Electronic apparatus and control method therefor

Abstract

To provide an electronic apparatus for managing an area related to cross running of other kinds of robots, and a method for controlling the electronic apparatus.SOLUTION: According to the present invention, an electronic apparatus includes a memory storing instruction words executable by a computer, at least one or more processors for accessing the memory to execute the instruction words, and a communication unit for supporting communication execution between the electronic apparatus and an external device. The at least one or more processors set a sub area being a main area in which a deadlock occurs in an area where a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move to include a partial area of the main area, determine a first approach condition being a condition for enabling the first robot to approach the main area with the position of the second robot as reference on the basis of approach of the first robot to the sub area, and transmit an approach instruction to make the first robot approach the main area to the first robot on the basis of the determined first approach condition.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an electronic device and a control method thereof, and more particularly to a technique for managing an area related to the intersection travel of other types of robots.

Background Art

[0002] Robot systems are widely used in various fields such as factories, warehouses, and hospitals. However, there is a problem that the areas where robots work often overlap or collide. For example, when a large number of robots perform tasks simultaneously, it is important to set and manage the work priority order. For this purpose, the control server needs to use the LiDAR of the robot itself or manage and / or control the entire path of the robot in the control server.

[0003] In particular, controlling the movement path of a robot through a separate reading device such as a LiDAR may cause many robots to get stuck due to overlapping movement paths in corridors and intersections such as narrow passages. The control server can integrally manage the paths of robots in a factory or the like and set the movement path of the robot with a detour path, but cannot perform operations such as designating a separate waiting place where the movement of people is not obstructed while other robots pass through first in the area including the detour path and making them wait safely.

[0004] In order to solve such problems, it is necessary to develop a technique for determining the order of entry of a robot into the main area through a main area, a sub-area, and a trigger area in order to manage an area related to the intersection travel of other types of robots.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] The present invention has been made in view of the above-described conventional problems, and an object of the present invention is to provide an electronic device for managing an area related to the intersection travel of other types of robots and a control method thereof.

Means for Solving the Problems

[0007] An embodiment of the present invention sets a sub-region including a partial region of a main region in a main region where a stuck state occurs in a region where a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move, so that even when a plurality of robots are located in the main region, it is possible to prevent a stuck state in the main region while adjusting the entry of the robots when they are located in the sub-region, and to provide an electronic device and a control method therefor.

[0008] Further, an embodiment of the present invention determines a first entry condition, which is a condition under which the first robot can enter the main region based on the position of the second robot, based on the first robot entering the sub-region, so as to determine the entry condition in detail according to the entry direction of the robot and move the robot to a preset safe waiting region to ensure the safety and convenience of pedestrians, and to provide an electronic device and a control method therefor.

[0009] Further, an embodiment of the present invention receives requests of the first robot and requests of the second robot via a communication unit that performs a data conversion function, and sets the main region and the sub-region via user input, so as to receive data of robots that perform various types of services and determine the order of entry of the robots into the main region through interaction with the user, and to provide an electronic device and a control method therefor.

[0010] An electronic device according to one aspect of the present invention made to achieve the above object includes a memory storing computer-executable instructions, at least one or more processors accessing the memory to execute the instructions, and a communication unit assisting in performing communication between the electronic device and an external device. The at least one or more processors set a sub-region including a partial region of a main region in a main region where a sticking state occurs in a region where a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move. Based on the first robot entering the sub-region, a first entry condition, which is a condition for the first robot to enter the main region with reference to the position of the second robot, is determined. Based on the determined first entry condition, an entry command for the first robot to enter the main region is transmitted to the first robot.

[0011] In one embodiment, the at least one or more processors set the sub-region including a partial region of the main region and a partial region of a region different from the main region. Among the sub-regions, a region that the first robot first enters when moving to the main region is set as a first sub-region, and among the sub-regions, a region that the second robot first enters when moving to the main region is set as a second sub-region. In one embodiment, the at least one or more processors identify whether the second robot is located in the main region based on the first robot entering the first sub-region, and determine to deactivate the first entry condition based on the number of robots that the second robot is located in the main region and can move in the main region. In one embodiment, the at least one or more processors move the first robot to a standby region divided into the first sub-region, the second sub-region, and the main region based on the first entry condition being determined to be deactivated. In one embodiment, the at least one or more processors set the number of robots located in the main area based on the fact that the second robot is located in the first sub-area while moving in the second direction, and determine to activate the first entry condition based on the fact that the number of robots located in the main area is less than or equal to a preset number of robots. In one embodiment, the at least one or more processors determine the priority order of the first robot and the priority order of the second robot based on the fact that the second robot is located in an intersection area, which is an area where the second sub-area and a partial area of the main area overlap, while moving in the second direction. In one embodiment, the at least one or more processors determine the priority order of the first robot in the main area based on at least one or more of the remaining battery level of the first robot, the loading state of the first robot, the operating time of the first robot, or any combination thereof, determine the priority order of the second robot in the main area based on at least one or more of the remaining battery level of the second robot, the loading state of the second robot, the operating time of the second robot, or any combination thereof, and determine the first entry condition based on a comparison between the priority order of the first robot and the priority order of the second robot. In one embodiment, the at least one or more processors determine to deactivate a second entry condition, which is a condition under which the second robot can enter the main area, based on the fact that the priority order of the first robot is higher than the priority order of the second robot, move the second robot to a standby area divided into the first sub-area, the second sub-area, and the main area based on the fact that the second entry condition has been determined to be deactivated, set the number of robots located in the main area based on the fact that the first robot is located in the intersection area while moving in the first direction, and determine to activate the second entry condition based on the fact that the number of robots located in the main area is less than or equal to a preset number of robots. In one embodiment, the at least one or more processors set an overlapping area where the sub-region and a partial area of the main region overlap as an intersection area, set an area obtained by excluding a partial area of the main region from the sub-region as a padding area, determine the priority of the first robot and the priority of the second robot based on the first robot entering the intersection area and the second robot entering the padding area, and determine the first entry condition based on a comparison between the priority of the first robot and the priority of the second robot. In one embodiment, the at least one or more processors receive requests of the first robot and requests of the second robot via a communication unit that performs a data conversion function, determine the first direction and the second direction based on positions of the main region and the sub-region and positions of the first robot and the second robot, and set the main region and the sub-region based on an input of a user received via the communication unit.

[0012] A control method of an electronic device including at least one or more processors according to an aspect of the present invention made to achieve the above object includes: setting a sub-region including a partial area of a main region in the main region where a sticking state occurs among areas where a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move; determining a first entry condition, which is a condition for the first robot to enter the main region with reference to the position of the second robot, based on the first robot entering the sub-region; and transmitting an entry command for the first robot to enter the main region to the first robot based on the determined first entry condition.

[0013] In one embodiment, the step of setting the sub-region includes: setting the sub-region including a partial region of the main region and a partial region of a region different from the main region; setting, as a first sub-region, a region that is the first to be entered among the regions where the first robot moves into the main region among the sub-regions; and setting, as a second sub-region, a region that is the first to be entered among the regions where the second robot moves into the pre-main region among the sub-regions. In one embodiment, the step of determining the first entry condition includes: identifying whether the second robot is located in the main region based on the first robot entering the first sub-region; and determining to deactivate the first entry condition based on the second robot being located in the main region and the number of robots movable in the main region. In one embodiment, the step of determining the first entry condition includes: moving the first robot to a standby region divided into the first sub-region, the second sub-region, and the main region based on the first entry condition being determined to be deactivated. In one embodiment, the step of determining the first entry condition includes: setting the number of robots located in the main region based on the second robot being located in the first sub-region while moving in the second direction; and determining to activate the first entry condition based on the number of robots located in the main region being less than or equal to a preset number of robots. In one embodiment, the step of determining the first entry condition includes: determining the priority order of the first robot and the priority order of the second robot based on the second robot being located in an intersection region where the second sub-region and a partial region of the main region overlap while moving in the second direction. In one embodiment, the step of determining the first entry condition includes: determining the priority of the first robot in the main area based on at least one or more of the remaining battery level of the first robot, the loading state of the first robot, the operating time of the first robot, or any combination thereof; determining the priority of the second robot in the main area based on at least one or more of the remaining battery level of the second robot, the loading state of the second robot, the operating time of the second robot, or any combination thereof; and determining the first entry condition based on a comparison between the priority of the first robot and the priority of the second robot. In one embodiment, the step of determining the first entry condition includes: determining to deactivate a second entry condition, which is a condition under which the second robot can enter the main area, based on the priority of the first robot being higher than the priority of the second robot; moving the second robot to a standby area divided into the first sub-area, the second sub-area, and the main area based on the second entry condition being determined to be deactivated; setting the number of robots located in the main area based on the first robot being located in the intersection area while moving in the first direction; and determining to activate the second entry condition based on the number of robots located in the main area being less than or equal to a preset number of robots. In one embodiment, the method further includes: setting an area where a part of the sub-area overlaps with a part of the main area as an intersection area; setting an area obtained by excluding a part of the main area from the sub-area as a padding area; determining the priority of the first robot and the priority of the second robot based on the first robot entering the intersection area and the second robot entering the padding area; and determining the first entry condition based on a comparison between the priority of the first robot and the priority of the second robot. In one embodiment, the method further includes receiving requests of the first robot and requests of the second robot via a communication unit that performs a data conversion function; determining the first direction and the second direction based on positions of the main area and the sub-area and positions of the first robot and the second robot; and setting the main area and the sub-area based on an input of a user received via the communication unit.

Effect of the Invention

[0014] The effects of the electronic device and the control method according to the present invention will be described below.

[0015] According to the present invention, by setting a sub-area including a partial area of the main area in the main area where a jam state occurs among areas where a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move, even if a plurality of robots are located in the main area, it is possible to prevent a jam state in the main area while adjusting the entry of the robots when they are located in the sub-area.

[0016] Further, according to the present invention, based on the entry of the first robot into the sub-area, by determining a first entry condition which is a condition under which the first robot can enter the main area with reference to the position of the second robot, it is possible to determine the entry condition in detail according to the entry direction of the robot and move the robot to a preset safe standby area to ensure the safety and convenience of pedestrians.

[0017] Further, according to the present invention, by receiving requests of the first robot and requests of the second robot via a communication unit that performs a data conversion function and setting the main area and the sub-area via an input of a user, it is possible to receive data of robots that perform various types of services and determine the entry order of the robots into the main area through interaction with the user.

[0018] In addition to this, various effects directly or indirectly grasped through this specification are provided.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiments for Carrying Out the Invention

[0020] Hereinafter, specific examples of embodiments for carrying out the present invention will be described in detail with reference to the drawings.

[0021] Regarding the description of the drawings, the same or similar reference numerals are used for the same or similar components. When adding reference numerals to the components of each drawing, it should be noted that for the same component, as far as possible, the same numeral is used even if it is shown on other drawings. Also, when explaining the embodiments of the present invention, if it is determined that a specific description of a related known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof is omitted. In particular, various embodiments of the present invention are described with reference to the drawings. However, this is not intended to limit the technology described in this specification to specific embodiments, and should be understood to include various modifications, equivalents, and / or alternatives of the embodiments of the present invention. Regarding the description of the drawings, similar reference numerals are used for similar components.

[0022] When describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. are used. Such terms are merely for distinguishing the components from other components, and the essence, order, or sequence of the components are not limited by such terms. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those having ordinary knowledge in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having meanings consistent with their meanings in the context of the related art, and should not be interpreted as ideal or overly formal meanings unless clearly defined in this specification. For example, expressions such as "first", "second", "primary", or "secondary" used in this specification can modify various components regardless of order and / or importance, and are only used to distinguish one component from another, without limiting the component. For example, the first user device and the second user device indicate different user devices regardless of order or importance. For example, without departing from the scope of the rights described in this specification, the first component can be named the second component, and similarly, the second component can be named the first component instead.

[0023] In this specification, expressions such as "have", "be able to have", "include", or "be able to include" indicate the presence of the feature (e.g., a component such as a numerical value, function, operation, or part), and do not exclude the presence of additional features.

[0024] When referring to a component (e.g., a first component) being "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., a second component), it should be understood that the one component is either directly coupled to the other component or coupled through another component (e.g., a third component). On the other hand, when referring to a component (e.g., a first component) being "directly coupled to" or "directly connected to" another component (e.g., a second component), it should be understood that no other component (e.g., a third component) exists between the one component and the other component.

[0025] As used herein, the expression "configured to" may, depending on the context, be used in place of, for example, "suitable for", "having the capacity to", "designed to", "adapted to", "made to", or "capable of".

[0026] The term "configured (or set) to ~" does not necessarily mean only something "specifically designed to" in terms of hardware. Instead, in certain situations, the expression "a device configured to ~" means that the device "can ~" together with other devices or components. For example, the phrase "a processor configured (or set) to perform A, B, and C" means a dedicated processor for performing the operation (e.g., an embedded processor), or a generic-purpose processor (e.g., a CPU or an application processor) that can perform the operation by executing one or more software programs stored in a memory device. The terms used in this specification are merely used to describe specific embodiments and are not intended to limit the scope of other embodiments. Singular expressions include plural expressions unless the context clearly indicates otherwise. The terms used here, including technical and scientific terms, have the same meaning as commonly understood by those having ordinary knowledge in the technical field described in this specification. Among the terms used in this specification, terms defined in a general dictionary are interpreted to have the same or similar meaning as their meaning in the context of the related art and are not interpreted in an ideal or overly formal sense unless clearly defined in this specification. Depending on the circumstances, even terms defined in this specification cannot be interpreted to exclude embodiments of the present invention.

[0027] In this specification, expressions such as "A or B", "at least one of A or / and B", or "one or more of A or / and B" all include all possible combinations of the items listed together. For example, "A or B", "at least one of A and B", or "at least one of A or B" all refer to the cases of (1) including at least one A, (2) including at least one B, or (3) including both at least one A and at least one B. Also, when describing the components of the embodiments of the present invention, each of the phrases such as "A or B", "at least one of A and B", "at least one of A or B", "A, B, or C", "at least one of A, B, and C", "at least one of A, B, or C", and "at least one of A, B, C, or any combination thereof" includes any one of the items listed together in the corresponding phrase of that phrase, or all possible combinations thereof. In particular, a phrase such as "at least one of A, B, C, or any combination thereof" includes A or B or C or combinations thereof such as AB or ABC.

[0028] Hereinafter, embodiments of the present invention will be specifically described with reference to FIGS. 1 to 10.

[0029] FIG. 1 is a diagram showing an electronic device according to an embodiment of the present invention.

[0030] An electronic device 100 according to an embodiment includes a processor 110, a memory 120 including instruction words 122, and a communication unit 130.

[0031] The electronic device 100 represents a device that determines the entry conditions for robots. For example, when multiple robots move in the main area, the electronic device 100 determines the entry conditions, which are the conditions under which each of the multiple robots can enter the main area. Specifically, the main area represents an area within the areas where each of the multiple robots can move and where a deadlock may occur between the multiple robots. Here, the deadlock state includes a state where the operations of two or more robots are only waiting for the operations of the other party to end, and as a result, nothing is completed. For example, while the first robot is moving to perform a first function in the main area, the first function is interrupted by the second robot that is moving to perform a second function in the main area. Thus, the electronic device 100 determines the entry conditions for each robot to prevent a deadlock state between the first robot and the second robot.

[0032] When at least one first robot among the multiple robots enters the main area, the electronic device 100 determines whether a second robot is located in the main area. When the second robot is located in the main area, the electronic device 100 sets the entry conditions of the first robot to an inactive state. When the second robot leaves the main area, the electronic device 100 determines the entry conditions of the first robot. A detailed description of how the electronic device 100 determines the entry conditions of the first robot will be described later with reference to FIGS. 4 to 6 below.

[0033] The processor 110 executes software to control at least one other component (e.g., a hardware or software component) connected to the processor 110. In addition, the processor 110 performs various data processing or calculations. For example, the processor 110 stores the main area, the sub - area, and the standby area in the memory 120.

[0034] As a reference, the processor 110 can perform all operations that the electronic device 100 performs. Therefore, in this specification, for convenience of explanation, the operations performed by the electronic device 100 will mainly be described as the operations performed by the processor 110. Also, in this specification, for convenience of explanation, the processor 110 will mainly be described as one processor, but it is not limited thereto. For example, the electronic device 100 includes at least one or more processors. Each of the at least one or more processors performs all operations related to the operation of determining the entry condition of the robot.

[0035] The memory 120 temporarily and / or permanently stores various data and / or information required to perform the operation of determining the entry condition of the robot. For example, the memory 120 stores a main area, a sub-area, and a standby area.

[0036] The communication unit 130 supports the performance of communication between the electronic device 100 and an external device. For example, the communication unit 130 includes one or more components that enable communication between the electronic device 100 and an external device. For example, the communication unit 130 includes a short range wireless communication unit, a microphone, and the like. Here, short range communication technologies include, but are not limited to, wireless LAN (Wi-Fi), Bluetooth (registered trademark), ZigBee (registered trademark), WFD (Wi-Fi Direct), UWB (ultra-wideband), infrared communication (IrDA: infrared Data Association), BLE (Bluetooth (registered trademark) Low Energy), NFC (Near Field Communication), and the like.

[0037] FIG. 2 is a flowchart for explaining a control method in an electronic device according to an embodiment of the present invention.

[0038] The electronic device according to this embodiment (e.g., the electronic device 100 in FIG. 1) sets, at stage 210, a sub-region including a partial region of the main region in the main region where a sticking state occurs in the area where the first robot moving in the first direction and the second robot moving in a second direction different from the first direction can move. For example, the sub-region includes a partial region of the main region and a partial region of a region different from the main region (e.g., a region other than the main region). The electronic device determines the entry order of the robot (e.g., the first robot or the second robot) entering the sub-region according to the robot located in the main region in order to prevent the sticking state of the first robot and the second robot in the main region when the robot enters the sub-region.

[0039] At stage 220, the electronic device determines a first entry condition, which is a condition under which the first robot can enter the main region, based on the fact that the first robot has entered the sub-region, with reference to the position of the second robot. For example, the first entry condition includes the condition under which the first robot can enter the main region. The second entry condition includes the condition under which the second robot can enter the main region. The electronic device performs a comparison between the first entry condition and the second entry condition. The electronic device determines the robot that can enter the main region based on the result of the performed comparison. In this specification, for the sake of convenience of explanation, the first robot is described as the robot attempting to enter the main region, and the second robot is described as the robot located in at least one or more of the main region, the sub-region, or any combination thereof.

[0040] At stage 230, the electronic device transmits an entry command for the first robot to enter the main region to the first robot based on the determined first entry condition. However, the command transmitted by the electronic device to the first robot is not limited to this. For example, the electronic device transmits a standby command for the first robot to move to the standby region based on the first entry condition. A detailed description thereof will be given later with reference to FIGS. 4 to 6 below.

[0041] FIG. 3 is a diagram showing the functions of the electronic device and the connection relationship between the electronic device and the robot in an embodiment of the present invention.

[0042] The electronic device 300 according to this embodiment includes a workflow engine, a database, and a communication unit. For example, the workflow engine represents an engine that executes scenarios prepared for the robot. Exemplarily, the workflow engine includes at least one or more of scenarios related to delivery, scenarios related to patrol, scenarios related to guidance services, or any combination thereof.

[0043] The electronic device 300 receives requests from a plurality of robots via a bridge server. For example, the bridge server represents a server that receives different types of data, converts them into one type, and outputs the converted data. The electronic device 300 receives requests from the first robot 310 and the second robot 320 via the bridge server. The electronic device 300 receives data using a plurality of communication protocols (e.g., Rsocket, Kafka, MQTT, WEBRTC, and gRPC) via the bridge server.

[0044] Exemplarily, the request of the robot includes an activation request for the entry condition to enter the main area. For reference, in FIG. 3, for the convenience of explanation, the robots that transmit requests to the electronic device 300 are described as the first robot 310 and the second robot 320, but it is not limited thereto, and the third robot and the fourth robot can also transmit requests to the electronic device 300.

[0045] Exemplarily, when the electronic device 300 receives a request from the first robot 310 via the bridge server, it performs robot authentication. Here, the electronic device 300 increases security by identifying requests from unauthenticated robots.

[0046] Based on the fact that the first robot 310 is an authenticated robot, the electronic device 300 performs an area management function. For example, the area management function includes a function of processing the request of the first robot by comparing the current position of the robot that communicates with the electronic device 300 with the position of the main area. The electronic device 300 receives the request of the first robot 310 and performs the following operations based on the fact that the first robot 310 is an authenticated robot. Specifically, when the first robot 310 enters the main area (that is, when the first robot 310 transmits a request to the electronic device 300 to enter the main area), the electronic device 300 determines whether the second robot 320 is located in the main area. When the second robot 320 is located in the main area, the electronic device 300 sets the entry condition of the first robot 310 to an inactive state. When the second robot 320 leaves the main area, the electronic device 300 determines the entry condition of the first robot 310. A detailed description of how the electronic device 300 determines the entry condition of the first robot 310 will be described in FIGS. 4 to 6 below.

[0047] The electronic device 300 receives the input of the user 330 via the communication unit. For example, based on receiving the input of the user 330, the electronic device 300 sets the main area and the sub - area. Here, the input of the user 330 includes at least one or more of the position of the area (including, for example, the main area and the sub - area), the size of the area, the size of the area where the sub - area and the main area overlap, or any combination thereof.

[0048] FIG. 4 is a diagram showing a plurality of areas in an electronic device according to an embodiment of the present invention.

[0049] The electronic device according to this embodiment (e.g., the electronic device 300 in FIG. 3) sets a main region 400, a first sub-region 410, a second sub-region 420, and standby regions (e.g., the first_1 standby region 413, the first_2 standby region 415, the second_1 standby region 423, the second_2 standby region 425). For example, the main region 400 includes a region where a jam state may occur between a plurality of robots among the regions where each of the plurality of robots (e.g., the first robot 411 and the second robot 421) can move.

[0050] The sub-region includes a partial region of the main region 400 and a partial region of a region different from the main region 400 (e.g., a region other than the main region 400), and includes the first sub-region 410 and the second sub-region 420. The first sub-region 410 represents a trigger region regarding the main region 400 so that the entry direction of the first robot 411 can be known. The second sub-region 420 represents a trigger region regarding the main region 400 so that the entry direction of the second robot 421 can be known. That is, the electronic device determines the entry condition of the robot into the main region 400 based on the time point when the robot enters the sub-region. Specifically, the electronic device determines the entry condition of the robot into the main region 400 based on the time point when the preceding robot enters the sub-region when the robot enters the main region 400.

[0051] The first_1 standby region 413 and the first_2 standby region 415 represent standby (or avoidance) regions of the first robot 411 regarding the first sub-region 410. The second_1 standby region 423 and the second_2 standby region 425 represent standby (or avoidance) regions of the second robot 421 regarding the second sub-region 420. The main region 400, the first sub-region 410, the second sub-region 420, the first_1 standby region 413, the first_2 standby region 415, the second_1 standby region 423, and the second_2 standby region 425 are set in the form of a polygon.

[0052] Exemplarily, each region is stored in a database with 2D plane coordinates. Each region is set via a user interface (UI) based on user input. Based on the description of the regions mentioned above, a detailed description of the operations of the electronic device (e.g., the operation of determining the entry condition of the first robot 411) is described below.

[0053] The electronic device sets a sub-region that includes a partial region of the main region 400 and a partial region of a region different from the main region 400. Specifically, the electronic device sets, as the first sub-region 410, the region that the first robot 411 first enters when moving into the main region 400 among the sub-regions. The electronic device sets, as the second sub-region 420, the region that the second robot 421 first enters when moving into the main region 400 among the sub-regions.

[0054] Based on the fact that the first robot 411 has entered the first sub-region 410, the electronic device identifies whether the second robot 421 is located in the main region 400. Based on the fact that the second robot 421 is located in the main region 400 and the number of robots that can move in the main region 400, the electronic device determines to deactivate the first entry condition (e.g., indicating the condition for the first robot 411 to enter the main region 400). Based on the fact that the first entry condition has been determined to be deactivated, the electronic device moves the first robot 411 to a standby region divided into the first sub-region 410, the second sub-region 420, and the main region 400. Specifically, the electronic device moves the first robot 411 to at least one of the first-1 standby region 413 and the first-2 standby region 415. Exemplarily, the electronic device preferentially moves the first robot 411 to the first-1 standby region 413. When the number of robots included in the first-1 standby region 413 exceeds a preset number, the electronic device moves the first robot 411 to the first-2 standby region 415.

[0055] The electronic device sets the number of robots located in the main area 400 based on the fact that the second robot 421 is located in the first sub-area 410 while moving in the second direction 429. For example, the fact that the second robot 421 is located in the first sub-area 410 means that the second robot 421 advances to an area different from the main area 400 while passing through the main area 400. Specifically, the first direction 419 represents the direction in which the first robot 411 enters the first sub-area 410, passes through the main area 400, and enters the second sub-area 420. The second direction 429 represents the direction in which the second robot 421 enters the second sub-area 420, passes through the main area 400, and enters the first sub-area 410. Therefore, the first robot 411 entering the first sub-area 410 includes the first robot 411 entering the main area 400. The first robot 411 entering the second sub-area 420 includes the first robot 411 exiting and / or passing through the main area 400. The second robot 421 entering the second sub-area 420 includes the second robot 421 entering the main area 400. The second robot 421 entering the first sub-area 410 includes the second robot 421 exiting and / or passing through the main area 400.

[0056] When the second robot 421 exits and / or passes through the main area 400 (i.e., when the second robot 421 enters the first sub-area 410), the electronic device sets the number of robots located in the main area 400. The electronic device determines to activate the first entry condition based on the fact that the number of robots located in the main area 400 is less than or equal to a preset number of robots. That is, the electronic device determines the first entry condition of the first robot 411 based on the number of robots located in the main area 400 and the position of the second robot 421. For reference, the description of the operation of the electronic device (e.g., the operation of determining the entry condition of the first robot 411) is not limited to this. For example, the operation of the electronic device includes the following operations.

[0057] The electronic device determines the priority of the first robot 411 in the main area 400 based on at least one or more of the battery remaining amount of the first robot 411, the loading state of the first robot 411, the operating time of the first robot 411, or any combination thereof. The electronic device determines the priority of the second robot 421 in the main area 400 based on at least one or more of the battery remaining amount of the second robot 421, the loading state of the second robot 421, the operating time of the second robot 421, or any combination thereof. The electronic device determines a first entry condition based on a comparison between the priority of the first robot 411 and the priority of the second robot 421. That is, even if the first robot 411 enters the first sub - area 410 while the second robot 421 is located in the main area 400, the electronic device allows or activates the first robot 411 to enter the main area 400 (i.e., activation of the first entry condition) through comparison of the priority of the first robot 411 and the priority of the second robot 421.

[0058] The electronic device determines to deactivate a second entry condition, which is a condition under which the second robot 421 can enter the main area, based on the fact that the priority of the first robot 411 is higher than the priority of the second robot 421. The electronic device moves the second robot 421 to a standby area divided into the first sub - area 410, the second sub - area 420, and the main area 400 based on the fact that the second entry condition of the second robot 421 is determined to be deactivated. Specifically, the electronic device moves the second robot 421 to at least one of the second - 1 standby area 423 and the second - 2 standby area 425. Exemplarily, the electronic device preferentially moves the second robot 421 to the second - 1 standby area 423. When the number of robots included in the second - 1 standby area 423 exceeds a preset number, the electronic device moves the second robot 421 to the second - 2 standby area 425.

[0059] The electronic device sets the number of robots located in the main area 400 based on the fact that the first robot 411 is located in the intersection area while moving in the first direction 419. For example, the intersection area represents an area where the sub-area and the main area 400 overlap. That is, the sub-area includes the intersection area and the area outside the intersection area. The electronic device determines to activate the second entry condition of the second robot 421 based on the fact that the number of robots located in the main area 400 is less than or equal to a preset number of robots.

[0060] The electronic device sets, as a padding area, an area obtained by excluding a partial area of the main area 400 from the sub-area. For example, the padding area is an area obtained by excluding the intersection area from the sub-area. The electronic device determines the priority of the first robot 411 and the priority of the second robot 421 based on the fact that the first robot 411 enters the intersection area and the second robot 421 enters the padding area. The electronic device determines the first entry condition based on a comparison between the priority of the first robot 411 and the priority of the second robot 421.

[0061] FIG. 5 is a flowchart for explaining a method of determining an entry condition for a robot to enter the main area in an electronic device according to an embodiment of the present invention.

[0062] The electronic device (e.g., the electronic device 300 in FIG. 3) according to the present embodiment determines an entry condition that is a condition under which a robot (e.g., at least one of the first robot 310 or the second robot 320 in FIG. 3) can enter the main area. For example, in step 500, the electronic device transmits permission regarding a request to enter the main area of the robot to the robot. In step 510, the robot transmits a request to enter the main area to the electronic device. Hereinafter, descriptions regarding requests and responses between the electronic device and the robot via steps 500 and 510 will be described.

[0063] In step 510, the robot performs synchronization of the management area. For example, the management area includes a main area, a sub - area, and a standby area set by the electronic device. The robot identifies the management area through synchronization of the management area set by the electronic device.

[0064] In step 510, based on having performed synchronization of the management area, the robot enters the standby area. The standby area is an area where the robot waits after entering the sub - area, but it may also be an area where the robot waits before entering the sub - area. Based on entering the standby area, the robot can enter the sub - area. Based on entering the sub - area after the standby area, the robot transmits an entry notice to the electronic device.

[0065] In step 500, the electronic device activates the management area service. For example, the management area service includes a service that provides the management area to the robot. Based on receiving the entry notice from the robot, the electronic device determines the entry conditions of the robot (e.g., the first entry condition for the first robot and the second entry condition for the second robot). Specifically, based on receiving the entry notice of the first robot, the electronic device compares the priority of the robot located in the main area with the priority of the first robot. In this specification, for the convenience of explanation, it is described that the first robot is the robot that transmits the entry notice to the electronic device, and the second robot is the robot located in the main area when the first robot transmits the entry notice to the electronic device.

[0066] When the priority of the first robot is higher than that of the second robot, the electronic device activates the entry condition of the first robot. In contrast, when the priority of the first robot is lower than that of the second robot, the electronic device deactivates the entry condition of the first robot. Then, the electronic device moves the robot to the waiting area. When the first robot moves to the waiting area, the electronic device determines the entry condition based on the position of the second robot. Such operations are performed by the electronic device at preset time intervals. Based on activating the entry condition of the first robot, the electronic device transmits an entry permission to the robot (e.g., the first robot in FIG. 5).

[0067] Based on receiving the entry permission from the electronic device, the robot enters the main area. After entering the main area, the robot enters the next waiting area based on identifying the waiting area.

[0068] FIG. 6 is a flowchart for explaining a method of determining an entry condition through comparison of priorities among a plurality of robots in an electronic device according to an embodiment of the present invention.

[0069] The electronic device (e.g., the electronic device 300 in FIG. 3) according to this embodiment identifies the entry of the robot into the sub-area at step 610. Based on the robot entering the sub-area, the electronic device determines that the robot will enter the main area.

[0070] At step 620, the electronic device determines whether there is a robot that has entered the main area first. For example, if there is a robot that has entered the main area first, the electronic device determines the entry condition of the later-entering robot (e.g., the robot that entered the sub-area from step 610) to prevent the jam state of the robots in the main area.

[0071] At stage 630, based on the presence of a robot that has previously entered the main area, the electronic device compares the priority of the robot that entered later with the priority of the robot that entered earlier. Based on the fact that the priority of the robot that entered later is higher than the priority of the robot that entered earlier, at stage 650, the electronic device sets the waiting area of the robot that entered earlier. Then, at stage 660, the electronic device moves the robot that entered earlier to the waiting area.

[0072] At stage 640, based on the fact that the priority of the robot that entered later is lower than the priority of the robot that entered earlier, the electronic device determines whether the robot that entered earlier is located in the sub - area. If the robot that entered earlier is located in the sub - area, the electronic device performs stage 650. In contrast, when the robot that entered earlier is located in the main area rather than the sub - area, at stage 670, the electronic device waits for the robot that entered earlier to advance (i.e., until the robot that entered earlier leaves the main area) before allowing the robot that entered later to enter.

[0073] At stage 680, based on the fact that the robot that entered earlier has advanced from the main area or the robot that entered earlier has moved to the waiting area, the electronic device permits the entry of robots into the main area. That is, the electronic device activates the entry condition for the robot that entered later.

[0074] At stage 690, the electronic device determines whether there is a next robot in the waiting area. If there is a next robot in the waiting area, the electronic device performs stage 610 again.

[0075] FIG. 7 is a diagram showing an example of setting the main area in an electronic device according to an embodiment of the present invention.

[0076] Referring to FIG. 7, FIG. 7 shows an example 700 of a main area. An electronic device according to an embodiment (e.g., the electronic device 300 in FIG. 3) stores the example 700 of the main area in a database. As shown in FIG. 7, the main area is classified into at least one or more of an identification number (id), a name, a location identification number (site_id), a floor number (floor), the number of accessible robots (max_robots), the availability of access activation (enable), the position of sub-areas (triggers), the creation time (created_at), the update time (updated_at), or any combination thereof.

[0077] Exemplarily, referring to FIG. 7, the example 700 of the main area includes four main areas. Among the four main areas, the first main area represents the central corridor on the fifth floor. However, in this specification, for the sake of convenience of explanation, the example 700 of the main area is described as shown in FIG. 7, but it is not limited thereto.

[0078] FIG. 8 is a diagram showing an interface provided to a user in an electronic device according to an embodiment of the present invention.

[0079] The electronic device according to this embodiment (e.g., the electronic device 300 in FIG. 3) sets a main area based on a user input received via a communication unit. The user transmits an input for setting the main area via a user interface provided by the electronic device. Exemplarily, the above-described user interface is as shown in FIG. 8. The electronic device provides a list of main areas to the user via the communication unit. The user can select a target main area from the list of main areas provided by the electronic device.

[0080] The electronic device provides a setting screen that can modify detailed setting values of the target main area based on receiving a selection of the target main area from the user. The user can input at least one or more of the identification number of the target main area, the location name of the target main area, the number of robots allowed in the target main area, the floor number of the target main area, the location of the standby area related to the target main area, or any combination thereof via the setting screen provided by the electronic device.

[0081] FIG. 9 is a diagram showing an interface for setting a sub - area in an electronic device according to an embodiment of the present invention.

[0082] The electronic device according to this embodiment (e.g., the electronic device 300 in FIG. 3) sets a sub - area based on the user input received via the communication unit. The user can transmit an input for setting the sub - area via the user interface provided by the electronic device. Exemplarily, the above - mentioned user interface is as shown in FIG. 8. The electronic device provides a setting screen for the sub - area to the user via the communication unit. The user can change the setting of the sub - area via the setting screen for the sub - area provided by the electronic device.

[0083] The electronic device provides, for example, at least one or more of addition of a sub - area, termination of a sub - area, initialization of a sub - area, a selection window for a sub - area, or any combination thereof to the user. The user can change the setting of the sub - area related to the main area via the item (e.g., addition of a sub - area) provided by the electronic device. By inputting the setting of the sub - area, the user can determine at least one or more of the number of robots that need to move in the main area, the policy setting for preventing jamming in the main area, the policy setting for allowing robots to enter the main area, or any combination thereof.

[0084] FIG. 10 is a diagram showing a computer system related to an electronic device or a control method according to an embodiment of the present invention.

[0085] Referring to FIG. 10, a computer system 1000 related to an electronic device or a control method includes at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700 connected via a bus 1200.

[0086] The processor 1100 is a semiconductor device that executes processing on instruction words stored in a central processing unit (CPU) or the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 include various types of volatile or non-volatile storage media. For example, the memory 1300 includes a ROM (read only memory) and a RAM (random access memory).

[0087] Therefore, each step of the method or algorithm described with respect to the embodiments disclosed herein is directly implemented by hardware, a software module executed by the processor 1100, or a combination of the two. The software module resides in a storage medium such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM (i.e., the memory 1300 and / or the storage 1600).

[0088] An exemplary storage medium is coupled to the processor 1100, and the processor 1100 reads information from and writes information to the storage medium. As another method, the storage medium is integrated with the processor 1100. The processor and the storage medium can also reside within an application specific integrated circuit (ASIC). The ASIC can also reside within a user terminal. As another method, the processor and the storage medium can also reside as individual components within a user terminal.

[0089] The above description merely exemplarily explains the technical idea of the present invention, and those with ordinary knowledge in the technical field to which the present invention pertains can make various modifications and variations without departing from the essential characteristics of the present invention.

[0090] The above-described embodiments are implemented by hardware components, software components, and / or combinations of hardware components and software components. For example, the apparatuses, methods, and components described in this embodiment can be implemented using a general-purpose computer or a special-purpose computer, such as a processor, a controller, an ALU (arithmetic logic unit), a digital signal processor, a microcomputer, an FPGA (field programmable gate array), a PLU (programmable logic unit), a microprocessor, or other devices that execute and respond to instructions. The processing device executes an operating system (OS) and software applications executed on the operating system. Further, the processing device accesses, stores, operates, processes, and generates data in response to the execution of the software. For the sake of convenience of understanding, although the processing device may be described as being used singly, those having ordinary knowledge in the art will understand that the processing device may include a plurality of processing elements and / or a plurality of types of processing elements. For example, the processing device includes a plurality of processors or one processor and one controller. Also, other processing configurations, such as a parallel processor, are possible. The software includes a computer program, code, instructions, or a combination of one or more of these, and configures the processing device to operate as desired or instructs the processing device independently or collectively. The software and / or data are interpreted by the processing device or are permanently or temporarily embodied in a type of machine, component, physical device, virtual equipment, computer storage medium or device, or signal wave being transmitted that provides instructions or data to the processing device.The software is distributed over a computer system connected by a network and stored or executed in a distributed manner. The software and data are stored in a computer-readable recording medium.

[0091] The method according to this embodiment is embodied in the form of program instructions executed via various computer means and recorded on a computer-readable recording medium. The computer-readable recording medium includes program instructions, data files, data structures, etc. alone or in combination, and the program instructions recorded on the recording medium are either specially designed and configured for this embodiment or known and usable by those skilled in the art of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy (registered trademark) disks, and magnetic tapes, optical media such as CD-ROMs, DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions such as ROMs, RAMs, flash memories, etc. Examples of program instructions include not only machine language codes generated by compilers but also high-level language codes executed by a computer using an interpreter or the like.

[0092] The above-described hardware device is configured to operate as one or more software modules for performing the operations of this embodiment, and vice versa.

[0093] As described above, although the present embodiment has been described with reference to the limited drawings, those having ordinary knowledge in the relevant technical field can apply various technical modifications and variations based thereon. For example, even if the described technology is performed in an order different from the described method, and / or the components such as the described system, structure, device, circuit, etc. are combined or assembled in a form different from the described method, or are replaced or substituted by other components or equivalents, appropriate results can still be achieved.

[0094] Therefore, other embodiments, other implementations, and equivalents to the claims also fall within the scope of the claims.

[0095] Accordingly, the embodiments disclosed by the present invention are for illustrative purposes rather than for limiting the technical idea of the present invention, and the scope of the technical idea of the present invention is not limited by such embodiments. The scope of protection of the present invention should be construed according to the claims, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Description of Reference Numerals

[0096] 100, 300 Electronic device 110 Processor 120 Memory 122 Instruction word 130 Communication unit 310, 411 First robot 320, 421 Second robot 330 User 400 Main area 410, 420 First, second sub - areas 413 First_1 standby area (A1 - 1) 415 First_2 standby area (A1 - 2 419, 429 First, second directions 423 Second_1 standby area (A2 - 1) 425 Second_2 standby area (A2 - 2) 1000 Computer system 1100 Processor 1200 Bus 1300 Memory 1310 ROM 1320 RAM 1400 User Interface Input Device 1500 User Interface Output Device 1600 Storage 1700 Network Interface

Claims

1. 1. An electronic device comprising: A memory storing computer-executable instructions; at least one processor that accesses the memory and executes the instructions; a communication unit that supports communication between the electronic device and an external device, The at least one processor A sub-area including a part of a main area is set in a main area in which a stalemate occurs among areas in which a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move; determining a first entry condition that is a condition under which the first robot can enter the main area based on a position of the second robot, based on the first robot entering the sub area; and transmitting an entry command to the first robot for the first robot to enter the main area based on the determined first entry condition.

2. The at least one processor setting the sub-region including a part of the main region and a part of a region different from the main region; Among the sub-areas, a first sub-area is set as a first sub-area into which the first robot first enters when moving into the main area; The electronic device according to claim 1 , wherein the sub-area is set to a second sub-area, the sub-area being a first area into which the second robot moves when moving into the main area.

3. The at least one processor Identifying whether the second robot is located in the main area based on the first robot entering the first sub-area; The electronic device according to claim 2 , wherein the first entry condition is determined to be inactive based on the number of robots that are located in the main area and can move to the main area.

4. 4. The electronic device of claim 3, wherein the at least one processor moves the first robot to a waiting area divided into the first sub-area, the second sub-area, and the main area based on the first entry condition being determined to be inactivated.

5. The at least one processor setting the number of robots located in the main area based on the second robot being located in the first sub-area while moving in the second direction; The electronic device of claim 3 , wherein the first entry condition is determined to be activated based on the number of robots located in the main area being equal to or less than a preset number of robots.

6. The electronic device of claim 3, characterized in that the at least one processor determines the priority of the first robot and the priority of the second robot based on the second robot being located in an intersection area, which is an area where the second sub-area and a portion of the main area overlap, while the second robot is moving in the second direction.

7. The at least one processor determining a priority order for the first robot in the main area based on at least one of a remaining battery level of the first robot, a loading state of the first robot, an operating time of the first robot, or any combination thereof; determining a priority order for the second robot in the main area based on at least one of a remaining battery level of the second robot, a loading state of the second robot, an operating time of the second robot, or any combination thereof; The electronic device according to claim 6 , wherein the first entry condition is determined based on a comparison of a priority of the first robot and a priority of the second robot.

8. The at least one processor determining, based on the priority of the first robot being higher than the priority of the second robot, to deactivate a second entry condition under which the second robot can enter the main area; moving the second robot to a waiting area divided into the first sub-area, the second sub-area, and the main area based on the second entry condition being determined to be inactive; setting the number of robots located in the main area based on the first robot being located in the intersection area while moving in the first direction; The electronic device of claim 7 , wherein the second entry condition is determined to be activated based on the number of robots located in the main area being equal to or less than a preset number of robots.

9. The at least one processor An area where the sub-area and a part of the main area overlap is set as an intersection area; A region of the sub-region excluding a part of the main region is set as a padding region; determining a priority order of the first robot and a priority order of the second robot based on the first robot entering the intersection area and the second robot entering the padding area; The electronic device according to claim 1 , wherein the first entry condition is determined based on a comparison between a priority of the first robot and a priority of the second robot.

10. The at least one processor receiving a request from the first robot and a request from the second robot through a communication unit performing a data conversion function; determining the first direction and the second direction based on positions of the main region and the sub region and positions of the first robot and the second robot; The electronic device of claim 1 , wherein the main area and the sub-area are set based on a user's input received via the communication unit.

11. 1. A method for controlling an electronic device including at least one processor, comprising: setting a sub-area including a part of a main area in which a stalemate occurs among areas in which a first robot moving in a first direction and a second robot moving in a second direction different from the first direction can move; determining a first entry condition, which is a condition under which the first robot can enter the main area based on a position of the second robot, based on the first robot entering the sub area; transmitting an entry command to the first robot for the first robot to enter the main area based on the determined first entry condition.

12. The step of setting the sub-regions includes: setting the sub-region including a part of the main region and a part of a region different from the main region; setting a first sub-area into which the first robot moves when moving into the main area among the sub-areas; and setting, as a second sub-area, an area into which the second robot first enters when the second robot moves into the main area among the sub-areas.

13. The step of determining a first approach condition comprises: determining whether the second robot is located in the main area based on the first robot entering the first sub-area; and determining to deactivate the first entry condition based on the number of robots in which the second robot is located in the main area and can move into the main area.

14. 14. The method of claim 13, wherein determining the first entry condition includes moving the first robot to a waiting area divided into the first sub-area, the second sub-area, and the main area based on the first entry condition being determined to be inactive.

15. The step of determining a first approach condition comprises: setting the number of robots located in the main area based on the second robot being located in the first sub-area while moving in the second direction; and determining that the first entry condition is activated based on the number of robots located in the main area being equal to or less than a preset number of robots.

16. 14. The control method of claim 13, wherein the step of determining the first entry condition includes a step of determining a priority of the first robot and a priority of the second robot based on the second robot being positioned in an intersection area, which is an area where the second sub-area and a part of the main area overlap, while the second robot is moving in the second direction.

17. The step of determining a first approach condition comprises: determining a priority order for the first robot in the main area based on at least one of a remaining battery level of the first robot, a loading state of the first robot, an operating time of the first robot, or any combination thereof; determining a priority order of the second robot in the main area based on at least one of a remaining battery level of the second robot, a loading state of the second robot, an operating time of the second robot, or any combination thereof; 17. The method of claim 16, further comprising: determining the first entry condition based on a comparison of a priority of the first robot and a priority of the second robot.

18. The step of determining a first approach condition includes: determining, based on the priority of the first robot being higher than the priority of the second robot, to deactivate a second entry condition, which is a condition for allowing the second robot to enter the main area; moving the second robot to a waiting area divided into the first sub-area, the second sub-area, and the main area based on the second entry condition being determined to be inactive; setting the number of robots located in the main area based on the first robot being located in the intersection area while moving in the first direction; and determining that the second entry condition is activated based on the number of robots located in the main area being equal to or less than a preset number of robots.

19. determining an overlapping area between the sub-area and a part of the main area as an intersection area; setting a region of the sub-region excluding a part of the main region as a padding region; determining a priority of the first robot and a priority of the second robot based on the first robot entering the intersection area and the second robot entering the padding area; 12. The method of claim 11, further comprising: determining the first entry condition based on a comparison of a priority of the first robot and a priority of the second robot.

20. receiving a request from the first robot and a request from the second robot through a communication unit performing a data conversion function; determining the first direction and the second direction based on positions of the main region and the sub region and positions of the first robot and the second robot; The method of claim 11, further comprising: setting the main area and the sub area based on a user input received via the communication unit.

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