WO2024106728A1 - Bâtiment adapté aux robots, et procédé et système de commande d'un robot qui se déplace dans un bâtiment - Google Patents

Bâtiment adapté aux robots, et procédé et système de commande d'un robot qui se déplace dans un bâtiment Download PDF

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Publication number
WO2024106728A1
WO2024106728A1 PCT/KR2023/014136 KR2023014136W WO2024106728A1 WO 2024106728 A1 WO2024106728 A1 WO 2024106728A1 KR 2023014136 W KR2023014136 W KR 2023014136W WO 2024106728 A1 WO2024106728 A1 WO 2024106728A1
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WIPO (PCT)
Prior art keywords
robot
remote
function
adapter
remote function
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PCT/KR2023/014136
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English (en)
Korean (ko)
Inventor
윤영환
박경식
길현석
김정은
김금성
차승인
최우영
이은표
Original Assignee
네이버랩스 주식회사
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Publication of WO2024106728A1 publication Critical patent/WO2024106728A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1689—Teleoperation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs

Definitions

  • 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.
  • 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.
  • robots have reached a level where they can safely coexist with humans in indoor spaces.
  • 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.
  • robots are providing navigation services in public places such as airports, stations, and department stores, and robots are providing serving services in restaurants.
  • delivery services are being provided in office spaces and communal living spaces, where robots deliver mail and parcels.
  • 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.
  • 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.
  • buildings or buildings
  • robots provide various services in the buildings. It is controlled to move around the indoor space and provide various services.
  • 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
  • the present invention provides a control method and system for a robot that can remotely control a lightweight robot.
  • 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.
  • 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.
  • 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. .
  • the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.
  • the robot control system 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
  • the robot control information processed in the remote function can be transmitted to the local adapter.
  • control method of the robot control system 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.
  • 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,
  • 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.
  • the method and system for controlling a building and a robot traveling through the building 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.
  • remote control of the robot can be performed.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the present invention provides a method of providing useful services to people using robots, robot-friendly infrastructure, and various systems that control them.
  • 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.
  • 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.
  • 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.
  • 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.
  • mobile facilities e.g., robot passageways, elevators, escalators, etc.
  • charging facilities e.g., communication facilities, cleaning facilities, and structures (e.g., stairs, etc.).
  • these facilities are referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and in some cases, the terms are used interchangeably.
  • 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.
  • 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.
  • 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.
  • 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.
  • robot friendly can be used to mean having an integrated solution for the coexistence of robots and people.
  • Figures 1, 2, and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention
  • Figures 4, 5, and 6 show a robot driving a robot-friendly building and a 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.
  • 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).
  • 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.
  • 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).
  • a person or humans is given the reference numeral “U”, and a person or humans can be named as a dynamic object.
  • 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).
  • 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.
  • 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.
  • 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).
  • the location of the server 20 may exist in various ways.
  • 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.
  • 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.
  • 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.
  • the server 20 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.
  • the robot R can be driven according to control commands.
  • the robot R can move its position or change its posture by changing its movement, and perform software updates.
  • 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.
  • cloud server can be variously changed to terms such as cloud robot system, cloud system, cloud robot control system, and cloud control system.
  • the cloud server 20 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.
  • 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.
  • 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.
  • 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.
  • robots controlled by the cloud server 20 can drive around the building 1000 and provide various services.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the cloud server 20 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.
  • the cloud server 20 there may be subordinate sub servers of lower level concepts.
  • the cloud server 20 can control a robot traveling around the building 1000 based on various artificial intelligence algorithms.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG 12 is a conceptual diagram for explaining a robot control system and method for controlling a lightweight robot.
  • 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.
  • 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.
  • 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).
  • the function of the robot (R) may be “driving”, and “object delivery motion” may correspond to the function of the robot (R). .
  • 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.”
  • control system 1300 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).
  • 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).
  • control system 1300 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).
  • control system 1300 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.
  • resources can be used interchangeably with “computing resources.”
  • memory resources may be used as an example, but this is naturally understood to mean computing resources and not limited to memory resources.
  • FIG. 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
  • FIGS. 17A and 17B are conceptual diagrams for explaining function management for robot travel control.
  • the control system 1300 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.
  • control system 1300' 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.
  • 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).
  • Edge Server Edge Server
  • Cloud Sever Cloud Sever
  • control of the robot can be performed using the configurations described below.
  • 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.
  • 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.
  • 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.
  • first remote adapter 1311 and the first robot R1 may be applicable to a plurality of other remote adapters and a robot communicatively connected to the plurality of other remote adapters.
  • first remote adapter 1311 can be used interchangeably with “remote adapter”
  • first robot can be used interchangeably with robot.
  • 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.
  • robot data can be understood as various information related to the robot (R).
  • 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.
  • 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.
  • the link unit 1370 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.
  • the link unit 1370 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).
  • 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.
  • 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.
  • the first remote adapter 1311 may specify different remote functions required for the first robot R1.
  • the first remote adapter 1311 may specify the function required for object delivery as a remote function.
  • the first remote adapter 1311 may specify the function required for serving food as a remote function.
  • the first remote adapter 1311 may specify remote functions required for the first robot R1 differently.
  • the first remote adapter 1311 provides functions necessary for driving in a “narrow hallway” as a remote function. It can be specified.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first remote adapter 1311 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.
  • 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.
  • the second time may correspond to the time when the function (ex: driving) corresponding to the first remote function ends.
  • 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.
  • 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).
  • the functions required for the first robot (R1) are organically assigned.
  • 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.
  • 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. .
  • “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.
  • 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).
  • remote function can be used interchangeably with “remote function unit.”
  • 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.
  • 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.
  • 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. .
  • 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.
  • the messaging unit 1330 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).
  • 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).
  • a process of generating robot control information using the robot data in the remote function may be performed (S1540, see FIG. 15).
  • 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).
  • 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.
  • data processing according to each remote function may be performed in each of the plurality of remote functions to generate (calculate) robot control information.
  • 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
  • the second remote function (F2) data processing according to the second remote function (F2) can be performed to generate second robot control information.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first robot R1 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.
  • the first robot (R1) can expand and perform specific functions for which resources are not embedded within the first robot (R1).
  • control system 1300 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.
  • the remote function in the present invention may correspond to a function for controlling the movement of robots running in a building.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first robot control information and the second robot control information may include different information.
  • 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.
  • 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.
  • 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.
  • the function management unit 1320 may reallocate the de-allocated second resource to a third robot (R3) different from the second robot (R2).
  • control system 1300 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).
  • R1, R2, and R3 a plurality of robots
  • control system 1300 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.
  • 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.
  • resources can be used interchangeably with “computing resources.”
  • memory resources may be used as an example, but this is naturally understood to mean computing resources and not limited to memory resources.
  • 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.
  • 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.
  • robot data can be understood as various information related to the robot (R).
  • 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.
  • 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.
  • 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.
  • each type of space in which the first robot R1 runs (or is located) can be specified as remote functions.
  • the first remote adapter 1311 corresponds to the first driving mode.
  • a function (ex: obstacle avoidance function) can be specified as a remote function.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the first remote adapter 1311 may transmit a robot control command to the first local adapter (A1) of the first robot (R1).
  • 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). .
  • 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).
  • 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.
  • 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.
  • 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).
  • the second robot (R2) can be remotely controlled.
  • 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.
  • the first remote adapter 1311 may transmit a control command to the first local adapter A1 of the first robot R1.
  • 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.
  • the second remote adapter 1312 may transmit a control command to the second local adapter A2 of the second robot R2.
  • 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.
  • 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).
  • 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).
  • a first remote function (F1) and a second remote function (F2) are specified to control the first robot (R1).
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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).
  • terminal (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.
  • 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.
  • the resource for which allocation is terminated may be a resource related to a specific remote function for which data processing has ended.
  • 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.
  • 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.
  • 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 may be resources for which data processing has been completed among resources allocated to a specific robot (R).
  • the function management unit 1320 may designate a robot (R) that requires data processing for a specific remote function as a standby robot (R).
  • 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.
  • the third robot (R3) waits for allocation related to the second remote function. Let's assume there is.
  • 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).
  • each of the plurality of robots operates in different driving modes for each type of space in which they are driven (or located).
  • data processing related to functions corresponding to different driving modes may be performed.
  • 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.
  • a “travel path setting function” and a remote function corresponding to the first driving mode are matched. It can exist.
  • 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.
  • 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.
  • 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.
  • 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”.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the communicatively connected robots (R1, R2, and R3) are connected based on sensing information of the communicatively connected robots (R1, R2, and R3).
  • 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.
  • 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).
  • the communicatively connected robots (R1, R2, and R3) 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,
  • 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.
  • the method and system for controlling a building and a robot traveling through the building 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.
  • remote control of the robot can be performed.
  • 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.
  • 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.
  • present invention 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.
  • 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.
  • the computer-readable medium may be a server or cloud storage that includes storage and can be accessed by electronic devices through communication.
  • the computer can download the program according to the present invention from a server or cloud storage through wired or wireless communication.
  • 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.
  • a processor that is, a CPU (Central Processing Unit)
  • CPU Central Processing Unit

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un bâtiment adapté aux robots, et un procédé et un système de commande d'un robot qui se déplace dans le bâtiment, le système comprenant : un adaptateur distant connecté en communication à un adaptateur local disposé dans le robot ; et une unité de gestion de fonction qui est connectée à l'adaptateur distant et attribue au robot une fonction distante exigée par le robot sur la base d'une demande de l'adaptateur distant. L'adaptateur distant peut transmettre des données de robot reçues de la part du robot à la fonction distante et transmettre, à l'adaptateur local, des informations de commande de robot traitées par la fonction distante sur la base des données de robot.
PCT/KR2023/014136 2022-11-17 2023-09-19 Bâtiment adapté aux robots, et procédé et système de commande d'un robot qui se déplace dans un bâtiment WO2024106728A1 (fr)

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KR1020220154183A KR20240073246A (ko) 2022-11-17 2022-11-17 로봇 친화형 건물, 건물을 주행하는 로봇 제어 방법 및 시스템
KR10-2022-0154183 2022-11-17

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5684911B2 (ja) * 2010-08-24 2015-03-18 中国科学院深▲しん▼先進技術研究院 クラウドロボットシステムおよびその実現方法
US20210232136A1 (en) * 2018-10-16 2021-07-29 Brain Corporation Systems and methods for cloud edge task performance and computing using robots
KR102432361B1 (ko) * 2022-03-21 2022-08-17 주식회사 서큘러스 인터랙션 로봇, 로봇 운영 시스템, 및 그 제어 방법
KR20220150069A (ko) * 2021-05-03 2022-11-10 네이버랩스 주식회사 다수의 모듈형 로봇들로 구성된 로봇을 제어하는 방법 및 시스템
KR20220151460A (ko) * 2021-05-06 2022-11-15 네이버랩스 주식회사 통신 기반 로봇 제어 방법 및 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5684911B2 (ja) * 2010-08-24 2015-03-18 中国科学院深▲しん▼先進技術研究院 クラウドロボットシステムおよびその実現方法
US20210232136A1 (en) * 2018-10-16 2021-07-29 Brain Corporation Systems and methods for cloud edge task performance and computing using robots
KR20220150069A (ko) * 2021-05-03 2022-11-10 네이버랩스 주식회사 다수의 모듈형 로봇들로 구성된 로봇을 제어하는 방법 및 시스템
KR20220151460A (ko) * 2021-05-06 2022-11-15 네이버랩스 주식회사 통신 기반 로봇 제어 방법 및 시스템
KR102432361B1 (ko) * 2022-03-21 2022-08-17 주식회사 서큘러스 인터랙션 로봇, 로봇 운영 시스템, 및 그 제어 방법

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