KR20240042369A - Robot-friendly building, robot and system for controling multi-robot driving in the building - Google Patents

Abstract

The present invention relates to a robot-friendly building and a control method and system for a robot running in the building. More specifically, the present invention relates to a robot control method and system that allows robots and people to coexist in the same space and provide useful services to people. The present invention includes a main server that communicates with a plurality of sub servers allocated to each correspond to a plurality of areas included in a building, a first sub server that controls robots traveling in a first area among the plurality of areas, and the plurality of and a second sub-server that controls robots traveling in a second area different from the first area, and in a specific robot communicating with the first sub-server, moving from the first area to the second area. When a handover event occurs, the main server sends information related to the handover event to the first sub server so that control authority for the specific robot is transferred from the first sub server to the second sub server. It is possible to provide a robot control system characterized in that transmission to at least one of a server and a second sub server.

Description

Robot-friendly building, robot and multi-robot control system for driving the building {ROBOT-FRIENDLY BUILDING, ROBOT AND SYSTEM FOR CONTROLING MULTI-ROBOT DRIVING IN THE BUILDING}

The present invention relates to robot-friendly buildings, robots, and control systems for robots running in buildings. More specifically, the present invention relates to a robot control method and system that allows robots and people to coexist in the same space and provide useful services to people.

As technology develops, various service devices appear, and in particular, technology development for robots that perform various tasks or services has been actively developed recently.

Furthermore, in recent years, as artificial intelligence technology, cloud technology, etc. have developed, it has become possible to control robots more precisely and safely, and thus the utilization of robots is gradually increasing. In particular, due to technological advancements, robots have reached a level where they can safely coexist with humans in indoor spaces.

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 are providing navigation services in public places such as airports, stations, and department stores, and robots are providing serving services in restaurants. Furthermore, delivery services are being provided in office spaces and communal living spaces, where robots deliver mail and parcels. In addition, robots provide a variety of services such as cleaning services, crime prevention services, and logistics processing services. The type and scope of services provided by robots are expected to increase exponentially in the future, and the level of service provision is also expected to continue to develop.

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 various services in the buildings. It is controlled to move around the indoor space and provide various services.

Meanwhile, when multiple robots are running in a large space, there are limits to operating the robots with a single cloud server. In this case, a method of appropriately distributing and controlling robots traveling in space using a plurality of servers can be used. When controlling multiple robots using multiple servers, a method is needed to properly allocate a robot to one of the multiple servers and allow flexible switching between servers.

Accordingly, in order to provide a higher level of service using robots within buildings, it is necessary to not only research robot control technology for service units (e.g., route guidance service, delivery service, serving service, etc.), but also research the robot control technology to provide services using robots. In the building itself, essential research is needed to support the various infrastructure required for robots.

Meanwhile, in order for robots to provide various services or live in indoor spaces, they must freely move or pass through the indoor space of the building, and in some cases, various facility infrastructures provided in the building (e.g., elevator, There is a need to use escalators, access control gates, etc.).

Accordingly, in order to provide a higher level of service using robots within buildings, it is necessary to not only research robot control technology for service units (e.g., route guidance service, delivery service, serving service, etc.), but also research the robot control technology to provide services using robots. In the building itself, essential research is needed to support the various infrastructure required for robots.

The present invention provides a robot-friendly building, a robot running within the building, and a control system for the robot.

Furthermore, the present invention is intended to provide a robot-friendly building, robot control system, and method that can efficiently operate robots in a space where multiple robots are operated. Specifically, the present invention is intended to provide a multi-robot control system and control method that enables efficient operation of multiple robots through multiple servers in a space where multiple robots are operated.

Furthermore, the present invention is intended to provide a handover method that allows robots moving in horizontal and vertical spaces within a building to be efficiently controlled through a plurality of servers.

Furthermore, the present invention is intended to provide a robot-friendly building where robots and people coexist and provide useful services to people.

Furthermore, the robot-friendly building according to the present invention can expand the type and scope of services that robots can provide by providing a variety of robot-friendly facility infrastructure that robots can use.

Furthermore, the robot-friendly building according to the present invention uses a cloud system that works with multiple robots to organically control multiple robots and facility infrastructure, thereby managing the movement of robots that provide services more systematically. . 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 format controlled by a cloud server, and according to this, multiple robots placed in the building can be manufactured inexpensively without expensive sensors. In addition, it can be controlled with high performance/high precision.

In order to achieve the above-described object, the present invention provides a main server that communicates with a plurality of sub servers each assigned to correspond to a plurality of areas included in the space, and a main server that controls robots traveling in the first area among the plurality of areas. It includes a first sub server and a second sub server that controls robots traveling in a second area different from the first area among the plurality of areas, wherein the main server controls the robots according to the positions of the robots. A robot control system may be provided, characterized in that it performs control related to the first sub-server and the second sub-server to communicate with at least one of the first sub-server and the second sub-server.

In addition, the present invention includes a main server that sets the driving path of a specific robot traveling in a space, a first sub server that communicates with the main server and controls robots located in a first area among a plurality of areas included in the space. a server and a second sub-server that communicates with the main server and controls robots located in a second area among the plurality of areas, wherein the main server is each of the first and second sub-servers, and the first and transmitting information related to each of the robots connected to each of the second sub servers, and each of the first and second sub servers, based on information related to each of the robots received from the main server, at least one of the robots. A robot control system may be provided, characterized in that it performs control related to one.

In addition, the present invention includes a main server that performs control related to robots running in a space having a plurality of floors, a first server that communicates with the main server and controls robots running on the first floor among the plurality of floors. a second sub server that communicates with a sub server and the main server and controls robots traveling on a second floor different from the first floor among the plurality of floors, wherein the main server Based on the occurrence of a handover event in which a robot moves to the second floor, control authority for the specific robot is transferred from the first sub-server to the second sub-server, related to the handover event. A robot control system can be provided, characterized in that information is transmitted to at least one of the first sub server and the second sub server.

Additionally, the present invention can provide a robot that travels in space and communicates with at least one of a main server and a plurality of sub servers that communicate with the main server. Based on being assigned a task from the main server, the robot transmits the location information of the robot to the main server and, from the main server, identifies the first sub-server assigned to the first area corresponding to the location information. Based on information being received, it is connected to the first sub-server and is controlled by the first sub-server, and a handover event occurs as it moves from the first area toward the second area. Based on this, identification information of a second sub server allocated to the second area is received from the main server, and in a handover area where at least a portion of the first area and the second area overlap, the first sub server and may be connected to the second sub server.

Additionally, the present invention can provide a building in which robots driven by robots controlled by at least one of a main server and a plurality of sub servers can be provided. The building includes a plurality of areas in which the robots can travel, a first sub server among the plurality of sub servers controls robots traveling in a first area among the plurality of sub servers, and a first sub server among the plurality of sub servers controls the robots traveling in the first area among the plurality of sub servers. 2 The sub server controls robots traveling in a second area different from the first area among the plurality of areas, and the main server communicates with the plurality of sub servers assigned to each correspond to the plurality of areas. , When a handover event occurs in a specific robot communicating with the first sub-server and moving from the first area to the second area, control authority for the specific robot is transferred to the first sub-server. Information related to the handover event may be transmitted to at least one of the first sub server and the second sub server so that it is transferred to the second sub server.

According to the robot-friendly building, robot control system and method according to the present invention, distributed control of robots is performed using a plurality of servers, so that a plurality of robots running in a space are appropriately distributed and controlled through a plurality of servers. By doing so, more rapid and efficient control of robots is possible.

More specifically, in the robot-friendly building, robot control system and method according to the present invention, a plurality of servers are assigned to correspond to each other according to the horizontal or vertical space of the building, so that robots traveling in the same or similar area are connected to the same server. It can be controlled by others. In this way, the present invention allows flexibly switching control authority for robots between servers depending on the locations of the robots in the building.

In this way, according to the present invention, by allowing robots located adjacent to each other to be controlled by the same server, that is, by allowing adjacent robots to be controlled by one control subject, collisions between adjacent robots are efficiently prevented, and adjacent robots are controlled by the same server. It allows sharing of environmental information between robots and minimizes overlapping movement paths of adjacent robots.

Meanwhile, according to the present invention, in the global network method, the main server can appropriately distribute the control authority of the robot to a plurality of sub servers by considering at least one of the location of the robot and the number of robots connected to each of the plurality of sub servers. . Through this, an appropriate number of robots are controlled by one sub server, enabling efficient distributed control of multiple robots.

Additionally, according to the present invention, when a handover event occurs in a local network method, the robot can specify the sub server to which control authority should be transferred based on the wireless signal strength. In addition, the main server can improve handover reliability between the robot and sub servers by determining whether the sub server to which the robot wants to connect has control authority over the robot. Through this, the present invention allows flexibly switching control authority for the robot based on the wireless signal strength and reliability measured from the robot.

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

Furthermore, the robot-friendly building according to the present invention uses a cloud server that interfaces with multiple robots to organically control multiple robots and facility infrastructure, thereby systematically managing the running of robots that provide services more systematically. You 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 format controlled by a cloud server, and according to this, multiple robots placed in the building can be manufactured inexpensively without expensive sensors. In addition, it can be controlled with high performance/high precision.

Furthermore, in the building according to the present invention, the tasks and movement situations assigned to the multiple robots placed in the building are taken into consideration as well as the running is controlled to take people into consideration, allowing robots and people to naturally coexist in the same space.

Furthermore, the building according to the present invention can perform various controls to prevent accidents caused by robots and respond to unexpected situations, thereby instilling in people the perception that robots are friendly and safe, rather than dangerous.

Figures 1, 2, and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention.
Figures 4, 5, and 6 are conceptual diagrams illustrating a system for controlling a robot traveling in a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention.
Figures 7 and 8 are conceptual diagrams for explaining the 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.
Figure 12 is a conceptual diagram for explaining a robot controlled by the robot system according to the present invention.
Figure 13 is a conceptual diagram showing a local network-type robot control system.
Figure 14 is a flowchart for explaining the robot control method according to the present invention.
Figure 15 is a conceptual diagram showing a robot control method according to the present invention.
Figure 16 is a conceptual diagram showing a robot system that controls robots by dividing areas by floor of a building.
Figure 17 is a conceptual diagram showing handover performed according to the robot's movement between floors.

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

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

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

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

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

The present invention relates to a robot-friendly building, and proposes a robot-friendly building where people and robots can coexist safely and where robots can provide useful services within the building.

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

In the present invention, a building is a structure created for continuous residence, living, work, etc., and may have various forms such as commercial buildings, industrial buildings, institutional buildings, residential buildings, etc. Additionally, the building may be a multi-story building with multiple floors and, oppositely, a single-story building. However, in the present invention, for convenience of explanation, infrastructure or facility infrastructure applied to a multi-story building is explained as an example.

In the present invention, infrastructure or facility infrastructure is a facility provided in a building for the purpose of providing services, moving robots, maintaining functions, maintaining cleanliness, etc., and its types and forms can be very diverse. For example, the infrastructure provided in a building can be diverse, such as mobile facilities (e.g., robot passageways, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, and structures (e.g., stairs, etc.). 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.

The present invention allows multiple robots to run within a building, provide services according to missions (or tasks), and is equipped with various facility infrastructures that can support standby or charging functions, as well as repair and cleaning functions for robots, as needed. We propose a building that is These buildings provide an integrated solution (or system) for robots, and the buildings according to the present invention may be named with various modifiers. For example, the building according to the present invention includes: i) a building equipped with infrastructure used by robots, ii) a building equipped with robot-friendly infrastructure, iii) a robot-friendly building, iv) a building where robots and people live together, v) It can be expressed in various ways, such as a building that provides various services using robots.

Meanwhile, in the present invention, the meaning of “robot-friendly” refers to a building where robots coexist, and more specifically, whether robots are allowed to drive, robots provide services, or facility infrastructure that robots can use is built. , This may mean that facility infrastructure that provides necessary functions for robots (ex: charging, repair, cleaning, etc.) has been established. In this case, in the present invention, “robot-friendly” can be used to mean having an integrated solution for the coexistence of robots and people.

Hereinafter, the present invention will be looked at in more detail along with the attached drawings.

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

First, for convenience of explanation, representative reference symbols will be defined.

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

Furthermore, in the present invention, the robot is given the reference symbol “R,” and even if the robot is not given a reference number in the drawings or specifications, it can all be understood as a robot (R).

Furthermore, in the present invention, a person or human being is given the reference symbol “U”, and a person or human being can be named as a dynamic object. At this time, the dynamic object does not necessarily mean only a person, but also an animal such as a dog or cat, or at least one other robot (e.g., the user's personal robot, a robot that provides another service, etc.), a drone, or a vacuum cleaner (e.g. For example, it can be taken to mean including objects that can move, such as a robot vacuum cleaner).

On the other hand, the building (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, work, raise animals, or store goods. It can mean.

For example, the building 1000 may be an office, an officetel, an apartment, a residential-commercial complex, a house, a school, a hospital, a restaurant, a government office, etc., and the present invention can be applied to these various types of buildings.

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

One or more robots of different types may be located in the building 1000, and these robots drive within the building 1000, provide services, and operate the building (1000) under the control of the server 20. You can use the various facility infrastructure provided by 1000).

In the present invention, the location of the server 20 may exist in various ways. For example, the server 20 may be located at least one of the inside of the building 1000 and the outside of the building 1000. That is, at least part of the server 20 may be located inside the building 1000, and the remaining part may be located outside the building 1000. Alternatively, the server 20 may be located entirely inside the building 1000 or may be located only outside the building 1000. Accordingly, in the present invention, no special limitation is placed on the specific location of the server 20.

Furthermore, in the present invention, the server 20 is configured to use at least one of a cloud computing type server (cloud server, 21) and an edge computing type server (edge server, 22). You 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 cloud computing or edge computing.

Meanwhile, in some cases, the server 20 according to the present invention combines the server 21 of the cloud computing method and the edge computing method to use the server 20 among the robots and facility infrastructure provided in the building 1000. Control can be performed on at least one.

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

The robot (R) and the edge server 22 can communicate wirelessly, and the edge server 22 and the cloud server 21 can communicate by wire or wirelessly. At this time, the robot R and the edge server 22 can 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 or WiFi-6 (WiFi ad/ay). Here, the 5G network can have features that not only enable ultra-reliable, low-latency communications, but also enable ultra-broadband mobile communications (enhanced mobile broadband (eMBB)) and massive machine type communications (mMTC). As an example, the edge server 22 includes a mobile edge computing (MEC) server and may be deployed in a base station. Through this, the latency time due to communication between the robot R and the edge server 22 can be shortened. At this time, in the control cycle 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 expanded. Meanwhile, the edge server 22 and the cloud server 21 may communicate, for example, 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 the functions of the cloud server 21 may be distributed to a plurality of edge servers. In this case, for a 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 one of the edge servers. , It 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 is connected to the edge server 22 and may include communication between the robot R and the cloud server 21 configured to manage 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, performs a predetermined control. Within a period, it may be configured to determine the control command and transmit the control command.

According to various embodiments, if it is determined that the edge server 22 needs to cooperate with the cloud server 21, it may be configured to communicate with the cloud server 21 based on the data and determine the control command. there is.

Meanwhile, the robot R can be driven according to control commands. For example, the robot R can move its position or change its posture by changing its movement, and perform software updates.

In the present invention, for convenience of explanation, the servers 20 are collectively named “cloud servers” and are given the reference numeral “20”. Meanwhile, of course, the cloud server 20 can also be replaced by the term edge server 22 of edge computing.

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

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

Furthermore, the cloud server 20 can check the status information of robots located in the building and provide (or support) various functions necessary for the robots. Here, various functions may exist, such as a charging function for robots, a cleaning function for contaminated robots, and a standby function for robots whose missions have been completed.

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

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

Meanwhile, the cloud server 20 can perform various controls based on information stored in the database, and there is no particular limitation on the type and location of the database in the present invention. The term database can be freely modified and used as long as it refers to a means by which information is stored, such as memory, storage unit, repository, cloud storage, external storage, external server, etc. Hereinafter, the explanation will be unified using the term “database.”

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

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

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

Meanwhile, the building 1000 may be equipped with various facility infrastructure for driving the robot, providing robot functions, maintaining robot functions, performing robot missions, or coexisting between robots and people.

For example, as shown in (a) of FIG. 1, various facility infrastructures 1 and 2 that can support the driving (or movement) of the robot R may be provided within the building 1000. These facility infrastructures (1, 2) support the horizontal movement of the robot (R) within the floors of the building (1000) or the vertical direction to allow the robot (R) to move between different floors of the building (1000). Can support movement to . In this way, the facility infrastructure 1, 2 may be equipped with a transportation system that supports the movement of the robot. The cloud server 20 controls the robot R to use these various facility infrastructures 1 and 2, so that the robot R operates in a building (R) to provide services, as shown in (b) of FIG. 1. 1000) can be moved within.

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

Furthermore, as shown in (c) of Figure 1, the building according to the present invention is a building where robots and people coexist, and the robots are people (U) and objects used by people (e.g., strollers, carts, etc.) , it is made to drive while 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 robot may be driven to avoid obstacles based on at least one of the cloud server 20 and the control unit provided in the robot. The cloud server 20 allows the robot to avoid obstacles and move within the building 1000 based on information received through various sensors (e.g., cameras (image sensors), proximity sensors, infrared sensors, etc.) provided in the robot. You can control the robot to move.

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

The types of services provided by robots may be different for each robot. In other words, there may be various types of robots depending on the purpose, the robots have different structures for each purpose, and the robots may be equipped with programs suitable for the purpose.

For example, building 1000 includes delivery, logistics work, guidance, interpretation, parking assistance, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage production, food production, serving, fire suppression, and medical support. and robots that provide at least one service among entertainment services may be deployed. The services provided by robots can vary beyond the examples listed above.

Meanwhile, the cloud server 20 can assign appropriate tasks to the robots, taking into account the purposes of each robot, and control the robots so that the assigned tasks are performed.

At least some of the robots described in the present invention can 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 can be minimized. there is. In the present invention, such a robot can be called a brainless robot. Such a brainless robot may rely on the control of the cloud server 20 for at least some control when performing activities such as driving, performing missions, performing charging, waiting, and washing within the building 1000.

However, in this specification, brainless robots are not named separately, but are all collectively named “robots.”

As described above, the building 1000 according to the present invention may be equipped with various facility infrastructures that robots can use, and as shown in FIGS. 2, 3, and 4, the facility infrastructure is placed within the building 1000. By linking with the building 1000 and the cloud server 20, it is possible to support the movement (or driving) of the robot or provide various functions to the robot.

More specifically, facility infrastructure may include facilities to support the movement of robots within a building.

Facilities that support the movement of the robot may be of either type: robot-specific facilities used exclusively by the robot and public facilities jointly used by humans.

Furthermore, facilities that support the movement of the robot may support the movement of the robot in the horizontal direction or may support the movement of the robot in the vertical direction. Robots can 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 floor can be referred to as horizontal movement.

Facilities that support the movement of the robot may vary. For example, as shown in FIGS. 2 and 3, the building 1000 is equipped with a robot passageway (robot road, 201) that supports the movement of the robot in the horizontal direction. , 202, 203) may be provided. These robot passages may include a robot-only passage exclusively used by the robot. Meanwhile, it is possible to create a robot-only passageway so that human access is fundamentally blocked, but it may not necessarily be limited to this. In other words, the robot-only passage may be structured so that people can pass through or access it.

Meanwhile, as shown in FIG. 3, the robot-only passage may be comprised of at least one of a first dedicated passage (or first type passage, 201) and a second dedicated passage (or second type passage, 202). The first dedicated passage and the second dedicated passage 201 and 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 equipped with movement means 204 and 205 that support the robot's movement in the vertical direction. These transportation means 204 and 205 may include at least one of an elevator or an escalator. The robot can move between different floors using the elevator 204 or escalator 205 provided in the building 1000.

Meanwhile, the elevator 204 or escalator 205 may be used exclusively for robots or may be used jointly with people.

For example, the building 1000 may include at least one of a robot-only elevator or a public elevator. Likewise, the building 1000 may include at least one of a robot-only escalator or a public escalator.

Meanwhile, 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 means of movement in the form of a moving walkway may support robots in horizontal movement within a floor or vertical movement between floors.

The robot can move within the building 1000 in the horizontal or vertical direction under its own control or under the control of the cloud server 20. At this time, the robot can move within the building 1000 using various facilities that support the movement of the robot. I can move around.

Furthermore, the building 1000 may include at least one of an access 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 access door 206 and the access control gate 207 may be made available to the robot. The robot can be made to pass through an access 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 washing the robot. .

Furthermore, the building 1000 may include facilities 211 specialized for specific services provided by robots, for example, facilities for delivery services.

Additionally, the building 1000 may include equipment for monitoring robots (see reference numeral 212), and examples of such equipment may include various sensors (eg, cameras (or image sensors) 121).

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

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. Not only can it be provided, but facilities can be used appropriately for this purpose.

Here, “interconnected” means that various data and control commands related to services provided within the building, robot movement, driving, function maintenance, cleanliness, 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 with at least one subject.

Here, the subject may be a building 1000, a cloud server 20, a robot (R), facility infrastructure 200, etc.

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

The robot R running in the building 1000 is configured 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. In other words, the communication unit 110 can serve as a communication medium between different entities. This communication unit 110 may also be called a base station, a router, etc., 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. A communication network or network can be formed so that

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

As shown in FIG. 5, a 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 this, it can 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 can form a network 40 based on the communication network formed within the building 1000. Based on this network, the robot R can provide services corresponding to the assigned mission using various facilities provided in the building 1000 under the control of the cloud server 20.

Meanwhile, the facility infrastructure 200 includes at least one of the various facilities (see reference numerals 201 to 213) shown in FIGS. 2 and 3 and control systems (201a, 202a, 203a, 204a, ...) that control them. (Such control systems may also be named “control servers”).

As shown in Figure 4, different types of equipment may be equipped with unique control systems. For example, in the case of a robot passage (or robot-only passage, robot road, robot-only road, 201, 202, 203), a control system (201a, 202a) for independently controlling the robot passages (201, 202, 203) , 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 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 facility. can be performed.

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

Furthermore, the control units (201c, 202c, 203c, 204c, ...) included in each facility control system (201a, 202a, 203a, 204a, ...) perform control for operating each facility, and the cloud server (20) ) Through communication with the robot (R), appropriate control can be performed so that the robot (R) can use the facility. For example, the control system 204b of the elevator 204, through communication with the cloud server 20, sends the elevator 204 to the floor where the robot R is located so that the robot R gets on 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, ...) are connected to each facility (201, 202, 203, 204, ...). Together, they may be located within the building 1000 or may be 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 by the control unit 150 of the building 1000. In this case, the facility may not be equipped with a separate facility control system.

In the following description, each facility has its own control system as an example. However, as mentioned above, the role of the control system for controlling the facility is that of the cloud server 20 or the building 1000. Of course, it can be replaced by the control unit 150. In this case, the terminology of the control unit (201c, 202c, 203c, 204c, ...) of the facility control system described in this specification is replaced with the terminology of the cloud server 20 or the control unit 150, or the building control unit 150. Of course, it can be expressed as

Meanwhile, the components of each facility control system (201a, 202a, 203a, 204a, ...) in FIG. 4 are examples, and various components may be added or excluded depending on 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 within the building to provide various services. For this purpose, the robot R may be provided with at least one of a body part, a driving part, a sensing part, a communication part, an interface part, and a power supply part.

The body part includes a case (casing, housing, cover, etc.) that forms the exterior. In this embodiment, the case can be divided into a plurality of parts, and various electronic components are built into the space formed by the case. In this case, the body part may have different forms depending on the various services exemplified in the present invention. For example, in the case of a robot that provides delivery services, a storage box for storing items may be provided on the upper part of the body. As another example, in the case of a robot that provides cleaning services, a suction port that suctions dust using a vacuum may be provided at the bottom 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 the body part of the robot to move within a specific space in relation to driving. More specifically, the driving unit includes a motor and a plurality of wheels, which are combined to perform the functions of driving, changing direction, and rotating the robot R. As another example, the driving unit may be provided with at least one of an end effector, a manipulator, and an actuator to perform operations other than driving, such as picking up.

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

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

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 facility control system. It is done so that As an example of this, the communication unit may be equipped with a wireless Internet module, a short-range communication module, a location information module, etc.

The interface unit may be provided as a passage through which the robot R can 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 receives external power and internal power and supplies power to each component included in the robot (R). As another example, the power supply unit may be a device that generates electrical energy inside the robot (R) and supplies it to each component.

In the above, the robot R was mainly explained based on traveling within a building, but the present invention is not necessarily limited thereto. For example, the robot of the present invention can be in the form of a robot that flies inside a building, such as a drone. More specifically, a robot providing guidance services can provide guidance about a building to a person while flying around the person within the building.

Meanwhile, the overall operation of the robot of the present invention is controlled by the cloud server 20. In addition, the robot is a subordinate controller of the cloud server 20 and may be provided with a separate control unit. For example, the robot's control unit receives driving control commands from the cloud server 20 and controls the robot's driving unit. In this case, the control unit can calculate the torque or current to be applied to the motor using data sensed by the robot's sensing unit. Using the calculated results, the motor, etc. is driven by a position controller, speed controller, current controller, etc., and through this, the robot executes the control command 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. You 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. In other words, the communication unit 110 can serve as a communication medium 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-range communication module 114. You can.

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

For example, the mobile communication module 111 supports technical standards or communication methods for mobile communications (e.g., 5G, 4G, Global System for Mobile communication (GSM), and Code Division Multi Access (CDMA). ), 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.) on a mobile communication network built according to the building system (1000a), cloud server (20), robot (R), and facility infrastructure (200) It may be configured to transmit and receive a wireless signal with at least one of the. At this time, as a more specific example, the robot R may transmit and receive wireless 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, so as to transmit and receive signals with at least one of the cloud server 20, the robot (R), and the facility infrastructure 200 using a physical communication line as a medium. It can be done.

Furthermore, the wireless Internet module 113 is a concept that includes the mobile communication module 111 and may mean a module capable of wireless Internet access. 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 based on wireless Internet technologies. It is made to transmit and receive signals.

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

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

The communication unit 110 may include at least one of the communication modules discussed above, and these communication modules may be placed 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 configured to communicate with each other.

Next, the building 1000 may include a sensing unit 120, and the sensing unit 120 may include various sensors. At least some of the information sensed through the sensing unit 120 of the building 1000 is transmitted to at least the cloud server 20, the robot (R), and the facility infrastructure 200 through a communication network formed through the communication unit 110. It can be sent as one. At least one of the cloud server 20, the robot (R), and the facility infrastructure 200 uses information sensed through the sensing unit 120 to control the robot (R) or the facility infrastructure 200. You 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 information about the building 1000. Information sensed by the sensing unit 120 may be information about the robot (R) running in the building 1000, people located in the building 1000, obstacles, etc., and various environmental information related to the building (e.g. 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 illumination sensor 125, an infrared sensor 126, and a temperature sensor. It may include at least one of the sensor 127 and the humidity sensor 128.

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

Meanwhile, the number of cameras 121 placed in the building 1000 is not limited. There may be various types of cameras 121 placed in the building 1000. As an example, the camera 121 placed in the building 1000 may be a closed circuit television (CCTV). Meanwhile, saying that the camera 121 is placed in the building 1000 may mean that the camera 121 is placed in the indoor space 10 of the building 1000.

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

The biosensor 123 is for sensing biometric information and can sense biometric information (eg, fingerprint information, face information, iris information, etc.) about people or animals located in the building 1000.

The proximity sensor 124 may be configured to sense an object (such as a robot or person) that approaches the proximity sensor 124 or is 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 light source and can use this to take pictures of the building 1000 in a dark room or at night. You 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 type of sensor constituting the sensing unit 120, and it is sufficient as long as the function defined by each sensor is 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 may include at least one of the lighting unit 133. This output unit 130 may be placed at an appropriate location in the indoor space of the building 1000 depending on need 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 portion of the storage unit 140 may refer to at least one of the cloud server 20 or an external database. In other words, the storage unit 140 is sufficient as a space for storing various information according to the present invention, and it can be understood that there are no restrictions on physical space.

Next, the control unit 150 is a means of 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 control unit 150 can control the robot in conjunction 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 a control means of the robot R. In contrast, the cloud server controlling the building 1000 is the cloud server 20 controlling the robot R. It may exist separately from the server 20. In this case, the cloud server controlling the building 1000 and the cloud server 20 controlling the robot R communicate with each other to provide services by the robot R, or maintain the movement and function of the robot. , can be linked with each other to maintain cleanliness, etc. Meanwhile, the control unit of the building 1000 may also be named a “processor,” and the processor may be configured to process various commands by performing basic arithmetic, logic, and input/output operations.

As seen 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, within the building 1000. Various services can be provided using robots.

As seen 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 these robots (R), facility infrastructure 200, and cloud servers 20 may exist in the form of a platform for building a robot-friendly building.

Below, referring to the contents of the building 1000, building system 1000a, facility infrastructure 200, and cloud server 20 discussed above, the process by which the robot (R) uses the facility infrastructure 200 is described in more detail. Let’s take a look. At this time, the robot (R) travels in the indoor space 10 of the building 1000 or uses the facility infrastructure 200 for the purposes of performing missions (or providing services), driving, charging, maintaining cleanliness, and waiting. You can move and further use the facility infrastructure 200.

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

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

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

In other words, the purpose to be achieved by the robot according to the first type may be the purpose of performing the robot's original mission. This purpose can also be understood as the robot’s “task.”

For example, if the robot is a robot that provides serving services, the robot drives around the indoor space of the building 1000 or moves using the facility infrastructure 200 to achieve the purpose or mission of providing serving services. And, furthermore, the facility infrastructure 200 can be used. In addition, if the robot is a robot that provides a route guidance service, the robot drives around the indoor space of the building (1000) or moves using the facility infrastructure (200) in order to achieve the purpose or mission of providing the route guidance service. And, furthermore, the facility infrastructure 200 can be used.

Meanwhile, a plurality of robots operating for different purposes may be located in a building according to the present invention. In other words, different robots capable of performing different tasks can be deployed in a building, and different types of robots can be deployed in a building depending on the needs of the building manager and various entities residing in the building.

For example, buildings include delivery, logistics operations, guidance, interpretation, parking assistance, security, crime prevention, security, public order, cleaning, quarantine, disinfection, laundry, beverage preparation, food preparation, serving, fire suppression, medical support, and entertainment services. Robots that provide at least one service may be deployed. The services provided by robots can vary beyond the examples listed above.

Meanwhile, the second type of purpose 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. This second type of purpose 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 duties, it needs sufficient power to operate, and in order for the robot to provide comfortable services to people, it must be kept clean. Furthermore, in order for multiple robots to operate efficiently within a building, there may sometimes 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 run in the indoor space of the building 1000, move using the facility infrastructure 200, and further use the facility infrastructure 200. there is.

For example, the robot can use the charging facility infrastructure to achieve the purpose of the charging function, and the robot can use the cleaning facility infrastructure to achieve the purpose of the cleaning function.

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

Meanwhile, the cloud server 20 may perform appropriate control on 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 a database.

Meanwhile, various information about each of a plurality of robots located in a building may be stored in the database, and information about the robot R may be very diverse. As an example, i) identification information to identify the robot (R) placed in the space 10 (e.g., serial number, TAG information, QR code information, etc.), ii) mission assigned to the robot (R) Information (e.g., type of mission, actions according to the mission, target user information for the mission, mission performance location, mission performance schedule, etc.), iii) driving path information set for the robot (R), iv) robot Location information of (R), v) Status information of the robot (R) (e.g., power status, failure status, cleaning status, battery status, etc.), vi) Image information received from the camera provided in the robot (R) , vii) There may be motion information related to the motion of the robot (R).

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

Here, operation of the robot may mean controlling the robot to run in the indoor space of the building 1000, move using the facility infrastructure 200, and further use the facility infrastructure 200.

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

Based on the information about each robot stored in the database, the cloud server 20 assigns appropriate tasks to the robots according to the purpose (or original mission) of each robot, and provides support to the robots so that the assigned tasks are performed. Control can be performed. The mission assigned at this time may be a mission to achieve the first type of purpose discussed above.

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

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

Meanwhile, hereinafter, 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.

Likewise, the mission described below may also be a mission for achieving a first type purpose or a mission for achieving a second type purpose.

For example, if a robot capable of providing a serving service exists and a person to serve (target user) exists, the cloud server 20 allows the robot to perform the task of serving the target user, You can control the robot.

For another example, if there is a robot that needs charging, the cloud server 20 may control the robot to move to the charging facility infrastructure so that the robot can perform a task corresponding to charging.

Accordingly, in the following, a more detailed description will be given of how the robot performs the purpose or mission using the facility infrastructure 200 under the control of the cloud server 20, without distinction between the first type of purpose or the second type of purpose. Let’s take a look. Meanwhile, in this specification, the cloud server 20 may also refer to a robot controlled by the cloud server 20 as a “target robot” in order to perform its mission.

The cloud server 20 may specify at least one robot to perform a mission upon request or at its own discretion.

Here, it is possible for requests to be received from various entities. For example, a cloud server can receive requests in various ways (e.g., user input through electronic devices, user input through gestures) from various entities such as visitors, managers, residents, workers, etc. located in a building. Here, the request may be a service request for a specific service (or specific task) to be provided by the robot.

Based on this request, the cloud server 20 can specify a robot that can perform the service among the plurality of robots located in the building 1000. The cloud server 20 records i) the types of services that the robot can perform, ii) the tasks already assigned to the robot, iii) the current location of the robot, and iv) the status of the robot (ex: power status, cleanliness status, battery status, etc.). Based on this, a robot capable of responding to the request can be specified. As seen above, there is a variety of information about each robot in the database, and the cloud server 20 can specify the robot to perform the mission based on the request based on this 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 can make its own judgment based on various causes.

As an example, the cloud server 20 may determine whether provision of a service is necessary to a specific user or a specific space existing within the building 1000. The cloud server 20 senses and receives from at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, the sensing unit included in the facility infrastructure 200, and the sensing unit provided in the robot. Based on the information provided, specific targets requiring service provision can be extracted.

Here, the specific object may include at least one of a person, space, or object. Objects may refer to facilities, objects, etc. located within the building 1000. Additionally, the cloud server 20 can specify the type of service required for the extracted specific target and control the robot so that the specific service is provided 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 can determine a target that needs to provide services based on various judgment algorithms. For example, the cloud server 20 is at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, the sensing unit included in the facility infrastructure 200, and the sensing unit provided in the robot. Based on the information sensed and received from the service, the type of service such as directions, serving, moving up stairs, etc. can be specified. And, the cloud server 20 can specify a target that needs the service. Furthermore, the cloud server 20 may specify a robot capable of providing the specified service so that the service is provided by the robot.

Furthermore, the cloud server 20 may determine a specific space that requires provision of a service based on various judgment algorithms. For example, the cloud server 20 is at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, the sensing unit included in the facility infrastructure 200, and the sensing unit provided in the robot. Based on the information sensed and received from, specific spaces or objects that require service provision, such as delivery target users, guests requiring guidance, contaminated spaces, contaminated facilities, fire areas, etc., are extracted, and the specific space or object is extracted. In order for a service to be provided by a robot, a robot capable of providing the service can be specified.

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

At this time, a series of controls include i) setting the robot's movement path, ii) specifying the facility infrastructure to be used to move to the destination where the mission will be performed, iii) communicating with the specified facility infrastructure, and iv) controlling the specified facility infrastructure. , v) monitoring the robot performing its mission, vi) evaluating the robot's driving, and vii) monitoring whether the robot has completed its mission.

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

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

The cloud server 20 may generate a movement path for 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 a plurality of floors (10a, 10b, 10c, ...) constituting the indoor space of the building.

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

In the present invention, such map information and movement routes are described as pertaining to indoor spaces, but the present invention is not necessarily limited thereto. For example, map information may include information about an outdoor space, and the movement route may be a path extending 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 performance start location and destination are the same. It may be located on one floor or on different floors.

The cloud server 20 may use map information for the plurality of floors 10a, 10b, 10c, 10d, ... to create a movement path for 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 the destination among the facility infrastructure (plural facilities) deployed 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 specifies You can create a movement route including the point where the installed equipment is located. Here, the equipment that assists the robot in moving between floors may be at least one of a robot-only elevator 204, a public elevator 213, and an escalator 205. In addition, various types of equipment that assist robots in moving between floors may exist.

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

And, based on the determination result, the cloud server 20 may include equipment (means) to assist the robot in moving between floors on the movement path. At this time, the equipment that assists the robot in moving between floors may be at least one of a robot-only elevator 204, a public 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 facilities that assist the robot in moving between floors are included in the robot's movement path.

For another example, when the robot-only passage (201, 202) is located on the robot's movement path, the cloud server 20 allows the robot to move using the robot-only passage (201, 202). A movement path can be created including the point where (201, 202) is located. As previously discussed with FIG. 3, the robot-only passage may be comprised of at least one of a first dedicated passage (or first type passage 201) and a second dedicated passage (or second type passage 202). The first dedicated passage and the second dedicated passage 201 and 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 surface of the building.

Meanwhile, the cloud server 20 may control the driving characteristics of the robot on the robot-only passage to vary based on the type of robot-only passage used by the robot and the level of congestion around the robot-only passage. As shown in FIGS. 3 and 8 , when the robot runs on the second dedicated passage, the cloud server 20 may change the driving characteristics of the robot based on the degree of congestion around the robot-only passage. Since the second dedicated passage is a passage accessible to people or animals, it is intended to consider both safety and movement efficiency.

Here, the driving characteristics of the robot may be related to the driving speed of the robot. Furthermore, the congestion level may be calculated based on images received from at least one of a camera (or image sensor, 121) placed in the building 1000 and a camera placed in the robot. Based on this image, the cloud server 20 may control the robot's traveling speed to be below (or less than) a preset speed when the robot-only passage at the point where the robot is located and in the direction of travel is crowded.

In this way, the cloud server 20 uses map information for the plurality of floors 10a, 10b, 10c, 10d, ... to generate a movement path for a robot to perform a service within the building 1000, where , Among the facility infrastructure (plural facilities) arranged in the building 1000, at least one facility that the robot must use or pass through to move to the destination can be specified. Additionally, a movement path may be created so that at least one specified facility is included in the movement route.

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

Meanwhile, the order of facilities that the robot must use can be determined under the control of the cloud server 20. Furthermore, the order of facilities that the robot must use may be included in the information about the movement path received from the cloud server 20.

Meanwhile, as shown in FIG. 7, the building 1000 includes robot-specific facilities (201, 202, 204, 208, 209, 211) that are exclusively used by robots and public facilities (205, 206) that are jointly used by people. , 207, 213) may be included.

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

When creating a movement path for the robot, if a robot-specific facility exists on the path from the mission performance start location to the destination, the cloud server 20 allows the robot to move (or pass) using the robot-specific facility. You can create a movement path. In other words, the cloud server 20 can create a movement path by prioritizing robot-specific facilities. This is to increase the efficiency of the robot's movement. For example, if both the robot-only elevator 204 and the public elevator 213 exist on the movement path to the destination, the cloud server 20 may create a movement path including the robot-only elevator 204. there is.

As seen 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 mission using various facilities provided in the building 1000.

For smooth movement of the robot, the cloud server 20 may communicate with a control system (or control server) of at least one facility that the robot uses or is scheduled to use. As previously seen with FIG. 4, unique control systems for controlling 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 facility. Appropriate control of each facility can be performed to ensure that

Meanwhile, the cloud server 20 has a need to secure location information of the robot within the building 1000. In other words, the cloud server (200) can monitor the positions of robots traveling around 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 running around the building (1000). You can monitor or, if necessary, selectively monitor the location information only for a specific robot. The location information of the monitored robot can be stored in a database where the robot's information is stored, and the location information of the robot can be stored over time. It can be continuously updated accordingly.

Methods for estimating the location information of a robot located in the building 1000 can be very diverse. Hereinafter, we will look at an embodiment of estimating the location information of the robot.

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 on the robot R, and receives Visual localization is performed to estimate the location 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 surroundings of the robot R. Hereinafter, for convenience of explanation, the image acquired using the camera provided on the robot R will be referred to as “robot image.” And, the image acquired through the camera placed in the space 10 will be called “spatial image.”

The cloud server 20 is configured to acquire the robot image 910 through a camera (not shown) provided on the robot R, as shown in (a) of FIG. 9. And, the cloud server 20 can estimate the current location of the robot R using the acquired robot image 910.

The cloud server 20 compares the robot image 910 with the map information stored in the database and provides location information (e.g., “3rd floor area A (3, 1, 1)”) can be extracted.

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

In other words, the map for space 10 may be a map generated by vision (or visual)-based SLAM technology.

Therefore, the cloud server 20 provides coordinate information (e.g., (3rd floor, area A (3, 1) ,1,)) can be specified. In this way, the specified coordinate information can become the current location information of the robot (R).

At this time, the cloud server 20 estimates the current location of the robot (R) by comparing the robot image 910 acquired from the robot (R) with the map generated by vision (or visual)-based SLAM technology. You can. In this case, the cloud server 20 uses i) image comparison between the robot image 910 and the images constituting the previously generated map to specify the image most similar to the robot image 910, and ii) the specified The location information of the robot (R) can be specified by obtaining location information matched to the image.

In this way, as shown in (a) of FIG. 9, when the robot image 910 is acquired 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 seen above, the cloud server 20 receives location information (e.g., coordinates) corresponding to the robot image 910 from map information previously stored in the database (e.g., may also be called a “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. However, as seen above, the position estimation of the robot (R) can be made in the robot (R) itself. . In other words, the robot R can estimate its current location in the manner described above, based on the image received from the robot R itself. And, the robot R can 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 the 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 placed in the indoor space 10 corresponding to the location information. You can. The cloud server 20 may specify the camera 121 placed 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 to estimate the location of the robot, but also to control the robot. For example, in order to control the robot R, the cloud server 20 obtains the robot image 910 from the robot R itself and the camera 121 placed in the space where the robot R is located. The image can be output together with the display unit of the control system. Accordingly, an administrator who remotely manages and controls the robot (R) within or outside the building (1000) may view not only the robot image (910) acquired from the robot (R), but also the image of the space where the robot (R) is located. Considering this, remote control of the robot (R) can be performed.

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

Referring to FIG. 10, the tag 1010 may have matching location information corresponding to the point where the tag 1010 is attached, 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. The identification information of each tag and the location information of the point where the tag is attached may be matched with each other and exist in a database.

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

The robot R can recognize the tag 1010 provided in the space 10 using a sensor provided on the robot R. Through this recognition, the robot (R) can determine the current location of the robot (R) by extracting the location information included in the tag (1010). This 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 can monitor the positions of robots running around the building 20 based on the position information received from the robot R that senses the tag.

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

Meanwhile, the terminology for the tag 1010 described above may be named in various ways. For example, this tag 1010 can be variously named QR code, bar code, identification mark, etc. Meanwhile, the tag terminology discussed above can be replaced with “marker.”

In the following, among the methods of monitoring the position of the robot (R) located in the indoor space (10) of the building (1000), we will look at a method of monitoring the robot (R) using the identification sign provided on the robot (R). see.

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

The identification information of the robot is information for distinguishing each robot, and even robots of the same type may have different identification information. Meanwhile, the information constituting the identification mark may be composed of various types of information in addition to 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 images received from a camera placed in the indoor space 10, a camera installed in another robot, or a camera installed in the facility infrastructure, and extracts identification information of the robot R from the image received from a camera installed in the indoor space 10 ), you can determine and monitor the location of the robot. Meanwhile, the means for sensing the identification mark is not necessarily limited to a camera, and a sensing unit (for example, a scanning unit) may be used depending on the type of the identification mark. This 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 can determine the location of the robot R from the image received from the camera. At this time, the cloud server 20 is based on at least one of the location information where the camera is placed and the location information of the robot in the image (more precisely, the location information of the graphic object corresponding to the robot in the image captured with the robot as the subject). Thus, the location of the robot (R) can be determined.

On the database, identification information about the camera placed in the indoor space 10 may be matched with location information about the place where the camera is placed. Accordingly, the cloud server 20 extracts location information matching the identification information of the camera that captured the image from the database, so that the robot R can extract the location information.

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

As seen above, in the building according to the present invention, it is possible to extract and monitor the location of the robot using various infrastructures provided in the building. Furthermore, the cloud server 20 monitors the location of the robot, making it possible to efficiently and accurately control the robot within the building.

Meanwhile, the cloud server 20 described in the present invention may include at least one main server and at least one sub server.

In the present invention, in order to efficiently manage robots running in a building, sub servers are assigned to different spaces (or areas) from the spatial perspective of the building, and the corresponding sub servers are assigned to the areas managed by the corresponding sub servers. It can be made to control positioned robots.

In the present invention, an area may be a divided area in a horizontal space corresponding to the same floor of a building, or a divided area in a vertical space corresponding to different floors of a building.

Meanwhile, the space to which the present invention is applied does not necessarily have to be a space within a building or indoors, and it is obvious to those skilled in the art that the present invention can also be applied to outdoor spaces. Hereinafter, for convenience of explanation, only embodiments in which the present invention is applied within a building will be described. However, all embodiments described later may also be applied in outdoor spaces.

Furthermore, the main server can directly or indirectly control the sub servers through communication with the sub servers. Furthermore, the main server can control the robots and, in situations where the sub servers cannot control the robots, can control the robots.

Additionally, the main server can assist in the connection between sub servers and robots so that the robots can be connected to appropriate sub servers and controlled from the sub servers.

Before explaining the robot control method according to the present invention, we will look at the robot controlled by the robot control system according to the present invention.

Figure 12 is a conceptual diagram for explaining a robot controlled by the robot system according to the present invention.

Referring to FIG. 12, the robot may include a communication unit 1201, a storage unit 1202, a traveling unit 1203, a control unit 1204, and a sensor unit. Since the communication unit 1201 and the storage unit 1202 have been previously described, detailed descriptions will be omitted.

The traveling unit 1203 is configured to move the robot within space. The traveling unit 1203 is configured to control at least one of the moving direction and moving speed of the robot, and the control unit 1204 controls the traveling unit 1203 to allow the robot to travel along a set movement path.

The traveling unit 1203 can be controlled by the control unit 1204 and the cloud server 20 included in the robot. Unless otherwise limited in this specification, control of the robot by one of the control unit 1204 and the cloud server 20 included in the robot is also possible by the other. At this time, the cloud server 20 may include at least one of a main server and a sub server, as discussed above.

Next, the control unit 1204 may be configured to control the overall operation of the robot related to the present invention. The control unit 1204 can process signals, data, information, etc. input or output through the components discussed above, or provide or process appropriate information or functions to the user. Unless otherwise defined herein, the control unit 1204 refers to a control unit provided in the robot.

Meanwhile, in the present invention, distributed control of robots running in a building can be performed using a main server and a plurality of sub servers.

The main server can assign tasks to robots traveling around the building and create path plans for the robots. Path planning may refer to a plan for a global path for a robot to travel through a building to perform a mission. This global path may include information about a plurality of areas within the building through which the robot must pass or drive.

Sub servers can each be assigned to correspond to a plurality of areas provided in the building. These plural areas may also be referred to as plural zones. A plurality of areas may be divided within the horizontal space corresponding to the same floor of the building, or may be divided based on the vertical space corresponding to different floors of the building.

The horizontal space corresponding to the same floor can be divided into multiple areas according to preset standards. Different sub servers may be assigned to each of the plurality of areas. As robots move in horizontal space, when they move from one area to another, control authority for the robot is transferred from one sub-server to another sub-server, and in the present invention, this is referred to as “hand.” It can be called “handover.”

Furthermore, different sub servers may be allocated to each vertical space corresponding to a different floor. For example, in a building with multiple floors, different sub-servers may be assigned to each floor, and depending on which floor the robot is located, different servers may have control authority over the robot. .

Therefore, when a robot moves from one floor to another, control authority for the robot can be transferred from the sub server assigned to one floor to the sub server assigned to the other floor. .

Each sub-server may be configured to control robots located in an area assigned to (or managed by) each sub-server. Sub servers can establish local path plans for robots within the area managed by each sub server. Local path planning may mean planning the paths of robots according to the situation of each area (eg, congestion, obstacle location, paths of other robots, etc.). The robots can be driven within the building based on the global path established by the main server and driven in detail based on the local path established by each sub-server. The global path is a macroscopic path based on the area that the robot must pass through in order to perform its mission, while the local path refers to a detailed microscopic path within each area included in the global path. can do.

In this specification, ‘control authority’ for a robot means authority to control the robot through communication with the robot, and control authority for the robot may be given to at least one of a plurality of sub servers. The control authority may be transferred from one sub-server to another sub-server due to the occurrence of a preset event, etc.

Meanwhile, the main server can always have control authority over the robot. That is, even if the robot is controlled by the sub server, it goes without saying that the main server can also have control over the robot.

Handover of control authority for the robot may be accomplished by the main server, or may be accomplished through communication between the sub server to be handed over control authority and the sub server to be handed over control authority. Furthermore, control authority for the robot may be transferred from one sub server to another sub server by the robot.

Meanwhile, in this specification, ‘handover’ may mean that the control authority of the robot is transferred from one sub server to another sub server. As seen above, in the present invention, sub servers are allocated to each correspond to a plurality of different areas, and through this, handover in the present invention is performed in a server corresponding to a first area in a building, different from the first area. This may mean being handed over to a server corresponding to the second area. More specifically, there are a plurality of areas within the building, and a sub server may be assigned (or matched) to each of the plurality of areas. When a robot is located in a first area among a plurality of areas within a building, control authority for the robot lies with the first sub-server, and control of the robot is performed by the first sub-server.

Meanwhile, in a building, as the robot moves from the first area to the second area, communication between the specific robot and the first sub-server may become difficult, or the robot may leave the management area of the first sub-server. Accordingly, in the present invention, the control authority of the robot is transferred to the second sub server corresponding to the second area, and in this specification, this is referred to as handover.

Additionally, if a handover is required due to the robot moving into an area, this is called a ‘handover event’.

Meanwhile, in this specification, the ‘handover area’ may be an area that serves as a standard for determining whether a handover event has occurred.

For example, the handover area in the horizontal space within the building may be an area where the first area and the second area overlap, or may be a preset area located between the first area and the second area. That is, the handover area in horizontal space may be an area where different areas overlap, or may be an area located between different areas.

For another example, in a building with multiple floors, the handover area may be an area where equipment for robots to move between building floors is located (for example, an elevator or escalator). That is, the handover area in vertical space may be an area between different floors, or an area connecting different floors (or inside a facility).

Meanwhile, in this specification, when performing distributed control of a robot through a plurality of sub servers, the sub servers can be operated in two major ways.

As a first method, distributed control of the robot can be achieved under the control of the main server. In this case, the main server performs direct control over a plurality of sub servers, so as the robot moves, it specifies the sub server that has control authority over the robot and performs control to transfer control authority between sub servers. can do.

At this time, the main server, multiple sub servers, and robots can be connected to one network, and in the present invention, this can be called a “global network method.”

In the global network method, the robot control system may include a main server and a plurality of sub servers, and the plurality of sub servers are under the control of the main server.

The main server may perform control related to the plurality of sub servers so that the robots communicate with at least one of the plurality of sub servers, depending on the locations of the robots.

More specifically, in the global network method, a plurality of robots located in a building are connected to one network, and the main server can grant control authority for a specific robot to a specific sub server among the plurality of sub servers.

In the global network method, the main server assigns a mission to each of a plurality of robots, or provides information about at least one area that the robot must pass through to perform the mission among a plurality of areas included in the building so that the robot can perform the mission. A driving path (or global driving path) including can be created and transmitted to the robot. Additionally, the main server may specify at least one sub server that has control authority for the specific robot based on information about the at least one area included in the driving path.

Meanwhile, the sub server may perform the control necessary for the robot to perform its mission, or may perform detailed control for the robot to travel along a preset driving path. In other words, the main server performs control to operate all of the plurality of robots located in the building, and the sub server can perform detailed control of the robots to which control authority is assigned. However, it is not limited to this.

As a second method, distributed control of the robot can be performed in a method in which each of a plurality of sub servers manages an independent network (hereinafter referred to as a local network method). In the local network method, the robot control system may include a main server and a plurality of sub servers. In the local network method, the main server and a plurality of sub servers may form respective networks. In this case, the main server does not control a plurality of sub servers, but may serve as a relay for the plurality of sub servers. More specifically, a robot located in a building is connected to a network managed by one of a plurality of sub servers, and can be controlled by the sub server managing the connected network. More specifically, referring to FIG. 13, the local In the network method, the main server 1310 is connected to the global network 1311, and each of the first and second sub servers 1320 and 1330 can be connected to the main server 1310. First sub server 1321 is connected to the first network 1321, and the second sub sub 1331 is connected to a second network 1331 that is different from the first network 1321. The first network 1321 is a network connectable through an Access Point (AP) installed in the first area 1322, and the second network 1331 is a network connectable through an AP installed in the second area 1332.

In the local network method, the 'main server' assigns a mission to each of a plurality of robots, or is located in at least one area that the robot must pass through to perform its mission among a plurality of areas included in the building so that the robot can perform its mission. A driving path containing information can be created and transmitted to the robot.

Meanwhile, the sub server may perform the control necessary for the robot to perform its mission, or may perform detailed control for the robot to travel along a preset driving path. In other words, the main server performs control to operate all of the plurality of robots located in the building, and the sub server can perform detailed control of the robots to which control authority is assigned.

Meanwhile, in the local network method, the main server transmits information related to each of the plurality of robots to a plurality of sub servers, and the plurality of sub servers determine which of the plurality of robots based on the information related to the robot received from the main server. You can connect to one, transfer control of an already connected robot to another sub server, or perform control related to an already connected robot.

Here, the information related to each of the plurality of robots may include at least one of the wireless signal strength detected by the robot, current location information of the robot, sub-server information connected to the robot, and judgment information about whether the robot is connected to an appropriate server. You can.

Meanwhile, in the local network method, the robot measures the signal strength of each AP (Access Point) installed in the building and performs wireless communication with the AP with the highest signal strength. Each AP installed in the building is matched with one of a plurality of sub servers, and the sub server corresponding to the AP to which the robot is connected has control over the robot.

Each sub-server may receive information related to the wireless signal strength detected by each of the robots, and determine which of the robots will perform control based on the information related to the wireless signal strength.

The sub server transmits information related to the robot connected to the server sub (for example, robot identification information) to the main server, and the main server determines whether the robot is connected to the appropriate sub server based on the information received from the sub server. You can.

As described above, the present invention enables efficient operation of multiple robots through a plurality of servers in a space where multiple robots are operated through a global network method or a local network method.

Meanwhile, when controlling a robot using the system and method according to the present invention, as the robot moves between areas in space, a situation may arise in which control authority of the robot must be transferred from a specific server to another server. The present invention provides a system and method that allows control of a server to be smoothly transferred as a robot moves between areas in space.

In this specification, a robot control method and system that can be applied to both of the two different robot control methods described above is described. Unless otherwise specified, the robot control method described below can be applied to global network method and local network method, respectively.

In the present invention, when performing control related to the running of a robot, it is possible to provide a method and system that performs distributed control of the robot through a plurality of servers and performs handover between servers according to the location of the robot. Below, this will be looked at in more detail along with the attached drawings. Figure 14 is a flowchart for explaining the robot control method according to the present invention, and Figure 15 is a conceptual diagram showing the robot control method according to the present invention.

In the robot control system according to the present invention, a first sub-server controls robots traveling in a first area among a plurality of areas and a second sub-server controls robots running in a second area among a plurality of areas. It proceeds (S110 and S120). The sequential relationship between the above two steps is not specifically limited.

The first sub server is a server that has control authority over the robot located in the first area among the plurality of areas in the building, and controls the robot through communication with the robot located in the first area. Meanwhile, the second sub server is a server that has control authority over a robot located in a second area, which is different from the first area, among a plurality of areas in the building, and controls the robot through communication with the robot located in the second area.

In the global network method, the main server monitors the location of the robot in the building, and when a specific robot is located in the first area, sets control authority for the specific robot to the first sub-server, and sets the control authority of the specific robot to the first sub-server, and if the specific robot is located in the second area When located, the control authority of the specific robot can be set to the second sub server.

Meanwhile, in the local network method, the robot can perform wireless communication with a sub server that can be connected at the current location. For example, the robot performs wireless communication with a sub-server corresponding to the AP (Access Point) with the strongest signal strength at the current location. When a specific robot is connected, the sub server transmits identification information about the connected robot to the main server, and the main server can determine whether the connected robot is connected to an appropriate sub server. If the robot is not connected to the appropriate sub server, the robot itself may attempt a handover to connect to a sub server other than the currently connected sub server. Furthermore, specific examples thereof will be described later.

Meanwhile, when a handover event occurs in a specific robot that communicates with the first sub-server and moves from the first area to (or enters) the second area, the control authority for the specific robot is transferred to the second area. The step of handing over from the first sub server to the second sub server is performed (S130). Meanwhile, a handover event may occur when a specific robot is located in a handover area, or when another wireless signal of a preset intensity or higher is detected in a specific robot. Method by which control authority for the specific robot is transferred. may vary depending on the network method. Hereinafter, a method for transferring control authority to a specific robot in each of the global network method and the local network method will be described.

First, we will explain how to transfer control authority to a robot in a global network method.

When a handover event occurs in a global network method, the main server sends information related to the handover event to the first sub-server and the second sub-server so that control authority for the specific robot is transferred from the first sub-server to the second sub-server. It can be transmitted to at least one of the second sub servers.

The main server can determine whether the handover event has occurred based on the location of the specific robot. Specifically, the main server periodically monitors the location of a specific robot, and determines whether the specific robot is located within a preset distance from a specific handover area formed by overlapping the first area and the second area, or if the specific handover area is If it is located in an over area, it can be determined that the handover event has occurred.

Meanwhile, the main server can specify a sub server to transfer control authority to the specific robot based on the occurrence of the handover event. Specifically, when the robot is located within a preset distance from a specific handover area or is located in the specific handover area, the main server specifies a plurality of areas forming the handover area. The main server may specify one area where the robot is expected to move, taking into account at least one of the robot's driving direction, travel path, and mission among the plurality of specified areas. The main server may specify the sub server corresponding to any one of the specified areas as the sub server that will transfer control authority for the specific robot.

Meanwhile, when the handover area is formed by a first area where the robot was located before the handover event occurred and a second area adjacent to the first area, the main server is a sub server corresponding to the second area. can be specified as a sub server that will transfer control authority for the specific robot.

Meanwhile, based on the occurrence of a handover event, the main server may transmit information related to the handover event to at least one of the first and second sub servers. The information related to the handover event includes identification information about the specific robot, an area where the handover event occurred, identification information about the sub server that currently has control authority over the specific robot, and the handover event. It may include at least one of identification information about a sub server to which control rights for a specific robot will be transferred, information guiding that control rights for the specific robot are being transferred, and information related to control being performed on the robot. Furthermore, the information related to the handover event may include information related to a control command transmitted to the specific robot from a sub server that had control authority for the specific robot before the handover event occurred.

The main server transmits first information indicating that the control authority for the specific robot is transferred to the second server to the first sub server, and sends second information requesting control of the specific robot. , can be transmitted to the second sub server.

Meanwhile, both the first sub-server and the second sub-server may have control rights for the specific robot until the second sub-server satisfies preset handover conditions for the specific robot.

The preset handover condition may be related to the degree of similarity between the first control command of the first sub-server for the specific robot and the second control command of the second sub-server for the specific robot. For example, if the control command transmitted from the first sub-server to the specific robot is the same as the control command transmitted from the second sub-server to the specific robot, the main server determines that the preset handover condition is satisfied. And, the control authority for the specific robot can be completely transferred to the second sub server. On the other hand, if the control command transmitted from the first sub-server to the specific robot is different from the control command transmitted from the second sub-server to the specific robot, each of the first and second sub-servers for a predetermined period of time. Control authority for a specific robot can remain granted.

Meanwhile, the robot can itself query the main server to connect to a specific sub server. Specifically, the robot can query the main server to determine which sub-server it should connect to, based on the robot's current location. When the main server receives a request for identification information for a sub-server to be connected from the specific robot, based on the location of the specific robot, the main server connects to a specific sub-server assigned to a specific area where the specific robot is located among the plurality of areas. By transmitting identification information about the specific sub-server, the specific robot can establish communication with the specific sub-server based on the identification information about the specific sub-server.

When initially assigning a sub server to a robot, the main server specifies one of a plurality of sub servers based on at least one of the current location of the robot and the number of robots connected to each sub server, and provides information related to the specified sub server. By transmitting to the robot, the robot can be controlled by a specific sub-server through wireless communication with the specific sub-server. That is, the main server can set control authority so that an appropriate sub server controls the robot, considering the location of the robot and the computing capabilities of each of the plurality of sub servers.

Meanwhile, based on being assigned a task from the main server, the robot transmits the robot's location information to the main server, and from the main server, identification information of the first sub-server assigned to the first area corresponding to the location information is received. Based on what is received, a connection may be made to the first sub server. And, while the robot is controlled by the first sub-server, it is assigned to the second area by the main server based on a handover event that occurs as it moves from the first area toward the second area. It may receive identification information of the second sub-server, and connect to both the first sub-server and the second sub-server in a handover area where at least a portion of the first area and the second area overlap.

Meanwhile, the robot is based on at least one of the following: visual localization (VL) in the robot itself, sensing information collected from sensors included in the robot, photos taken from the robot, the degree of movement of the robot moving part, and AP information connected to the robot. You can guide the main server to determine the location of the robot by determining the location yourself or transmitting at least one of the information listed above to the main server.

Meanwhile, the robot can query the main server based on AP. Specifically, the robot can connect to the AP with the strongest signal while moving, and can query the main server about which sub-server to connect to based on the connected AP information. For example, if the AP with the strongest signal changes as the robot moves, the robot can share information about the AP with the main server and query which sub-server to connect to. This is because the subserver corresponding to the network to which each AP belongs may be different.

Referring to FIG. 15, the handover process will be described in detail. The main server 1510 monitors the location of the robot (R) and, when the robot (R) is located in the first area 1522 corresponding to the first sub server 1520, sends the robot to the first sub server 1520. Grant control authority to (R). When the robot enters the handover area 1540 where the first area 1522 and the second area 1532 corresponding to the second sub server 1530 overlap each other, the main server 1510 has control authority over the robot. is transferred to the second sub-server 1530 so that the robot R can be controlled by the second sub-server 1530 in the second area 1532.

As described above, in the global network method, when a handover event occurs for a specific robot, the main server transfers the control authority of the robot to another sub server based on the location of the robot, thereby controlling the control of multiple robots. Enables efficient distributed control.

At this time, the main server considers the number of robots connected to each of the plurality of sub servers, and if more than a preset number of robots are connected to a specific sub server, prevents any more robots from being connected to that specific sub server, or prevents robots from being connected to the specific sub server. It is also possible to hand over at least one connected robot to another sub server.

Through this, the present invention allows the control authority for the robot to be flexibly switched depending on the robot's location in the building.

Next, we will explain how to transfer control authority to the robot in a local network method.

When a handover event occurs as a specific robot traveling along a driving path moves from the first area to the second area, control authority for the specific robot is transferred from the first sub-server to the second area. It is transferred to the sub server.

At this time, a specific robot may receive a control command from each of the first sub-server and the second sub-server in at least a portion of the handover area formed by the first area and the second area.

While the specific robot is located in the handover area, the specific robot is connected to each of the network corresponding to the first sub server and the network corresponding to the second sub server, and is controlled from each of the first and second sub servers. Commands can be received. Through this, the present invention can ensure that there is no interruption in the communication connection to the robot during the handover process.

Meanwhile, the specific robot transmits information related to a handover event to at least one of the first and second sub servers while connected to each of the first and second sub servers, thereby It is possible to transfer control authority for the specific robot from one to another.

A specific robot is connected to at least one of a plurality of sub servers allocated to each of the plurality of areas, and the specification of the sub server connected to the specific robot is based on the size of the wireless signal strength sensed by the specific robot. This can be done.

More specifically, a plurality of robots located within a building may be connected to the network through wireless communication with at least one of a plurality of APs installed within the building. Each of the plurality of APs may be connected to one of the plurality of networks. Any one of a plurality of sub servers is connected to each of the plurality of networks. Accordingly, when a robot is connected to a specific AP, it is connected to one of a plurality of networks, and further, the robot can be controlled by one of the specific sub servers connected to one of the networks. At this time, the specific sub server may be a sub server that provides a predefined access method, for example, a static IP or a predefined domain name, to the robot within any of the above networks.

The robot determines which AP the robot will connect to based on the communication signal strength for each of the plurality of APs. As a result, control authority for the robot can be granted based on the communication signal strength for each of the plurality of APs.

For example, the first sub server is connected to the first network, and the first network is connected to the AP installed in the first area. Meanwhile, the second sub server is connected to the second network, and the second network is connected to the AP installed in the second area.

The first sub-server is connected to a first network having the largest wireless signal strength among the wireless signal strengths sensed by the specific robot in the first area, and the second sub-server is connected to the first network with the largest wireless signal strength among the wireless signal strengths sensed by the specific robot in the second area. It can be connected to a second network having the highest wireless signal strength among wireless signal strengths.

As described above, the robot determines the network and sub-server to which the robot will connect by connecting to the AP with the strongest wireless signal at the current location.

Meanwhile, a handover event is generated based on the sensing of a wireless signal of a preset strength or higher for the two networks in the specific robot connected to the first sub server, and the specific robot is generated based on the handover event, A control request signal can be transmitted to the second sub server.

As the robot drives inside the building, if the wireless signal between the previously connected AP and another AP is detected to be higher than the preset strength, the specific robot sends information related to the handover event to the currently connected sub server and the other AP. It can be transmitted to at least one of the available sub servers.

Meanwhile, the robot may transmit a control request signal to the second sub server based on the handover event. When the second sub-server receives a control request signal from the robot, the second sub-server can take over control rights for the robot through communication with the first sub-server to which the robot is currently connected.

However, the robot is not limited to this and may transmit a control authority transfer request signal to the currently connected first sub server based on the handover event. When the first sub-server receives a request to transfer control authority from the robot, the first sub-server may transfer control authority for the robot through communication with the second sub-server.

In the case of the above-described method, the main server may not intervene in the process of transferring robot control authority. Accordingly, reliability problems with handover may occur. To prevent this, the present invention can enable the main server to monitor whether robot control authority has been transferred to an appropriate sub server.

Specifically, the first sub-server and the second sub-server transmit identification information about robots being controlled by each of the first sub-server and the second sub-server to the main server, and the main server, Based on the identification information, the first sub-server and the second sub-server can check whether control authority exists for the robots being controlled by each of the first sub-server and the second sub-server.

The main server may confirm the control authority based on at least one of the locations within the building and the driving paths of the robots being controlled by each of the first sub-server and the second sub-server.

The main server can confirm the control authority even if the robot does not transmit a control request signal to the second sub-server or a control authority transfer request to the first sub-server. As a result of confirmation, if the first sub-server without control authority is controlling the robot, the main server sends a control command related to handing over control authority to the first sub-server so that control authority is transferred to the second sub-server that must take over control authority of the robot. and transmit to at least one of the second sub server.

Referring to FIG. 15, the handover process will be described in detail. When the robot (R) is located in the first area 1522, the robot (R) is connected to the first sub server corresponding to the AP with the strongest wireless signal strength in the first area 1522 based on the wireless signal strength ( 1520). Accordingly, control authority for the robot R may be granted to the first sub server 1520. In the local network method, the handover 1540 area for the first and second areas is a preset wireless signal strength for each of the AP corresponding to the first sub-server 1520 and the AP corresponding to the second sub-server 1530. can be defined as the area where is detected. When the robot enters the handover area 1540 where preset wireless signal strengths are detected for each of the AP corresponding to the first sub-server 1520 and the AP corresponding to the second sub-server 1530, the first and Information for transferring control authority may be transmitted to at least one of the second sub servers 1520 and 1530. During a portion of the time the robot R stays in the handover area 1540, the robot R may receive control commands from each of the first sub-server 1520 and the second sub-server 1530.

Meanwhile, a specific robot in which a handover event has occurred may transmit information related to the handover event to a second sub server in order to transfer control authority. Information related to the handover event includes identification information for the specific robot, an area where the handover event occurred, identification information for the sub server that currently has control authority for the specific robot, and the handover event. It may include at least one of identification information about a sub server to which control rights for a specific robot will be transferred, information guiding that control rights for the specific robot are being transferred, and information related to control being performed on the robot. Furthermore, the information related to the handover event may include information related to a control command transmitted to the specific robot from a sub server that had control authority for the specific robot before the handover event occurred.

Meanwhile, if the control commands received from each of the first sub-server 1520 and the second sub-server 1530 are different, the robot R is connected to one of the servers (for example, the previously connected first sub-server). Control commands can be processed with priority.

In another embodiment, when the control commands received from each of the first sub-server 1520 and the second sub-server 1530 are different, the robot R may mix and process control commands from both sub-servers. .

Meanwhile, if the control commands received from each of the first sub-server 1520 and the second sub-server 1530 are the same, the robot R determines that the handover has been completed normally and connects to the first sub-server 1520. can be stopped.

Meanwhile, the main server 1510 periodically receives identification information about the robot connected to the sub server from each of the first sub server 1520 and the second sub server 1530, and connects the sub server and the robot based on the received identification information. It is possible to determine whether the connection between robots is being done properly.

As described above, when a handover event occurs in a local network, the robot specifies the sub server to which control authority should be transferred based on the wireless signal strength, and performs data transmission and reception for control authority to be transferred. In addition, the main server improves handover reliability by determining whether the appropriate sub server has control authority over the robot. Through this, the present invention allows flexibly switching control authority for the robot based on the wireless signal strength measured from the robot.

Meanwhile, handover may be performed as the robot moves within a horizontal space, but may also be performed as the robot moves to a space with different heights (different floors). For example, handover according to the present invention may be performed as the robot moves from one of a plurality of floors included in a building to another. Below, a detailed description will be given of how to perform handover as the robot moves between floors in a building.

FIG. 16 is a conceptual diagram showing a robot system that controls a robot by dividing areas by floor of a building, and FIG. 17 is a conceptual diagram showing handover performed according to the robot's movement between floors.

In this case, the main server performs control related to robots traveling in a building with multiple floors. The first sub server communicates with the main server and can control robots traveling on the first floor among the plurality of floors. Meanwhile, a second sub server communicates with the main server and controls robots traveling on a second floor different from the first floor among the plurality of floors. At this time, the first layer and the second layer are intended to name two different layers, and do not mean consecutive layers.

Based on the occurrence of a handover event in which a specific robot located on the first floor moves to the second floor, the main server transfers control authority for the specific robot from the first sub server to the second floor. To be transferred to a sub-server, information related to the handover event may be transmitted to at least one of the first sub-server and the second sub-server.

Referring to FIG. 16, the building may be equipped with a moving means 1650 for moving the specific robot from the first floor to the second floor. For example, the means of transportation may be an elevator, an escalator, or a robot-only elevator. However, it is not limited to this.

Meanwhile, one of a plurality of sub servers 1620a to 1620c may correspond to each of the plurality of floors 1622a to 1622c included in the building. For example, the first sub-server 1620a corresponds to the first floor 1622a, and control authority for the robot located on the first floor 1622a is granted to the first sub-server 1620a. When the robot moves between floors, control authority may be transferred from the first sub-server 1620a to another sub-server through handover.

In the present invention, the control authority of the first sub-server with respect to the specific robot is terminated based on the specific robot boarding the moving means on the first floor, and the control authority of the second sub-server with respect to the specific robot is terminated. Control authority may be initiated based on the particular robot disembarking from the means of transport at the second floor.

While the specific robot moves from the first floor to the second floor through the moving means, control of the specific robot is performed based on at least one of the main server and a facility server linked to the moving means. It can be.

When a robot moves between different floors, neither the first sub-server nor the second sub-server may have control authority over a specific robot in the handover area between different floors. That is, in this case, at least one of the main server and the equipment server linked to the means of transportation may have control authority for a specific robot.

For example, referring to FIG. 17, a plurality of sub servers 1720a to 1720g may be assigned (or matched) to each of a plurality of floors 1722a to 1722g included in a building. Each sub server can communicate with the main server 1710. The robot can move between floors through the robot-only elevator 1750. When the robot R is located on the first floor 1722a, control authority for the robot R may be granted to the first sub server 1720a. The first sub server 1720a controls the robot within the area 1722a on the first floor and controls the robot to board the elevator. When the robot R boards the elevator 1750, the first sub server 1720a may transmit information indicating that the robot R has boarded the elevator 1750 to the main server 1710. If the main server does not have information about the floor to which the robot wants to move, the first sub-server 1720a may transmit information about the floor to which the robot wants to move (the fifth floor) to the main server 1710.

The main server 1710 can control the elevator 1750 so that the robot R moves on the elevator 1750. Additionally, when the robot (R) gets off from the elevator 1750 and moves to the fifth floor (1722e), the robot (R) has control authority over the fifth sub-server (1720e) corresponding to the fifth floor (1722e). can be handed over.

If control related to the elevator 1750 is not performed by the main server 1710, but is performed by a separate facility server, the main server 1710 controls the robot R when the robot R boards the elevator 1750. The control authority of (R) is transferred to the facility server, and based on the robot (R) getting off the elevator 1750, the control authority of the robot (R) is transferred from the facility server to the sub server (e.g. For example, it can be transferred to the fifth sub server (1720e). In this case, handover may be performed between the sub server that manages space within the building and the facility server that manages facilities within the building. As seen above, according to the present invention, when a robot moves between floors using an inter-floor movement facility placed in a building, the control authority of the sub server is retrieved when the robot boards the inter-floor movement facility, and the robot When disembarking from the inter-floor movement facility, control rights are transferred to another sub-server, allowing flexible handover according to the robot's inter-floor movement.

As described above, according to the present invention, robots located adjacent to each other are controlled by the same server, thereby enabling efficient collaboration between robots. Specifically, the present invention prevents collisions between adjacent robots by allowing adjacent robots to be controlled by a single control entity, enables rapid sharing of environmental information between adjacent robots, and prevents the movement paths of adjacent robots from overlapping. It can be minimized.

Meanwhile, the present invention discussed above can be implemented as a program that is executed by one or more processes on a computer and can be stored in a medium that can be read by such a computer.

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

Meanwhile, computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. 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 can 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 computer described above is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit), and there is no particular limitation on its type.

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

Claims (11)

main server; and
It is configured to communicate with the main server and includes a plurality of sub servers each allocated to correspond to a plurality of areas included in the space,
The main server is,
Generate a global path containing information about specific areas that a specific robot must pass through to perform its mission among the plurality of areas,
Based on the information about the specific areas included in the global path, specifying a first sub-server and a second sub-server having control authority for the specific robot among the plurality of sub-servers,
In the first sub server and the second sub server,
Control authority for the specific robot is granted depending on where the robot is located among the specific areas: a first area to which the first sub-server is assigned and a second area to which the second sub-server is assigned, or The said control rights granted are terminated;
The first sub-server performs detailed control on the specific robot so that the specific robot travels in the first area to perform the mission while the specific robot is located in the first area,
The second sub server performs detailed control on the specific robot so that the specific robot travels in the second area to perform the mission while the specific robot is located in the second area. Robot control system. The method of claim 1, wherein when a handover event occurs in the specific robot communicating with the first sub-server, moving from the first area to the second area,
The main server is,
Characterized in transmitting information related to the handover event to at least one of the first sub server and the second sub server so that control authority for the specific robot is transferred from the first sub server to the second sub server. Robot control system. According to paragraph 2,
The main server is,
Based on the location of the specific robot, determine whether the handover event occurs,
A robot control system characterized in that, based on the occurrence of the handover event, a sub server is specified to transfer control authority for the specific robot. According to paragraph 3,
The plurality of areas to which the plurality of servers included in the space are respectively assigned form a handover area in which one area overlaps with at least one other area,
The main server is,
The specific robot,
Characterized in determining that the handover event has occurred when located within a preset distance from a specific handover area formed by overlapping the first area and the second area, or when located in the specific handover area. Robot control system. According to clause 4,
The main server is,
Based on the handover event occurring,
Transmitting first information indicating that control rights for the specific robot are transferred to the second server to the first sub-server,
A robot control system, characterized in that transmitting second information requesting control of the specific robot to the second sub server. According to clause 5,
The control authority for the specific robot is:
A robot control system, characterized in that both the first sub-server and the second sub-server have until a preset handover condition for the specific robot is satisfied in the second sub-server. According to clause 6,
The preset handover conditions are,
A robot control system, characterized in that it relates to a degree of similarity between a first control command of the first sub-server for the specific robot and a second control command of the second sub-server for the specific robot. According to paragraph 1,
When a handover event occurs as the specific robot traveling through the specific areas along the global path moves from the first area to the second area, control authority for the specific robot is transferred to the first area. Handed over from the sub server to the second sub server,
The specific robot is,
A robot control system, characterized in that it receives control commands from each of the first sub-server and the second sub-server in at least a portion of a handover area formed by the first area and the second area. According to paragraph 1,
The specific robot is,
Connected to at least one of a plurality of sub servers allocated to each correspond to the plurality of areas,
The specification of the sub server connected to the specific robot is made based on the size of the wireless signal strength sensed by the specific robot,
The first sub server is,
Connected to a first network having the highest wireless signal strength among the wireless signal strengths sensed by the specific robot in the first area,
The second sub server,
A robot control system connected to a second network having the largest wireless signal strength among the wireless signal strengths sensed by the specific robot in the second area. In a building where robots controlled by at least one of the main server and a plurality of sub servers run,
The building is,
Includes a plurality of areas in which the robots can travel,
The main server is,
Generating a global path containing information about specific areas that a specific robot must pass through to perform its mission among the plurality of areas,
Based on the information about the specific areas included in the global path, specifying a first sub server and a second sub server among the plurality of sub servers that have control authority for the specific robot,
In the first sub server and the second sub server,
Control authority for the specific robot is granted depending on where the robot is located among the specific areas: a first area to which the first sub-server is assigned and a second area to which the second sub-server is assigned, or The said control rights granted are terminated;
The first sub-server performs detailed control on the specific robot so that the specific robot travels in the first area to perform the mission while the specific robot is located in the first area,
The second sub server performs detailed control on the specific robot so that the specific robot travels in the second area to perform the mission while the specific robot is located in the second area. building. In a robot control method in a building that communicates with a main server and includes a plurality of sub servers each assigned to correspond to a plurality of areas included in the space,
Generating, in the main server, a global route including information on specific areas that a specific robot must pass through to perform a mission among the plurality of areas;
In the main server, based on the information about the specific areas included in the global path, specifying a first sub server and a second sub server among the plurality of sub servers that have control authority for the specific robot. step;
Among the plurality of sub-servers, in a first sub-server, detailed control of the specific robot so that the specific robot travels in the first area to perform the mission while the specific robot is located in the first area performing steps; and
Among the plurality of sub servers, in the second sub server, while the specific robot is located in the second area, details about the specific robot are provided so that the specific robot travels in the second area to perform the mission. comprising the steps of performing control,
In the first sub server and the second sub server,
Control authority for the specific robot is granted depending on where the robot is located among the specific areas: a first area to which the first sub-server is assigned and a second area to which the second sub-server is assigned, or A robot control method, characterized in that the granted control authority is terminated.

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