WO2019045288A1

WO2019045288A1 - Method by which multiple robots enable space partition and work in space, and robot for implementing same

Info

Publication number: WO2019045288A1
Application number: PCT/KR2018/008725
Authority: WO
Inventors: 최지은; 최규천
Original assignee: 엘지전자 주식회사
Priority date: 2017-08-30
Filing date: 2018-07-31
Publication date: 2019-03-07
Also published as: KR20190023835A

Abstract

The present invention relates to a method by which multiple robots enable space partition and work in space, and a robot for implementing the same, and a robot enabling space partition and work in space, according to one embodiment of the present invention, comprises: a sensing unit; a map storing unit for storing a position of a fixed object in the space in which the robot moves; a moving unit; a communication unit for transmitting/receiving partitioning information and environmental information to/from one or more other robots; a working unit; and a control unit, wherein the control unit generates, as the environmental information, at least one among information on an object which does not correspond to the fixed object in the map storing unit among objects sensed by the sensing unit and/or information on the space in which the robot has performed work, and controls the communication unit so as to determine one or more neighboring robots to/from which the partitioning information and the environmental information are to be transmitted/received.

Description

A method for multi-robot space division work and a robot implementing it

The present invention relates to a method in which multiple robots divide-and-work a space, and a robot related to the method.

In a space where human and material exchanges actively occur such as airports, schools, public offices, hotels, offices, factories, gymnasiums, cultural facilities such as concert halls, etc., one robot can not cover the entire space. Therefore, it is necessary that a plurality of robots are arranged in the space and operated.

However, in order for a plurality of robots to operate, it is necessary to effectively divide and work the space, and various variables are likely to occur in the space in which the robot operates. Particularly, in a space having a large flow area, a large number of moving obstacles can be arranged, and the robot may fail during operation. Also, the communication between the robots may not be smooth, because the robot may temporarily fail to communicate in a large space.

Therefore, in this specification, a method of performing work in a space by collaborating robots in a large-sized space will be described.

In order to solve the above-mentioned problems, the present invention proposes a method and a robot for dividing and working a space in response to a change situation of a space with a real time or a specific period while a plurality of robots work by dividing the space.

Also. In this specification, a method of connecting a communication network between some robots and a robot are proposed to ensure communication between robots.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

A robot for dividing-working a space according to an embodiment of the present invention includes a sensing unit for sensing an object disposed outside, a map storage unit for storing a position of a fixed object in a space to which the robot moves, A communication unit for transmitting and receiving the partitioning information and the environment information with the at least one other robot, a work unit for performing operations of the robot, and a sensing unit, a map storage unit, a movement unit, a communication unit and a work unit, One or more neighboring robots to transmit and receive the partitioning information and the environment information are determined by controlling the communication unit to generate at least one of the object not corresponding to the fixed object of the storage unit and the information about the space where the robot has performed the operation And a control unit.

A method for dividing-working a robot according to another embodiment of the present invention includes a step of generating an initial partitioning map including a partitioning area of a plurality of robots to be operated by a control unit of a robot, A step of performing a task assigned to the robot in the partitioning area of the robot, a step of moving the robot to a partitioning area in which the sensing part of the robot does not correspond to the fixed object stored in the map storage part of the robot, The method comprising the steps of: generating at least one of an object and information on a space in which a robot has performed a task as first environment information; receiving a second environment information of a neighboring robot from at least one of the plurality of robots; And a control unit for controlling the robot to perform a robot operation based on the first environment information and the second environment information to a robot of some or all of the plurality of robots And generating a re-partitioning map to be allocated.

When the embodiments of the present invention are applied, multiple robots can optimally cover an area by collaborating through real-time partitioning considering both the type of environment and dynamic / static obstacle information in a given large-area environment.

In addition, when the embodiments of the present invention are applied, real-time partitioning can be performed even if the plurality of robots in the large-area space use the distributed communication system or the connectivity of all the robots is not secured using the hub-type communication system, You can optimize coverage.

The effects of the present invention are not limited to the effects described above, and those skilled in the art of the present invention can easily derive the various effects of the present invention in the constitution of the present invention.

1 is a diagram illustrating a process of a robot operating according to a distributed communication method according to an embodiment of the present invention.

2 is a diagram illustrating a process of operating a robot according to a hub communication method according to another embodiment of the present invention.

3 and 4 are views showing the configuration of a fixed map according to an embodiment of the present invention.

5 is a diagram illustrating a configuration of a partitioning map according to an embodiment of the present invention.

6 is a view showing a communication link of a distributed communication method in a state where robots according to an embodiment of the present invention are moved to respective partitioning areas.

7 is a diagram illustrating the configuration of a re-partitioned map according to an embodiment of the present invention.

FIG. 8 is a diagram showing an area in which the operation is completed in the partitioning map of FIG. 5. FIG.

FIG. 9 is a diagram showing a result of repartitioning based on the partitioning map of FIG. 7 according to an embodiment of the present invention.

FIG. 10 is a diagram illustrating a configuration of a communication network centered on a hub robot according to an embodiment of the present invention.

11 is a view showing a communication link of a hub communication method in a state where robots according to an embodiment of the present invention are moved to respective partitioning areas.

FIG. 12 is a diagram illustrating a configuration of a robot according to an embodiment of the present invention.

FIG. 13 is a view illustrating a process in which a robot divides and works on a space according to an embodiment of the present invention.

FIG. 14 is a diagram illustrating a process of generating an initial partitioning map according to an embodiment of the present invention, and then moving each robot to an adjacent area.

FIG. 15 is a diagram illustrating a process in which robots according to another embodiment of the present invention are disposed at different positions to generate an initial partitioning map, and then move each robot to an adjacent area.

16 is a diagram illustrating a process in which a robot requests partitioning in a distributed communication method according to an embodiment of the present invention.

FIGS. 17 and 18 are diagrams for re-partitioning each environment information by applying a weight to each environment information in a re-partitioning process according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification. Further, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening " or that each component may be " connected, " " coupled, " or " connected " through other components.

The present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. As shown in FIG.

Hereinafter, a process of collaborating among adjacent robots to exchange information, partitioning a space to be operated and performing work, and performing re-partitioning reflecting the change elements generated in the process Let's look at a robot that implements this.

In addition, the robot can store information about the space. In order to store information about a space, a space can be divided into cells each having a predetermined unit, and each cell can store information. In one embodiment, a fixed map in which fixed obstacles are arranged, a partitioning map in which each robot is partitioned so as to work in addition to the fixed map, an area in which the robot performs an operation in the partitioning map, Covered Map and the like exist. The covered map can be implemented by displaying a specific cell of the partitioning map.

The robot stores a fixed map for the entire space, and can store a temporary map including information on a space allocated to the robot and a space of another robot adjacent to the allocated space in the entire space. Depending on the ability of the robot to communicate with other robots, the temporary map can cover the entire space. Also, depending on the communication capability of the robot, the temporary map can cover only a part of the space.

In the present specification, the communication method of robots is performed in two ways. Distributed communication methods in which robots have a horizontal relationship in communication and hub communication methods in which one robot is in the center of communication are divided into two types. In the embodiment of the distributed communication system, the communication network of the robots can be configured in the form of a ring. In one embodiment of the hub communication method, the communication network of the robots may be configured in a star form.

Also, in this specification, a robot includes a moving device having a specific purpose (cleaning, security, monitoring, guidance, etc.) or providing functions according to the characteristics of a space in which the robot moves. Therefore, the robot in this specification collectively refers to a device that has a moving means capable of moving using predetermined information and a sensor, and provides a predetermined function.

In this specification, a robot can move while holding a map. A map is information about a fixed object such as a fixed wall, a stair, or the like that has been confirmed not to move in space. In addition, information about dynamic objects that are placed periodically can also be stored on the map. In one embodiment, information about obstacles disposed within a certain range based on the traveling direction of the robot can also be stored on the map.

Based on the technical features of the embodiment of the present invention, the configuration and operation of the robot will be described as follows.

1 is a diagram illustrating a process of a robot operating according to a distributed communication method according to an embodiment of the present invention. In the case of a distributed communication system, the robot can calculate the following information on the basis of given information, respectively. In one embodiment of the invention, the robots can process to yield the same result if the given information is the same.

Each robot partition the N-space with consideration given to the environment of the given type, that is, the space (S1). If the environment information (space information) initially given to each robot is the same, the partitioning results of N spaces calculated by each robot can be the same. On the other hand, if there is individual information that each robot senses or acquires in addition to environment information (space information) initially given to each robot, the partitioning result of N spaces calculated by each robot may be different.

Each robot moves to a partitioned area (S2). After the movement, the robots close to each other and confirm the communication connectivity with the robot of the neighboring partition (S3). When the communication connection is confirmed, robots in each partition perform their respective tasks (S4). The work performed by the robot may differ depending on the functions performed by the robot. In the case of a cleaning robot, a cleaning operation can be performed, and in the case of a security robot, dangerous materials can be detected. In the case of a guide robot, guiding operations can be performed in response to the movement of people in the partition. In the case of a display robot, it is possible to continuously output certain information in the partition.

The robot confirms whether the task has been completed in the partition at a predetermined cycle (S5). A constant cycle means a temporal cycle. If the temporal cycle is infinite, the robot performs tasks within the partition determined in S1 until the task is completed. If the temporal period is 10 minutes, the robot performs the operation for 10 minutes, and if the operation is not completed, the robot proceeds to the step S6. When the work is completed within the time period, completion of cover of the entire area is confirmed (S7) and the process is terminated.

In step S6, each robot performs partitioning to maximize the coverage of the entire area while ensuring connectivity with at least one robot close to the robot (S6). This means repartitioning and includes an embodiment of newly partitioning the space by reflecting the changed environment such as the area where the robot has worked, the unavailable area due to the new obstacle, or the failure of the specific robot.

After repartitioning (S6), the robot moves again to the new partitioned area and performs steps S2 to S5.

In step S6, the existing communication connection can be reset. For example, in a case where four robots R1-R2-R3-R4 are arranged and communication is established in the form of a ring like R1-R2-R3-R4-R1 in the initial partitioning process During the partitioning process, communication efficiency can be checked again to change the communication connection.

That is, instead of the connection of R1-R2-R3-R4-R1 in the configuration shown in FIG. 16, communication may be connected in the same manner as R1-R2-R4-R3-R1.

2 is a diagram illustrating a process of operating a robot according to a hub communication method according to another embodiment of the present invention. FIG. 1 shows how each robot performs its own partitioning and exchanges information with another robot. In contrast, FIG. 2 illustrates a method in which a hub robot collects information from each robot, performs partitioning, and provides information to other robots. Here, all the robots can directly provide information to the hub robot, or the robots near the hub robot directly provide the information to the hub robot, and the hub robot and the remote robot can indirectly provide information using the robot close to the hub robot can do.

Hereinafter, a robot capable of directly communicating with a hub robot in close proximity to a hub robot is referred to as a T1 (Tier 1) robot. On the other hand, the T2 (Tier 2) robot is called a robot that can communicate directly with a T1 robot but can communicate directly with a T1 robot, but can not communicate with a hub robot. Similarly, the Tk robot indicates a robot that can communicate directly with the T (k-1) robot, but can not communicate with the hub robot. The smaller the number of k, the more robust the communication environment is. When the number of k becomes large, the hub robot can not be smoothly communicated with other robots, so that the new robot can be adjusted to perform the hub function.

When the robots are designated by R1, R2, etc., the specific robots can be T1 robots. For example, the R1 robot is a hub, the R2 and R3 robots are T1 robots, and the R4 and R5 robots can be T2 robots.

The hub robot 10 performs N partitioning according to the number N of robots in consideration of the environment of a given type (S21). The hub robot 10 transmits the partitioning information to one or more T1 robots 11 (S22). Upon receiving the partitioning information, the T1 robot 11 transmits the partitioning information to the T2 robot 12 (S23). This process is transmitted to the T1 to Tk robots so that all the robots can confirm and store the partitioning information.

Thereafter, the hub robot 10 and the

other robots

11 and 12 move to the partitioned area and perform work (S25, S26, S27). Each of the

robots

10, 11 and 12 generates information on a space in which the robot has performed a task in the partitioned area, that is, task completion information, and also generates changed environment information such as a new obstacle. The generated information is S31 (transmission completion information of the T1 robot and changed environment information transmission), S32 (T2 transmission of the task completion status and changed environment information to the T1 robot), S33 (T1 completion report of the robot, To the hub robot 10 in accordance with the changed environment information.

If the task is not completed, the hub robot 10 performs repartitioning based on the received information (S41). Then, the re-partitioned information is transmitted as in S22 to S23 (S42). The T1 robot 11 transmits the re-partitioning information to the T2 robot 12 (S43).

Then, each of the robots moves to the partitioned area and performs work (S45, S46, S47). Steps S31 to S47 may be performed until the execution of the task is completed.

The operations of the robots shown in FIGS. 1 and 2 are based on a map. The map means information about space, and various information can be stored on the map. The maps may be constructed in an overlapping manner. The fixed map discussed above places a fixed obstacle location. The fixed map stores information of the entire space and shows the point where the robot can not move, such as an obstacle. Based on the fixed map, the robot performs partitioning for the whole space or some space, and can generate the covered map in the course of performing the work.

Thus, the partitioning map means a map in which all or part of the fixed map is divided into spaces in which two or more robots can operate. The covered map means a map in which the robot has performed the operation within the partitioned space allocated to each robot. The covered map may correspond to all or part of the fixed map described above. For example, the robots can temporarily store information about a fixed map corresponding to the entire space and a covered area for confirming whether or not the robot has worked in each cell in each fixed map.

1 and 2 are summarized as follows.

N robots collaborate with each other and initially divide a given space into N partitions. As shown in FIG. 1, each robot may be divided as shown in FIG. 1, or information (partitioning information) about a divided region of a hub robot may be provided to another robot as shown in FIG. Then, each robot moves from its designated charging position to its own partitioning area according to the partitioning information.

The movement destination of the robot can be automatically set to a point at which communication with the robot of the adjacent partition is ensured. This includes selecting points where no obstacles are placed. The robot moves to be able to connect with at least one robot of close proximity partitioning, and moves to the next cell in which the coverage of its current area can be maximized.

According to the distributed communication method of FIG. 1, the robots connected to the communication network perform the next optimized partitioning based on the current coverage state, the current location, and the obstacle information, and perform the coverage operation again based on the partitioning.

According to the hub communication method of FIG. 2, the robots connected to the communication network transmit their respective coverage states, current position, and obstacle information directly or indirectly to the hub robot. Based on the received information, the Hub robot performs the next optimized partitioning, provides the partitioned information to other robots, and each robot performs coverage again based on the new partitioning information.

In this process, when a specific robot is unable to perform its mission, the remaining robots can collaborate and continue working, except for the robot. For example, if the R3 robot can not operate, the entire space can be repartitioned to 4, excluding the R3 robot, and the operation can be performed until all the areas are covered.

3 and 4 are views showing the configuration of a fixed map according to an embodiment of the present invention. The position of the obstacle in the entire space can be identified as 51 in FIG. Then, dividing the entire space by a predetermined cell results in 52 in Fig. If the values of the cell having the obstacle and the cell having no obstacle are set differently based on 52 in FIG. 3, the fixed map can be obtained. Of course, in addition to the cell value, the obstacle can also be displayed in black, such as 52. The color display includes displaying the value of the cell stored in the display unit of the robot as a specific cell. When the robot is stored in the map storage unit of the robot, a value indicating an obstacle arranged in each cell can be stored have.

FIG. 4 shows an embodiment in which the fixtures are set to a value of F, which is a single value. 210 denotes a fixed map, and F denotes a cell in which a fixture is disposed. Depending on the embodiment, it can be grouped according to the characteristics of the fixture by a number or other symbol (f, a, b, etc.) instead of F. Of course, it can be displayed in black as 52 in FIG. That is, the fixed map may be displayed and stored in various forms such as 52 or 210.

Left and lower coordinate information can be used to indicate the cell. The lower left corner can be designated as (0, 0) and the upper right corner as (21, 13).

S1 in FIG. 1 or S21 in FIG. 2 performs partitioning according to the number of robots in the space where the robot will work (the maximum space is the space of the fixed map and the minimum space is the lower space of the fixed map). Since the information about the fixed map is the same and the space for the robot to work is also given as the same input value, the result can be the same even if a plurality of robots partition.

As a result, when the process of S1 of FIG. 1 or S21 of FIG. 2 is applied, the map storage unit of the robot stores the partitioning map. The partitioning map means that the space is subdivided so that N robots can work efficiently considering the position and space of fixtures. And the number N of the robots is 5.

5 is a diagram illustrating a configuration of a partitioning map according to an embodiment of the present invention. The partitioning map 220a in which the areas allocated to the respective robots in the fixed map 210 of FIG. 4 are indicated by the identification information (1 to 5) of the robot will be described. 1 denotes a cell assigned to the first robot, and 2 denotes a cell assigned to the second robot. Thus, a total of five to five robots were partitioned for work space. In order to be visually distinguishable, the part F is hatched and the boundary between the partitioning spaces is indicated by a bold line.

After setting the partitioning space between the robots in FIG. 5, the robot moves to the corresponding partitioning area (S2 in FIG. 1 and S25 to S27 in FIG. 2). In the case of FIG. 2, steps S22 and S23 of sharing partitioning information among the robots may be additionally performed.

The area indicated by circles in FIG. 5 shows the position where the robot has moved to the partitioned area.

The robot can perform repartitioning based on the changed environment information after a certain period of time in the process of working in the corresponding partitioning map. In one embodiment, when an unexpected moving obstacle is generated in the lower right corner, the third robot can not operate the lower right region. Therefore, the region of the adjacent second robot and the region of the fourth robot, and the regions of the second and fourth robots It is possible to repartition the area of the first robot adjacent to the area. This will be described in more detail. This re-partitioning scheme can be implemented differently according to the scheme of FIG. 1 (distributed communication scheme) and the scheme of FIG. 2 (hub scheme). First, the method of FIG. 1 will be described.

6 is a view showing a communication link of a distributed communication method in a state where robots according to an embodiment of the present invention are moved to respective partitioning areas. Each robot connects a communication channel with another adjacent robot. The first robot R1, the second robot R2, ..., and the fifth robot R5 are arranged, and correspond to the positions of the circles in Fig. A communication link is formed between adjacent robots, and the link between i-th robot and j-th robot is denoted by Linkij.

In Fig. 6, five links are shown. Link formation between robots can be configured in a clockwise or counterclockwise direction based on the current position of each robot. Or each robot can form a communication link with the robot in the partitioning area to which the adjacent boundary is long in the partitioning area to which the robot is assigned. Or it may or may not form a communication link depending on whether an obstacle is disposed between the robot and the robot.

Particularly, it is possible to allow a robot, which is not desired to communicate by an obstacle, to preferentially set a communication link. After each robot moves to its own partitioning location, it broadcasts the message in the order of broadcasting completion, and then judges that the robot having the largest number of times that the message is not transmitted to other robots is in a bad communication state , You can give priority to setting up links with other robots.

The robot moves to the partitioning area based on the partitioning information, and then performs each operation. In the course of execution, some robots may be in a state where there is no change with respect to the fixed map in performing a task in a given partitioning area. However, some robots may have undergone unexpected changes in the fixed map in the course of performing tasks in a given partitioning area. An obstacle may be generated in the partitioning area of the third robot on the lower right side in the map of FIG.

In this case, since the third robot R3 has a failure in the assigned partitioning area, the space available for actual operation is reduced. Therefore, the third robot R3 requests re-partitioning to other adjacent robots (R2 / R4) The third robot, and the third robot and the fourth robot are completed (S61, S62).

On the other hand, the second robot (R2) and the fourth robot (R4) can also request re-partitioning to neighboring other robots when their partitioning areas are changed according to the result of the re-partitioning. Therefore, the second robot R2 requests the first robot R1 to perform the redeposition (S63), and the fourth robot R4 requests the fifth robot R5 to repartition (S64). And as a result, repartitioning takes place. After that, the first robot Rl and the fifth robot R5 each have been re-partitioned, and after confirming whether a new partition is required (S65), the re-partitioning is completed or no longer proceeds.

Partitioning means changing the boundary area between adjacent robots. For example, in step S61, it is possible to repartition within the partitioning area allocated to the second robot and the third robot so that propagation of excessive repartitioning does not occur to other robots.

7 is a diagram illustrating the configuration of a re-partitioned map according to an embodiment of the present invention. Compared with FIG. 5, as the partitioning area of the third robot is narrowed due to obstacles (denoted by X), the area in which the third robot can work can be reduced, so that the area of the adjacent robots R2 and R4 is repartitioned , Which again leads to the result of repartitioning the area of the second robot / fourth robot with the adjacent first and fifth robots. Therefore, the robot can be operated faster by repartitioning the robot in a reduced working area of the robot.

Meanwhile, even if no obstacle occurs in the process of FIG. 6, re-partitioning can be performed according to the speed at which each robot performs the task. For example, if a particular robot performs a task quickly within the assigned partitioning, it can be repartitioned so that the work can be performed up to the adjacent area.

The process of FIG. 6 can be applied as it is. This will be described with reference to the partitioning map of FIG.

FIG. 8 is a diagram showing an area in which the operation is completed in the partitioning map of FIG. 5. FIG. FIG. 8 shows a partitioning map 220c in which each robot has completed a task in the partitioning map of FIG. 5 as " C ".

During a certain period of time (e.g., 10 minutes or 30 minutes), each robot performs an operation based on the partitioning map 220a of FIG. 5 and displays the completed region as " C ". Then, the robot exchanges information about the ratio of the adjacent robot to the area where the robot has completed the work.

For example, the first robot has completed the operation of six cells within the assigned area. The second robot completed three cells, the third robot had 18 cells, the fourth robot had 20 cells, and the fifth robot completed 12 cells. Each robot confirms the work completion status (the number or the ratio of the covered area) of the adjacent robots and redistributes the adjacent robot and the area. Based on the links shown in FIG. 6, each robot communicates with each other, and performs repartitioning.

It is possible to perform re-partitioning by allocating to each robot based on the number of remaining cells except the space that the work is completed. During repartitioning, each robot can repartition based on the speed at which it has processed the work. For example, the second robot reflects state information of the robot (remaining amount of battery of the robot, etc.) and environmental information, and the processing speed is very low, and the adjacent robots (first / third robot) The area to be allocated can be reduced.

Similarly, a robot with a high cell processing speed can allocate more space for partitioning, assuming that the processing speed will be higher even if the robot is newly partitioned. For example, the fourth robot that processes 20 cells can widen the area to be allocated.

FIG. 9 is a diagram showing a result of repartitioning based on the partitioning map of FIG. 7 according to an embodiment of the present invention. 7, the partitioning area assigned to the fourth robot having a high processing speed is expanded. And each partitioning area can be adjusted so that the robots can operate more efficiently.

6 to 9, each of the robots performs communication with the adjacent robots and repartition. Next, look at the process of repartitioning based on hub communications.

And moves to the circle position in the partitioned space as shown in FIG. For convenience of explanation, the position of the robots on the 51 of FIG. In Fig. 10, the first robot R1 is in a state in which it can communicate with the fourth robot R4 and the fifth robot R5 due to the distance and obstacle (Link14, Link51). Here, R4 and R5 become T1 robots.

Meanwhile, the fourth robot can communicate with the second robot (Link24). Here, R2 becomes a T2 robot.

The third robot is blocked by the obstacle but can communicate with the fourth robot due to the reflection of the communication signal (Link 34). Likewise, R3 becomes a T2 robot.

Therefore, in FIG. 10, the hub robot Rl and the other robots R2 to R5 perform tasks in their respective partitioning areas, and change the environment information such as the area where the task has been completed with a predetermined period and the information that a new obstacle is found Is collected by the hub robot R1. As a result of the collection, the hub robot Rl can perform re-partitioning as shown in FIGS. 7 to 9 according to the changed state. However, the flow of information differs from that of Fig. This will be described with reference to FIG.

Each robot transmits the collected information to the hub robot R1 directly or indirectly according to a trigger of the hub robot R1 or according to a predetermined period.

R2 and R3 transmit environment information to R4 (S71, S72). R5 transmits environment information to R1 (S73). Then, R4 transmits the environment information collected by itself and the environment information transmitted by R2 and R3 to R1 (S74). Based on the collected environmental information, the hub robot confirms whether an obstacle has occurred or re-partitioning is required for the completed area, and after performing the re-partitioning, transfers the new partitioning information to the R2 to R5 directly or indirectly.

For example, the hub robot R1 transmits new partitioning information to the fifth robot R5 (S76). In addition, the hub robot R1 transmits new partitioning information to the fourth robot R4 (S77). The fourth robot R4 as the T1 robot transmits new partitioning information to the T2 robots R2 and R3 (S78 and S79). Then, as shown in S45 to S47 of FIG. 2, each of the robots moves to the re-partitioned area to perform an operation.

When the present invention is applied, it is possible to perform real-time partitioning even if the plurality of robots communicate with each other using a distributed communication system or a hub-type communication system in a large-area space, thereby optimizing the coverage of each robot . Particularly, even in the hub type communication system, robots capable of communicating with the hub robot and robots not capable of communicating with the hub robot are classified so that the robots can communicate hierarchically.

In particular, when the present invention is applied, multiple robots can optimally cover an area by collaborating through real-time partitioning considering both the type of environment and dynamic / static obstacle information in a given large-area environment.

If the present invention is not applied, it is not possible to reflect the change of the environment occurring in the work process and the area covered until now when the work is performed by dividing the area once initially and repartitioning is not performed . However, if the re-partitioning periodically performed in the present invention is performed periodically, it is possible to change the partitioned area so as to newly improve the operation efficiency by reflecting the area where the work has been performed so far and the area where the new obstacle has occurred. Particularly, in the present invention, the dynamic and static obstacles and the shape of the space are also reflected in order to optimize the coverage.

In particular, based on the coverage information, real-time partitioning is performed by reflecting the current situation (obstacle, coverage area, speed, etc.) including different work processing speeds for each robot in real time, thereby enabling efficient coverage work. In other words, real-time partitioning considering various situations such as a case where there are many obstacles in a specific area and a case where a difference in a covered area is large can be performed and an efficient coverage work can be performed.

FIG. 12 is a diagram illustrating a configuration of a robot according to an embodiment of the present invention. The robot 500 may be a robot of a distributed communication system. Or a hub robot of a hub communication type. Or a hub rather than a hub in a hub communication scheme.

A sensing unit 100 for sensing an object disposed outside as a component of the robot 500, a map storage unit 200 for storing the position of a fixed object in a space in which the robot moves, a moving unit 310 for moving the robot A communication unit 300 for transmitting and receiving the partitioning information and the environment information in the space, and a work unit 320 for performing the work of the robot. And a control unit 400 for controlling the respective components, and an interface unit 330 for outputting the operation state of the robot and receiving an instruction from the outside.

The sensing unit 100 refers to various types of sensors that sense the presence, distance, and characteristics of an external object. When the embodiments of the present invention are applied, the sensing unit 100 includes a depth sensing unit for calculating a depth value, a vision sensing unit for calculating vision information, an infrared (IR) sensing unit, an ultrasonic sensing unit, . &Lt; / RTI >

The control unit 400 generates the partitioning map 220 based on the fixed map 210 stored in the map storage unit 200. [ In addition, the controller 400 determines whether objects (new obstacles) that do not correspond to the fixed objects of the map storage unit 200 among the objects sensed by the sensing unit 100 after a predetermined time interval, As environment information.

The generated environment information can be transmitted / received to / from another robot such as a neighboring robot or a hub robot. That is, the control unit 400 controls one or more neighboring robots to transmit and receive the partitioning information and environment information by controlling the communication unit, and performs a new partitioning by transmitting or exchanging the partitioning information and environment information to the neighboring robot to generate a re- do.

As shown in FIG. 6, the determination method of the neighboring robot is a distributed communication method in which a robot located in an adjacent partitioning region is determined as a neighboring robot, and a communication link is established with a neighboring robot. 10 and 11, when a T1 robot and a T2 robot are separated from each other by a hub robot, the T1 robot sets a communication link with the hub robot to transmit partitioning information and environment information to the hub robot. On the other hand, the T2 robot establishes a communication link with the T1 robot, and transmits the partitioning information and environment information to the T1 robot.

7, the control unit 400 determines the number of robots to be operated in the space and space of the fixed object of the space stored in the map storage unit 200 and the initial partitioning map (220a).

As shown in FIGS. 1 and 6, when the robot is based on the distributed communication method, the robot adjacent to the robot can be a robot that is allocated a partitioning area adjacent to the partitioning area allocated to the robot. 6, the control unit 400 transmits and receives environment information to and from the neighboring robot to create a new partitioning area.

As shown in FIGS. 2 and 11, when the robot 500 is based on hub communication, the robot 500 can serve as a hub robot. In this case, the neighboring robot of the robot 500 as the hub is the T1 robot. In addition, the neighboring robot of the T1 robot becomes a T2 robot, and this configuration can be increased to the Tk robot (k is smaller than the number N of robots)

The communication unit 300 of the robot 500, which is the hub, can directly receive the environment information of the neighboring robot and indirectly receive environment information (via the neighboring robot) from the neighboring robot of the neighboring robot. As a result, the control unit 400 generates a redistribution map to be allocated to neighboring robots T1 & T2 & t & Tk based on the received environment information, and then directly or indirectly informs neighboring robots of the information To be transmitted by the communication unit (300).

In addition, the control unit 400 of the robot (or the hub robot) in both the distributed communication system and the hub communication system can reflect the changed environment information in the process of re-partitioning. In this process, one or more robots can not operate. Accordingly, the control unit 400 determines whether the number of the robot N is greater than or equal to N by using the position and the environment information of the fixed object in the space stored in the map storage unit 200, Lt; RTI ID = 0.0 > partitioned < / RTI > If all the robots are operational, N partitions are done. (N-1) pieces of partitioning are performed when one robot can not operate.

8 and 9, the cell on which the robot has been working is excluded from the re-partitioning process and the partitioning is performed. At this time, the control unit 400 may calculate the operation speed of the robot based on the cells that have performed the tasks of the neighboring robot and the robot in the environment information, and generate a re-partitioning map in which more areas are allocated to the robot having a high operation speed . In Fig. 9, a fourth robot with a high operation speed includes an embodiment in which a wider area is allocated.

Next, it can be repartitioned by reflecting the state information of the robot in the re-partitioning process. For example, the environment information may further include information on the workable time or workable area of the robot and the neighboring robot. The workable time can be calculated based on the battery remaining amount of the robot. The workable area can also be calculated based on the remaining battery power of the robot. Alternatively, the workable area can be calculated based on the above-described working speed.

The control unit 400 can increase the work efficiency of the robot by generating a redistribution map to which more areas are allocated to the robot having the larger workable time or workable area among the neighboring robots and robots.

The configuration of the robot of Fig. 12 and the operation process of the robot are summarized as follows. The criteria for repartitioning include the distance traveled to the center cell or the start cell (node) of each partition, the information of the obstacles currently placed, the area where each robot performed the work (the area covered), and the state information And the like. Considering efficiency in the process of including obstacle information in environment information, it is possible to exclude obstacles of a certain size or smaller (for example, smaller than the cell or smaller than the robot). This means eliminating obstacles of small size during repartitioning, and the robot works by avoiding obstacles of small size during movement and work process. Particularly, important things to be reflected in the repartitioning process are obstacles, dynamic obstacles that have not moved for a while.

Meanwhile, when the covered area is included in the environment information, the controller 400 may reflect various situations such as a case in which the cover is much smaller than other robots due to the obstacle, the partition type is simple, and the cover is large. Also, if the size of the obstacle is large, the robot can move efficiently by setting the position of the obstacle as the partitioning boundary rather than the way that the robot moves around the obstacle.

In addition, the state of the robot can be reflected in the re-partitioning process. For example, when the robot can not operate and only the remaining robot can work, or when the size or the processing speed of the robot is different have. FIG. 13 is a view illustrating a process in which a robot divides and works on a space according to an embodiment of the present invention. According to an embodiment of the present invention, as shown in FIG. 13, the control unit 400 of the robot 500 generates an initial partitioning map including a partitioning area of a plurality of robots 500 to be operated in space (S81 ).

The initial partitioning map may be configured as shown in FIG. 5 and stored in the map storage unit 200 as a partitioning map 220. The initial partitioning map can be generated by all robots regardless of the distributed / hub communication method. If the hub communication method is employed, the process further includes transmitting the initial partitioning map generated by the hub robot to another robot.

Thereafter, the moving unit 310 of the robot 500 moves the robot 500 to the partitioning area allocated to the robot 500 (S82), and the operation unit 320 of the robot 500 moves the robot 500 in the partitioning area 500) (S83). Thereafter, when the control unit 400 determines that an object does not correspond to a fixed object stored in the map storage unit of the robot 500 among the objects sensed by the sensing unit 100 of the robot 500, And generates at least one of the information on the space as the first environment information (S84). The generated information becomes information to be reflected in the generation of the re-partitioning map in the future.

In addition, the communication unit of the robot 500 receives the second environment information of the neighboring robot from at least one of the plurality of robots (S85). In the case of a distributed communication system, the neighboring robot becomes a part of the whole robot such as one or two. The neighboring robot is an adjacent distance robot capable of communication, and is shown in FIG.

As shown in FIGS. 10 and 11, in the case of the hub communication method, it has been observed that the adjacent robots become the neighboring robots (T1 robots) and the robots adjacent to the neighboring robots become the T2 robots.

Thereafter, the control unit 400 generates a re-partitioning map to be allocated to some or all of the plurality of robots using the first environment information and the second environment information. In the case of the distributed communication method, it exchanges environment information with neighboring neighboring robots and generates a re-partitioning map. In this case, only a part of the entire partitioning map can be updated.

On the other hand, in case of the hub communication method, the hub robot can convert the entire map into the re-partitioning map.

FIG. 14 is a diagram illustrating a process of generating an initial partitioning map according to an embodiment of the present invention, and then moving each robot to an adjacent area. Fig. 14 is a process of setting a partitioning area between closely arranged robots.

In FIG. 14, each of the four robots R1 to R4 is adjacent to each other, and an initial partitioning map is calculated (S91). Alternatively, one of the robots R1 calculates an initial partitioning map and broadcasts or unicasts (S92). Then, the control unit of each robot calculates a fitness with each partitioning region, selects a partitioning region having a high degree of fitness, sequentially broadcasts information on the selected partitioning region together with identification information of each robot in a message form (S93- S96) or information on the partitioning selected by the robots R2 to R4 to the specific robot R1 in a unicast manner.

In the case of broadcasting, R3 and R4, which select the fitness of the same partitioning area, can communicate with each other to determine the robot to be assigned P3. In order to select the fitness of the partitioning area, the controllers of the two robots can communicate in the same way as determining the repartitioning area.

When R1 receives all the selected partitioning area information in a unicast manner, R1 can transfer the information of the robot assigned to the partitioning area to each robot as in S92 by adjusting the overlapping partitioning area.

Also, when the robots assigned to the partitioning area and their positions are determined, each robot can select a neighboring robot in advance before moving to the corresponding partitioning area. Since the partitioning map is also arranged with the position of the fixed obstacles, the robots can identify the other robots assigned to the adjacent partitioning area and can pre-connect the communication to the neighboring node.

Alternatively, after moving to the partitioning area, the controller 400 of the robot searches for a robot capable of communication connection and selects a robot having the best communication signal as a neighboring robot.

FIG. 15 is a diagram illustrating a process in which robots according to another embodiment of the present invention are disposed at different positions to generate an initial partitioning map, and then move each robot to an adjacent area. A message may be sent to the robots to instruct the robots to generate an initial partitioning map in a state where the robots are distributed and arranged. Or robots can receive this message from the server and send the received message to the other robots. Or when the controller 400 of the robot is scheduled to generate and operate the initial partitioning map at a predetermined time, the controller 400 of the robot can generate an initial partitioning map without any external instruction.

Similar to the process of FIG. 14, the controller 400 of each robot generates an initial partitioning map. Or the control unit 400 of the hub robot generates and broadcasts an initial partitioning map, and all the robots have stored the initial partitioning map as the partitioning map 220. If the robot can not communicate directly with the hub robot, another robot adjacent to the robot can forward the initial partitioning map. The embodiment of FIG. 15 will now be described with the initial partitioning maps stored in each robot.

Each of the robots R1 to R4 can confirm the current position of each robot. The positions of other robots are possible in both the identified embodiment and the unconfirmed embodiment. Each of the robots can confirm the identification information of the nearest partitioning area based on their current position. Alternatively, the control unit 400 of each robot can calculate the fitness with each partitioning region and select a partitioning region having a high degree of fitness.

As a result of the selection, each robot can sequentially broadcast the identification information of each robot and the identification information of the selected partitioning region, as shown in FIG. Sequencing broadcasting means transmitting identification information and identification information of a partitioned area within a range where signals do not collide with each other. For sequential transmission, each robot can generate or store a partitioning map, and broadcast it in the order of the robot's identification number after a preset time (scheduled time, for example, 5 seconds) has elapsed. In Fig. 15, it is transmitted to R1-R2-R3-R4.

However, in the broadcasting process, each robot broadcasts the identification information of the broadcasting robot and the partitioning area information selected by the robot. For example, the MSG (R1, P1), which is a message indicating that the first robot R1 has selected the first partitioning area P1, is broadcasted at time point 011 (S101) It is in a state that the broadcast message of R1 has not been received due to the message 55.

In this situation, the second robot R2 may broadcast the second partitioning area information P2 selected by the second robot R2 to the MSGs R2 and P2 at time point 02 (S101). Meanwhile, in a state in which the third robot R3 does not receive the message of the second robot, the third robot R3 transmits the R1 broadcast message R1 and P1 of its own at the time 03, (R1, P1), (R3, P3), which is a message that combines the messages P3 and P3 (S103).

On the other hand, the fourth robot R4 can receive both the message of R1 and R2 and the message of R3, and integrates them, and broadcasts the message including the information about the partitioned area selected by the fourth robot with the following message (S104).

MSG ((R1, P1), (R2, P2), (R3, P3), (R4, P3)

Accordingly, the isolated second robot (R2) in the communication process can confirm the information about the partitioning areas of the first robot and the third robot.

On the other hand, the two robots R3 and R4, which have selected the same partitioning region P3, assign the P3 to one robot based on mutual communication or prioritize according to the identification information of the robot, and the remaining P4 regions are allocated to other robots . Then, the R3 and R4 robots broadcast information about the assigned partitioning area, and each robot moves to the partitioning area.

The above-described embodiments are summarized as follows.

The controller 400 of the robot generates an initial partitioning map and selects each partitioning area. The selection method is a distance required to move from the current position of the robot to the partitioning area and may reflect the position of the fixed objects stored in the fixed map 210 in the process of calculating the distance.

In addition, the controller 400 of the robot transmits a message including the identification information of the robot to the selected partitioning area and the partitioning area to another robot using the communication unit 300, and when there is another robot that selects the same partitioning area You can change the partitioning area.

The criterion for changing is the priority of the identification information of the robot or the remaining amount of the battery of the robot, the time or distance required for the robot to move to the partitioning area, or the priority set for the robots. In particular, the distance may be changed considering the distance to the partitioning area and the distance to the unassigned partitioning area.

In one embodiment, the distance from the R3 robot to P3 is 30 meters, the distance from the R3 robot to the unselected P4 is 50 meters, the distance from the R4 robot to P3 is 20 meters, and the distance from the R4 robot to the unselected P4 is 35 meters .

The distance to P3 is closer to the R4 robot, but in this case the R3 robot must move to P4, which is 50 meters. On the other hand, since the R4 robot is 35 meters to P4, in this case, the R3 robot is assigned to P3 and the R4 robot is assigned to P4. Of course, if the distance to P4 is the same for both the R3 robot and the R4 robot, the R4 robot can be assigned to P3.

14 and 15 can also be applied to the re-partitioning process.

After the robot performs the work in each partitioning area, information on the completed area (cell information), the information about the space that can not be worked due to the occurrence of a new obstacle, and the current state of the robot Exchange between robots, and rearrange the partitioning area.

Particularly, in the repartitioning process, the robot can receive environment information from neighboring neighboring robots. Or receive environment information from all other neighboring robots. Then, based on the received environment information, it is possible to perform repartitioning with neighboring neighboring robots, or to provide a result of repartitioning to all the robots.

As described in the present invention, by constructing a distributed collaborative system considering communication instability in a large-scale environment, it is robust against an emergency situation such as an environmental change and a failure of a robot, and can be operated based on an optimal coverage algorithm suitable for the situation. In one embodiment, a robot (for example, a cleaning robot) that performs a specific function can perform work (cleaning) with active time fast collaboration in a large area through a collaboration system.

Also, it can be applied to a system in which specific tasks such as reconnaissance, security, and guidance are divided and scheduled to collaborate. In particular, each robot can generate real-time environment information (obstacles, coverage area, speed, etc.) in real time, and perform real-time partitioning, thereby enabling efficient coverage work.

When a specific task is given in addition to the coverage task, an optimal robot for performing the task is selected, and while the robot is performing its task, the remaining robots are adaptive System can be operated. In the case of the distributed communication method, the optimal robot is selected as shown in FIG. 6, and a ring communication link is created to move the message for the task through the ring in the token format. When the robot receives the message, . In the hub communication method, the hub robot can select a specific robot and transmit a command message to perform a task.

In addition, the robots can be selected according to the communication state of the current robot among the hub communication method and the distributed communication method. In the method of transferring the partitioning and message in Fig. 15, when it is confirmed that all the robots are in a state of being able to communicate, the robots select the hub robot based on the preset priority or identification number, or the distance between the robots. And it can communicate around the hub robot.

Accordingly, the control unit of each robot can perform communication using the hub communication method when there are few or few missing robots in the process of transmitting and receiving messages between the robots in FIG. 15

Also, the robots can try to switch the communication method periodically in the process of performing the work. For example, a control unit of one robot in which communication signals of all robots are confirmed in a process of working in a distributed communication system can transmit a message informing all robots of the switching of the communication mode.

Therefore, according to an embodiment, communication between robots is always performed by broadcasting, but in a distributed communication method, each robot ignores messages of other robots that are not linked to the robot itself. However, it is possible to perform repartitioning by checking only the message of the robot to which the communication link is connected. In this case, communication between all the robots can be confirmed by other robots, and in this process, it is possible to switch from the distributed communication method to the hub communication method.

On the other hand, partitioning can be performed by request of a specific robot. For example, identify situations that require repartitioning while working on a partitioning area assigned by a particular robot. For example, a situation where a large number of obstacles are distributed, a floor condition in which an operation can not be performed, or a battery, or a case where the robot completes work very quickly. In the state where the robots R1 to R4 of FIG. 16 respectively form the communication link, R2 transmits environment information (obstacle, coverage, etc.) generated in the partitioning area allocated to R2 to R1 and R3 and requests repartitioning.

The message that R2 sends to R1 and R3 is MSG (Repartition, R2_Environment) and is transmitted in steps S111 and S112. Alternatively, R2 may be transmitted to only one of the robots R1 or R3.

The transmission results R1 and R3 respectively transmit their environmental information to R2 (S113, S114). Based on the environmental information of R1 / R3, R2 can select the priority to be re-partitioned, either R1 or R3. This can vary depending on the situation of R2.

When R2 relays to relocate some of its partitioning area to another robot due to some new change, R2 selects a robot in a state where it can migrate some of its partitioning area out of R1 and R3. In this case, a robot that has few remaining partitioning regions to be processed among R1 or R3 can be selected.

Conversely, when R2 is repartitioned to relocate a part of the adjacent partitioning area to itself due to a certain new change, R2 selects a robot in a state where it can get some of their partitioning areas out of R1 and R3. In this case, a robot having a large number of partitioning areas to be processed among R1 or R3 can be selected.

After the selected robot (R1 or R3) and R2 perform the re-partitioning (S115, R1-R2 re-partitioning), the robots can move according to the re-partitioned area to perform the operation.

Or R2 performs a new repartitioning among the remaining robots (R3 and R1) that have not been repartitioned in R1 or R3 (S116, R2-R3 repartitioning), and the robots move according to the re- can do.

The repartitioning triggered from R2 may proceed with the re-partitioning with R1 / R3, then R1 and R3 may request the R4 partition again, respectively. In this process, R1 / R4 / R3 can also be repartitioned by repeating steps S111 to S116.

In the configuration shown in FIG. 16, there is no hub or a robot serving as a hub, and distributed communication is performed. Therefore, communication is performed in the form of a ring based on the identification number of each robot or the priority of communication given to each robot, and the optimal partitioning area of the two robots can be obtained in each order. However, if there is a robot which can be connected only to R4 as in R2 of Fig. 15, only some robots can form a ring shape. In the case of FIG. 15, R1-R4-R3 form a ring, and R2 may be additionally connected to R4.

Also, based on the new partitioning area of the robot that has just been partitioned with the previous robot, a new optimal partitioning area can be calculated by communicating with the robot beside it. In Fig. 16, R2 is performed first with R1 and then R3 and then with partition. In the configuration shown in FIG. 16, when the whole cycle is turned, results reflecting the state of all the robots are derived.

At this time, partitioning is performed not on the whole area but on an area where the work is performed, that is, the area covered and the environment varying in cost.

After partitioning, the robots move to positions to increase coverage and continue to work. If a specific robot fails or is disconnected, the robot changes instantly to a position for ensuring communication with the remaining robots. The remaining robots can actively cope with the situation and collaborate with each other. It can be performed in the optimum direction.

In one embodiment, when the communication with R4 in Fig. 15 is broken in the process of performing the operation by moving to the wall excessively close to the wall in Fig. 15, R2 in Fig. 15 can communicate with R4 in Fig. It is possible to share situation and changed environment with R4 by environment information.

In the present invention, all the robots may move to the respective partitioned partitioned areas at the same position, but each robot may move to the partitioned area while being disposed at different positions. If the robots are disposed adjacent to each other, the partitioning area on the initial partitioning map between the robots can be allocated and moved in a predetermined manner. In one embodiment, if each robot has a serial number, the order of the serial number and the partitioning area may be sequentially assigned. On the other hand, robots can select a specific partitioning area, which allows each robot to calculate the remaining battery power and moving speed of the robot. And these environmental characteristics can always be reflected in the repartitioning process.

If based on hub communication or distributed communication, the robot can at least re-partition based on its environment information and environment information of the neighboring robot.

The controller 400 of the first robot stores the first environment information of the first robot and the second environment information of the second robot (S121). The environment information includes at least one of partitioning information (the identification information of the partitioning area and the number of cells in the partitioning area), the information of the working area (the number of cells in the working area), the information of the area in which the obstacle is disposed ), Information of the unprocessed area (the number of unworked cells), and the like. On the other hand, if a failure occurs in the second robot, the first robot may set the second environment information to a NULL value, and attempt to connect to another robot connected to the second robot. The first robot sets a new partitioning area including the partitioning area allocated to the second robot and the partitioning area allocated to the first robot, You can perform repartitioning with robots or with other robots that were previously connected to the second robot.

The first environment information and the second environment information may include not only the number of cells in each field but also information on the shape of the space or the bent portion. In other words, even if the area has the same number of cells, it may take a lot of time to work on the long or bent area. Therefore, when there is an excessively large difference between the width and the length, Different stars can be weighted.

That is, for a shape that is difficult to work (for example, the three regions in FIG. 7), the number of remaining cells may be at least greater than the number of remaining cells in other partitioning regions. That is, in the case where the number of remaining cells in the three areas of FIG. 7 is 10, the number of remaining cells is 15, and the number of remaining cells is 4 in the area of FIG. 7, The number of remaining cells in the region is small, but it can be calculated by multiplying it by 1.5 to be equivalent to 15 cells.

Likewise, when comparing the number of cells in the area where the robot is working, it can be determined that the robot takes a lot of time to perform the task when the cells are distributed.

Accordingly, the control unit 400 applies weights to the fields of the environment information of the first robot and the second robot, respectively (S122 and S123). Then, the control unit 400 calculates the size of the area to be adjusted by the first robot and the second robot (S124). One of the cells in the current partitioning area of the first robot and the second robot corresponding to S122 and S123 is determined to be reduced by A cells in the first robot and by A cells in the second robot.

Then, the control unit 400 generates a re-partitioning map corresponding to the size to be adjusted (S125). This includes generating a re-partitioning map to reduce the travel distance of the robot, reflecting the moving speed of the robot, the location of the obstacles disposed in each partitioning area, and the working cells disposed within each partitioning area. One embodiment will be described with reference to FIG.

Reference numeral 131 in FIG. 18 is a map showing the state of the current partitioning area. As a result of performing the re-partitioning in this state, the controller of the first robot or the second robot can determine that one cell is increased in the area of the first robot and one cell is reduced in the area of the second robot. In this case, in the case where the bend has many bends such as 132, there is a problem that both the first robot and the second robot must move along the bend. Accordingly, the control unit can generate a re-partitioning map to increase the moving speed of the robot, such as 133. After the partitioning map is generated, each robot moves to the re-partitioning area information and performs an operation (S126).

As shown in FIGS. 17 and 18, in the course of performing the repartitioning, the robot performs a process such as the size and dispersion of the area previously worked on, the size and dispersion of the area where the new obstacle is arranged, Can be applied as weights to generate a repartitioning map. The control unit 400 firstly calculates the number of cells in the region to be re-partitioned by applying the degree of dispersion and position of the corresponding cells and the battery state of the robot as weights, even if the same number of cells are used, You can select a borderline that reduces the travel distance.

In addition, it is to be understood that the present invention is not necessarily limited to these embodiments, and that all the elements within the scope of the present invention Or may be selectively coupled to one or more of them. In addition, although all of the components may be implemented as one independent hardware, some or all of the components may be selectively combined to perform a part or all of the functions in one or a plurality of hardware. As shown in FIG. The codes and code segments constituting the computer program may be easily deduced by those skilled in the art. Such a computer program can be stored in a computer-readable storage medium, readable and executed by a computer, thereby realizing an embodiment of the present invention. The storage medium of the computer program includes a magnetic recording medium, an optical recording medium, and a storage medium including a semiconductor recording element. Also, a computer program embodying the present invention includes a program module that is transmitted in real time through an external device.

While the present invention has been particularly shown and described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It is therefore to be understood that such changes and modifications are intended to be included within the scope of the present invention unless they depart from the scope of the present invention.

<부호의 설명><Explanation of Symbols>

100: sensing unit 200: map storage unit

210: fixed map 220: partitioning map

300: communication unit 310:

320: Operation unit 330: Interface unit

400: control unit 500: robot

Claims

In a robot that divides space,

A sensing unit for sensing an object disposed outside;

A map storage unit for storing a location of a fixed object in a space in which the robot moves;

A moving unit for moving the robot;

A communication unit for transmitting and receiving the partitioning information and environment information with at least one other robot;

An operation unit for performing operations of the robot; And

Wherein the control unit controls the sensing unit, the map storage unit, the moving unit, the communication unit, and the operation unit, and includes an object not corresponding to a fixed object of the map storage unit among the objects sensed by the sensing unit, And a controller for controlling the communication unit to determine one or more neighboring robots to transmit and receive the partitioning information and the environment information.
The method according to claim 1,

Wherein the controller generates an initial partitioning map, which is divided into N by using the position of the fixed object of the space stored in the map storage unit, the width of the space, and the number N of robots to work in the space as input values, Robot working.
The method according to claim 1,

Wherein the neighboring robot is a robot assigned a partitioning area adjacent to the partitioning area allocated to the robot,

Wherein the controller transmits and receives environment information to and from the neighboring robot to generate a re-partitioning map.
The method according to claim 1,

The robot is a hub robot,

Wherein the communication unit receives the environment information from the neighboring robot or the neighboring robot of the neighboring robot,

Wherein the control unit generates a redistribution map to be allocated to the neighboring robots based on the received environment information and then controls the communication unit to transmit information on the partitioning area directly or indirectly to the neighboring robots, Split - A robot that works.
The method according to claim 1,

Wherein the control unit is operable to control the position of the fixed object in the space stored in the map storage unit, the environmental information, and the number of robots to be operated in the space, A robot that creates a map, splits the space - works.
6. The method of claim 5,

Wherein the control unit calculates the working speed of the robot based on the cells that have performed the tasks of the neighboring robot and the robot in the environment information and generates a repartitioning map in which more areas are allocated to the robot having a high working speed, Split - A robot that works.
6. The method of claim 5,

Wherein the environment information further includes information on a workable time or workable area of the robot and the neighboring robot,

Wherein the control section generates a repartitioning map in which a robot having a larger value of the operable time or the workable area among the neighboring robot and the robot is assigned a more area to the robot.
Generating an initial partitioning map including a partitioning area of a plurality of robots in which the control unit of the robot will work in the space;

Moving the robot to a partitioning area assigned to the robot by a moving part of the robot;

Performing a task assigned to the robot in the partitioning area by a work unit of the robot;

Wherein the control unit generates at least one of an object not corresponding to a fixed object stored in a map storage unit of the robot and a space in which the robot has performed the operation among the objects sensed by the sensing unit of the robot as first environment information ;

The communication unit of the robot receiving second environmental information of the neighboring robot from at least one of the plurality of robots; And

Wherein the controller is configured to generate a redistribution map to be allocated to some or all of the plurality of robots using the first environment information and the second environment information, How to.
9. The method of claim 8,

The control unit may further include a step of generating an initial partitioning map partitioned into N by using the position of the fixed object of the space stored in the map storage unit, the width of the space, and the number N of robots to work in the space as input values , How the robot divides the space - work.
9. The method of claim 8,

Wherein the neighboring robot is a robot assigned a partitioning area adjacent to the partitioning area allocated to the robot,

Wherein the controller further comprises transmitting and receiving environment information to and from the neighboring robot to generate a re-partitioning map.
9. The method of claim 8,

The robot is a hub robot,

Wherein the communication unit further comprises receiving the environment information from the neighboring robot or the neighboring robot of the neighboring robot,

Wherein the controller generates a redistribution map to be allocated to the neighboring robots based on the received environment information and then controls the communication unit to transmit information on the partitioning area directly or indirectly to the neighboring robots Further included is how the robot divides the space - work.
9. The method of claim 8,

Wherein the control unit is operable to control the position of the fixed object in the space stored in the map storage unit, the environmental information, and the number of robots to be operated in the space, And generating a map, wherein the robot divides the space.
13. The method of claim 12,

Wherein the control unit calculates the operation speed of the robot based on the cells that have performed the tasks of the neighboring robot and the robot in the environment information and generates a repartitioning map in which more areas are allocated to the robot having a higher operation speed Further included is how the robot divides the space - work.
13. The method of claim 12,

Wherein the environment information further includes information on a workable time or workable area of the robot and the neighboring robot,

Wherein the control unit further comprises a step of the robot generating a redistribution map to which a more area is assigned to the robot having the larger value of the operable time or the operable area of the neighboring robot and the robot, How to work.