Multi-service robot operation method and system

Abstract

The present invention discloses a multi-service robot operation method and system. The multi-service robot operation method of an embodiment of the present invention includes the following steps: the multi-service robot operating system stores information of each service area in a plurality of preset service areas based on service location information of each table service location to be served and a movement path of the service robot, wherein the service area information includes information of a plurality of service locations grouped in a prescribed manner; the multi-service robot operating system determines whether a plurality of execution robots among the plurality of service robots are same-area execution robots performing services in the same first service area based on the service area information; and when the plurality of execution robots are determined to be same-area execution robots, the multi-service robot operating system changes the service table or service order of at least one of the same-area execution robots.

Description

Technical Field

[0001] The present invention relates to a multi-service robot operation method and system thereof, and more specifically, to a technology for effectively operating multiple service robots by preventing overlap and conflict in movement paths between the service robots when multiple service robots need to be operated in large stores, etc. Background Art

[0002] With the development of autonomous driving technology and robotics technology, research is actively underway on how to use service robots to perform food-related services in restaurants and other places.

[0003] Service robots can replace people and drive along a predetermined route in the store, or identify obstacles on the driving path and load cooked food (for example, cooked food) to provide to customers.

[0004] This type of service robot is mainly used in the catering industry (hereinafter referred to as "stores") and performs predetermined functions. To this end, the service robot needs to generate a map including the movement route within the store, and the stopping position and direction of the service robot need to be specified in advance.

[0005] For large-scale stores with a large area, it is difficult to meet their needs with only one service robot, so multiple service robots need to be operated.

[0006] Even in the case of a large area, as the movement paths of the service robots are restricted, there will be problems such as difficulty in ensuring space for the service robots to move, overlap and conflict of movement paths between service robots, etc., which will greatly reduce efficiency.

[0007] Therefore, the following method is currently mainly used, that is, when operating multiple service robots, the service robot to be moved first will complete its work, and the remaining service robots will wait in a stopped state. Figures 1 to 3 shown.

[0008] Figures 1 to 3 A diagram for explaining a conventional waiting method when the movement paths of a plurality of service robots overlap.

[0009] Reference Figure 1 , Figure 1 It shows the situation where service robot 1, service robot 2, and service robot 3 serve dining table A, dining table B, and dining table C respectively.

[0010] In this case, the service robot 1 , the service robot 2 , and the service robot 3 can be set to move along the moving paths indicated by the dotted lines, respectively, and the service order between the service robots can be set.

[0011] When the moving path can only move one robot, the above service order is particularly important. For example, the service order can be set to 3, 2, 1 according to the order in which the food comes out of the kitchen or in a prescribed manner.

[0012] The service order can be determined in a variety of ways. For example, the order can be set by specifying a loading location for the service robot to load food according to each table area so that the service robot waits and loads food at the loading location corresponding to the specified area.

[0013] Alternatively, it may be the following manner, that is, as the food is automatically moved from the kitchen in the order in which it is served by the service robot, the clerk loads the food onto the service robot in sequence according to the order in which the food comes out.

[0014] The order of services can be determined in a variety of ways, such as Figure 2 As shown, when the service robot 3 with the fastest service order gives priority to serving table C, while the service robot 3 is providing service, the service robots 1 and 2 are in a waiting state because their moving paths are blocked by the service robot 3.

[0015] Then, if Figure 3 As shown, as the service robot 2 performs service, even in this case, the service robot 2 is in a waiting state until it is its turn.

[0016] As such, when the number of service robots that can move simultaneously is limited due to their movement paths, the overall service time can vary significantly depending on the order in which the service robots serve and / or the tables they are required to serve. Furthermore, if the service-related operational efficiency of such service robots is relatively low, the longer the wait time for a table to be served, the longer the wait time, the more likely it is that the food served to the customer will become cold or contaminated during the waiting period, thus potentially leading to a decrease in service quality.

[0017] Therefore, there is a need for technology that can further effectively operate multiple service robots.

[0018] Prior art literature

[0019] Patent Literature

[0020] Patent Document Korean Application No. 1020190144402 (Robot Movement Path Determination Method, System, and Non-Transitory Computer-Readable Recording Medium) Summary of the Invention

[0021] Technical issues

[0022] An object of the present invention is to provide a technical concept that can reduce the overall service time by efficiently operating a plurality of service robots that move simultaneously in a large shopping mall.

[0023] Another object of the present invention is to provide the following technical idea, that is, at the characteristic level of the moving path, if there is a service robot performing a service, there may be a situation where other service robots cannot move to the corresponding position. In this case, multiple service robots can be effectively operated.

[0024] Technical Solution

[0025] In order to solve the above technical problems, the multi-service robot operation method of an embodiment of the present invention includes the following steps: the multi-service robot operating system stores the information of each service area in a preset multiple service areas based on the service location information of each table service location to be served and the moving path that the above-mentioned service robot can move, and the above-mentioned service area information includes information of multiple service locations grouped in a prescribed manner; the above-mentioned multi-service robot operating system determines whether the multiple execution robots among the above-mentioned multiple service robots are the same area execution robots that perform services in the same first service area based on the above-mentioned service area information; and when it is determined that the above-mentioned multiple execution robots are the same area execution robots, the above-mentioned multi-service robot operating system changes the service table or service order of at least one of the above-mentioned same area execution robots.

[0026] When a service is performed at any first service location included in a specific service area, when there is at least one second service location affected by movement, the service area information may be information for grouping multiple service locations including the first service location and the at least one second service location.

[0027] The above-mentioned multi-service robot operation method also includes the following steps: when the service order between the above-mentioned same-area execution robots is based on the service order and the services are performed according to the service order, the above-mentioned multi-service robot operating system determines whether at least one same-area execution robot generates a waiting event. When it is determined that the above-mentioned waiting event occurs, the above-mentioned multi-service robot operating system can change the service table or service order of at least one of the above-mentioned same-area execution robots.

[0028] The step of changing the service table or service order of at least one of the above-mentioned same-area execution robots may include the following steps: the above-mentioned multi-service robot operating system assigns a replacement service event to the first execution robot, which is any one of the above-mentioned same-area execution robots, as a service event included in the service waiting list and included in other service areas different from the above-mentioned first service area.

[0029] The multi-service robot operating method may further include the following step: the multi-service robot operating system registers the originally assigned service event originally assigned to the first execution robot as a priority service event in the service waiting directory.

[0030] The step of the multi-service robot operating system assigning a substitute service event as a service event included in a service waiting directory and included in other service areas different from the above-mentioned first service area to the first execution robot which is any one of the above-mentioned same-area execution robots may include the following steps: in the case where there are multiple candidate substitute service events included in other service areas in the above-mentioned service waiting directory, the above-mentioned substitute service event is selected based on priority or frequency of the service area.

[0031] When it is determined that the above-mentioned multiple execution robots are same-area execution robots, the step of the above-mentioned multi-service robot operating system changing the service table or service order of at least one of the above-mentioned same-area execution robots may include the following steps: changing the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots to a faster service order than at least one second same-area execution robot having a faster front service order than the above-mentioned first same-area execution robot.

[0032] The above-mentioned multi-service robot operation method also includes the following steps: the above-mentioned multi-service robot operating system maintains information of at least one temporary waiting area where the service robot can temporarily wait according to each service area, and the step of changing the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots to a faster service order than at least one second same-area execution robot with a faster front service order than the above-mentioned first same-area execution robot may include the following steps: the above-mentioned multi-service robot operating system controls the above-mentioned second same-area execution robot to move toward at least one first temporary waiting area corresponding to the above-mentioned first service area and perform the service of the above-mentioned first same-area execution robot.

[0033] Another embodiment of the multi-service robot operation method of the present invention includes the following steps: the multi-service robot operating system stores information of each service area in a preset plurality of service areas based on the service location information of each table service location to be served and the moving path that the above-mentioned service robot can move, and in the case of performing service at a first service location included in a specific service area, when there is at least one second service location affected by the movement, the above-mentioned service area information includes information that can identify that the above-mentioned specific service area includes the above-mentioned first service location and the above-mentioned at least one second service location; the above-mentioned multi-service robot operating system confirms each service area corresponding to multiple execution robots among the above-mentioned multiple service robots based on the above-mentioned service area information; and the above-mentioned multi-service robot operating system adaptively controls at least one of the moving paths or service sequences of the above-mentioned multiple execution robots based on the confirmation results related to each service area corresponding to the above-mentioned multiple execution robots.

[0034] The above method can be implemented by a computer program stored in a computer-readable recording medium.

[0035] A multi-service robot operating system in another embodiment of the present invention includes: a processor; and a memory for storing a program driven by the processor, wherein the processor drives the program to execute the following steps: storing information of each service area in a plurality of preset service areas based on service location information of each table service location to be served and a moving path that the service robot can move, wherein the service area information includes information of a plurality of service locations grouped in a prescribed manner; judging whether a plurality of execution robots among the plurality of service robots are same-area execution robots that perform services in the same first service area based on the service area information; and changing the service table or service order of at least one of the same-area execution robots when it is judged that the plurality of execution robots are same-area execution robots.

[0036] The above-mentioned processor drives the above-mentioned program to execute the following steps: when the service order between the above-mentioned same-area execution robots is based on the service order and the service is performed according to the service order, it is determined whether at least one of the same-area execution robots generates a waiting event. If it is determined that the above-mentioned waiting event occurs, the service table or service order of at least one of the above-mentioned same-area execution robots can be changed.

[0037] The above-mentioned processor executes the following steps by driving the above-mentioned program: a replacement service event can be assigned to the first execution robot which is any one of the above-mentioned same-area execution robots as a service event included in the service waiting directory and included in other service areas different from the above-mentioned first service area.

[0038] The processor drives the program to execute the following steps: the originally assigned service event originally assigned to the first execution robot can be registered as a priority service event in the service waiting directory.

[0039] The processor drives the program to execute the following steps: when the service waiting list includes a plurality of candidate alternative service events included in other service areas, the alternative service event may be selected based on priority or frequency of the service areas.

[0040] The above-mentioned processor drives the above-mentioned program to execute the following steps: the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots can be changed to a faster service order than at least one second same-area execution robot with a faster front service order than the above-mentioned first same-area execution robot.

[0041] The above-mentioned processor drives the above-mentioned program to execute the following steps: according to each service area, it maintains information of at least one temporary waiting area where the service robot can temporarily wait, and can control the above-mentioned second same area execution robot to move toward at least one first temporary waiting area corresponding to the above-mentioned first service area and perform the service of the above-mentioned first same area execution robot.

[0042] A multi-service robot operating system according to another embodiment of the present invention includes: a processor; and a memory for storing a program driven by the processor, wherein the processor drives the program to execute the following steps: storing information of each service area in a plurality of preset service areas based on the service location information of each table service location to be served and the moving path that the service robot can move, and when performing service at any first service location included in a specific service area, when there is at least one second service location affected by the movement, the service area information includes information capable of identifying that the specific service area includes the first service location and the at least one second service location; confirming each service area corresponding to a plurality of execution robots among the plurality of service robots based on the service area information; and adaptively controlling at least one of the moving paths or service sequences of the plurality of execution robots based on the confirmation results related to each service area corresponding to the plurality of execution robots.

[0043] Effects of the Invention

[0044] The present invention has the following effect: according to one embodiment of the present invention, when the movement paths of multiple service robots moving simultaneously in a large shopping mall overlap, the service robots can effectively perform services to prevent the service quality from being reduced.

[0045] In particular, at the characteristic level of the moving paths, that is, when the moving paths overlap, if there is a service robot performing service, the operation of the service robot can be effectively realized through the concept of service area when other service robots cannot move to the corresponding positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Hereinafter, a brief description of each of the drawings is provided in order to fully understand the drawings referred to in the detailed description of the present invention.

[0047] Figures 1 to 3 A diagram illustrating overlapping movement paths of multiple existing service robots.

[0048] Figure 4 1 is an illustrative diagram of a system for implementing a multi-service robot operation method according to an embodiment of the present invention.

[0049] Figure 5 A diagram for illustrating a schematic structure of a multi-service robot operating system according to an embodiment of the present invention.

[0050] Figure 6 A diagram for explaining the concept of a service area according to an embodiment of the present invention.

[0051] Figures 7 to 9 A diagram for explaining the concept of changing a service table according to an embodiment of the present invention.

[0052] Figures 10 to 12 A diagram for explaining the concept of changing the service order between service robots according to an embodiment of the present invention. DETAILED DESCRIPTION

[0053] The present invention is susceptible to various modifications and embodiments. Therefore, specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, it should be understood that all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention are encompassed, and the present invention is not limited to specific embodiments. In the process of describing the present invention, if it is determined that the detailed description of the relevant known technology makes the subject matter of the present invention unclear, the detailed description thereof will be omitted.

[0054] The terms "first," "second," etc. may be used to describe various structural elements, but the structural elements are not limited by the terms. The terms are only used to distinguish one structural element from another.

[0055] The terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. Unless the context clearly indicates a different meaning, a singular expression includes a plural expression.

[0056] In the specification, terms such as "including" or "having" are intended to specify the existence of features, numbers, steps, actions, structural elements, parts or their combinations recorded in the specification, and should not be understood as excluding the existence or additional possibilities of one or more other features or numbers, steps, structural elements, parts or their combinations in advance.

[0057] Figure 4 1 is an illustrative diagram of a system for implementing a multi-service robot operation method according to an embodiment of the present invention.

[0058] Reference Figure 4 In order to implement the multi-service robot operating method according to the embodiment of the present invention, a multi-service robot operating system 100 may be provided.

[0059] According to the technical idea of ​​the present invention, the above-mentioned multi-service robot operating system 100 can control the various moving paths, moving sequences and / or dining tables to be served of multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)).

[0060] To this end, the multi-service robot operating system 100 can perform prescribed communications with the multiple service robots (e.g., R1 (200), R2 (210), R3 (220)...RN (230)), and the multi-service robot operating system 100 can control the multiple service robots to perform services in response to the control signals by transmitting control signals to the multiple service robots (e.g., R1 (200), R2 (210), R3 (220)...RN (230)).

[0061] Furthermore, the above-mentioned multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) can transmit information such as their respective states, the progress status of the currently executed services, etc. to the above-mentioned multi-service robot operating system 100.

[0062] Of course, according to an embodiment, the above-mentioned multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) can also communicate with each other.

[0063] like Figure 4As shown, although the multi-service robot operating system 100 is illustrated as a physical device (e.g., a server) different from the plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)), in an embodiment, the multi-service robot operating system 100 can be loaded into one of the plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) and implement the technical concept of the present invention. That is, one or more of the plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) can perform the functions of the multi-service robot operating system 100.

[0064] In order to realize the technical idea of ​​the present invention, the above-mentioned multi-service robot operating system 100 can store and maintain / manage the relevant information of the movement paths that the above-mentioned multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) can move respectively.

[0065] The above-mentioned movement path may refer to a path on the spatial plane along which a plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) can move. Various technical concepts are known for expressing information related to such movement paths. For example, the information related to the movement paths may be set as continuous coordinate values ​​on the spatial plane, but the present invention is not limited thereto.

[0066] Furthermore, the multi-service robot operating system 100 can store and maintain / manage information related to tables to be served by multiple service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)).

[0067] The dining table related information may include identification information of each dining table and / or location information of each dining table.

[0068] Furthermore, the multi-service robot operating system 100 may store and maintain / manage information on the service location of each dining table.

[0069] The service location may refer to the location at which the service robot stops to perform service at each table. The service location-related information includes location-related information of the service location and, depending on the embodiment, information determining whether other service robots can move through the service location when a service robot is required to perform service at the service location.

[0070] For example, Figure 2As shown, when the service robot 3 performs service at the service location corresponding to the dining table C, there may be a situation where the other service robots 1 and 2 cannot move through the above service location.

[0071] In this specification, this situation is defined as an overlap of movement paths. The multi-service robot operating system 100 may separately store and maintain / manage information on whether movement path overlap occurs at each service location, or may include the information of the service location in the maintenance / management.

[0072] Therefore, the multi-service robot operating system 100 can store and maintain / manage information of at least one service area.

[0073] The service area may be information for grouping a plurality of service locations (or a plurality of dining tables) in a prescribed manner.

[0074] For example, the service area information may be information for grouping service locations affected by the movement of the service robot.

[0075] For example, in the case where a first service location included in a specific service area performs service, when there is at least one second service location affected by movement, the service area may include the first service location and the at least one second service location.

[0076] As mentioned above, the situation where movement is affected may include a situation where movement paths overlap.

[0077] According to an embodiment, even if the movement paths do not overlap (i.e., even if other service robots pass through the corresponding location while one service robot is performing service), when there are service locations that the service robot needs to move to the same specific area on the movement path in order to perform service, such service locations may be grouped into the same service area. Figure 2 As shown, multiple service locations corresponding to table A, table B, and table C, respectively, can be locations where services need to be performed using the same moving path area. Even if the moving paths do not overlap, these locations, i.e., service locations, can be locations where movement is restricted when moving simultaneously. Therefore, they can be grouped into one service area.

[0078] In any case, when services are generated simultaneously in the above-mentioned service areas, additional control or setting of a collection of multiple service locations where multiple service robots (e.g., R1 (200), R2 (210), R3 (220)...RN (230)) can gather may be required.

[0079] As described above, in order to effectively operate multiple service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)), the multi-service robot operating system 100 requires a specific service area within the entire store where the service is performed, and can adaptively control the services of the multiple service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) based on information of the specific service area.

[0080] According to one example, when multiple service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) need to perform services simultaneously or sequentially within a specified time range, the multi-service robot operating system 100 can adaptively determine the service order or the tables to be served based on the result of whether the tables (or service locations) to be served by the multiple service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) belong to the same service area. Adaptively determining the service order or the tables to be served may mean maintaining or changing the preset service order or the tables to be served in a specified manner.

[0081] To this end, when a predetermined service order exists among a plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) and service tables are allocated according to the plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)), the multi-service robot operating system 100 can simulate services in advance. Moreover, when a part or all of the plurality of service robots (e.g., R1 (200), R2 (210), R3 (220) ... RN (230)) perform services in the same service area, in the event that a predetermined condition of the simulation result is generated (e.g., when there is a service robot that needs to stop moving and wait), the service order or the table to be served can be adaptively changed.

[0082] As a result, according to the technical idea of ​​the present invention, a service area is effectively set in the entire store where multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) are to be served, thereby effectively controlling the services of multiple service robots based on the set service area.

[0083] In order to realize the technical idea as described above, the brief structure of the multi-service robot operating system 100 is as follows: Figure 5 shown.

[0084] Figure 5 A diagram for illustrating a schematic structure of a multi-service robot operating system according to an embodiment of the present invention.

[0085] Reference Figure 5 , the above-mentioned multi-service robot operating system 100 can be implemented by a prescribed data processing device.

[0086] As described above, the multi-service robot operating system 100 may also be implemented by a separate server that communicates with the plurality of service robots (eg, R1 (200), R2 (210), R3 (220) ... RN (230)).

[0087] Alternatively, the multi-service robot operating system 100 may be provided in at least one of the plurality of service robots (eg, R1 (200), R2 (210), R3 (220) ... RN (230)).

[0088] like Figure 5 As shown, in order to implement the functions defined in this specification, the multi-service robot operating system 100 may include a processor 110 and a storage medium (or memory 120). The processor 110 may refer to a computing device capable of running a specified program (software code). Examples of the data processing device or vendor (Vendor) mobile processor, microprocessor, central processing unit, single processor, multiprocessor, graphics processing unit, etc. may be named in various ways and may be implemented by more than one processor.

[0089] Those skilled in the art can easily deduce that the processor 110 drives the program to execute the data processing required by the technical concept of the present invention.

[0090] The memory 120 may refer to a device that stores / has a program for implementing the technical concept of the present invention. In some embodiments, the memory 120 may be divided into multiple physical devices. In some embodiments, a portion of the memory 120 may reside within the processor 110. In some embodiments, the memory 120 may be implemented by a hard disk, a graphics processor, a solid-state drive (SSD), an optical disk, a random access memory (RAM), and / or other types of recording media. The memory 120 may also be detachable as needed.

[0091] The above-mentioned multi-service robot operating system 100 can be implemented by a separate server, but is not limited to this. It can be implemented by any data processing device (for example, a computer, a mobile terminal, etc.) that can communicate with the above-mentioned multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) and has the data processing capability to run the above-mentioned programs.

[0092] Moreover, a person skilled in the art in the technical field to which the present invention relates can easily deduce that the multi-service robot operating system 100 may include a communication interface (e.g., a communication bus 130, etc.) so as to communicate with the processor 110, the memory 120, and various external devices (e.g., input and output devices, display devices, audio devices, etc. 140, 141) provided in the multi-service robot operating system.

[0093] On the other hand, according to the technical idea of ​​the present invention, the above-mentioned multi-service robot operating system 100 can be implemented by organically combining the above-mentioned program (or software) stored in the above-mentioned memory 120 and the above-mentioned processor 110. Hereinafter, ordinary technicians in the technical field to which the present invention belongs can easily deduce from this specification that the functions and / or work performed by the above-mentioned multi-service robot operating system 100 are implemented by executing the above-mentioned program by the above-mentioned processor 110.

[0094] As described above, the multi-service robot operating system 100 can store the service location information of each table service location to be served by the multiple service robots (e.g., R1 (200), R2 (210), R3 (220)...RN (230)) and the service area information related to the multiple service areas.

[0095] The service area may be configured to group a plurality of service locations in a predetermined manner according to demand in order to control the service.

[0096] As described above, according to one embodiment of the present invention, when a first service location included in a specific service area performs service and there is at least one second service location whose movement is affected, the service area is a group of multiple service locations including the first service location and the at least one second service location. Furthermore, when the first service location performs service, the at least one second service location whose movement is affected may be a service location whose movement path overlaps.

[0097] However, according to embodiments, the service area may be set in various ways.

[0098] Figure 6 A diagram for explaining the concept of a service area according to an embodiment of the present invention.

[0099] like Figure 6 As shown, the multi-service robot operating system 100 sets a plurality of service areas S10 and S20 and can store and maintain / manage information related to the service areas S10 and S20.

[0100] The first service area S10 may be set as table A, table B, and table C (or corresponding service locations), and the second service area S20 may be set as table D and table E (or corresponding service locations).

[0101] Furthermore, the multi-service robot operating system 100 can also modify the information related to the service areas S10 and S20 as needed. For example, when a manager is operating the service areas S10 and S20, or when performing services within a specified time, a group of tables that may cause problems due to various reasons (such as customer routes and noise levels) can be determined and set as a service area.

[0102] If the information of the newly set service area can be input into the multi-service robot operating system 100 , the multi-service robot operating system 100 can receive the information of the new service area and update the existing service area information.

[0103] On the other hand, as described below, the multi-service robot operating system 100 can store and maintain / manage information related to a predetermined temporary waiting area T10. The temporary waiting area T10 can be set to one or more according to the service area.

[0104] As described below, when a plurality of execution robots are performing services in a predetermined service area, the temporary waiting area T10 may be an area set up to allow some or all of the execution robots to temporarily wait.

[0105] When the service order of the execution robots is changed, the temporary waiting area T10 can be used, and a suitable position can be set according to the service area.

[0106] As described above, in the state of setting relevant information of multiple service areas S10, S20 and / or relevant information of the temporary waiting area T10, the above-mentioned multi-service robot operating system 100 can control part or all of multiple service robots (for example, R1 (200), R2 (210), R3 (220)...RN (230)) so that multiple execution robots start to perform services.

[0107] In this case, the execution robot may be a service robot that moves simultaneously or starts moving at predetermined time intervals in order to start service.

[0108] As described above, the execution robots can be set to perform services in a certain order.

[0109] For example, Figures 1 to 3 As shown, multiple service robots wait to load food at predetermined locations, and after loading food and assigning tables, they can be set as execution robots. Moreover, the service order can be automatically or manually set according to the positions of the moving paths between the multiple execution robots (for example, the order on the moving path), the loading order of food, etc. For example, Figures 1 to 3In this case, the service order can be accelerated in the order of service robot 3, service robot 2, and service robot 1.

[0110] The multi-service robot operating system 100 may determine an execution robot among a plurality of service robots (eg, R1 ( 200 ), R2 ( 210 ), R3 ( 220 ) . . . RN ( 230 )).

[0111] As described above, the plurality of execution robots may be service robots that start serving at the same time or within a predetermined time, or may be service robots that load food and assign tables.

[0112] The tables can be allocated to the service robots in the order in which the food appears, or they can be allocated in sequence according to the waiting positions of the service robots.

[0113] If food is loaded and assigned to a table by a service robot in multiple ways, the multi-service robot operating system 100 may determine the executing robot and determine whether the executing robot is a same-area executing robot that performs service in the same service area. Determining whether the executing robot is a same-area executing robot that performs service in the same service area may include determining the meaning of the same-area executing robot in the executing robot.

[0114] Thus, the multi-service robot operating system 100 can adaptively select a service strategy for robots executing in the same area. Adaptively selecting a service strategy may include changing the currently set service order and / or service table meaning of at least one of the robots executing in the same area according to demand.

[0115] For example, when serving the assigned tables separately according to the service order among the robots executing in the same area currently set, the multi-service robot operating system 100 may pre-determine whether a waiting event is generated in at least one robot executing in the same area.

[0116] As described above, the waiting event may mean that the executing robot cannot move to the service location and waits due to overlapping movement paths.

[0117] In this case, when it is determined that a waiting event occurs, the multi-service robot operating system 100 may change the service table or service order of at least one of the robots executing in the same area.

[0118] Below, refer to Figures 7 to 9 , an example of changing the service table of at least one robot in the same area is described.

[0119] Figures 7 to 9 A diagram for explaining the concept of changing a service table according to an embodiment of the present invention.

[0120] First, refer to Figure 7 The multi-service robot operating system 100 can maintain a service waiting list and a list of waiting service robots. Moreover, if one of the service events included in the service waiting list is assigned, the robot can become an execution robot.

[0121] First, the multi-service robot operating system 100 can allocate multiple service events TC, TB, TA, and TD included in the service waiting list to the waiting service robots R3, R2, and R1 according to a predetermined standard. This allocation can be done by allocating service events with higher priority to service robots with faster service orders, but this is not limited to this, and service event allocation can be achieved in various ways.

[0122] Furthermore, the plurality of service events TC, TB, TA, and TD may be services provided to table C, table B, table A, and table D, respectively.

[0123] Therefore, if Figure 7 As shown, service event TC can be assigned to service robot R3, service event TB can be assigned to service robot R2, and service event TA can be assigned to service robot R1. Service event TD cannot be assigned or can be assigned to another service robot because there are no waiting service robots. For ease of explanation, the following describes a case where there are three service robots and no service event TD is assigned. However, the scope of the claimed invention is not limited to this.

[0124] To assign a service event and start service, the multi-service robot operating system 100 may determine whether the execution robots R3, R2, and R1 belong to the same area. To this end, the multi-service robot operating system 100 may confirm information about the service tables and service areas assigned to the service events of the execution robots R3, R2, and R1, respectively.

[0125] Moreover, if the service tables of the service events TC, TB, and TA to be served by the execution robots R3, R2, and R1 all belong to the first service area S10, the multi-service robot operating system 100 can confirm that the execution robots R3, R2, and R1 belong to the same area execution robots.

[0126] Thus, the multi-service robot operating system 100 can change the service table of one (for example, R1 ) of the robots R3 , R2 , and R1 in the same area.

[0127] For example, the multi-service robot operating system 100 may change the service table of the robot R1 to D. That is, the originally assigned service event TA may be replaced by the service event TD.

[0128] In this case, the replaced service event, ie, the replacement service event TD, may be a service area corresponding service event different from the first service area S10 to be served by the same area execution robots R3 , R2 , R1 .

[0129] To this end, the multi-service robot operating system 100 may select a replacement service event (eg, TD) from among service events included in a second service area (eg, S20 ) different from the first service area S10 and included in the service waiting purpose.

[0130] Also, a replacement service event (eg, TD) may be allocated to a first execution robot (eg, R1) of the same region execution robots.

[0131] Assigning a replacement service event to which execution robot among the execution robots R3, R2, and R1 in the same area can be implemented through various embodiments.

[0132] For example, the above-mentioned multi-service robot operating system 100 randomly selects the execution robot to perform the alternative service event and simulates the service under the alternative allocation again. It can determine the execution robot to perform the alternative service event by sequentially executing processes such as judging whether the simulation result is a case where the waiting time is reduced compared to the alternative allocation or a case where no waiting time is generated.

[0133] On the other hand, the multi-service robot operating system 100 may input the originally assigned service event TA originally assigned to the first execution robot R1 to execute the replacement service event TD into the service waiting list that has not been reallocated.

[0134] In this case, if Figure 8 As shown, the multi-service robot operating system 100 may register the originally assigned service event TA as a priority service event in the service waiting list.

[0135] That is, the above-mentioned multi-service robot operating system 100 can assign priorities among the multiple service events included in the service waiting directory and register the originally assigned service event TA as a priority service event according to the principle. Thus, when the service robot performs the service next time, the originally assigned service event TA can be processed first.

[0136] exist Figure 8 Although the case where the service waiting list and the priority service event list are maintained / managed separately is shown in FIG, according to an embodiment, when only one service waiting list is maintained, priority-related information may be recorded.

[0137] On the other hand, when it is determined that multiple execution robots R3, R2, R1 belong to the same area execution robots R3, R2, R1, there may be service events corresponding to other service areas S20 that are different from the service area S10 to be served by the above-mentioned same area execution robots R3, R2, R1, that is, there may also be multiple candidate replacement service events.

[0138] In this case, the multi-service robot operating system 100 may preferentially determine a service event registered in a priority order as a substitute service event among a plurality of candidate substitute service events.

[0139] Alternatively, the alternative service event may be selected by determining in which service area the alternative service event and / or the current service event exist and deriving the service area frequency based on the determination result.

[0140] For example, if there are multiple candidate alternative service events, the number of service events corresponding to the second service area and the number of service events corresponding to the third service area among the candidate alternative service events may be determined.

[0141] Therefore, in a service area with a higher frequency, if any one of the corresponding candidate alternative service events is selected as the alternative service event, the multi-service robot operating system 100 may select a strategy with higher service efficiency in the next service step.

[0142] Alternatively, the replacement service event may be selected by considering the service area frequency of the service event executed at the current step to prevent the service events executed at the current step from being concentrated in one service area.

[0143] For example, there are currently three service areas. In the current service step, there are three corresponding service events for the first service area, two corresponding service events for the second service area, and zero corresponding service events for the third service area. Furthermore, in the current step, when the five execution robots are each processing their assigned service events, the multi-service robot operating system 100 may substitute service events for execution robots R3, R2, and R1 in the same area where the first service area is performing service. In this case, the candidate substitute service events may include the corresponding event for the second service area and the corresponding event for the third service area. In this case, the multi-service robot operating system 100 may select the corresponding service event for the third service area as the substitute service event to reduce the risk of confusion or waiting time in other service areas.

[0144] As described above, among candidate alternative service events, selecting a service event as an alternative service event should take into consideration priority and service area frequency, etc., which can be easily deduced by a person skilled in the art through various embodiments.

[0145] like Figure 9 As shown, when the first execution robot R1 is assigned an alternative service event TD instead of the originally assigned service event TA, the third service robot R3, which has the fastest service sequence, can execute service event TC. Subsequently, the second service robot R2, which has a faster service sequence, is in a waiting state, while the first service robot R1, which has the slowest service sequence, can process the alternative service event TD.

[0146] In this case, compared with executing services according to the original service order for the originally assigned service events, the waiting time can be reduced.

[0147] On the other hand, the multi-service robot operating system 100 can change the service table (service event) of at least one of the execution robots R3, R2, and R1 in the same area, and can also select a strategy to change the service order.

[0148] Below, refer to Figures 10 to 12 Let me give you an example.

[0149] Figures 10 to 12 A diagram for explaining the concept of changing the service order between service robots according to an embodiment of the present invention.

[0150] First, refer to Figure 10 , service event TC is assigned to the service robot R3, service event TB is assigned to the service robot R2, and service event TA can be assigned to the service robot R1.

[0151] Furthermore, for the service robots assigned a service event, that is, the executing robots R3, R2, and R1, it can be determined whether they belong to the same region executing robots. If they are determined to be the same region executing robots, the multi-service robot operating system 100 can change the service order of a first same region executing robot (e.g., R1) having a later service order to a faster service order than at least one second same region executing robot (e.g., R2, R3) having a faster front service order than the first same region executing robot.

[0152] Furthermore, the second execution robot R2 may be changed to a service order that is faster than that of the third execution robot R3.

[0153] If there are no restrictions on the movement paths, the multi-service robot operating system 100 can change the service order by simply controlling the execution robots to start moving in sequence according to the changed order.

[0154] However, according to the embodiment, there is a limit on the number of robots that can move simultaneously in each waiting position and its corresponding moving path. Therefore, the waiting service robot is subject to the restriction that the service robot waiting behind cannot move first.

[0155] In this case, in order to change the service order, the multi-service robot operating system 100 may operate the temporary waiting area T10 allocated according to the service area according to demand.

[0156] For example, Figure 11 As shown, when the first execution robot R1 is changed to the service order with the fastest service order, the above-mentioned multi-service robot operating system 100 can move the third execution robot R3 and the second execution robot R2 in sequence according to the first service area S10 to be served to the preset temporary waiting area T10.

[0157] Next, the multi-service robot operating system 100 preferentially moves the first execution robot R1 to the service table, then moves the second execution robot R2 of the next service order to the table to be served, and finally, moves the third execution robot R3 to the table to be served.

[0158] Therefore, if Figure 12 As shown, as the execution robot with the faster service order performs the service, the execution robots R3, R2, and R1 can be made to perform the service without waiting. Although a slight wait may occur when entering the temporary waiting area T10 to change the service order, the waiting time can be significantly reduced compared to the case of performing the service at the service location.

[0159] The temporary waiting area T10 can be set according to the service area. Of course, after entering, it can be set at a specified position where the service order can be changed.

[0160] As a result, according to the technical idea of ​​the present invention, in a case where a plurality of service robots need to move in order to perform services simultaneously or sequentially, an effective service strategy can be adaptively selected by applying and utilizing the concept of a service area.

[0161] The above description of the present invention is for illustration only. A person skilled in the art will appreciate that the present invention can be easily modified into other specific forms without changing the technical concept or essential features of the present application. Therefore, it should be understood that the multiple embodiments described above are illustrative in all respects and not restrictive. For example, each structural element described as a single type can also be implemented in a dispersed form, and similarly, each structural element described as dispersed can also be implemented in a combined form.

[0162] The scope of the present invention should be indicated by the scope of the invention claims rather than the detailed description above, and the meaning and scope of the invention claims and all changes or modifications derived from their equivalent concepts should be interpreted as being included within the scope of the present invention.

[0163] Industrial applicability

[0164] The present invention can be used for a multi-service robot operation method and system.

Claims

1. A multi-service robot operation method for operating multiple service robots, characterized in that: The steps include: The multi-service robot operating system stores information of each of a plurality of preset service areas based on service location information of each table service location to be served and a movement path of the service robot, wherein the service area information includes information of the plurality of service locations grouped in a prescribed manner; The multi-service robot operating system determines, based on the service area information, whether multiple execution robots among the multiple service robots are same-area execution robots that perform services in the same first service area; When it is determined that the multiple execution robots are robots executing in the same area, and when services are executed in accordance with the service order between the robots executing in the same area, the multi-service robot operating system determines whether at least one of the robots executing in the same area generates a waiting event. When it is determined that the waiting event occurs, the multi-service robot operating system changes the service table or service order of at least one of the execution robots in the same area.

2. The multi-service robot operating method according to claim 1, characterized in that: When a service is performed at any first service location included in a specific service area, and there is at least one second service location affected by movement, the service area information is information for grouping a plurality of service locations including the first service location and the at least one second service location.

3. The multi-service robot operating method according to claim 1, characterized in that: The step of changing the service table or service order of at least one of the above-mentioned same-area execution robots includes the following steps: the above-mentioned multi-service robot operating system assigns a replacement service event to the first execution robot, which is any one of the above-mentioned same-area execution robots, as a service event included in the service waiting list and included in other service areas different from the above-mentioned first service area.

4. The multi-service robot operating method according to claim 3, characterized in that: The multi-service robot operating method further includes the following step: the multi-service robot operating system registers the originally assigned service event originally assigned to the first execution robot as a priority service event in the service waiting directory.

5. The multi-service robot operating method according to claim 3, characterized in that: The step of the multi-service robot operating system assigning a substitute service event as a service event included in a service waiting directory and included in other service areas different from the above-mentioned first service area to the first execution robot which is any one of the above-mentioned same area execution robots includes the following steps: when there are multiple candidate substitute service events included in other service areas in the above-mentioned service waiting directory, the above-mentioned substitute service event is selected based on priority or frequency of the service area.

6. The multi-service robot operating method according to claim 1, characterized in that: When it is determined that the above-mentioned multiple execution robots are same-area execution robots, the step of the above-mentioned multi-service robot operating system changing the service table or service order of at least one of the above-mentioned same-area execution robots includes the following steps: changing the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots to a faster service order than at least one second same-area execution robot having a faster front service order than the above-mentioned first same-area execution robot.

7. The multi-service robot operating method according to claim 6, characterized in that: The multi-service robot operating method further includes the following steps: the multi-service robot operating system maintains information of at least one temporary waiting area where the service robot can temporarily wait according to each service area, The step of changing the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots to a faster service order than at least one second same-area execution robot with a faster front service order than the above-mentioned first same-area execution robot includes the following steps: the above-mentioned multi-service robot operating system controls the above-mentioned second same-area execution robot to move toward at least one first temporary waiting area corresponding to the above-mentioned first service area and perform the service of the above-mentioned first same-area execution robot.

8. A multi-service robot operation method for operating multiple service robots, characterized in that: The steps include: The multi-service robot operating system stores information about each of a plurality of preset service areas based on service location information of each table service location to be served and a movable path of the service robot. When performing service at any first service location included in a specific service area, if there is at least one second service location affected by the movement, the service area information includes information that can identify that the specific service area includes the first service location and the at least one second service location. The multi-service robot operating system confirms each service area corresponding to a plurality of execution robots among the plurality of service robots based on the service area information; The multi-service robot operating system adaptively controls at least one of a movement path or a service sequence of the plurality of execution robots based on confirmation results associated with respective service areas corresponding to the plurality of execution robots; The multi-service robot operating system determines, based on the service area information, whether multiple execution robots among the multiple service robots are same-area execution robots that perform services in the same first service area; as well as When it is determined that the multiple execution robots are robots executing in the same area, and when services are executed in accordance with the service order between the robots executing in the same area, the multi-service robot operating system determines whether at least one of the robots executing in the same area generates a waiting event. When it is determined that the waiting event occurs, the multi-service robot operating system changes the service table or service order of at least one of the execution robots in the same area.

9. A computer-readable recording medium storing a computer program, characterized in that: When executed, the computer program causes a data processing device to perform the method according to any one of claims 1 to 8.

10. A multi-service robot operating system, characterized in that: include: processor; and A memory for storing the program driven by the processor. The processor drives the program to execute the following steps: storing information of each of a plurality of preset service areas based on service location information of each table service location to be served and a movable path of the service robot, wherein the service area information includes information of the plurality of service locations grouped in a prescribed manner; Determining, based on the service area information, whether the plurality of execution robots among the plurality of service robots are the same area execution robots that perform services in the same first service area; and When it is determined that the plurality of execution robots are robots for the same area, and when services are performed in accordance with the service order between the robots for the same area, it is determined whether at least one of the robots for the same area generates a waiting event, When it is determined that the above-mentioned waiting event occurs, the service table or service order of at least one of the above-mentioned execution robots in the same area is changed.

11. The multi-service robot operating system according to claim 10, characterized in that: The processor drives the program to execute the following steps: assigning a replacement service event to a first execution robot that is any one of the same-area execution robots as a service event included in a service waiting list and included in other service areas different from the first service area.

12. The multi-service robot operating system according to claim 11, characterized in that: The processor drives the program to execute the following steps: registering the originally assigned service event originally assigned to the first execution robot as a priority service event in the service waiting directory.

13. The multi-service robot operating system according to claim 11, characterized in that: The processor drives the program to execute the following steps: when the service waiting list includes a plurality of candidate alternative service events included in other service areas, selecting the alternative service event based on priority or frequency of the service areas.

14. The multi-service robot operating system according to claim 11, characterized in that: The above-mentioned processor drives the above-mentioned program to execute the following steps: changing the service order of the first same-area execution robot with a later service order in the service order between the above-mentioned same-area execution robots to a service order that is faster than at least one second same-area execution robot with a faster front service order than the above-mentioned first same-area execution robot.

15. The multi-service robot operating system according to claim 14, characterized in that: The above-mentioned processor drives the above-mentioned program to execute the following steps: according to each service area, it maintains information of at least one temporary waiting area where the service robot can temporarily wait, controls the above-mentioned second same area execution robot to move toward at least one first temporary waiting area corresponding to the above-mentioned first service area and performs the service of the above-mentioned first same area execution robot.

16. A multi-service robot operating system, characterized in that: include: processor; and A memory for storing the program driven by the processor. The processor drives the program to execute the following steps: storing information of each of a plurality of preset service areas based on service location information of each table service location to be served and a movable path of the service robot, wherein, when performing service at any first service location included in a specific service area, if there is at least one second service location affected by the movement, the service area information includes information capable of identifying that the specific service area includes the first service location and the at least one second service location; confirming, based on the service area information, respective service areas corresponding to a plurality of execution robots among the plurality of service robots; adaptively controlling at least one of a movement path or a service order of the plurality of execution robots based on confirmation results associated with the respective service areas corresponding to the plurality of execution robots; Determining, based on the service area information, whether the plurality of execution robots among the plurality of service robots are the same area execution robots that perform services in the same first service area; and When it is determined that the plurality of execution robots are robots for the same area, and when services are performed in accordance with the service order between the robots for the same area, it is determined whether at least one of the robots for the same area generates a waiting event, When it is determined that the above-mentioned waiting event occurs, the service table or service order of at least one of the above-mentioned execution robots in the same area is changed.

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