WO2024106728A1 - Robot-friendly building, and method and system for controlling robot traveling in building - Google Patents

Abstract

The present invention relates to a robot-friendly building, and a method and system for controlling a robot traveling in the building, the system comprising: a remote adapter communicatively connected to a local adapter provided in the robot; and a function management unit which is connected to the remote adapter and assigns a remote function required by the robot to the robot on the basis of a request of the remote adapter. The remote adapter can transmit robot data received from the robot to the remote function and transmit, to the local adapter, robot control information processed by the remote function on the basis of the robot data.

Description

Robot-friendly building, method and system for controlling robots driving around the building

The present invention relates to a remote robot control system that can be applied to robot-friendly buildings. More specifically, the present invention relates to a robot control method and system that can dynamically allocate resources to robots when necessary when controlling a plurality of robots located in a robot-friendly building.

Furthermore, the present invention relates to a robot-friendly building and a control method and system for a robot traveling 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.

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, with the development of service robots, the range of services that robots can provide is gradually increasing. Accordingly, research on using robots for various purposes has been actively conducted recently.

Republic of Korea Patent Publication No. 10-2019-0098734 states that there is a technology for embedding robot functions suitable for the purpose inside the robot, but this requires many calculations to be performed on the robot itself, and the purpose of the robot depends on the embedded functions. is limited

Accordingly, there is a need for technology that can lighten robots, expand robot functions, and control multiple robots flexibly and efficiently.

The present invention provides a control method and system for a robot that can remotely control a lightweight robot.

In particular, the present invention is intended to provide a robot control method and system that can perform data processing related to the function of the robot to control the robot.

More specifically, the present invention is intended to provide a robot control method and system that can determine the functions required for a robot according to the situation and dynamically allocate resources for data processing for the determined functions.

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.

In order to achieve the above-described object, the robot control system according to the present invention includes a remote adapter that is communicatively connected to a local adapter provided in the robot and is connected to the remote adapter, and the remote adapter Based on a request, it includes a function management unit that assigns a remote function required by the robot to the robot, and the remote adapter transfers robot data received from the robot to the remote function, and based on the robot data Thus, the robot control information processed in the remote function can be transmitted to the local adapter.

Furthermore, the control method of the robot control system according to the present invention includes the steps of communicating with a local adapter provided in the robot, and executing the remote function required for the robot based on a request from the remote adapter. Assigning to a robot, transmitting robot data received from the robot to the remote function, generating robot control information using the robot data in the remote function, and generating robot control information in the remote function based on the robot data. It may include transmitting the processed robot control information to the local adapter.

Furthermore, the program according to the present invention is a program that is executed by one or more processes in an electronic device and stored in a computer-readable recording medium, which includes the steps of being communicatively connected to a local adapter provided in the robot; Based on a request from the remote adapter, assigning a remote function required by the robot to the robot, transferring robot data received from the robot to the remote function, and using the robot data in the remote function It may include instructions for generating robot control information and transmitting robot control information processed in the remote function based on the robot data to the local adapter.

The method and system for controlling a building and a robot traveling through a building according to the present invention are based on a remote adapter that is communicatively connected to a local adapter provided in the robot and a request from the remote adapter, By including a function management unit that assigns the remote functions required by the robot to the robot, a dynamic control structure that can control a plurality of robots without being dependent on any one of the plurality of robots running in the building is proposed.

Furthermore, the method and system for controlling a building and a robot traveling through the building according to the present invention transmits robot control information processed from remote functions required by the robot based on robot data to the local adapter, providing resources for the function to the robot. By extending this non-embedded function, remote control of the robot can be performed.

Furthermore, the building, the method and system for controlling a robot traveling in a building according to the present invention is flexible with respect to the incorporation of a new robot and the release of an existing robot through a dynamic control structure for a plurality of robots traveling in the building, and a plurality of robots are Robots can be controlled fluidly, systematically, and efficiently.

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, 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.

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 illustrating a method for 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 control system and method for controlling a robot running in a building.

Figure 13 is a conceptual diagram for explaining the robot control system according to the present invention.

Figure 14 is a conceptual diagram for explaining the expansion of the robot control system according to the present invention.

Figure 15 is a flowchart for explaining the robot control method according to the present invention.

Figures 16a, 16b, 16c, 16d, and 16e are conceptual diagrams for explaining remote function management for robot control.

FIGS. 17A and 17B are conceptual diagrams for explaining remote function management for robot travel control.

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, it allows robots to drive, provides services to robots, or has facility infrastructure that robots can use. , 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 humans is given the reference numeral “U”, and a person or humans 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.

On the other hand, 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, 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 server 20 is collectively named “cloud server” and is 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 performs monitoring on i) a plurality of robots (R) located in the building 1000, ii) assigns a mission (or task) to the plurality of robots, and iii) a plurality of robots. In order for the robot R to successfully perform its 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 description 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, and as shown in (b) of FIG. 1, the robot R operates in a building ( 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 traveling within the building through the process of (a) to (c) of Figure 1 is configured to provide services to people or target objects present within the building, as shown in (d) of Figure 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, and all

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

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, Figure 12 is a conceptual diagram for explaining a robot control system and method for controlling a lightweight robot. In the present invention, the robot control system may also be named “server,” “robot control server,” “cloud server,” or “brainless server.” These servers can perform all functions of the robot control system.

As shown in (b) of FIG. 12, the present invention performs processing of various functions (“Function 1 to 3”) for performing tasks in the robot (R) in the robot control system, so that a plurality of robots (R1) , R2, and R3) and a control system 1300 that performs remote control.

Here, “function” refers to the task, movement, operation, or part of the robot, and may vary depending on the task assigned to the robot (R) or the situation of the robot (R).

For example, if the task assigned to the robot (R) is “delivery”, the function of the robot (R) may be “driving”, and “object delivery motion” may correspond to the function of the robot (R). .

In addition, "positioning", "movement planning", "route setting", "driving mode setting", "obstacle avoidance", and "operation of the moving part of the robot (R)" required for the "driving" function are performed in the "driving" function. It may correspond to a “robot’s sub-function”.

As such, the functions of the robot described in the present invention may be very diverse in type and scope. Accordingly, hereinafter, the type and scope of tasks, movements, operations, or parts thereof of the robot R will not be distinguished, and all of them will be described as “functions,” “robot functions,” or “unit functions.”

As shown in (b) of FIG. 12, the control system 1300 according to the present invention directly performs data processing for various functions (ex: “Function 1 to 3”), and operates a plurality of robots (R1, By remotely controlling (R2, R3), the robot (R) can be controlled to perform various tasks even if the robot (R) does not have a processing unit (or calculation unit) to perform various functions.

The “robot (R)” described in the present invention may be a robot (R) that does not have resources for a specific function embedded within the robot (R) itself, and this specific function is performed by the control system (1300) is performed, and a control command according to the performed result or the performed result may be transmitted to the robot (R).

That is, in the control system 1300 according to the present invention, as shown in (a) of FIG. 12, functions (ex: “Function 1 to 3”) are executed inside each of the robots (R1, R2, and R3). Even if the resources 1210 to 1230 are not embedded, the robot R can be controlled to implement the same functions as the robot R in which the resources are embedded.

Therefore, in the present invention, the role of the robot (R) can be expanded by controlling the robot (R) to perform various functions rather than being limited to a specific unit function with resources embedded within the robot (R).

Furthermore, in controlling a plurality of robots (R1, R2, R3), the control system 1300 according to the present invention performs functions for the plurality of robots (R1, R2, R3) simultaneously and temporarily. By allocating resources so that flexible data processing can be achieved without being dependent on a specific robot (R).

In other words, the control system 1300 according to the present invention dynamically generates functions according to the situations of a plurality of robots (R1, R2, and R3) and performs the created functions, rather than allocating resources dependently on specific resources. You can allocate resources (ex: resources, memory, etc.) to do this.

“Resources” described in the present invention can be understood as a general term for the mechanisms or functions of a computer system or operating system used for the execution and operation of software. These resources may include memory resources, computational resources, timer resources, control program resources, etc.

In the present invention, “resources” can be used interchangeably with “computing resources.” In the present invention, for convenience of explanation, “memory resources” may be used as an example, but this is naturally understood to mean computing resources and not limited to memory resources.

Hereinafter, the control system 1300 having a dynamic structure will be described in more detail along with the attached drawings. Figure 13 is a conceptual diagram for explaining the robot control system according to the present invention. Figure 14 is a conceptual diagram for explaining the expansion of the robot control system according to the present invention, Figure 15 is a flow chart for explaining the robot control method according to the present invention, Figures 16a, 16b, 16c, 16d and 16e are conceptual diagrams for explaining function management for robot control, and FIGS. 17A and 17B are conceptual diagrams for explaining function management for robot travel control.

As shown in FIG. 13, the control system 1300 according to the present invention includes a remote adapter unit 1310, a function management unit 1320, a messaging unit (or message unit, 1330), a map information storage unit 1340, It may include at least one of a positioning unit 1350 and a motion plan unit 1360.

Meanwhile, as shown in FIG. 14, the control system 1300' according to the present invention is a real-time robot control system (1300a, ex: edge server) that performs real-time control of the robot and data-based control of the robot. It may include at least one of the data-based robot control systems 1300b that perform control.

For example, the real-time robot control system 1300a may be an edge server (Edge Sever), and the data-based robot control system 1300b may be a cloud server (Cloud Sever).

In each of the real-time robot control system 1300a and the data-based robot control system 1300b, control of the robot can be performed using the configurations described below. Hereinafter, for convenience of explanation, the real-time robot control system 1300a and the data-based robot control system 1300b will not be distinguished, and the control system 1300 according to the present invention will be described with reference to FIG. 13.

The remote adapter unit 1310 communicates with at least one of the plurality of robots R1, R2, and R3, and may include a plurality of remote adapters 1311, 1312, and 1313.

The plurality of remote adapters 1311, 1312, and 1313 are configured to be one-to-one matched with the plurality of robots (R1, R2, and R3), or randomly communicate with at least one of the plurality of robots (R1, R2, and R3) depending on the situation. It can be connected negatively.

Each of the plurality of remote adapters 1311, 1312, and 1313 is a series for controlling the robot (R) according to the functions required by the robot (R) in order to perform the mission assigned to the robot (R) connected to communication. The procedure can be performed.

In the present invention, each of the plurality of remote adapters 1311, 1312, and 1313 may function as a coordinator to control the communicationally connected robot R to perform a task assigned to the robot R.

Hereinafter, for convenience of explanation, the first remote adapter 1311 is connected to the first robot (R) so that the first robot (R1) is communicatively connected to perform the task assigned to the first robot (R). A series of procedures performed to control will be explained using an example.

In the present invention, the contents described using the first remote adapter 1311 and the first robot R1 as an example may be applicable to a plurality of other remote adapters and a robot communicatively connected to the plurality of other remote adapters. . And, of course, the term "first remote adapter 1311" can be used interchangeably with "remote adapter", and the term "first robot" can be used interchangeably with robot.

In the present invention, a process in which a local adapter and a remote adapter provided in the robot are communicatively connected can be performed (S1510, see FIG. 15). The first remote adapter 1311 may receive robot data of the first robot R1 from the first robot R1 that is communicatively connected to it.

Here, “robot data” can be understood as various information related to the robot (R). For example, robot data includes i) robot identification information (robot ID, serial number, mission information assigned to the robot, etc.), ii) robot status information (ex: battery status information, driving status information, etc.), and iii) It may include at least one of sensing information (ex: image information) sensed (or collected) by a sensing module (ex: camera) provided in the robot.

The first remote adapter 1311 receives robot data from a local adapter (A1) provided in the first robot (R1), or receives robot data through a link unit (see reference numeral 1370 in FIG. 13). can do.

Here, the link unit 1370 may be understood as serving as a conduit for communicating information (data) by connecting the first remote adapter 1311 and the first robot R1.

When the link unit 1370 receives robot data of the first robot (R1) from the local adapter (A1) of the first robot (R1) that is communicatively connected to the first remote adapter (1311), the first robot (R1) ) Based on the information (ex: identification information) included in the robot data, the robot data of the first robot (R1) is transmitted to the first remote adapter 1311 among the plurality of remote adapters 1311, 1312, and 1313 ( delivery) can be done.

Furthermore, when the link unit 1370 receives robot control information for controlling a robot from the first remote adapter 1311, the link unit 1370 selects one of the plurality of robots (R1, R2, and R3) based on the received robot control information. The robot control information can be transmitted (delivered) through one local adapter.

This link unit 1370 includes reference information (or rules) for communicatively connecting any one of the plurality of remote adapters 1311, 1312, and 1313 and any one of the plurality of robots (R1, R2, and R3). Based on this, information (data) can be transmitted (delivered).

Specifically, the link unit 1370 may be communicatively connected to local adapters (A1, A2, A3) provided in each of the plurality of robots (R1, R2, and R3).

The link unit 1370 connects specific robot data to the local adapter of the specific robot among the robot data received from the local adapters (A1, A2, A3) provided in each of the plurality of robots (R1, R2, R3). It can be forwarded to a specific connected remote adapter.

Hereinafter, for convenience of explanation, it will be described that information is transmitted between the first remote adapter 1311 and the first robot R1, but this may be accomplished through the link unit 1370.

Meanwhile, the first remote adapter 1311 provides remote functions required by the first robot (R1) in order to perform the mission assigned to the first robot (R1) based on the robot data of the first robot (R1). can be specified.

When the tasks assigned to the first robot R1 are different, the first remote adapter 1311 may specify different remote functions required for the first robot R1.

Specifically, when the mission assigned to the first robot R1 is “object delivery,” the first remote adapter 1311 may specify the function required for object delivery as a remote function.

On the other hand, when the task assigned to the first robot R1 is “food serving,” the first remote adapter 1311 may specify the function required for serving food as a remote function.

Furthermore, when the robot data of the first robot R1 is different, the first remote adapter 1311 may specify remote functions required for the first robot R1 differently.

Specifically, when the robot data of the first robot (R1) includes “image information in which a narrow hallway was captured,” the first remote adapter 1311 provides functions necessary for driving in a “narrow hallway” as a remote function. It can be specified.

In contrast, the first remote adapter 1311 is necessary for driving in a “large space” when the robot data of the first robot R1 includes “image information in which a large space (lobby) is captured.” A function can be specified as a remote function.

That is, the first remote adapter 1311 is assigned to the first robot (R1) at least one of a plurality of remote functions corresponding to different driving modes, based on the robot data of the first robot (R1). It can be specified as a remote function required to perform the mission. For example, as shown in FIG. 16A, the first remote adapter 1311 performs the first remote function (F1) and the second remote function (F2) and tasks assigned to the first robot (R1). It can be specified by the remote function required to do so.

Meanwhile, the first remote adapter 1311 refers to matching information (or reference information) predefined in the database and performs at least one remote function corresponding to robot data of the first robot R1 among a plurality of remote functions. Functions can be specified.

In the matching information existing in the database, different remote functions may be matched for each mission and robot data assigned to the first robot R1.

For example, in the matching information, if the task assigned to the first robot (R1) is “object delivery,” the remote functions required to perform “object delivery” may be matched for each of the plurality of robot data. .

For another example, in the matching information, if the task assigned to the first robot (R1) is “food serving,” remote functions required to perform “food serving” may be matched for each of the plurality of robot data. there is.

Meanwhile, in the remote adapter, the role of specifying the functions required for the robot is not performed by the remote adapter itself, but by the control system 1300 according to the present invention, or by a control unit (not shown) included in the control system 1300. Of course, this can be accomplished.

The first remote adapter 1311 requests a remote function assignment to assign a remote function specified to the function management unit (see reference numeral 1320 in FIG. 13) to the robot so that the specified remote function is assigned to the first robot R1. can be transmitted.

In this case, when there are multiple remote functions specified in the first remote adapter 1311, the first remote adapter 1311 provides a plurality of remote functions to the function management unit 1320 (see reference numerals F1 and F2 in FIG. 16A). A remote function allocation request may be transmitted to assign each to the first robot R1.

Furthermore, the first remote adapter 1311 may request the function management unit 1320 to allocate a remote function in response to a time when a remote function is required.

Each of the first remote function (F1) and the second remote function (F2) may be required at different first and second times.

The first remote adapter 1311 may request the function management unit 1320 to assign a first remote function in response to a first time point. Additionally, the first remote adapter 1311 may request the function management unit 1320 to assign a second remote function in response to the second time point.

In this case, the second time may correspond to the time when the function (ex: driving) corresponding to the first remote function ends.

In response to the second time point, the first remote adapter 1311 assigns the second remote function to the function management unit 1320 when the function (ex: driving) corresponding to the first remote function in the robot is terminated. Together, it is possible to request release of the allocation of the first remote function.

In this way, the first remote adapter 1311 requests the function management unit 1320 to allocate a remote function to correspond to an appropriate time when the remote function is needed in the first robot (R1), thereby saving resources for the first robot (R1). In addition to efficient distribution, it is possible to ensure that the functions required for the first robot (R1) are organically assigned.

Meanwhile, in the present invention, a process of assigning a remote function required by the robot to the robot may be performed based on a request from the remote adapter (S1520, see FIG. 15).

The function management unit 1320 is connected to the first remote adapter 1311 and serves to assign remote functions required by the first robot to the first robot (R1) based on the request of the first remote adapter 1311. can be performed.

Specifically, the function management unit 1320 may control the remote function so that the specified remote function is assigned to the first robot R1 based on the remote function allocation request received from the first remote adapter 1311. .

In the present invention, “assigning a remote function to the first robot” can be understood as allocating resources (memory or resources) so that data processing related to the first robot can be performed in the remote function.

And, the “remote function” can be understood as an application that performs data processing for the remote function, which may be processed by a processor or a central processing unit (CPU). In the present invention, “remote function” can be used interchangeably with “remote function unit.”

Meanwhile, the function management unit 1320, when receiving a plurality of remote function allocation requests from the first remote adapter 1311, can perform data processing related to the first robot (R1) in each of the plurality of remote functions, Resources can be allocated.

For example, as shown in FIG. 16A, the function management unit 1320 provides the first remote function (F1) and the first remote function (F1) to the first robot (R1) based on the remote function allocation request of the first remote adapter (1311). A related resource 1321 and a resource 1322 related to the second remote function (F2) may be allocated, respectively.

Meanwhile, in the present invention, a process of transmitting robot data received from the robot to the remote function may be performed (S1530, see FIG. 15).

The first remote adapter 1311 may transmit robot data of the first robot R1 to the remote function based on the remote function being assigned to the first robot R1 by the function management unit 1320. .

In this case, the first remote adapter 1311 may transmit robot data of the first robot R1 to the remote function through the messaging unit 1330.

The messaging unit 1330 is connected to the first remote adapter 1311 and the remote function, and may serve as a passage connecting the first remote adapter 1311 and the remote function.

When the messaging unit 1330 receives robot data of the first robot (R1) from the first remote adapter 1311, the messaging unit 1330 transmits the robot data of the first robot (R1) using the remote function assigned to the first robot (R1). It can be transmitted (delivered).

When a plurality of remote functions (F1, F2) are assigned to the first robot (R1), the messaging unit 1330 transmits robot data of the first robot (R1) to each of the plurality of remote functions (F1, F2). (transfer) can be performed (see Figure 16a).

Meanwhile, in the present invention, a process of generating robot control information using the robot data in the remote function may be performed (S1540, see FIG. 15).

In the remote function, data processing according to the remote function may be performed using robot data of the first robot R1, and robot control information according to the data processing may be generated (calculated).

At this time, the robot control information generated from the remote function can be understood as robot control information (control command) that causes the first robot R1 to perform a function corresponding to the remote function.

Additionally, when a plurality of remote functions are assigned to the first robot R1, data processing according to each remote function may be performed in each of the plurality of remote functions to generate (calculate) robot control information.

For example, as shown in FIG. 16A, when the first remote function (F1) and the second remote function (F2) are respectively assigned to the first robot (R1), the first remote function (F1) First robot control information can be generated by performing data processing according to the remote function, and in the second remote function (F2), data processing according to the second remote function (F2) can be performed to generate second robot control information. .

Meanwhile, in the present invention, a process of transmitting robot control information processed in the remote function to the local adapter based on the robot data may be performed (S1550, see FIG. 15).

The first remote adapter 1311 transmits (transmits) robot control information processed in the remote function to the local adapter A1 provided in the first robot R1, based on the robot data of the first robot R1. )can do.

In the remote function, processed robot control information can be transmitted to the messaging unit 1330. The messaging unit 1330 may transmit the robot control information transmitted from the remote function to the first remote adapter 1311 that is communicatively connected to the first robot (R1) to which the remote function is assigned.

When the robot control information processed in the remote function is transmitted through the messaging unit 1330, the first remote adapter 1311 sends the robot control information to the local adapter A1 provided in the first robot R1. It can be delivered.

In this case, the first remote adapter 1311 can transmit robot control information to the local adapter (A1) provided in the first robot (R1) through the link unit (reference numeral 1370 in FIG. 13) described above. .

The link unit 1370 is connected to the local adapter (A1) of the first robot (R1) that is communicatively connected to the first remote adapter (1311) based on receiving robot control information from the first remote adapter (1311). Robot control information can be transmitted.

Hereinafter, for convenience of explanation, it will be explained that robot control information is transmitted from the first remote adapter 1311 to the local adapter (A1) provided in the first robot (R1), but this uses the link unit (1370). It is natural that this can be achieved.

Meanwhile, when the first robot R1 receives robot control information from the first remote adapter 1311, it can perform a remote function according to the robot control information.

In this way, the first robot (R1) can expand and perform specific functions for which resources are not embedded within the first robot (R1).

Meanwhile, the control system 1300 according to the present invention may have a dynamic structure in which a specific remote function is not dependent on a specific robot among the plurality of robots (R1, R2, and R3) traveling in the building.

To this end, the remote function in the present invention may correspond to a function for controlling the movement of robots running in a building. In addition, in the remote function, robot control information for the driving of different robots can be generated depending on which robot among the robots running in the building is assigned the remote function.

Specifically, the first robot (R1) and the second robot (R2), which is different from the first robot (R1), may each require a remote function in order to drive (or perform assigned tasks) in the building.

Each of the first remote adapter 1311 and the second remote adapter 1312 can specify remote functions required for the first robot (R1) and the second robot (R2). Additionally, each of the first remote adapter 1311 and the second remote adapter 1312 may request allocation of a specific remote function from the function management unit 1320.

The function management unit 1320 provides remote functions to each of the first robot (R1) and the second robot (R2) based on the remote function allocation request from each of the first remote adapter 1311 and the second remote adapter 1312. Functions can be assigned.

As shown in FIG. 16A, the function management unit 1320 configures the first remote function F2 to perform data processing for the first robot R1 based on a request from the first remote adapter 1311. A first resource 1322 corresponding to a part of the remote function F2 may be allocated to the robot R1.

And, as shown in Figure 16b, the function management unit 1320, based on the request of the second remote adapter 1312, performs data processing for the second robot (R2) in the remote function (F2), A second resource 1323 of the remote function F2, which is different from the first resource 1322, may be assigned to the second robot R2.

In the remote function (F2), data processing according to the remote function is performed based on the first resource 1311 to generate first robot control information that allows the first robot (R1) to perform the function corresponding to the remote function. can do.

And, in the remote function (F2), data processing according to the remote function is performed based on the second resource 1312, and second robot control information that allows the second robot (R2) to perform the function corresponding to the remote function can be created.

In this case, the first robot control information and the second robot control information may include different information.

Meanwhile, the function management unit 1320, when the operation according to the remote function (F2) is terminated in at least one of the first robot (R1) and the second robot (R2), the first resource 1322 and the second resource ( 1323), resources allocated to the at least one robot may be deallocated so that the resources allocated to the at least one robot can be used by other robots.

As shown in Figure 16c, the function management unit 1320, when the operation according to the remote function (F2) in the second robot (R2) is terminated, the second resource 1323 allocated to the second robot (R2) can be deallocated.

Here, “de-allocating resources” can be understood as changing the state of resources allocated to a specific robot to a state where they are no longer allocated to the specific robot.

And as shown in FIG. 16D, the function management unit 1320 may reallocate the de-allocated second resource to a third robot (R3) different from the second robot (R2).

In other words, the control system 1300 according to the present invention temporarily allocates remote function resources to a specific robot, so that the remote function is not dependent on a specific robot and can be used dynamically by a plurality of robots (R1, R2, and R3). We are suggesting a way to make it happen.

Furthermore, the control system 1300 according to the present invention can dynamically manage resources so that, when a remote function is not executed, the resources allocated to the remote function are deleted and the resource is used for the execution of another remote function. there is.

As described above, “resources” described in the present invention can be understood as a general term for the mechanisms or functions of a computer system or operating system used for the execution and operation of software. These resources may include memory resources, computational resources, timer resources, control program resources, etc.

In the present invention, “resources” can be used interchangeably with “computing resources.” In the present invention, for convenience of explanation, “memory resources” may be used as an example, but this is naturally understood to mean computing resources and not limited to memory resources.

As shown in FIG. 16E, for the remote function F2, a de-allocation request is received for both the first resource 1322 and the second resource 1323, and the resources allocated to the remote function for other robots are received. If it does not exist, the resource 1600 for the remote function (F2) can be deleted.

Here, “resource deletion” can be understood as returning resources allocated for data processing according to a remote function, for example, returning a memory space or computational space previously allocated to a remote function.

The first remote adapter 1311 may receive robot data of the first robot (R1) from the local adapter (A1) of the first robot (R) to which the first robot (R) is communicatively connected.

Here, “robot data” can be understood as various information related to the robot (R). For example, robot data includes i) robot identification information (robot ID, serial number, mission information assigned to the robot, etc.), ii) robot status information (ex: battery status information, driving status information, etc.), and iii) It may include at least one of sensing information (ex: image information) sensed (or collected) by a sensing module (ex: camera) provided in the robot.

The first remote adapter 1311 is configured to, based on the received robot data of the first robot R, at least one device required by the first robot R1 to perform the task assigned to the first robot R1. Functions can be specified.

For example, the first remote adapter 1311 performs a “positioning” function, a “movement path setting” function, and a “driving mode setting function” for the “delivery” mission, based on the robot data of the first robot R1. can be specified as a remote function necessary for controlling the first robot (R1).

The remote function may be specified in various ways based on the mission assigned to the first robot R1 and the robot data of the first robot R1.

For example, in the first remote adapter 1311, based on the robot data of the first robot R1 to which the “delivery” task is assigned, each type of space in which the first robot R1 runs (or is located) Different driving operation functions can be specified as remote functions.

Specifically, if the space in which the first robot R1 travels is a “first space (large space, for example, lobby),” the first remote adapter 1311 corresponds to the first driving mode. A function (ex: obstacle avoidance function) can be specified as a remote function.

Furthermore, if the space in which the first robot R1 travels is a “second space (narrow hallway space),” the first remote adapter 1311 provides functions corresponding to the second driving mode (ex: minimizing avoidance movement and , driving mode that moves along the wall in a position close to the wall) can be specified with a remote function.

Furthermore, if the space in which the first robot R1 runs is a “third space (building facility space (elevator, door, gate)”, the first remote adapter 1311 Driving mode functions (ex: driving mode that moves according to a set motion to use building facilities) can be specified as a remote function.

The first remote adapter 1311 may specify a function corresponding to robot data of the first robot R1 as a remote function by referring to matching information predefined in a database.

In the database, matching information for each of a plurality of robots (R1, R2, and R3) may exist. The first remote adapter 1311 may refer to matching information of the first robot R1 from a database and specify a specific function corresponding to specific robot data of the first robot as a remote function.

Furthermore, the first remote adapter 1311 may transmit a request to the function management unit 1320 to assign a remote function to the first robot so that the remote function corresponding to the specified function is assigned to the first robot (R). there is.

The function management unit 1320 may control a specified remote function to be assigned to the first robot R1 based on a remote function allocation request received from the first remote adapter 1311.

Specifically, the function management unit 1320 may allocate resources (resources or memory) related to a specified remote function to the first robot R1.

The first remote adapter 1311 may be connected (or associated) with a specified remote function based on the specified remote function being assigned to the first robot R1.

Furthermore, the first remote adapter 1311 converts the robot data of the first robot (R1) into a connected remote function to calculate robot control information related to a specified remote function based on the robot data of the first robot (R). It can be delivered.

In the remote function, data processing according to the remote function may be performed based on robot data of the first robot R1 transmitted from the first remote adapter 1311.

And, in the remote function, a robot (R) control command that allows the first robot (R1) to perform the function corresponding to the remote function can be calculated through data processing.

The first remote adapter 1311 transmits a robot control command calculated based on the robot data of the first robot R1 in the remote function to the first robot R, thereby controlling the first robot R1. can be controlled remotely.

In this case, the first remote adapter 1311 may transmit a robot control command to the first local adapter (A1) of the first robot (R1).

Meanwhile, when connection with the remote function is no longer required, the first remote adapter 1311 may request the function management unit 1320 to disconnect from the remote function.

The function management unit 1320 may terminate (or release) the allocation of the remote function assigned to the first robot R based on a request from the first remote adapter 1311.

The first remote adapter 1311 may be disconnected (or terminated) from a previously connected remote function based on the allocation of a remote function previously assigned to the first robot (R) being released (or terminated). .

In the present invention, it can be explained that the connection between the first remote adapter 1311 and the remote function is released based on the termination of the allocation of the remote function previously assigned to the first robot (R).

Meanwhile, each of the plurality of remote adapters 1311, 1312, and 1313 uses the matched robots (R1, R2, and R3) based on the data processing results performed by the data processing result function management unit 1320 for the connected remote function. You can create control commands for control.

And, each of the plurality of remote adapters 1311, 1312, and 1313 may transmit the generated control command to the local adapters A1, A2, and A3 of the matched robots R1, R2, and R3.

The first remote adapter 1311 generates a control command for the first robot (R1) based on a data processing result for at least one unit function specified based on robot information of the first robot (R1). By transmitting the data to the first local adapter (A1) of the first robot (R1), the first robot (R1) can be remotely controlled.

In addition, the second remote adapter 2322 provides a control command to the second robot (R2) based on a data processing result for at least one unit function specified based on robot information of the second robot (R2). By generating and transmitting to the second local adapter (A2) of the second robot (R2), the second robot (R2) can be remotely controlled.

For example, assume that the first remote adapter 1311 is dynamically connected to the first remote function (F1) and the second remote function. The first remote adapter 1311 transmits a control command corresponding to data processing related to the first remote function (F1) and the second remote function (F2) to the first communicationally connected robot (R1), 1 The robot (R1) can be controlled. In this case, the first remote adapter 1311 may transmit a control command to the first local adapter A1 of the first robot R1.

As another example, assume that the second remote adapter 1312 is dynamically connected to the second remote function (F2) and the third remote function (F3). The second remote adapter 1312 may transmit control commands corresponding to data processing related to the second remote function (F2) and the third remote function (F3) to the second robot (R2) that is communicatively connected. In this case, the second remote adapter 1312 may transmit a control command to the second local adapter A2 of the second robot R2.

That is, each of the plurality of remote adapters 1311, 1312, and 1313 coordinates functions (remote Function specification, remote function assignment, control command transmission, linkage with and release from robots) can be performed.

Hereinafter, a method for dynamically allocating resources in the function management unit 1320 will be described in more detail.

The function management unit 1320 communicates with a specific adapter among the plurality of remote adapters 1311, 1312, and 1313, based on at least one remote function being specified to control the robot R that is communicatively connected to the specific adapter. Resources related to a specific remote function can be allocated to a specific connected robot (R).

Additionally, the function management unit 1320 may perform data processing related to a remote function specified for a specific robot (R) using resources allocated to the specific robot (R).

For example, assume that in the first remote adapter 1311, a first remote function (F1) and a second remote function (F2) are specified to control the first robot (R1).

As shown in FIG. 16A, the function management unit 1320 operates the first remote function (F1) and the second remote function (F2) in the first remote adapter 1311 to control the first robot (R1). ), the resource 1321 related to the first remote function and the resource 1322 related to the second remote function may be allocated to the first robot R1.

The function management unit 1320 processes data related to the first remote function (F1) for the first robot (R1) using the resources 1321 related to the first remote function allocated to the first robot (R1). can be performed. And, the function management unit 1320 uses the resources 1322 related to the second remote function allocated to the first robot (R1) to obtain data related to the second remote function (F2) to the first robot (R1). Processing can be performed.

Meanwhile, the function management unit 1320 may simultaneously allocate resources to each of the plurality of robots (R1, R2, and R3) and simultaneously perform data processing for each of the plurality of robots (R1, R2, and R3).

For example, in the second remote adapter 1312, which is different from the first remote adapter 1311, a second remote function (F2) and a third remote function (F3) are used to control the second robot (R). Let's assume it has been specified.

As shown in Figure 16b, the function management unit 1320, in the second remote adapter 1312, uses a second remote function (F2) and a third remote function (F3) to control the second robot (R2). ), the resource 1323 related to the second remote function and the resource 1324 related to the second remote function may be allocated to the second robot R2.

And, the function management unit 1320 is related to the second remote function (F2) for the second robot (R2) using the resource 1323 related to the second remote function allocated to the second robot (R2). Data processing can be performed. And, the function management unit 1320 uses the resource 1323 related to the third remote function allocated to the second robot (R2) to provide data related to the third remote function (F3) to the second robot (R2). Processing can be performed.

That is, in the present invention, resources are allocated to each of the first robot (R1) and the second robot (R2), and data for each of the first robot (R1) and the second robot (R2) is used using the allocated resources. Processing can be performed simultaneously.

Meanwhile, the function management unit 1320 determines that data processing related to a specific remote function for a specific robot (R) among a plurality of robots (R1, R2, R3) is terminated, and Allocation of resources can be terminated (or released).

Here, “terminating (or releasing) the allocation of resources already allocated to a specific robot (R)” means that the status of the resource that was allocated to a specific robot (R) is no longer allocated to a specific robot (R). It can be understood as changing to an unused state.

In the present invention, terminating (or canceling) the allocation of a specific resource pre-allocated to a specific robot (R) can be understood as terminating (or canceling) the association between the specific robot (R) and the pre-allocated resource.

In this case, the resource for which allocation is terminated may be a resource related to a specific remote function for which data processing has ended.

That is, when resources related to each of a plurality of remote functions are allocated to a specific robot (R), and data processing related to a specific remote function among the plurality of remote functions is terminated, the function management unit 1320 Allocation of related resources can be terminated.

For example, a resource 1323 related to a second remote function and a resource 1324 related to a third remote function were allocated to the second robot R2, and the second remote function to the second robot R2 ( During data processing related to F2) and data processing related to the third remote function (F3), assume that data processing related to the second remote function (F2) is terminated.

As shown in FIG. 16B, the function management unit 1320 pre-assigns data to the second robot R2 based on the end of data processing related to the second remote function F2 for the second robot R2. Allocation of resources 1323 related to the second remote function may be terminated. Additionally, the function management unit 1320 can maintain the allocation of resources 1324 related to the third remote function for which data processing has not yet been completed.

Furthermore, the function management unit 1320 reallocates the resources allocated to the specific robot (R) to another robot (R) based on the end of data processing related to the remote function specified for the specific robot (R). You can.

Resources reallocated to other robots (R) may be resources for which data processing has been completed among resources allocated to a specific robot (R).

Specifically, when all resources related to a specific remote function are allocated, the function management unit 1320 may designate a robot (R) that requires data processing for a specific remote function as a standby robot (R).

In addition, the function management unit 1320 controls the standby robot (R) waiting for resource allocation related to a specific remote function based on the end of data processing related to a specific remote function for the robot (R) to which resources have already been allocated. , the resources can be reallocated.

For example, while resources related to the second remote function are allocated to each of the first robot (R1) and the second robot (R2), the third robot (R3) waits for allocation related to the second remote function. Let's assume there is.

As shown in Figure 16d, the function management unit 1320, based on the end of data processing related to the second remote function for the second robot (R2), the second remote function assigned to the second robot (R2) The resource 1323 related to the function can be reallocated to the third robot (R3) corresponding to the standby robot (R).

Meanwhile, in the present invention, based on the robot data of each of the plurality of robots (R1, R2, and R3), each of the plurality of robots (R1, R2, and R3) operates in different driving modes for each type of space in which they are driven (or located). Thus, data processing related to functions corresponding to different driving modes may be performed.

In the database, remote functions corresponding to different driving modes may be matched for each type of space in which the robot R drives (or is located) and exist as matching information.

Specifically, in the first space (a large space, for example, a lobby), a “travel path setting function” and a remote function corresponding to the first driving mode (ex: a function for avoiding obstacles when driving) are matched. It can exist.

In addition, in the second space (ex: narrow hallway space), there is a "movement path setting function" and a remote function corresponding to the second driving mode (ex: to minimize evasive movements and to drive in a line in a position close to the wall. functions) may exist in a matching manner.

In addition, in the third space (ex: space for using building facilities (elevator, door, gate)), a remote function corresponding to the third driving mode (ex: operation determined for using building facilities) (function to move according to) may exist in matching.

Each of the plurality of remote adapters 1311, 1312, and 1313 determines the type of space in which the communicationally connected robots (R1, R2, and R3) run, based on the robot data of the communicationally connected robots (R1, R2, and R3). You can specify the corresponding remote function.

The function management unit 1320 provides resources related to the remote function specified for each of the communicationally connected robots (R1, R2, and R3) based on the remote function specified in each of the plurality of remote adapters 1311, 1312, and 1313. Can be assigned.

And, the function management unit 1320 uses the resources allocated to each of the communicationally connected robots (R1, R2, and R3) to perform remote functions specific to each of the communicationally connected robots (R1, R2, and R3). Data processing can be performed.

For example, as shown in FIG. 17A, assume that the first robot (R1) is running in the “corridor” and the second robot (R2) is running in the “space for using the elevator.”

The first remote adapter 1311 is a “mobile” communicatively connected to the “corridor” along which the first robot R1 is traveling, based on robot data received from the first local adapter A1 of the first robot R1. The “route setting function” and “corridor driving function” can be specified.

On the other hand, the second remote adapter 1312 communicates with the “elevator use space” where the second robot (R2) is traveling based on robot data received from the second local adapter (A2) of the second robot (R2). You can specify the connected “travel path setting function” and “elevator boarding function”.

As shown in FIG. 17B, the function management unit 1320 determines the resources 1710 related to the “travel path setting function” and the “corridor driving function” based on the unit results specified in the first remote adapter 1311. Resources 1730 may be allocated to the first robot R1 and data processing may be performed. And, based on the unit result specified in the second remote adapter 1312, the function management unit 1320 generates a resource 1720 related to the “travel path setting function” and a resource 1740 related to “elevator boarding” to the second remote adapter 1312. It can be assigned to the robot (R2) and data processing can be performed.

The first remote adapter 1311 is connected to the first robot R1 based on the data processing results of the “movement path setting function” and the data processing results of the “corridor driving function” for the first robot R1. You can create control commands for For example, the first remote adapter 1311 may generate a control command that causes the first robot R1 to move in a line along the wall of the hallway and then turn right at the end of the hallway.

And, the first remote adapter 1311 transmits the generated control command to the first local adapter (A1) of the first robot (R1) to control the running of the first robot (R1) according to the generated control command. You can.

On the other hand, the second remote adapter 1312 is based on the data processing results of the “movement path setting function” and the data processing results of the “elevator boarding function” for the second robot (R2) ( Control commands for R2) can be created. For example, the second remote adapter 1312 may generate a control command for the second robot R2 to move in front of the elevator and then board the elevator.

And, the second remote adapter 1312 transmits the generated control command to the second local adapter (A2) of the second robot (R2) to control the running of the second robot (R2) according to the generated control command. You can.

For example, in each of the plurality of remote adapters 1311, 1312, and 1313, the communicatively connected robots (R1, R2, and R3) are connected based on sensing information of the communicatively connected robots (R1, R2, and R3). If the driving space is a "first space (large space, e.g., lobby)", the first driving mode function (ex: obstacle avoidance driving mode) is performed on a communicationally connected robot (R1, R2, R3). It can be specified as a remote function required for control.

For another example, in each of the plurality of remote adapters 1311, 1312, and 1313, the communicatively connected robots (R1, R2, and R3) are connected based on sensing information of the communicatively connected robots (R1, R2, and R3). If this driving space is the "second space (narrow hallway space)", the second driving mode function (ex: driving mode that minimizes avoidance movement and moves in a line in a position close to the wall) is activated by a communicationally connected robot ( It can be specified as a remote function required to control R1, R2, R3).

For another example, in each of the plurality of remote adapters 1311, 1312, and 1313, based on sensing information of the communicatively connected robots (R1, R2, and R3), the communicatively connected robots (R1, R2, and R3) ), if the space in which it is driven is "a third space (building facility space (elevator, door, gate)", the third driving mode function (ex: moves according to the designated movement to use the building facility) (driving mode) can be specified as a remote function necessary for controlling the communicationally connected robots (R1, R2, R3).

The method and system for controlling a building and a robot traveling through a building according to the present invention are based on a remote adapter that is communicatively connected to a local adapter provided in the robot and a request from the remote adapter, By including a function management unit that assigns the remote functions required by the robot to the robot, a dynamic control structure that can control a plurality of robots without being dependent on any one of the plurality of robots running in the building is proposed.

Furthermore, the method and system for controlling a building and a robot traveling through the building according to the present invention transmits robot control information processed from remote functions required by the robot based on robot data to the local adapter, providing resources for the function to the robot. By extending this non-embedded function, remote control of the robot can be performed.

Furthermore, the building, the method and system for controlling a robot traveling in a building according to the present invention is flexible with respect to the incorporation of a new robot and the release of an existing robot through a dynamic control structure for a plurality of robots traveling in the building, and a plurality of robots are Robots can be controlled fluidly, systematically, and efficiently.

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 (15)

1. In the robot control system,

   A remote adapter communicatively connected to a local adapter provided in the robot; and

   A function management unit connected to the remote adapter and assigning remote functions required by the robot to the robot based on a request from the remote adapter,

   The remote adapter is,

   Transfer robot data received from the robot to the remote function,

   A robot control system characterized in that the robot control information processed by the remote function is transmitted to the local adapter based on the robot data.
2. According to paragraph 1,

   The remote adapter,

   Specifying the functions required for the robot to perform the mission assigned to the robot,

   Sending a request to the function management unit to assign the remote function to the robot so that the remote function corresponding to the specified function is assigned to the robot,

   The function management department,

   Based on the request received from the remote adapter, the robot control system controls the remote function so that the remote function is assigned to the robot.
3. According to paragraph 2,

   In the remote function,

   Based on the remote function being assigned to the robot,

   Perform data processing according to the remote function using robot data received from the robot,

   The robot control information according to the data processing results is transmitted to the robot to which the remote function is assigned,

   A robot control system characterized in that, in the robot, the remote function is performed according to the robot control information.
4. According to paragraph 3,

   The remote function corresponds to a function for controlling the movement of robots running in a building,

   In the remote function,

   A robot control system characterized in that it generates robot control information for driving different robots depending on which robot among the robots running in the building has been assigned the remote function.
5. According to clause 4,

   When the remote function is required for a first robot among the robots running in the building and a second robot different from the first robot,

   A first remote adapter communicatively connected to the local adapter of the first robot and a second remote adapter communicatively connected to the local adapter of the second robot each request allocation of the remote function from the function management unit,

   The function management unit allocates the first resource of the remote function to the first robot so that data processing for the first robot and the second robot is performed in the remote function, and the remote function to the second robot. A robot control system characterized in that each of the second resources is allocated.
6. According to clause 5,

   When the function management unit terminates an operation according to the remote function in at least one of the first robot and the second robot,

   A robot control system, characterized in that deallocating a resource allocated to the at least one robot among the first resource and the second resource so that the resource allocated to the at least one robot can be used by another robot.
7. According to clause 6,

   The function management department,

   If, for the remote function, a de-allocation request for both the first resource and the second resource is received, and there are no resources allocated to the remote function for another robot,

   A robot control system, characterized in that deleting resources for the remote function.
8. According to paragraph 1,

   It further includes a link unit that is communicatively connected to local adapters provided in each of a plurality of robots running in the building and receives robot data from the robots,

   The link part is,

   A robot control system characterized in that the robot data of a specific robot among the robot data received from the robots is transmitted to a specific remote adapter that is communicatively connected to the local adapter of the specific robot.
9. According to clause 8,

   The remote function includes a plurality of remote functions respectively corresponding to different driving modes,

   The remote adapter,

   Requesting the function management unit to assign at least one remote function required for driving of the robot among the plurality of remote functions,

   Based on the at least one remote function being assigned to the robot by the function management unit,

   A robot control system, characterized in that the robot data of the robot received through the link unit is transmitted to each of the at least one remote function.
10. According to clause 9,

    In order to control the driving of the robot, among the plurality of remote functions, when a first remote function and a second remote function are required at different first and second time points, respectively,

    The remote adapter,

    In response to the first time point, request allocation of the first remote function to the function management unit,

    In response to the second time point, request allocation of the second remote function to the function management unit,

    In response to the second time point, when the robot ends driving corresponding to the first remote function, the robot control system requests release of the allocation of the first remote function.
11. According to clause 10,

    Further comprising a messaging unit that receives the robot data from the remote adapter,

    The messaging unit,

    A robot control system, characterized in that among the plurality of remote functions, the robot data is transmitted to the first remote function or the second remote function assigned to the robot connected to the remote adapter.
12. According to clause 11,

    The messaging unit,

    Connected to a plurality of remote adapters that are each communicatively connected to the plurality of robots,

    A robot control system, wherein robot data received from the plurality of robots is transmitted to at least one of the plurality of remote functions based on remote functions requested from the plurality of remote adapters.
13. In the control method of the robot control system,

    Communicating with a local adapter provided in the robot;

    assigning a remote function required by the robot to the robot based on a request from a remote adapter;

    transmitting robot data received from the robot to the remote function;

    generating robot control information using the robot data in the remote function; and

    A control method of a robot control system comprising transmitting robot control information processed in the remote function to the local adapter based on the robot data.
14. A program that is executed by one or more processes in an electronic device and stored on a computer-readable recording medium,

    The above program is,

    Communicating with a local adapter provided in the robot;

    assigning a remote function required by the robot to the robot based on a request from a remote adapter;

    transmitting robot data received from the robot to the remote function;

    generating robot control information using the robot data in the remote function; and

    A program stored in a computer-readable recording medium, comprising instructions for transmitting robot control information processed in the remote function to the local adapter based on the robot data.
15. In a building where multiple robots provide services,

    The building is,

    It includes a communication unit that performs communication between the robots and the control server,

    The control server is,

    A remote adapter communicatively connected to a local adapter provided in the robot; and

    A function management unit connected to the remote adapter and assigning remote functions required by the robot to the robot based on a request from the remote adapter,

    The remote adapter,

    Transfer robot data received from the robot to the remote function,

    A building characterized in that robot control information processed in the remote function is transmitted to the local adapter based on the robot data.

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