KR20230091571A - Method for controlling robot movement and robot implementing the same - Google Patents

Abstract

The present invention provides a method for controlling a robot movement and a robot implementing the same, wherein when the robot moves to a desired goal, a map with the smallest available capacity according to a global path plan is loaded so as not to burden computational resources of the robot, so that the movement of the robot can be made faster. Moreover, operation and/or actuation information of mobile convenience facilities such as elevators and escalators in buildings can be considered together so that the global route plan can be established.

Description

Robot movement control method and robot implementing the same {METHOD FOR CONTROLLING ROBOT MOVEMENT AND ROBOT IMPLEMENTING THE SAME}

The present invention relates to a robot movement control method for navigating a robot to a target position according to a global path plan based on a trajectory model and a robot implementing the same.

Robots have been developed for industrial use and have been in charge of a part of factory automation. In recent years, the field of application of robots has been further expanded, and medical robots, space robots, etc. have been developed, and household robots that can be used at home are also being made. Some of these robots can run on their own.

In order for such a robot to move to a desired target location, a global path plan is established by loading the corresponding map from map information received from the control center, and the robot moves along the global path to the desired target location based on the established global path plan. can

For example, if the desired target location is on the same floor as the floor in the building where the robot is currently located, the robot should load the entire map of the floor.

If the desired target location is located on a floor different from the floor in the building where the robot is currently located, the robot must load both the entire map of the floor where the robot is currently located and the entire map of the other floor.

Therefore, since the capacity of the map to be loaded by the robot increases in proportion to the number of floors the robot has to pass through, this may be a burden on the robot's computational resources, and thus may be an obstacle to the smooth operation of the robot. can

Meanwhile, in order to move to the other floor, the robot will have to use an elevator in the building. However, in some cases, there may be a plurality of elevators in the building, and each of them may operate only for a preset floor (eg, an odd-numbered floor or an even-numbered floor). Alternatively, some of the plurality of elevators may not operate due to a malfunction. Therefore, in order for the robot to go to a desired floor in the building, an elevator that can go to the desired floor among the plurality of elevators must be used.

However, in the case of global route planning based on an existing trajectory model, the plurality of elevators may be expressed only with location information on each floor, and operation information of the plurality of elevators may not be reflected. Accordingly, if the global path plan includes an elevator that does not operate to the desired floor, the robot may fail to move to the desired floor using the global path plan.

The present invention, when the robot moves to a desired target, loads the map with the smallest possible capacity according to the global path plan so that the robot's computational resources are not burdened, so that the robot's operation can be faster, and the elevator in the building It is an object of the present invention to provide a robot movement control method in which a global path plan can be established in consideration of operation and/or operation information of moving convenience facilities such as escalators and the like, and a robot implementing the same.

In order to achieve the above object, the present invention provides the step of receiving information on mobile convenience facility components within and between buildings in a trajectory model from a control server, and converting the information on the received mobile convenience facility components into the trajectory model Reflecting, loading a map for moving from a starting location to a destination location using the trajectory model, and establishing a global route based on information on the movement convenience facility component and the loaded map, and the It is possible to provide a robot movement control method including the step of moving the robot according to the established global path.

The loaded map may be composed of a partial map corresponding to a region of interest required to move from the starting location to the destination location.

The trajectory model is composed of a plurality of layers, and the mobility convenience facility component may be included in one specific layer among the plurality of layers.

The mobile convenience facility component may include at least one of an intra-floor mobile component, an inter-floor mobile component, and an inter-building mobile component.

The information on the mobile convenience facility component may include at least one of availability information, facility size information, and required travel time.

When the robot receives information from the control server indicating that the use of the first mobile convenience facility component included in the established global route is impossible while the robot is moving, the currently usable component is replaced with the first mobile convenience facility component. The global path may be modified so that the second mobility facility component is included in the global path.

The departure location may be located in a first building, and the arrival location may be located in a second building different from the first building.

The mobile convenience facility component may include at least one inter-building movement component connecting a first building and a second building, and the global route may be established to include the at least one inter-building movement component. .

The information on the inter-building movement component may include floor information of a first building and floor information of a second building to which the inter-building movement component is connected.

The building-to-building movement component may include at least one of a bridge and a train.

In addition, in order to achieve the above object, the present invention provides a communication unit for communicating with a control server, a map storage unit for storing a map based on a trajectory model, and a facility for moving within and between buildings in the trajectory model from the control server Receives information on elements, reflects the received information on mobile convenience facility components to the trajectory model, and loads a map for moving from a starting location to a destination location using the trajectory model, thereby providing the movement convenience It is possible to provide a robot including a control unit that establishes a global path based on information on facility components and the loaded map and controls movement according to the established global path.

The robot movement control method according to the present invention and the effect of the robot implementing the same will be described.

According to at least one of the embodiments of the present invention, when the robot moves to a desired target, the map of the smallest possible capacity according to the global path plan is loaded so that the robot's computational resources are not burdened, so that the operation of the robot is further improved. It has the advantage of being faster.

In addition, according to at least one of the embodiments of the present invention, there is an advantage in that a more accurate global route plan can be established by considering operation or operating information of moving convenience facilities such as elevators, escalators, and automatic doors in a building.

1 is a block diagram showing components constituting a robot according to an embodiment of the present invention.
2 shows a trajectory model for a robot according to the prior art.
FIG. 3 shows a plane map on which a trajectory of a moving robot is displayed based on the trajectory model of FIG. 2 .
4 shows a trajectory model for robot movement targeting a single building according to an embodiment of the present invention.
FIG. 5 shows a plane map on which a trajectory of a moving robot is displayed based on the trajectory model of FIG. 4 .
Figure 6 shows a variant of the trajectory model of Figure 4;
7 shows a plurality of buildings to which the trajectory model of the present invention can be applied.
8 shows a trajectory model for a robot according to an embodiment of the present invention.
9 shows a trajectory model for a robot according to an embodiment of the present invention.
10 shows a trajectory model for a robot according to an embodiment of the present invention.
11 is a flowchart of a process by which a global path is established according to one embodiment of the present invention.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numerals regardless of reference numerals, and redundant description 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.

Of course, the following examples of the present invention are only intended to embody the present invention and are not intended to limit or limit the scope of the present invention. What can be easily inferred by an expert in the technical field to which the present invention pertains from the detailed description and embodiments of the present invention is interpreted as belonging to the scope of the present invention.

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

Referring to Figure 1, the components constituting the robot according to an embodiment of the present invention will be described. 1 is a block diagram showing components constituting a robot according to an embodiment of the present invention.

The robot 1000 includes a sensing module 100 for sensing a moving object or a fixed object placed outside, a map storage unit 200 for storing various types of maps, a moving unit 300 for controlling the movement of the robot, and a robot A functional unit 400 that performs a predetermined function of, a communication unit 500 that transmits and receives information about a map or moving object, a fixed object, or an externally changing situation with another robot or server, and each of these components The control unit 900 may be used to control.

Although the configuration of the robot is hierarchically configured in FIG. 1, this logically represents the components of the robot. In the case of physical configuration, this may be different. That is, a plurality of logical elements may be included in one physical element, or a plurality of physical elements may implement one logical element.

Each component of FIG. 1 may be integrated, added, or omitted according to specifications of the robot 1000 that is actually implemented. That is, if necessary, two or more components may be combined into one component, or one component may be subdivided into two or more components. In addition, functions performed in each block are for explaining an embodiment of the present invention, and the specific operation or device does not limit the scope of the present invention.

The sensing module 100 senses external objects such as obstacles and provides the sensed information to the control unit 900 . In one embodiment, the sensing module 100 is a Lidar that calculates the material and distance of external objects such as walls, glass, and metallic doors from the current position of the robot as the intensity of the signal and the reflected time (velocity). A sensing unit 110 may be included. Also, the sensing module 100 may include a temperature sensing unit 120 that calculates temperature information of objects disposed within a predetermined distance from the robot 1000 . One embodiment of the temperature sensing unit 120 includes an infrared sensor that senses the temperature of an object disposed within a certain distance from the robot 1000, in particular, the body temperature of people. When the temperature sensing unit 120 is configured with an infrared array sensor, the temperature of an object can be sensed without contact. When an infrared sensor or an infrared array sensor configures the temperature sensing unit 120, it can provide important information for determining whether a moving object is a person.

In addition, the sensing module 100 may further include a depth sensing unit 130 and a vision sensing unit 140 that calculate depth information between the robot and an external object, in addition to the above-described sensing units.

The depth sensing unit 130 may include a depth camera. The depth sensing unit 130 can determine the distance between the robot and an external object. In particular, by combining with the lidar sensing unit 110, the sensing accuracy of the distance between the external object and the robot can be increased.

The vision sensing unit 140 may include a camera. The vision sensing unit 140 may capture images of objects around the robot. In particular, the robot may identify whether an external object is a moving object by distinguishing an image in which there is not much change, such as a fixed object, and an image in which a moving object is disposed.

In addition, a plurality of auxiliary sensing units 145 including a thermal sensing unit and an ultrasonic sensing unit may be disposed. These auxiliary sensing units provide auxiliary sensing information necessary for generating a map or sensing an external object. In addition, these auxiliary sensing units also provide information by sensing an object disposed outside while the robot is driving.

The sensing data analyzer 150 analyzes information sensed by a plurality of sensing units and transmits the analyzed information to the control unit 900 . For example, when an object disposed outside is sensed by a plurality of sensing units, each sensing unit may provide information about the characteristics and distance of the corresponding object. The sensing data analysis unit 150 may combine and calculate these values and deliver them to the controller 900 .

The map storage unit 200 stores information on objects arranged in a space in which the robot moves. The map storage unit 200 may include a fixed map 210 that stores information on fixed objects that do not change or are fixedly disposed among objects disposed in the entire space in which the robot moves. One fixed map 210 may be necessarily included according to space. Since the fixed map 210 is arranged with only objects with the lowest variation in the space, when the robot moves in the space, more objects than the objects indicated by the map 210 can be sensed.

The fixed map 210 essentially stores positional information of fixed objects, and may additionally include characteristics of fixed objects, such as material information, color information, or other height information. These additional information makes it easier for the robot to check when changes occur in fixed objects.

In addition, the robot can sense the surroundings in the process of moving to create a temporary map 220 and compare it with the fixed map 210 for the entire space previously stored. As a result of the comparison, the robot can confirm its current location.

The moving unit 300 is a means for moving the robot 1000 like a wheel, and moves the robot 1000 under the control of the controller 900. At this time, the control unit 900 may check the current location of the robot 1000 in the area stored in the map storage unit 200 and provide a movement signal to the moving unit 300 . The control unit 900 may generate a route in real time or during a movement process using various pieces of information stored in the map storage unit 200 .

The moving unit 300 may include a mileage calculation unit 310 and a mileage correction unit 320 . The travel distance calculation unit 310 may provide information on the distance the moving unit 300 has moved. As an embodiment, an accumulated distance traveled by the robot 1000 starting from a specific point may be provided. Alternatively, the cumulative distance traveled in a straight line after the robot 1000 rotates at a specific point may be provided. Alternatively, an accumulated distance that the robot 1000 has moved from a specific time may be provided.

In addition, according to an embodiment of the present invention, the mileage calculation unit 310 may provide information on a moving distance within a certain unit as well as an accumulated distance. The mileage calculation unit 310 may calculate the distance in various ways according to the characteristics of the moving unit 300. When the moving unit 300 is a wheel, the mileage may be calculated by counting the number of revolutions of the wheel.

The travel distance correction unit 320 is the distance calculated by the travel distance calculator 310 when the distance calculated by the travel distance calculator 310 is different from the distance information calculated by the sensing module 100 of the actual robot 1000. Correct information. In addition, when an error is accumulated and generated in the mileage calculator 310, the control unit 900 or the moving unit 300 may be notified to change the mileage calculation logic of the mileage calculator 310.

The function unit 400 means to provide specialized functions of the robot. For example, in the case of a cleaning robot, the function unit 400 includes components necessary for cleaning. In the case of a guidance robot, the function unit 400 includes components necessary for guidance. In the case of a security robot, the functional unit 400 includes components required for security. The functional unit 400 may include various components according to functions provided by the robot, but the present invention is not limited thereto.

The control unit 900 of the robot 1000 may create or update a map of the map storage unit 200 . In addition, the control unit 900 can control the driving of the robot 1000 by identifying object information provided by the sensing module 100 and classifying whether the object is a moving object or a fixed object during the driving process.

When the sensing module 100 senses an object disposed outside, the control unit 900 of the robot 1000 identifies a moving object from among the sensed objects based on the characteristic information of the sensed object, excluding the moving object, and The current position of the robot may be set based on information sensed by the sensing module as a fixed object.

The controller 900 may include a global path planner module 910 and a navigation module 920 .

The global path planner module 900 is a module that loads a map from the map storage unit 200 and establishes a global path to a desired location. The desired position may be received by the robot 1000 from a control center through the communication unit 500 .

The navigation module 920 determines the current location of the robot 1000 based on the information sensed by the sensing module 100 and guides the robot 1000 to the desired location according to the established global route. It is a module for

Hereinafter, with reference to FIGS. 2 and 3, a trajectory model for a robot according to the prior art will be described. 2 shows a trajectory model for a robot according to the prior art. FIG. 3 shows a plane map on which a trajectory of a moving robot is displayed based on the trajectory model of FIG. 2 .

Usually, a map is required for a robot to move from one area to another, and movement commands are executed based on nodes such as main locations or branch points of the robot map. In order to divide each major divergence point of the map into areas, a trajectory model is defined, a divergence point of each area is created by this model, and the map is divided and stored based on the divergence point.

Such a trajectory model is shown in FIG. 2 . 2 illustrates a trajectory model for a two-story building for convenience of explanation. It will be readily apparent to those skilled in the art that the trajectory model can be applied to buildings with more floors.

The trajectory model is shown to be largely composed of two layers, that is, layer 1 and layer 2. Layer 1 means a "floor" layer, and layer 2 means a "building" layer. However, the trajectory model may be composed of more layers according to the configuration of the building.

For example, the trajectory model is for a building without separate rooms on each floor. However, if a building having at least one separate room on each floor is targeted, the trajectory model may be changed so that a separate layer for the at least one room is defined as a lower layer of Layer 1. Alternatively, the configuration of layer 1 may be changed to reflect not only the floor but also the at least one room.

The trajectory model includes a floor 1 and a floor 2 as layer 1. This reflects the fact that the building consists of two floors. Floor 1 and Floor 2 of Layer 1 are gathered to form the building of Layer 2. It goes without saying that more floors can be defined in layer 1 for buildings taller than two stories.

In the trajectory model, a square-shaped component represents a region constituting a map, and a circular-shaped component represents a node in the map.

The floor 1 component of layer 1 may include the entire map M1 of the first floor of the building. Therefore, in the entire map of the first floor, location information of various regions of interest (ROI1, ROI2, ... , ROI N) such as main locations and/or branch points in the first floor and elevators EL1 and EL2 are provided. location information is included. It is illustrated that two elevators EL1 and EL2 are installed on the first floor.

The floor2 component of layer 1 may include the entire map M2 of the second floor of the building. Therefore, in the entire map of the second floor, location information of various regions of interest (ROI1, ROI2, ... , ROIM) such as main locations and / or branch points in the second floor and location information about the elevators EL1 and EL2 are included. there is. It is exemplified that two elevators EL1 and EL2 are installed on the second floor. It can be understood that the two elevators EL1 and EL2 on the second floor correspond to the elevators EL1 and EL2 on the first floor, differing from each other only in the door.

The robot 1000, which stores the trajectory model for the building, moves from the control server to ROI2 (x0, y0, z1) on the 1st floor, which is the departure location of the building, to ROI2 (x2, y2) on the 2nd floor, which is the arrival location. , z2).

Then, the global route planner module 910 of the robot 1000 loads the entire map of the first floor, i.e., the departure floor, and the entire map of the second floor, the arrival floor, from the map storage unit 200, A global path from ROI2 of the first layer to ROI2 of the second layer may be established. Although not shown, if the building is composed of three or more floors and the robot needs to move through the ROI of the other floor, the entire map of the other floor to be passed may also be loaded.

As shown in FIGS. 2 and 3 , the established global path includes a first path A1 and EL1 moving from ROI2 (x0, y0, z1) to EL1 (x1, y1, z1) in the first layer. The second path (A2-1, A2-2, A2-3) moving from the first floor (x1, y1, z1) to the second floor (x1, y1, z2), EL1 (x1, y1, z2) to ROI2 (x2, y2, z2) may be configured to include a third path (A3).

The navigation module 920 of the robot 1000 may guide the robot 1000 to move according to the established global path.

According to the trajectory model according to the prior art, the global path planner module 910 of the robot 1000 needs to load the entire map of the departure layer, the arrival layer, and the transit layer, so that the global path planner Module 910 may take more computational resources and time to establish the global path.

In addition, one of the two elevators may not operate due to a malfunction, but if the global path is established to include the malfunctioning elevator, the robot 1000 may not be able to go to the arrival location. This is because only the location information of the elevator can be included in the map, and the operation information cannot be reflected.

Hereinafter, a trajectory model for a robot according to an embodiment of the present invention will be described with reference to FIGS. 4 to 6 . 4 shows a trajectory model for robot movement targeting a single building according to an embodiment of the present invention. FIG. 5 shows a plane map on which a trajectory of a moving robot is displayed based on the trajectory model of FIG. 4 . 4 and 5 are based on the trajectory model for the same building described in FIGS. 2 and 3 . Fig. 6 shows a modification of the trajectory model of Fig. 4.

To explain the trajectory model of FIG. 4 with a focus on differences from the trajectory model of FIG. 2, the trajectory model of FIG. 4 includes a separate layer for components (eg, elevators, escalators, stairs, etc.) for movement between floors in the building , that is, layer F may be additionally defined. The layer F may also include components for moving between buildings (eg, bridges, trains, elevators, etc.). Components for moving between buildings will be described later.

Accordingly, the trajectory model of FIG. 4 may include an EL1 component and an EL2 component corresponding to each of the two elevators as the layer F. If there are more components for moving between floors in the building, more components can be included in the layer F, of course.

The EL1 element and the EL2 element may include not only location information but also various information such as driving information. The above various information will be described again later.

In addition, each floor component of layer 1 is configured to include the entire map of the corresponding floor, and the entire map can be divided into regions of interest of the corresponding floor.

The robot 1000, which stores the trajectory model for the building, moves from the control server to ROI2 (x0, y0, z1) on the 1st floor, which is the departure location of the building, to ROI2 (x2, y2) on the 2nd floor, which is the arrival location. , z2).

Then, the global path planner module 910 of the robot 1000 needs to load both the entire map of the first floor, the departure floor, and the entire map of the second floor, the arrival floor, from the map storage unit 200. there is no Only partial maps corresponding to regions of interest required to move from the departure location to the arrival location need only be loaded. Circular marks ROI2, ROI3, ... in FIG. 5 show regions of interest necessary for the robot to move from the starting position to the arriving position. Also, the global path planner module 910 of the robot may establish a global path from ROI2 of the first layer to ROI2 of the second layer using only the loaded partial map.

Also, the global path planner module 910 may establish the global path by considering driving information of the EL1 element and the EL2 element. For example, if only one of the two elevators is currently in operation, the global route planner module 910 may establish the global route to use the elevator in operation.

In addition, transport information such as load capacity and/or load size of the two elevators may be included in the EL1 and EL2 components. In this case, the global path planner module 910 may establish the global path to use an elevator capable of transporting the robot 1000 among the two elevators. If both elevators are available, the elevator that takes the least amount of time to move from the departure location to the arrival location may be used.

As shown in FIGS. 4 and 5, the established global path moves from ROI2 (x0, y0, z1) on the first floor to EL2 (x1, y1, z1) via the ROIN immediately before boarding EL2 The first path (B1-1, B1-2), and the second path (B2-1, B2- 2, B2-3), the third path (B3-1, B3- 2) may be included.

The navigation module 920 of the robot 1000 may guide the robot 1000 to move according to the established global path.

4 shows that the layer F of the trajectory model includes an elevator as a component for movement between floors in the building. However, as described above, not only an elevator can be included as a component for movement between floors in the building. As shown in FIG. 5 , escalators and stairs may also be included in the layer F of the trajectory model as components for movement between floors in the building.

In the above, the trajectory model for the movement of the robot targeting a single building has been described. That is, the trajectory model was for movement within a single building. However, the present invention is not limited thereto. The trajectory model may be transformed into a trajectory model for moving between a plurality of buildings. This will be described with further reference to FIGS. 7 to 10 .

7 shows a plurality of buildings to which the trajectory model of the present invention can be applied. Figure 7 shows two buildings, namely Building 1 and Building 2. Although the present invention can be applied to many more buildings, only two buildings are shown in FIG. 7 for simplicity of explanation.

Also, a bridge may be constructed between Building 1 and Building 2 crossing them. The bridge is a structure for moving directly from a specific floor of one building to a specific floor of another building without having to move between buildings by going out the front door of one building and entering the front door of another building through a road.

Since bridges are not constructed in all buildings, a trajectory model that can be applied to a plurality of buildings without bridges connecting each other will be described first with reference to FIG. 8 . 8 shows a trajectory model for a robot according to an embodiment of the present invention.

A plurality of buildings described in FIG. 4 exist, and the plurality of buildings may form one building area. 8 shows a trajectory model for the building area.

For ease of explanation only, each building in FIG. 8 is illustrated as having two floors, each building having two elevators, and no separate rooms on each floor. As described above, each building may consist of three or more floors, each floor may have a room, and may include other inter-floor movement components in addition to the two elevators. In this case, the trajectory model As described above, the trajectory model may be appropriately modified to reflect this.

A command for the robot 1000, which stores the trajectory model for the building area, to move from the starting position or starting point ROI2 of building 1 to ROI2 on the second floor of building 2, which is the arrival position or ending point, from the control server Suppose we receive

Then, the global route planner module 910 of the robot 1000 outputs the entire map of the first floor, that is, the departure floor in Building 1, and the first floor, which is the transit floor, and the second floor, which is the arrival floor, of Building 2, from the map storage unit 200. It is not necessary to load all of the entire map of the layer. Only partial maps corresponding to regions of interest required to move from the departure location to the arrival location need only be loaded. And, the global path planner module 910 of the robot establishes a global path from ROI2 of the first floor, which is the departure floor, in building 1 to ROI2 of the second floor, which is the arrival floor, of building 2, using only the loaded partial map. can

In addition, the global path planner module 910 considers the driving information and transportation information of the EL1 element and EL2 element of building 1 and the driving information and transportation information of the EL1 element and EL2 element of building 2 to determine the global path planner module 910. route can be established.

That is, the global path planner module 910 uses the driving information and transport information of the EL1 component and EL2 component of Building 1 and the driving information and transport information of the EL1 component and EL2 component of Building 2, Among the EL1 and EL2 components of Building 1 and the EL1 and EL2 components of Building 1, the most suitable component for the robot 1000 to move from the departure location to the arrival location may be selected. In FIG. 8, it is illustrated that the EL2 component of Building 2 is selected.

As shown in FIG. 8, the established global path is a first path (C1) moving from ROI2 on the 1st floor of Building 1 to ROI1 where the entrance on the 1st floor of Building 1 is located. The second route (C2-1, C2-2, C2-3) from the entrance of the floor to ROI1 on the 1st floor of Building 2, where the entrance on the 1st floor of Building 2 is located, from ROI1 on the 1st floor of Building 2 to Building 2 may include third paths (C3-1, C3-2) moving to ROI2 of the second layer. A third path moving from ROI1 on the first floor of Building 2 to ROI2 on the second floor of Building 2 may be substantially the same as the global path of FIG. 4 . Therefore, the third paths (C3-1, C3-2) in FIG. 8 are detailed global paths (B1-1, B1-2, B2-1, B2-2, B2-3, B3-2) within a single building in FIG. 1, B3-2), it is simply expressed, and actually follows the process of constructing a global path within a single building in FIG. 4 .

The navigation module 920 of the robot 1000 may guide the robot 1000 to move according to the established global path.

In the above, the trajectory model that can be applied to a plurality of buildings without bridges connecting each other has been described. Hereinafter, with reference to FIG. 9, a trajectory model applicable to a plurality of buildings having bridges connecting each other will be described. 9 shows a trajectory model for a robot according to an embodiment of the present invention.

The description will focus on the difference between the trajectory model of FIG. 8 and the trajectory model of FIG. 9 .

The trajectory model of FIG. 9 is a component for using between building 1 and building 2 between the second floor of building 1 and the second floor of building 2 (eg, bridge, train, elevator (EL), escalator (escalator, stairs, etc.) may be included as layer F. In FIG. 9 , only bridges and trains as moving components between buildings are shown for illustrative purposes only.

The robot 1000, which stores the trajectory model for the building, moves from the control server to ROI2 (x0, y0, z1) on the 1st floor, which is the departure location of the building, to ROI2 (x2, y2) on the 2nd floor, which is the arrival location. , z2).

The global path planner module 910 of the robot 1000 loads only partial maps corresponding to regions of interest necessary to move from the departure location to the arrival location, and uses only the loaded partial maps to start in building 1. As described above, it is possible to establish a global path from ROI2 on the 1st floor, which is the floor, to ROI2 on the 2nd floor, the arrival floor of Building 2.

The global route planner module 910 calculates the global route by considering the driving information and transportation information of the EL1 element and EL2 element of Building 1, and the driving information and transportation information of the EL1 element and EL2 element of Building 2. It can also be established as described above. In FIG. 9 it is illustrated that the EL1 component of Building 1 is selected.

However, unlike the trajectory model of FIG. 8 , the global path planner module 910 may further consider the bridge and the train, which are components for moving between buildings, in establishing the global path. Therefore, the global route planner module 910 uses the driving information and/or transportation information of the building-to-building movement components to move the robot 1000 from the departure location to the arrival location among the inter-building movement components. You can choose the most suitable components for moving. 9 illustrates that the bridge is selected.

As shown in FIG. 9, the established global path is a first path (D1-1, D1-2) moving from ROI2 on the 1st floor of Building 1 to the 2nd floor of Building 1 using EL1, Building 1 The second path (D2-1, D2-2) moving from the second floor of Building 2 to the second floor of Building 2 using a bridge, and the third path (D3) moving from the second floor of Building 2 to the target location ROI2 can include

The navigation module 920 of the robot 1000 may guide the robot 1000 to move according to the established global path.

On the other hand, before establishing the global path or while moving along the established global path, the robot 1000 operates from the control server when some of the inter-floor movement components and the inter-building movement components fail, for example. It is possible to receive driving impossibility guidance data notifying that it is incapacitated. In this case, the global route planner module 910 of the robot 1000 may establish the global route or modify the established global route in consideration of the driving impossibility guidance data. This will be further described with reference to FIG. 10 . 10 shows a trajectory model for a robot according to an embodiment of the present invention.

10 illustrates a situation in which the bridge is disabled among the inter-floor moving components and the inter-building moving components.

In this situation, the global path planner module 910 of the robot 1000 may establish a global path using a component instead of the bridge among the moving components between buildings. 10 illustrates that the train is used instead of the bridge.

Therefore, as shown in FIG. 10, the established or modified global path is a first path (D1-1, D1-2) moving from ROI2 on the first floor of Building 1 to the second floor of Building 1 using EL1. ), a second path (D2-3, D2-4) moving from the second floor of building 1 to the second floor of building 2 using the train, and a third path moving from the second floor of building 2 to the target location ROI2 Path D3 may be included.

The navigation module 920 of the robot 1000 may guide the robot 1000 to move according to the established global path.

In the above, it has been described that the trajectory model includes the inter-floor movement component and the inter-building movement component as the layer F. However, the layer F may include components other than these. For example, an automatic door, which is an intra-floor moving component, may be included in the layer F. Hereinafter, components included in the layer F will be referred to as “mobile convenience facility components”.

Therefore, the global route planner module 910 of the robot 1000 further considers the information on the automatic door (eg, failure information, size information, control information, etc.) received from the control server to determine the global path planner module 910 A person skilled in the art will be able to easily understand from the foregoing description that the route can be established.

Hereinafter, information that the robot can receive from the control server for components that can be included in the layer F will be described.

The elevator may have the following information.

One. Elevator location and orientation information within the building

2. Elevator manufacturer and/or supplier information

3. Elevator operation control information

- Command to call the elevator

- Commands received when the elevator arrives at the departures level

- Commands received when the elevator arrives at the arrivals level

- Command for the elevator to go to the destination floor

4. Elevator communication control information

- Elevator wireless communication related information

- Elevator IP information

5. Elevator width, height, load information

6. Calibration information for measuring elevator height difference

7. Elevator door opening and closing direction information

8. Elevator operation floor information

9. Availability Information

10. Estimated travel time information

The following information may be available for the stairs.

One. About the location and orientation of stairs in a building

2. About the Start and End Locations of Stairs

3. Dimension information such as stair width, number of steps, and stair height

4. Stair departure location information

5. stair floor information

6. Availability Information

7. Estimated Travel Time

The escalator may have the following information.

One. Information on the location and orientation of escalators in the building

2. Escalator start and end position information

3. Dimensional information such as width, length and height of the escalator

4. Escalator speed information

5. Availability Information

6. Estimated travel time information

The bridge may have the following information.

One. Information about the position and orientation of bridges within a building

2. Dimensional information such as width, length, height and slope of the bridge

3. Floor information connected between the building and the bridge

4. Availability Information

5. Estimated travel time information

The following information may be available for the train.

One. Train gate location and orientation information

2. About train gate dimensions

3. Train operation schedule information

4. Train mileage information

5. Station information where the train stops

6. Availability Information

7. Estimated travel time information

The automatic door may have the following information.

One. Automatic door location and orientation information within the building

2. Automatic door manufacturer and/or supplier information

3. Automatic door motion control information

- Commands to open automatic doors

- Command to close the automatic door

- Password information if password exists

- Robot arrival alarm information

4. Automatic inquiry communication control information

- Automatic door wireless communication related information

- Automatic door IP information

5. Dimensional information such as width and height of automatic door

6. Door type (type) information

7. Availability Information

8. Estimated travel time information

A process of establishing a global path by the robot 1000 using the trajectory model described above will be described with reference to FIG. 11 . 11 is a flowchart of a process by which a global path is established according to one embodiment of the present invention.

The robot 1000 may receive information data about components belonging to the layer F from the control server 2000 through the communication unit 500 [S112].

And, the robot 1000 may reflect the information about the components to the trajectory model stored in the map storage unit 200 in real time [S112].

When the robot 1000 receives a command to move to a specific location from the control server 2000, the navigation module 920 requests the global route planner module 910 for a global route to move to the specific location. It can be done [S113].

Then, the global path planner module 910 may load a map necessary for establishing a global path from the map storage unit 200 to establish a global path to move to the specific location [S114].

In establishing the global route, the global route planner module 910 may establish the global route using at least one of methods such as a shortest distance route and a route with a minimum travel time by predicting an expected travel time. By assigning preset weights to the shortest distance and minimum travel time, an optimal global route can be selected among these schemes. In the case of repeated operation, both global routes according to these two methods are tried and the safest and fastest global route can be selected empirically.

The navigation module 920 may receive the established global route and guide the robot 1000 to move accordingly [S115].

The above-described present invention can be implemented as computer readable code on a medium on which a program is recorded. 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. , and also includes those implemented in the form of a carrier wave (eg, transmission over the Internet). Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

1000: robot
200: map storage unit
500: Ministry of Communication
910: global path planner module
920: navigation module
2000: control server

Claims (20)

Receiving information about moving convenience facility components within and between buildings in a trajectory model from a control server;
reflecting the received information on the mobile convenience facility component to the trajectory model;
loading a map for moving from a starting location to a destination location using the trajectory model, and establishing a global route based on information on the movement convenience facility component and the loaded map; and
and moving the robot according to the established global path. According to claim 1,
The loaded map is composed of a partial map corresponding to a region of interest required to move from the starting position to the target position. According to claim 1,
The robot movement control method, characterized in that the trajectory model is composed of a plurality of layers, and the movement convenience facility component is included in one specific layer among the plurality of layers. According to claim 1,
The movement convenience facility component includes at least one of an intra-floor movement component, an inter-floor movement component, and an inter-building movement component. According to claim 1,
The robot movement control method, characterized in that the information on the mobile convenience facility component includes at least one of usability information, facility size information, and movement required time. According to claim 5,
When the robot receives information from the control server indicating that the use of the first mobile convenience facility component included in the established global route is impossible while the robot is moving, the currently usable component is replaced with the first mobile convenience facility component. and modifying the global path so that a second mobility facility component is included in the global path. According to claim 4,
The starting location is located in a first building, and the arrival location is located in a second building different from the first building. According to claim 7,
the mobile amenity component comprises at least one inter-building mobile component connecting between the first building and the second building;
Wherein the global path is established to include the at least one building-to-building movement component. According to claim 8,
The information on the inter-building movement component comprises floor information of a first building and floor information of a second building to which the inter-building movement component is connected. According to claim 9,
The moving component between buildings comprises at least one of a bridge and a train. Communication unit for communicating with the control server;
a map storage unit for storing a map based on the trajectory model; and
Receiving information on the movement convenience facility components within and between buildings in the trajectory model from the control server;
Reflecting the received information on the mobile convenience facility component to the trajectory model;
Loading a map for moving from a starting location to a destination location using the trajectory model, and establishing a global route based on information on the movement convenience facility component and the loaded map;
A robot comprising a; control unit for controlling movement according to the established global path. The method of claim 11, wherein the control unit,
The loaded map is controlled to be composed of a partial map corresponding to a region of interest required to move from the starting position to the target position. According to claim 11,
The robot, characterized in that the trajectory model is composed of a plurality of layers, and the mobile convenience facility component is included in one specific layer among the plurality of layers. According to claim 11,
The mobile convenience facility component includes at least one of an intra-floor movement component, an inter-floor movement component, and an inter-building movement component. According to claim 11,
The robot, characterized in that the information on the mobile convenience facility component includes at least one of usability information, facility size information, and required movement time. The method of claim 15, wherein the control unit,
When the robot receives information from the control server indicating that the use of the first mobile convenience facility component included in the established global route is impossible while the robot is moving, the currently usable component is replaced with the first mobile convenience facility component. The robot characterized by controlling to modify the global path so that the second mobile convenience facility component is included in the global path. 15. The method of claim 14,
The starting location is located in a first building, and the arrival location is located in a second building different from the first building. 18. The method of claim 17,
the mobile convenience facility component comprises at least one inter-building mobile component connecting between the first building and the second building;
The robot, characterized in that the global path is established to include the at least one building-to-building moving component. According to claim 18,
The robot characterized in that the information on the inter-building moving component includes floor information of a first building and floor information of a second building to which the inter-building moving component is connected. According to claim 19,
The robot, characterized in that the moving component between buildings includes at least one of a bridge and a train.

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