a task associated with a collaboration task or may be information generated based on the collaboration information.

For example, the collaboration information related to the first robot R1 is i) an image including the blinking signal 1441 output from the first robot R1, ii) a blinking signal output from the first robot R1 ( 1441) included information (control command, etc.), iii) date and time information when the blinking signal 1441 was output from the first robot R1, vi) the first marker 1441 sensed by the first robot R1 and 2 An image including at least one of the markers 1442, v) included (or interpreted information) in at least one of the first marker 1441 and the second marker 1442 sensed by the first robot R1, vi) at least one of an operation performed by the first robot R1 and information on the operation execution time.

Collaboration information related to the second robot R2 includes i) at least one of the first marker 1441 and the second marker 1442 output from the second robot R2 (eg, an image of the marker), ii ) Information (identification information, status information, etc.) included in at least one of the first marker 1441 and the second marker 1442 output from the second robot R2, iii) the first marker 1441 from the second robot R2 date and time information when at least one of the marker 1441 and the second marker 1442 was output, vi) an image including the blinking signal 1441 sensed by the second robot R2, v) from the second robot R2 It may include at least one of (or interpreted information) included in the sensed blinking signal 1441, vi) an action performed by the second robot R2, and information on the date and time of the action.

In the present invention, work history and collaboration information are not distinguished, and are named and described as work history. In the present invention, “work history” is mixed with “collaboration information” “log”, “log information”, “collaboration log”, “collaboration log information”, “job history information”, and “collaboration history information” can be used

At least one of the first robot R1 and the second robot R2 transmits (updates) work histories stored in the respective storage units 1320 and 1420 to a preset server (eg, the cloud server 20). ), it is possible to perform backup, management, analysis and monitoring of work history.

When the first robot R1 and the second robot R2 can communicate with the cloud server 20 using the network 40, the work histories stored in the respective storage units 1420 and 1320 are transferred to the cloud server ( 20) can be sent.

At this time, the first robot R1 and the second robot R2 transmit job histories that have not been updated to the cloud server 20 among the job histories stored in the respective storage units 1420 and 1320 to the cloud server 20. can

The first robot (R1) and the second robot (R2), based on the work history update information stored in the respective storage units (1320, 1420), any one of the work history stored in the respective storage units (1320, 1420) It is possible to determine which work history has been updated in the cloud server 20 and which work history has not been updated in the cloud server 20 . The first robot R1 and the second robot R2 may transmit work histories that have not been updated to the cloud server 20 to the cloud server 20 .

Furthermore, the first robot (R1) and the second robot (R2), based on the work history update information stored in the respective storage units (1320, 1420), the time point when the work history was last updated to the cloud server 20 Afterwards, it is possible to determine what the stored work history is. The first robot R1 and the second robot R2 may transmit, to the cloud server 20, the work history stored after the last update of the work history in the cloud server 20.

Furthermore, the first robot R1 and the second robot R2, for the efficiency of the respective storage units 1320 and 1420, based on the completion of updating the work history in the cloud server 20, each storage Job histories stored in the units 1420 and 1320 may be deleted.

Meanwhile, the cloud server 20 monitors the first robot R1 and the second robot R2 based on the work history received from at least one of the first robot R1 and the second robot R2. can be performed.

In the cloud server 20, based on the work history and the work guide related to the collaboration task included in the work history, the first robot (R1) and the second robot (R2) can evaluate the operation performed to perform the collaboration task. there is.

The “work guide” provides motion information on how the first robot R1 and the second robot R2 should operate in order for the first robot R1 and the second robot R2 to perform a collaborative task. can include

These work guides are the tasks being performed by the first robot (R1) and the second robot (R2), the characteristics of the space in which the first robot (R1) and the second robot (R2) are arranged, the first robot (R1) and the first robot (R1). It may include information about the motions of the first robot R1 and the second robot R2 determined in consideration of at least one of the types of the two robots R2.

For example, when a task performed by the first robot R1 and the second robot R2 in collaboration is a “food provision task”, the operation performed by the first robot R1 and the second robot R2 is , i) an operation of matching the positions of the first robot (R1) and the second robot (R2), ii) an operation of opening the storage door of the second robot (R2), iii) an operation of the first robot (R1) to the second robot (R2) loading food into the storage box, vi) the first robot (R1) delivering the destination to the second robot (R2), v) the second robot (R2) serving (delivery) food to the destination ) and the like.

When receiving the work history received from at least one of the first robot R1 and the second robot R2, the cloud server 20 performs a collaborative task performed by the first robot R1 and the second robot R2. You can evaluate the actions performed in

The cloud server 20 may evaluate whether the first robot R1 and the second robot R2 performed an operation according to the operation guide based on the operation history and the operation guide corresponding to the collaboration task included in the operation history. there is.

For example, the cloud server 20 may evaluate whether the first robot R1 outputs a blinking signal 1331 corresponding to a control command requesting an operation of the second robot R2 according to the work guide. As another example, the cloud server 20 may evaluate whether the second robot R2 has performed a specific operation according to the blinking signal 1331 output by the first robot R1.

Furthermore, the cloud server 20 compares the work history related to the second robot R2 and the work history related to the first robot R1, so that communication between the first robot R1 and the second robot R2 is smooth. You can evaluate what has been done.

More specifically, the cloud server 20 may evaluate an operation performed by the second robot R2 and the first robot R1 based on the sensed markers 1441 and 1442 or the blinking signal 1331.

For example, in the work history related to the first robot R1, a control command corresponding to a control command requesting a position change from the first robot R1 to a specific coordinate (eg, “(30, 25, 15)” Assume that the blinking signal 1331b includes log information output. The cloud server 20 blinks in response to a control command requesting a position change to a specific coordinate (eg, “(30, 25, 15)”. It may be evaluated whether the motion of the second robot R2 corresponding to the signal 1331b moved to a specific coordinate or performed another motion (eg, opening a door of a storage box).

Meanwhile, when the operation of the robot is evaluated by the controller 150, the cloud server 20 may store evaluation result information corresponding to the evaluation result in a database. The cloud server 20 may store the evaluation result information in a database by matching the second robot R2 with at least one identification information of the first robot R1.

As such, in the present invention, based on the work history, whether the first robot (R1) and the second robot (R2) perform an operation according to the collaborative guide, communication between the first robot (R1) and the second robot (R2) Evaluation result information may be generated by evaluating whether the process is performed smoothly.

The cloud server 20 or the administrator may check errors generated in the first robot R1 and the second robot R2 and corrections therefor by referring to the evaluation result information.

On the other hand, a situation requiring monitoring and intervention (control, control) of at least one of the cloud server 20 and a manager in the process of performing a collaborative mission by interlocking the first robot R1 and the second robot R2 this can happen

For example, in a situation where the second robot (R2) needs to perform a food serving (or delivery) operation to a specific destination, the second robot (R2) does not move and continues to stop in front of the first robot (R1). In this case, the cloud server 20 and the manager may intervene to find an error generated in the second robot R2 and solve the error.

In order for the cloud server 20 to monitor and control the first robot R1 and the second robot R2, the cloud server 20, the first robot R1 and the second robot R1 are based on the network 40. It must be performed between 2 robots (R2).

However, in a situation where the network 40 is not present, that is, in an offline situation, the cloud server 20 cannot perform monitoring of the first robot R1 and the second robot R2, resulting in a situation in which an administrator must intervene. It can be.

Hereinafter, in an off-line situation, without a monitoring program for the manager, a method for allowing the manager to monitor the collaborative mission performed in the first robot R1 and the second robot R2 will be described. do.

The first robot R1 may output, along with a blinking signal 1331, a work history (status information, control command, etc.) in a human-perceivable form through the output unit 1330 of the first robot R1. there is.

Furthermore, the second robot (R2), together with the markers (1441, 1442), the work history (status information, control command, etc.) in a human-perceivable form on the display unit 1440 of the second robot (R2) , can be output.

In the present invention, “work history (status information, control command) in a form recognizable by humans” is named “recognition information 1343”.

“Cognitive information 1343” corresponds to information included in the second marker 1442 output from the second robot R2 or information included in the blinking signal 1441 output from the first robot R1. This information can be understood as information obtained by converting visual information in a human-recognizable form.

For example, as shown in FIG. 23, “recognition information 1343” is information included in the second marker 1442 of the second robot R2 (eg, “on delivery”, 1442). Corresponding text information (for example, “Delivery mission is in progress” 1343a) may be included or a graphic object 1343b may be included.

Furthermore, “recognition information 1343” is text information (eg, “Error”, 1343c) corresponding to an error based on the occurrence of an error in the first robot R1 and the second robot R2. can include

Meanwhile, the second robot R2 outputs the first marker 1441 to the first area on the display unit 1440 of the second robot R2 and outputs the second marker 1442 to the second area. can Furthermore, the second robot R2 may output recognition information 1343 to a third area distinguished from the first area and the second area.

Based on the state information of the second robot R2 being changed, the second marker 1442 output to the second area and the recognition output to the third area of the display unit 1440 Information 1343 can be changed. Furthermore, even if the second robot R2 changes the second marker 1442 output to the second area and the recognition information 1343 output to the third area, the second marker 1441 output to the first area may not change.

Meanwhile, the first robot R1 may output recognition information corresponding to information included in the blinking signal 1441 through the output unit 1330 of the first robot R1.

More specifically, the blinking signal 1441 that can be sensed by the second robot R2 is output through some of the plurality of lights included in the output unit 1330 of the first robot R1, and through the other part A manager may output recognition information in a recognizable form.

For example, when the output unit 1330 of the first robot R1 is a display including a plurality of lights, a blinking signal 1441 that can be sensed by the second robot R2 is output to one area of the display, In another area, a manager may output recognition information in a recognizable form.

The first robot R1 may output recognition information by using at least one of a plurality of colors of light included in the output unit 1330 of the first robot R1, a blink degree, and a blink pattern. For example, suppose that the first robot R1 outputs a control command to the second robot R2 through a blinking signal 1441 . The first robot R1 may control a specific light (eg, LED) to blink in a specific pattern having a specific color through the output unit 1440 .

Meanwhile, the timing of outputting cognitive information from the first robot R1 and the second robot R2 may vary.

For example, the first robot R1 and the second robot R2 may continuously output cognitive information while performing a collaborative mission.

As another example, the first robot R1 and the second robot R2 may output recognition information when a manager approaches the surroundings. More specifically, when a manager or a preset user approaches the first robot R1 and the second robot R2 within a predetermined radius from each location, they may output recognition information.

The first robot R1 and the second robot R2 may sense the approach (or presence) of a manager or a preset user through sensors provided therein to output recognition information. For example, when a manager approaches the second robot R2 and inputs identification information (eg, ID card, QR code) assigned to the manager, the second robot R2 outputs recognition information. can

As another example, the first robot R1 and the second robot R2 may output recognition information when an error occurs. That is, when an error occurs, the first robot R1 and the second robot R2 output recognition information to request help from a manager in an error occurrence situation.

As such, in the present invention, by providing cognitive information in a form recognizable to a user, a manager can intuitively recognize the states of the first robot R1 and the second robot R2 located in the space 10 .

For example, if the second robot (R2) is stopped despite outputting cognitive information such as “delivery mission is in progress,” the manager determines that a problem has occurred with the second robot (R2) and the second robot ( It is possible to intervene in the operation of R2).

As another example, if the second robot R2 outputs recognition information such as “Error”, the manager intuitively recognizes that a problem has occurred in the second robot R2 and intervenes in the operation of the second robot R2. can

Meanwhile, in the present invention, work history may be provided through the terminal 2400 owned by the manager so that the manager can monitor the first robot R1 and the second robot R2.

A system for monitoring the first robot R1 and the second robot R2 may exist in the terminal 2400 possessed by the manager.

Here, the system for monitoring the first robot R1 and the second robot R2 is software installed in the terminal 2400, and may be an application or a program.

As shown in (a) of FIG. 24, the manager uses the terminal 2400 possessed by the manager to photograph the blinking signal 1331 of the first robot R1 or the marker of the second robot R2. (1441, 1442) Can be filmed.

The terminal 2400 may check information corresponding to the photographed blinking signal 1331 and the markers 1441 and 1442 .

Specifically, matching information related to the blinking signal 1331 or matching information related to the markers 1441 and 1442 may be stored in the terminal 2400 . The terminal 2400 can check information corresponding to the captured blinking signal 1331 and the markers 1441 and 1442 based on matching information related to the blinking signal 1331 or matching information related to the markers 1441 and 1442. there is.

The terminal 2400 may output, on the terminal 2400, job histories related to specific tasks performed by the first robot R1 and the second robot R2 based on the identified information.

For example, as shown in (b) of FIG. 24, on the terminal 2400, identification information of the corresponding robot (eg, “robot ID: 12TEQ68”, 2410), related to the task being performed by the corresponding robot At least one of information (eg, “Drinks are being delivered to table 134”, 2420) and location information 2430 of the corresponding robot may be output.

The manager can monitor the collaborative tasks of the first robot R1 and the second robot R2 through the work histories of the first robot R1 and the second robot R2 output to the terminal 2400. .

On the other hand, in the above description, descriptions expressed with the subject of the first robot (R1) and the second robot (R2) are replaced by the control unit 1350 of the first robot (R1) and the control unit 1470 of the second robot. Of course, it can be explained.

As described above, the collaboration method and system using a plurality of robots according to the present invention, based on data communication between the output unit and the sensing unit provided in each of the first robot and the second robot, the first robot and the second robot By performing collaboration related to a specific task by robots, even in a situation where there is no network or a network failure occurs, it is possible to perform a collaborative task. Therefore, in a building containing robots according to the present invention, various services can be provided through collaborative work between a plurality of robots even in an environment where a network does not exist, and user convenience can be further improved.

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

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

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

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

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

Meanwhile, the present invention described above is executed by one or more processes in a computer and can be implemented as a program that can be stored in a computer-readable medium.

Furthermore, the present invention described above can be implemented as computer readable codes or instructions in a medium on which a program is recorded. That is, various control methods according to the present invention may be integrated or individually provided in the form of a program.

On the other hand, the computer-readable medium includes all types of recording devices in which data that can be read by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. there is

Furthermore, the computer-readable medium may be a server or cloud storage that includes storage and can be accessed by electronic devices through communication. In this case, the computer may download the program according to the present invention from a server or cloud storage through wired or wireless communication.

Furthermore, in the present invention, the above-described computer is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit), and there is no particular limitation on its type.

On the other hand, the above detailed description should not be construed as limiting in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (16)

In the collaboration method using a plurality of robots,
assigning a specific task to a first robot performing a first function, and performing a first task associated with the specific task in the first robot;
In the first robot, sensing a second robot located around the first robot and performing a second function different from the first function;
specifying the second robot as a robot to collaborate with the first robot for the specific task, based on the sensing of the second robot by the first robot;
performing a second task related to the specific task by the first robot and the second robots based on data communication between the first robot and the second robot; and
Based on the completion of the second task, the method of collaboration using a plurality of robots comprising the step of performing a third task related to the specific task in the second robot. According to claim 1,
The second robot has a display unit,
On the display unit of the second robot,
A first marker including identification information of the second robot and a second marker including state information about an operating state of the second robot are output,
In the step of being specified as the collaboration target robot,
The collaboration method using a plurality of robots, characterized in that the second robot is specified as the collaboration target robot based on the recognition of the first marker through a sensing unit provided in the first robot. According to claim 2,
The first marker output to the display unit of the second robot,
While the second task is performed between the first robot and the second robot so that the first robot can identify the second robot, a plurality of How to collaborate with robots. According to claim 2,
The second marker,
Includes any one of different types of operating state markers including state information respectively corresponding to different operating states of the second robot;
The first robot,
Based on recognizing the second marker through a sensing unit provided in the first robot, a current operating state of the second robot is identified. According to claim 4,
The step in which the second task is performed,
outputting, in the first robot, a control signal for controlling a specific operation of the second robot in relation to the second task through an output unit provided in the first robot;
In the second robot, sensing the control signal through a sensing unit provided in the second robot;
Based on the sensing of the control signal by the second robot, the method of collaboration using a plurality of robots characterized in that it comprises the step of performing the specific operation. According to claim 5,
The second marker output to the display unit of the second robot,
Based on the change in the operating state based on the control signal, a specific operating state marker corresponding to the changed operating state is changed to a collaboration method using a plurality of robots. According to claim 6,
The first robot,
Based on sensing the specific operation state marker output to the display unit of the second robot, it is identified that the specific operation related to the second job is being performed in the second robot. How to collaborate with robots. According to claim 7,
The specific operation,
and at least one of an operation of changing a position of the second robot, an operation of changing a posture of the second robot, and an operation of changing an open/closed state of an article container provided in the second robot. How to collaborate with robots. According to claim 1,
The specific task,
the first task by the first robot performing the first function;
The second task corresponding to the collaboration between the first robot and the second robot based on data communication between the first robot and the second robot, and
A method of collaboration using a plurality of robots, characterized in that the third task by the second robot performing the second function is completed based on sequentially performed. According to claim 9,
The first robot is a food manufacturing robot, the second robot is a food delivery robot, and the first job by the first robot is a food manufacturing job corresponding to the specific task,
The second task performed between the first robot and the second robot is a task of delivering food manufactured by the first robot to the second robot,
The third task by the second robot is a task of delivering the food delivered from the first robot to a specific target. According to claim 1,
Transmitting, by at least one of the first robot and the second robot, a job history including at least one of the first job, the second job, and the third job to a preset server. A collaboration method using a plurality of robots characterized by. In the service robot traveling in space, the service robot,
display unit;
driving part; and
Based on the operating state of the service robot, including a control unit for controlling the information output to the display unit,
The control unit,
In the service robot, based on the progress of collaboration related to a specific robot disposed in the space and a specific task, controlling information output to the display unit,
In the display unit,
The service robot, characterized in that a first marker for identifying the service robot in the specific robot and a second marker for identifying a current operating state of the service robot are output. According to claim 12,
The type of the second marker output to the display unit is,
Based on the change in the operating state of the service robot according to the control signal received from the specific robot, the service robot characterized in that the change to correspond to the changed operating state. A camera unit for recognizing a marker output to a specific robot performing collaboration;
an output unit for outputting a control signal for controlling the operation of the specific robot; and
A control unit for controlling the camera unit and the output unit;
The control unit,
A robot characterized in that for outputting a control signal corresponding to the specific operation through control of the output unit so that the specific operation is performed in the specific robot according to the progress state of the specific task corresponding to the collaboration. In the building where the first robot and the second robot communicating with the cloud server are located,
said building,
Including a space where the first robot and the second robot are located,
The first robot and the second robot,
assigning a specific task to the first robot performing a first function based on a control command received from the cloud server, and performing a first task associated with the specific task in the first robot;
In the first robot, sensing a second robot located around the first robot and performing a second function different from the first function;
specifying the second robot as a robot to collaborate with the first robot for the specific task, based on the sensing of the second robot by the first robot;
performing a second task related to the specific task by the first robot and the second robots based on data communication between the first robot and the second robot; and
Based on the completion of the second task, the second robot performs the specific task in the building through a step in which a third task related to the specific task is performed,
In the cloud server,
Based on the work history information received from at least one of the first robot and the second robot, the building characterized in that the work input for the specific task is updated. In a robot collaboration system in which collaboration is performed between a first robot and a second robot,
In the robot collaboration system,
A specific task is assigned to a first robot performing a first function, and the first robot performs a first task associated with the specific task;
In the first robot, sensing a second robot located around the first robot and performing a second function different from the first function,
Based on the second robot being sensed by the first robot, specifying the second robot as a robot to collaborate with the first robot for the specific task,
Based on the data communication between the first robot and the second robot, a second task related to the specific task is performed by the first robot and the second robot,
Based on the completion of the second task, a robot collaboration system characterized in that collaboration for the specific task is performed by performing a third task related to the specific task in the second robot.

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