Robot-friendly buildings, map generation method and system for robot operation

Abstract

The present invention relates to a map generation method and system 3000 for robot operation, which can intuitively and conveniently create a map used for the navigation of a robot providing services within a building. The map generation method according to the present invention may include the steps of receiving a map editing request for a specific floor among a plurality of floors of a building, providing an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request, allocating at least one graphic object on the specific map included in the editing interface based on editing information received from the electronic device, and updating the specific map to which the graphic object is assigned to a cloud server so that a robot can navigate the specific floor according to attributes of the graphic object assigned on the specific map.

Description

[Technical Field]

[0001] The present invention relates to a map generation method and system for robot operation that enables a robot providing services within a building to conveniently and efficiently create a map that can be used to plan global and local movement routes. [Background technology]

[0002] 2. Description of the Related Art With advances in technology, various service devices have appeared, and in particular, technological development has been actively carried out recently for robots that perform various tasks or services.

[0003] Furthermore, recent advances in artificial intelligence and cloud technologies have made it possible to control robots more precisely and safely, gradually increasing the extent to which robots are used. In particular, technological advances have led to the development of robots that can safely coexist with humans in indoor spaces.

[0004] As a result, robots have recently been replacing human tasks or work, and various methods for robots to provide services directly to people, particularly in indoor spaces, are being actively researched.

[0005] For example, robots are providing route guidance services in public places such as airports, train stations, and department stores, and serving food in restaurants. Furthermore, in offices and shared living spaces, robots are providing delivery services, delivering mail and parcels. In addition, robots are providing a variety of other services, including cleaning services, security services, and logistics processing services. It is expected that the types and range of services provided by robots will increase dramatically in the future, and the level of services provided will continue to evolve.

[0006] Such robots provide various services not only in outdoor spaces but also in indoor spaces of buildings such as offices, apartments, department stores, schools, hospitals, and entertainment facilities. In this case, the robots are controlled to move around the indoor spaces of the buildings and provide various services.

[0007] On the other hand, in order for multiple robots providing services within a building to operate efficiently, it is most important that the maps used to plan the robots' overall and local movement routes are created to reflect the characteristics and conditions of the areas within the building.

[0008] Therefore, in order to provide more advanced services using robots within buildings, research is needed into methods that allow users to conveniently and efficiently create maps for robot operation that reflect the characteristics and conditions of areas within a building. Summary of the Invention [Problem to be solved by the invention]

[0009] The map generation method and system for robot operation according to the present invention provides a user environment that allows intuitive and convenient creation of a map to be used for the navigation of a robot that provides services within a building.

[0010] In particular, the map generation method and system for robot operation according to the present invention provides a user environment in which a map to be used for robot navigation can be created based on each of multiple floors in a building.

[0011] More specifically, the map generation method and system for robot operation according to the present invention provides a user environment in which various types of regions can be conveniently allocated on a map so that the operation of the robot can be controlled on a region-by-region basis.

[0012] Furthermore, the map generation method and system for robot operation according to the present invention are intended to provide a user environment in which a node map can be conveniently and freely created, reflecting the robot's travel route, the robot's movements, and the facilities located within a building.

[0013] Furthermore, the map generation method and system for robot operation according to the present invention are intended to provide a map that can be intuitively recognized by the user.

[0014] Furthermore, the present invention aims to provide a robot-friendly building where robots and humans coexist and provide useful services to humans.

[0015] Furthermore, the robot-friendly building according to the present invention can expand the types and range of services that robots can provide by providing various robot-friendly facility infrastructures that can be used by robots.

[0016] Furthermore, the robot-friendly building of the present invention can manage the movement of robots that provide services more systematically by organically controlling multiple robots and facility infrastructure using a cloud system linked to multiple robots, allowing the robot-friendly building of the present invention to provide various services to people more safely, quickly, and accurately.

[0017] Furthermore, the robots applied to buildings according to the present invention can be realized in a brainless format controlled by a cloud server, which not only enables multiple robots to be placed in buildings to be manufactured inexpensively without expensive sensors, but also allows them to be controlled with high performance and precision. [Means for solving the problem]

[0018] The map generating method according to the present invention may include the steps of receiving a map editing request for a specific floor among a plurality of floors of a building; providing an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request; allocating at least one graphic object to the specific map included in the editing interface based on editing information received from the electronic device; and updating the specific map to which the graphic object is assigned to a cloud server so that a robot can travel on the specific floor according to attributes of the graphic object assigned to the specific map.

[0019] Furthermore, the map generating method according to the present invention may include the steps of receiving a map editing request for a specific floor among a plurality of floors of a building; providing an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request; allocating at least one node on the specific map included in the editing interface based on the editing information received from the electronic device; and updating the specific map to which the node is assigned to a cloud server so that a robot travels on the specific floor along the node assigned on the specific map or the robot performs an operation defined by the node on the specific floor.

[0020] Furthermore, the map generation system according to the present invention may include a communication unit that receives a map editing request for a specific floor among a plurality of floors of a building, and a control unit that, in response to the editing request, provides an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of an electronic device, wherein the control unit may assign at least one graphic object to the specific map included in the editing interface based on the editing information received from the electronic device, and update the specific map to which the graphic object is assigned to a cloud server so that a robot can travel on the specific floor according to attributes of the graphic object assigned to the specific map.

[0021] Furthermore, a program according to the present invention may be a program executed by one or more processes in an electronic device and stored on a computer-readable recording medium, and may include instructions for performing the following steps: receiving a map editing request for a specific floor among a plurality of floors of a building; providing an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of the electronic device in response to the editing request; allocating at least one graphic object to the specific map included in the editing interface based on editing information received from the electronic device; and updating the specific map to which the graphic object is assigned to a cloud server according to attributes of the graphic object assigned to the specific map so that a robot can travel on the specific floor.

[0022] Furthermore, a building according to the present invention may be a building where a plurality of robots provide services, the building including a plurality of floors having an indoor space where the robots coexist with humans, and a communication unit for communicating between the robots and a cloud server, wherein the cloud server controls the robots traveling in the building based on a building map generated through an editing interface, the building map being generated by the steps of: receiving a map editing request for a specific floor among the plurality of floors of the building; providing an editing interface including at least a portion of a specific map corresponding to the specific floor on a display unit of an electronic device in response to the editing request; and allocating at least one graphic object on the specific map included in the editing interface based on the editing information received from the electronic device, and the specific map to which the graphic object is assigned may be updated in the cloud server so that the robot travels on the specific floor according to attributes of the graphic object assigned on the specific map. [Effects of the Invention]

[0023] The map generating method and system for robot operation according to the present invention may provide an editing interface including at least a portion of a specific map corresponding to a specific floor on a display unit of an electronic device in response to receiving a map editing request for a specific floor among multiple floors of a building. This allows a user to generate and edit a specific map for each floor of a building consisting of multiple floors. This allows a user to generate and modify a customized map for each floor of a building consisting of multiple floors, reflecting the characteristics of each floor.

[0024] Furthermore, the map generation method and system for robot operation according to the present invention can assign graphic objects to a specific map included in an editing interface based on editing information received from an electronic device. This allows a user to create and edit a map simply by assigning graphic objects to the editing interface, making it convenient and easy for even an inexperienced user to create and edit a map.

[0025] Furthermore, the map generation method and system for robot operation according to the present invention can update a specific map to which a graphic object is assigned to a cloud server so that the robot can travel on a specific floor according to the attributes of the graphic object assigned to the specific map. This allows the robot to travel efficiently according to an overall plan without processing a complex environment based on a map that reflects interactions between robots, between robots and humans, and between the robot and various equipment infrastructure installed in the building.

[0026] Furthermore, the robot-friendly building of the present invention can provide a new space where such technologies, robots, and the equipment infrastructure installed within the building are organically combined using technological convergence, which combines and links robots, autonomous driving, AI, and cloud technology.

[0027] Furthermore, the robot-friendly building of the present invention can systematically manage the operation of robots that provide services by organically controlling multiple robots and facility infrastructure using a cloud server linked to multiple robots, thereby enabling the robot-friendly building of the present invention to provide various services to people more safely, quickly, and accurately.

[0028] Furthermore, the robots applied to buildings according to the present invention can be realized in a brainless format controlled by a cloud server, which not only enables multiple robots to be placed in buildings to be manufactured inexpensively without expensive sensors, but also allows them to be controlled with high performance and precision.

[0029] Furthermore, in the building of the present invention, the movement of multiple robots placed in the building is controlled not only taking into account the tasks and movement conditions assigned to them, but also taking into account people, allowing robots and people to naturally coexist in the same space.

[0030] Furthermore, in buildings according to the present invention, various controls can be implemented to prevent accidents caused by robots and to respond to unforeseen situations, thereby instilling in people the perception that robots are not dangerous, but rather friendly and safe. [Brief explanation of the drawings]

[0031] [Figure 1] FIG. 1 is a conceptual diagram for explaining a robot-friendly building according to the present invention. [Figure 2] FIG. 1 is a conceptual diagram for explaining a robot-friendly building according to the present invention. [Figure 3] FIG. 1 is a conceptual diagram for explaining a robot-friendly building according to the present invention. [Figure 4] FIG. 1 is a conceptual diagram for explaining a system for controlling a robot that travels in a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention. [Figure 5] FIG. 1 is a conceptual diagram for explaining a system for controlling a robot that travels in a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention. [Figure 6] FIG. 1 is a conceptual diagram for explaining a system for controlling a robot that travels in a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention. [Figure 7]FIG. 1 is a conceptual diagram for explaining the equipment infrastructure provided in a robot-friendly building according to the present invention. [Figure 8] FIG. 1 is a conceptual diagram for explaining the equipment infrastructure provided in a robot-friendly building according to the present invention. [Figure 9] FIG. 1 is a conceptual diagram for explaining a method for estimating the position of a robot traveling in a robot-friendly building according to the present invention. [Figure 10] FIG. 1 is a conceptual diagram for explaining a method for estimating the position of a robot traveling in a robot-friendly building according to the present invention. [Figure 11] FIG. 1 is a conceptual diagram for explaining a method for estimating the position of a robot traveling in a robot-friendly building according to the present invention. [Figure 12] FIG. 1 is a conceptual diagram for explaining a map generation system for operating a robot according to the present invention. [Figure 13] 1 is a flowchart illustrating a map generation method for operating a robot according to the present invention. [Figure 14] FIG. 2 is a conceptual diagram for explaining an editing interface provided by the present invention. [Figure 15] FIG. 2 is a conceptual diagram for explaining an editing interface provided by the present invention. [Figure 16] 1 is a conceptual diagram for explaining a method for generating a map using point cloud technology in the present invention. [Figure 17A] 1 is a conceptual diagram for explaining an area graphic object according to the present invention; [Figure 17B] 1 is a conceptual diagram for explaining an area graphic object according to the present invention; [Figure 18] 1 is a conceptual diagram for explaining an area graphic object according to the present invention; [Figure 19A] FIG. 2 is a conceptual diagram for explaining a node graphic object according to the present invention. [Figure 19B] FIG. 2 is a conceptual diagram for explaining a node graphic object according to the present invention. [Figure 20] FIG. 2 is a conceptual diagram for explaining a node graphic object according to the present invention. [Figure 21] FIG. 2 is a conceptual diagram for explaining a node graphic object according to the present invention. [Figure 22] FIG. 2 is a conceptual diagram for explaining a node graphic object according to the present invention. [Figure 23A] FIG. 1 is a conceptual diagram for explaining a region according to the present invention. [Figure 23B] FIG. 1 is a conceptual diagram for explaining a region according to the present invention. [Figure 23C] FIG. 1 is a conceptual diagram for explaining a region according to the present invention. [Figure 23D] FIG. 1 is a conceptual diagram for explaining a region according to the present invention. [Figure 23E] FIG. 1 is a conceptual diagram for explaining a region according to the present invention. [Figure 23F] FIG. 2 is a conceptual diagram for explaining an area list according to the present invention. [Figure 24] FIG. 1 is a conceptual diagram for explaining the interlocking of nodes and equipment infrastructure according to the present invention. [Figure 25A] 1 is a conceptual diagram illustrating a method for filtering graphic objects on an editing interface of the present invention. [Figure 25B] 1 is a conceptual diagram illustrating a method for filtering graphic objects on an editing interface of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0032] Hereinafter, the embodiments disclosed herein will be described in detail with reference to the accompanying drawings. Regardless of the reference numerals, identical or similar components are designated by the same reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" used in the following description are merely used to facilitate the description and do not have any distinct meanings or functions. Furthermore, when describing the embodiments disclosed herein, if a detailed description of related publicly known technology is deemed to obscure the gist of the embodiments disclosed herein, such a detailed description will be omitted. Furthermore, the accompanying drawings are intended to facilitate understanding of the embodiments disclosed herein, and the technical concepts disclosed herein should not be limited by the accompanying drawings. The accompanying drawings should be understood to include all modifications, equivalents, and alternatives within the concept and technical scope of the present invention.

[0033] Terms including ordinal numbers such as first, second, etc. may be used to describe various components, but the components are not limited by these terms. These terms are used only to distinguish one component from another.

[0034] When a component is referred to as being "coupled" or "connected" to another component, it should be understood that it may be directly coupled or connected to the other component, but that there may be other components between them. On the other hand, when a component is referred to as being "directly coupled" or "directly connected" to another component, it should be understood that there are no other components between them.

[0035] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0036] It should be understood that in this application, the use of terms such as "comprises" or "having" is intended to specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof set forth in the specification, but does not preclude the possible presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0037] The present invention relates to a robot-friendly building, and proposes a robot-friendly building where humans and robots can coexist safely and where robots can provide useful services within the building.

[0038] More specifically, the present invention provides a method for providing useful services to people using robots, robot-friendly infrastructure, and various systems for controlling them. In a building according to the present invention, people and multiple robots can coexist, and various infrastructures (or facility infrastructures) can be provided that allow multiple robots to move freely within the building.

[0039] In the present invention, a building is a structure erected for continuous habitation, living, business, etc., and may take various forms such as a commercial building, an industrial building, an institutional building, a residential building, etc. Furthermore, the building may be a multi-story building having multiple floors, or a single-story building. However, for the sake of convenience, the present invention will be described using infrastructure or facility infrastructure applied to a multi-story building as an example.

[0040] In the present invention, infrastructure or facility infrastructure refers to facilities provided in a building for providing services, moving robots, maintaining functions, maintaining cleanliness, etc., and may be of a wide variety of types and forms. For example, infrastructure provided in a building may be a variety of facilities, such as transportation facilities (e.g., robot movement walkways, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, structures (e.g., stairs, etc.). In this specification, such facilities will be referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and the terms may be used interchangeably in some cases.

[0041] Furthermore, in a building according to the present invention, at least one of the building, various equipment infrastructures provided in the building, and the robot may be controlled in conjunction with one another, so that the robot can safely and accurately provide various services within the building.

[0042] The present invention proposes a building equipped with various equipment infrastructures that allow multiple robots to move around the building, provide services based on tasks (or jobs), and support robots in standby or charging functions as needed, as well as repair and cleaning functions. Such a building provides an integrated solution (or system) for robots, and the building of the present invention can be named using various modifiers. For example, the building of the present invention can be described in various ways, such as i) a building equipped with infrastructure used by robots, ii) a building equipped with robot-friendly infrastructure, iii) a robot-friendly building, iv) a building where robots and people live together, and v) a building that provides various services using robots.

[0043] Meanwhile, in the present invention, the meaning of "robot-friendly" refers to a building where robots coexist, and more specifically, it can mean that the building allows robots to move, that robots provide services, that a facility infrastructure is built that robots can use, or that a facility infrastructure is built that provides functions required by robots (e.g., charging, repair, cleaning, etc.). In this case, in the present invention, "robot-friendly" can be used to mean that an integrated solution for the coexistence of robots and humans is provided.

[0044] The present invention will now be discussed in more detail with reference to the accompanying drawings.

[0045] Figures 1, 2 and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention, and Figures 4, 5 and 6 are conceptual diagrams for explaining a system for controlling a robot that travels in the robot-friendly building according to the present invention and various facilities provided in the robot-friendly building. Furthermore, Figures 7 and 8 are conceptual diagrams for explaining the facility infrastructure provided in the robot-friendly building according to the present invention.

[0046] First, for convenience of explanation, representative reference numerals will be defined.

[0047] In the present invention, a building is designated by the reference numeral "1000," and a space (indoor space or indoor area) of the building 1000 is designated by the reference numeral "10" (see FIG. 8). Furthermore, indoor spaces corresponding to the respective floors constituting the indoor space of the building 1000 are designated by the reference numerals 10a, 10b, and 10c (see FIG. 8). In the present invention, an indoor space or indoor area refers to the inside of a building protected by an exterior wall, as opposed to the outside of the building, and is not limited to meaning a space.

[0048] Furthermore, in the present invention, the robot is given the reference symbol "R", and even if the reference symbol is not written for the robot in the drawings or the specification, it can all be understood as robot R.

[0049] Furthermore, in the present invention, a person or a human being is designated by the reference symbol "U," and a person or a human being may be named as a dynamic object. In this case, the dynamic object does not necessarily mean only a person, but may be understood to include an animal such as a dog or a cat, or at least one other robot (e.g., a user's personal robot, a robot providing other services, etc.), a drone, a vacuum cleaner (e.g., a robot vacuum cleaner), or other movable object.

[0050] On the other hand, the building (building, structure, edifice) 1000 described in this invention can mean a structure built for people to live in, work in, raise animals in, or store goods in, without any particular type limitations.

[0051] For example, the building 1000 may be an office, an office, an officetel, an apartment, a multi-purpose apartment, a house, a school, a hospital, a restaurant, a government office, etc., and the present invention can be applied to such various types of buildings.

[0052] As shown in FIG. 1, in a building 1000 according to the present invention, a robot can move around and provide various services.

[0053] One or more robots of different types may be located within the building 1000, and such robots may move within the building 1000, provide services, and use various equipment infrastructure provided in the building 1000 under the control of the server 20.

[0054] In the present invention, the location of the server 20 may vary. For example, the server 20 may be located inside or outside the building 1000. That is, at least a portion of the server 20 may be located inside the building 1000, and the remaining portion may be located outside the building 1000. Alternatively, the server 20 may be located entirely inside the building 1000, or only outside the building 1000. Therefore, the present invention is not particularly limited to the specific location of the server 20.

[0055] Furthermore, in the present invention, the server 20 may be configured to use at least one of a cloud computing server (cloud server) 21 and an edge computing server (edge ​​server) 22. Furthermore, the server 20 is not limited to a cloud computing or edge computing server, and any server capable of controlling a robot can be applied to the present invention.

[0056] Meanwhile, the server 20 according to the present invention may, in some cases, combine a cloud computing server 21 and an edge computing method to control at least one of the robots and the equipment infrastructure installed in the building 1000.

[0057] Meanwhile, considering the cloud server 21 and the edge server 22 more specifically, the edge server 22 is an electronic device and can operate as the brain of the robot R. That is, each edge server 22 can wirelessly control at least one robot R. In this case, the edge server 22 can control the robot R based on a set control period. The control period can be determined as the sum of a time given for processing data related to the robot R and a time given for providing a control command to the robot R. The cloud server 21 can manage at least one of the robot R or the edge server 22. In this case, the edge server 22 can operate as a server corresponding to the robot R and as a client corresponding to the cloud server 21.

[0058] The robot R and the edge server 22 may communicate wirelessly, and the edge server 22 and the cloud server 21 may communicate via a wired or wireless connection. The robot R and the edge server 22 may communicate via a wireless network capable of ultra-reliable and low latency communications (URLLC). For example, the wireless network may include at least one of a 5G network or WiFi-6 (WiFi ad / ay). The 5G network may be characterized by not only ultra-reliable and low latency communications but also enhanced mobile broadband (eMBB) and massive machine-type communications (mMTC). For example, the edge server 22 may include a mobile edge computing (MEC) server and be located in a base station. This reduces the latency of communication between the robot R and the edge server 22. By shortening the time required for providing control commands to the robot R in the control cycle of the edge server 22, the time required for data processing can be extended. On the other hand, the edge server 22 and the cloud server 21 can communicate with each other via a wireless network such as the Internet.

[0059] On the other hand, in some cases, multiple edge servers may be connected via a wireless mesh network, and the functions of the cloud server 21 may be distributed among multiple edge servers. In such a case, for a certain robot R, any one of the edge servers may operate as the edge server 22 for the robot R, and at least one other of the edge servers may operate as the cloud server 21 for the robot R in cooperation with any one of the edge servers.

[0060] The network or communication network formed in the building 1000 according to the present invention may include communication between at least one robot R configured to collect data, at least one edge server 22 configured to wirelessly control the robot R, and a cloud server 21 connected to the edge server 22 and configured to manage the robot R and the edge server 22.

[0061] The edge server 22 may be configured to wirelessly receive the data from the robot R, determine control commands based on the data, and transmit the control commands to the robot R wirelessly.

[0062] According to various embodiments, the edge server 22 may be configured to determine whether to cooperate with the cloud server 21 based on the data, and if it is determined that there is no need to cooperate with the cloud server 21, to determine the control command and transmit the control command within a set control period.

[0063] According to various embodiments, when it is determined that the edge server 22 needs to cooperate with the cloud server 21, the edge server 22 may be configured to communicate with the cloud server 21 based on the data to determine the control command.

[0064] On the other hand, the robot R may be driven according to control commands. For example, the robot R may move or change its posture by changing its motion, and software may be updated.

[0065] In the present invention, for the sake of convenience, the server 20 is uniformly named as a "cloud server" and is given the reference numeral "20." However, it goes without saying that the cloud server 20 can also be replaced with the term edge server 22 of edge computing.

[0066] Furthermore, the term "cloud server" may be variously changed to terms such as cloud robot system, cloud system, cloud robot control system, cloud control system, etc.

[0067] Meanwhile, the cloud server 20 according to the present invention is capable of performing integrated control of a plurality of robots traveling in the building 1000. That is, the cloud server 20 may i) monitor the plurality of robots R located in the building 1000, ii) assign tasks (or jobs) to the plurality of robots, iii) directly control the facility infrastructure provided in the building 1000 so that the plurality of robots R properly perform their tasks, or iv) control the facility infrastructure through communication with a control system that controls the facility infrastructure.

[0068] Furthermore, the cloud server 20 can check the status information of the robots located in the building and provide (or support) various functions required for the robots, such as a charging function for the robots, a cleaning function for the contaminated robots, a standby function for the robots that have completed their tasks, etc.

[0069] In order to provide various functions to the robot, the cloud server 20 can control the robot so that the robot uses various equipment infrastructure provided in the building 1000. Furthermore, in order to provide various functions to the robot, the cloud server may directly control the equipment infrastructure provided in the building 1000, or may control the equipment infrastructure through communication with a control system that controls the equipment infrastructure.

[0070] In this way, the robot controlled by the cloud server 20 can travel around the building 1000 and provide various services.

[0071] Meanwhile, the cloud server 20 can perform various controls based on the information stored in the database, and the type and location of the database are not particularly limited in the present invention. The term "database" can be freely modified to refer to any term that means a means for storing information, such as memory, storage unit, storage, cloud storage, external storage, or external server. In the following description, the term "database" will be used consistently.

[0072] On the other hand, the cloud server 20 according to the present invention can perform distributed control of robots based on various criteria such as the type of service provided by the robot and the type of control over the robot, and in this case, the cloud server 20 may have subordinate sub-servers of a lower concept.

[0073] Furthermore, the cloud server 20 according to the present invention can control the robots that travel in the building 1000 based on various artificial intelligence algorithms.

[0074] Furthermore, the cloud server 20 performs artificial intelligence-based learning, utilizing data collected in the process of controlling the robot as learning data, and by utilizing this data to control the robot, the more control the robot receives, the more accurately and efficiently the robot can be operated. That is, the cloud server 20 may be configured to perform deep learning or machine learning. The cloud server 20 may also perform deep learning or machine learning through simulations, etc., and control the robot using an artificial intelligence model constructed as a result.

[0075] Meanwhile, the building 1000 may be equipped with various equipment infrastructures for the movement of the robot, providing the robot with functions, maintaining the robot's functions, performing the robot's tasks, or for the coexistence of robots and humans.

[0076] For example, as shown in (a) of FIG. 1, various equipment infrastructures 1 and 2 capable of supporting the movement (or movement) of the robot R may be provided within the building 1000. Such equipment infrastructures 1 and 2 may support the horizontal movement of the robot R within the floors of the building 1000, or may support the vertical movement of the robot R between different floors of the building 1000. In this manner, the equipment infrastructures 1 and 2 may include a transportation system that supports the movement of the robot. The cloud server 20 controls the robot R to use such various equipment infrastructures 1 and 2, so that the robot R can move within the building 1000 to provide services, as shown in (b) of FIG. 1.

[0077] On the other hand, the robot according to the present invention may be controlled based on at least one of the cloud server 20 and a control unit provided in the robot itself, and configured to move within the building 1000 or provide a service corresponding to an assigned task.

[0078] Furthermore, as shown in FIG. 1(c), the building according to the present invention is a building where robots and people coexist, and the robot is configured to run while avoiding obstacles such as people U, objects used by people (e.g., strollers, carts, etc.), and animals, and may be configured to output notification information 3 regarding the running of the robot, as the case may be. The running of such a robot may be controlled to avoid obstacles based on at least one of the cloud server 20 and a control unit provided in the robot. The cloud server 20 can control the robot so that the robot moves within the building 1000 while avoiding obstacles, based on information received through various sensors provided in the robot (e.g., a camera (image sensor), a proximity sensor, an infrared sensor, etc.).

[0079] In addition, the robot that travels through the building through the processes of (a) to (c) in Figure 1 may be configured to provide services to people or target objects present in the building, as shown in (d) in Figure 1.

[0080] The type of service provided by a robot may vary from robot to robot, i.e., there may be various types of robots depending on their intended use, and the robots may have different structures for different intended uses, and the robots may be equipped with programs suitable for the intended uses.

[0081] For example, robots that provide at least one of the following services may be deployed in the building 1000: delivery, logistics, guidance, interpretation, parking assistance, security, crime prevention, guarding, public order, cleaning, disease prevention, disinfection, laundry, food production, cooking, catering, fire suppression, medical support, and entertainment services. The services provided by the robots may be diverse and include more than the above examples.

[0082] On the other hand, the cloud server 20 can assign tasks suitable for each robot in consideration of the purpose of each robot, and control the robot so that the assigned tasks are performed.

[0083] At least some of the robots described in the present invention can move or perform tasks under the control of the cloud server 20, and in this case, the amount of data processed by the robot itself to move or perform a task can be minimized. In the present invention, such a robot can be called a brainless robot. Such a brainless robot can rely on the control of the cloud server 20 for at least some control when moving, performing a task, charging, waiting, cleaning, etc. within the building 1000.

[0084] However, in this specification, we will not refer to brainless robots in a specific way, but will refer to them all uniformly as "robots."

[0085] As described above, the building 1000 according to the present invention can be equipped with various types of equipment infrastructure that can be used by the robot, and as shown in Figures 2, 3 and 4, the equipment infrastructure is arranged within the building 1000 and can support the movement (or running) of the robot or provide various functions to the robot by linking with the building 1000 and the cloud server 20.

[0086] More specifically, the facility infrastructure may include facilities for supporting the movement of the robot within a building.

[0087] The equipment for supporting the movement of the robot may be either a dedicated equipment for exclusive use by the robot or a shared equipment for joint use with humans.

[0088] Furthermore, the equipment for supporting the robot's movement can support the robot's movement in the horizontal direction or the robot's movement in the vertical direction. The robot can move horizontally or vertically within the building 1000 using the equipment. Movement in the horizontal direction can mean movement within the same floor, and movement in the vertical direction can mean movement between different floors. Therefore, in the present invention, movement up and down within the same floor can be referred to as horizontal movement.

[0089] There are various types of facilities that support the movement of robots. For example, as shown in FIGS. 2 and 3, the building 1000 may be equipped with robot passages (robot roads) 201, 202, and 203 that support the horizontal movement of robots. Such robot passages may include dedicated robot passages that are used exclusively by robots. Meanwhile, the dedicated robot passages may be configured to completely block access by people, but are not necessarily limited to this. In other words, the dedicated robot passages may be configured to allow people to pass through or access them.

[0090] Meanwhile, as shown in Fig. 3, the robot dedicated passage may include at least one of a first dedicated passage (or a first type passage) 201 and a second dedicated passage (or a second type passage) 202. The first dedicated passage and the second dedicated passage 201, 202 may be provided together on the same floor or on different floors.

[0091] 2 and 3, the building 1000 may be provided with transportation means 204, 205 that support vertical movement of the robot. Such transportation means 204, 205 may include at least one of an elevator or an escalator. The robot can move between different floors using the elevator 204 or escalator 205 provided in the building 1000.

[0092] On the other hand, such elevators 204 or escalators 205 may be dedicated to robots or may be shared for use by humans as well.

[0093] For example, the building 1000 may include at least one of a robot-only elevator or a shared elevator. Similarly, the building 1000 may further include at least one of a robot-only escalator or a shared escalator.

[0094] Meanwhile, the building 1000 may be provided with a form of transportation that can be utilized for both vertical and horizontal movement. For example, a transportation means in the form of a moving walkway can support horizontal movement of a robot within a floor or vertical movement between floors.

[0095] The robot can move horizontally or vertically within the building 1000 under its own control or under the control of the cloud server 20, and can move within the building 1000 using various equipment that assists the robot's movement.

[0096] Additionally, the building 1000 may include at least one of an entrance door (206 or automatic door) and an access control gate (gate, 207) that control access to the building 1000 or to a particular area within the building 1000. At least one of the entrance door 206 and the access control gate 207 may be configured to be accessible to a robot. A robot may be configured to pass through the entrance door (or automatic door, 206) or the access control gate 207 under the control of the cloud server 20.

[0097] Meanwhile, the access control gate 207 may be named in various ways, such as a speed gate.

[0098] Furthermore, the building 1000 may further include a waiting space facility 208 corresponding to a waiting space where the robot waits, a charging facility 209 for charging the robot, and a cleaning facility 210 for cleaning the robot.

[0099] Additionally, the building 1000 may include facilities 211 specialized for specific services provided by robots, such as facilities for delivery services.

[0100] The building 1000 may also include equipment for monitoring the robot (see reference numeral 212), and examples of such equipment include various sensors (e.g., cameras (or image sensors, 121)).

[0101] As discussed in conjunction with Figures 2 and 3, the building 1000 of the present invention may be equipped with various facilities for providing services, moving and running robots, maintaining their functions, maintaining cleanliness, etc.

[0102] Meanwhile, as shown in FIG. 4, the building 1000 according to the present invention is interconnected with a cloud server 20, a robot R, and an equipment infrastructure 200, allowing the robot to provide various services within the building 1000 and also allowing the equipment to be used appropriately for this purpose.

[0103] Here, "interconnected" may mean that various data and control commands related to services provided within the building, the robot's movement, running, function maintenance, cleanliness maintenance, etc. are sent and received unidirectionally or bidirectionally from at least one entity to at least one other entity via a network (or communications network).

[0104] Here, the subject may be a building 1000, a cloud server 20, a robot R, a facility infrastructure 200, or the like.

[0105] Furthermore, the facility infrastructure 200 may include at least one of the various facilities (see reference numerals 201 to 213) discussed in conjunction with Figures 2 and 3, and control systems 201a, 202a, 203a, 204a, ... that control them.

[0106] The robot R traveling in the building 1000 is configured to communicate with the cloud server 20 via the network 40 and can provide services within the building 1000 under the control of the cloud server 20.

[0107] More specifically, the building 1000 may include a building system 1000a for communicating with or directly controlling various facilities provided in the building 1000. As shown in FIG. 4 , the building system 1000a may include a communication unit 110, a sensing unit 120, an output unit 130, a storage unit 140, and a control unit 150.

[0108] The communication unit 110 forms at least one of a wired communication network and a wireless communication network within the building 1000, thereby connecting i) between the cloud server 20 and the robot R, ii) between the cloud server 20 and the building 1000, iii) between the cloud server 20 and the equipment infrastructure 200, iv) between the equipment infrastructure 200 and the robot R, and v) between the equipment infrastructure 200 and the building 1000. In other words, the communication unit 110 can function as a medium for communication between different entities. Such a communication unit 110 may also be called a base station, a router, or the like, and may form a communication network or a network within the building 1000 to enable the robot R, the cloud server 20, and the equipment infrastructure 200 to communicate with each other.

[0109] Meanwhile, in this specification, being connected to the building 1000 via a communication network may mean being connected to at least one of the components included in the building system 1000a.

[0110] 5, multiple robots R placed in a building 1000 may be configured to be remotely controlled by the cloud server 20 by communicating with the cloud server 20 via at least one of a wired communication network and a wireless communication network formed by a communication unit 110. Such a communication network, such as a wired communication network or a wireless communication network, can be understood as a network 40.

[0111] In this way, the building 1000, the cloud server 20, the robot R, and the facility infrastructure 200 can form a network 40 based on a communication network formed within the building 1000. Based on this network, the robot R can provide services corresponding to assigned tasks using various facilities provided within the building 1000 under the control of the cloud server 20.

[0112] Meanwhile, the equipment infrastructure 200 may include each of the various pieces of equipment (see reference numerals 201 to 213) discussed in conjunction with Figures 2 and 3 and at least one of the control systems 201a, 202a, 203a, 204a, ... that control them (such control systems can be named "control servers").

[0113] 4, different types of equipment may have their own control systems. For example, in the case of a robot passage (or robot-only passage, robot road, robot-only road 201, 202, 203), there may be control systems 201a, 202a, 203a for independently controlling the robot passages 201, 202, 203, respectively, and in the case of an elevator (or robot-only elevator 204), there may be control system 204a for controlling the elevator 204.

[0114] A unique control system for controlling such facilities can communicate with at least one of the cloud server 20, the robot R, and the building 1000 to provide appropriate control over each facility so that the robot R can utilize the facility.

[0115] Meanwhile, the sensing units 201b, 202b, 203b, 204b, ... included in the equipment control systems 201a, 202a, 203a, 204a, ... may be provided in the equipment itself and configured to sense various information related to the equipment.

[0116] Furthermore, the control units 201c, 202c, 203c, 204c, ... included in the equipment control systems 201a, 202a, 203a, 204a, ... perform control for driving the respective equipment, and can perform appropriate control for the robot R to use the equipment through communication with the cloud server 20. For example, the control system 204b for the elevator 204 can control the elevator 204 through communication with the cloud server 20 so that the elevator 204 stops at the floor where the robot R is located so that the robot R can get on the elevator 204.

[0117] At least a portion of the control units 201c, 202c, 203c, 204c, ... included in each equipment control system 201a, 202a, 203a, 204a, ... may be located within the building 1000 together with the respective equipment 201, 202, 203, 204, ..., or may be located outside the building 1000.

[0118] Furthermore, at least some of the facilities included in the building 1000 according to the present invention may be controlled by the cloud server 20 or the control unit 150 of the building 1000. In this case, the facilities may not need to have a separate facility control system.

[0119] In the following description, an example will be given in which each facility has its own control system, but as mentioned above, it goes without saying that the role of the control system for controlling the facility can be replaced by the cloud server 20 or the control unit 150 of the building 1000. In this case, it goes without saying that the terms control units 201c, 202c, 203c, 204c, ... of the facility control system described in this specification may be replaced by the terms cloud server 20 or control unit 150 (or building control unit 150).

[0120] On the other hand, in FIG. 4, the components of each of the equipment control systems 201a, 202a, 203a, 204a, . . . are examples, and various components can be added or omitted depending on the characteristics of each equipment.

[0121] In this way, in the present invention, the robot R, the cloud server 20, and the facility control systems 201a, 202a, 203a, 204a, . . . provide various services within the building 1000 using the facility infrastructure.

[0122] In this case, the robot R mainly moves around inside the building and provides various services. To this end, the robot R may include at least one of a body unit, a driving unit, a sensing unit, a communication unit, an interface unit, and a power supply unit.

[0123] The body part includes a case (such as a casing, housing, or cover) that defines the exterior. In this embodiment, the case may be divided into multiple sections, and various electronic components are housed in the space formed by the case. In this case, the body part may be formed in different shapes depending on the various services exemplified in the present invention. For example, in the case of a robot that provides a delivery service, a storage box for storing items may be provided on the upper part of the body part. As another example, in the case of a robot that provides a cleaning service, a suction port for sucking up dust using a vacuum may be provided on the lower part of the body part.

[0124] The drive unit is configured to perform a specific operation in response to a control command sent from the cloud server 20.

[0125] The drive unit provides a means for moving the body of the robot within a specific space. More specifically, the drive unit includes a motor and a plurality of wheels, which, in combination, perform the functions of moving, turning, and rotating the robot R. As another example, the drive unit may include at least one of an end effector, a manipulator, and an actuator to perform an operation other than moving, such as picking up.

[0126] The sensing unit may include one or more sensors for sensing at least one of information within the robot (particularly, the driving state of the robot), information about the environment around the robot, position information of the robot, and information about the user.

[0127] For example, the sensing unit may include a camera (image sensor), a proximity sensor, an infrared sensor, a laser scanner (lidar sensor), an RGBD sensor, a geomagnetic sensor, an ultrasonic sensor, an inertial sensor, a UWB sensor, or the like.

[0128] The communication unit of the robot is configured to transmit and receive wireless signals on the robot to perform wireless communication between the robot R and a communication unit of the building, between the robot R and other robots, or between the robot R and a facility control system. As such examples, the communication unit may include a wireless internet module, a short-range communication module, a location information module, etc.

[0129] The interface unit may be provided as a passageway for connecting the robot R to an external device. For example, the interface unit may be a terminal (charging terminal, connection terminal, power terminal), a port, or a connector. The power supply unit may be a device that receives an external power source or an internal power source and supplies power to each component included in the robot R. As another example, the power supply unit may be a device that generates electrical energy inside the robot R and supplies it to each component.

[0130] Although the robot R has been described above as primarily moving within a building, the present invention is not necessarily limited to this. For example, the robot of the present invention may take the form of a robot that flies within a building, such as a drone. More specifically, a robot that provides a guidance service may fly around a person within the building and provide the person with guidance about the building.

[0131] Meanwhile, the overall operation of the robot of the present invention is controlled by the cloud server 20. In addition, the robot may include a separate control unit as a subordinate controller of the cloud server 20. For example, the control unit of the robot receives a control command for running from the cloud server 20 and controls the driving unit of the robot. In this case, the control unit may calculate the torque or current to be applied to the motor using data sensed by the sensing unit of the robot. Using the calculated result, the motor is driven by a position controller, a speed controller, a current controller, etc., so that the robot can carry out the control command of the cloud server 20.

[0132] Meanwhile, in the present invention, the building 1000 may include a building system 1000a for communicating with or directly controlling various facilities provided in the building 1000. As shown in Figures 4 and 5, the building system 1000a may include at least one of a communication unit 110, a sensing unit 120, an output unit 130, a storage unit 140, and a control unit 150.

[0133] The communication unit 110 forms at least one of a wired communication network and a wireless communication network within the building 1000, thereby making it possible to connect i) between the cloud server 20 and the robot R, ii) between the cloud server 20 and the building 1000, iii) between the cloud server 20 and the equipment infrastructure 200, iv) between the equipment infrastructure 200 and the robot R, and v) between the equipment infrastructure 200 and the building 1000. In other words, the communication unit 110 can function as a medium for communication between different entities.

[0134] As shown in FIGS. 5 and 6, the communication unit 110 may be configured to include at least one of a mobile communication module 111, a wired Internet module 112, a wireless Internet module 113, and a short-range communication module 114.

[0135] The communication unit 110 can support various communication methods based on the communication modules listed above.

[0136] For example, the mobile communication module 111 may be configured to transmit and receive wireless signals to and from at least one of the building system 1000a, the cloud server 20, the robot R, and the facility infrastructure 200 over a mobile communication network established in accordance with a technical standard or communication method for mobile communications (e.g., 5G, 4G, Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), Wideband CDMA (WCDMA), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), etc.). In this case, as a more specific example, the robot R can transmit and receive wireless signals to and from the mobile communication module 111 using the communication unit of the robot R described above.

[0137] Next, the wired Internet module 112 is a method of providing communication in a wired manner, and may be configured to send and receive signals with at least one of the cloud server 20, the robot R, and the equipment infrastructure 200 using a physical communication line as a medium.

[0138] Furthermore, the wireless internet module 113 may refer to a module capable of wireless internet connection as a concept that includes the mobile communication module 111. The wireless internet module 113 is disposed within the building 1000 and is configured to transmit and receive wireless signals to and from at least one of the building system 1000a, the cloud server 20, the robot R, and the facility infrastructure 200 via a communication network using wireless internet technology.

[0139] There are a wide variety of wireless internet technologies, including not only the communication technologies of the mobile communication module 111 discussed above, but also Wireless LAN (WLAN), Wi-Fi, Wi-Fi Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), and World Interoperability for Microwave Access (WiMAX), etc. Furthermore, in the present invention, the wireless internet module 113 can transmit and receive data via at least one wireless internet technology, including internet technologies not listed above.

[0140] Next, the short-range communication module 114 is for short-range communication and can perform short-range communication with at least one of the building system 1000a, the cloud server 20, the robot R, and the facility infrastructure 200 using at least one of Bluetooth (trademark), RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, and Wireless Universal Serial Bus (Wireless USB) technologies.

[0141] The communication unit 110 may include at least one of the communication modules discussed above, and such communication modules may be arranged in various spaces inside the building 1000 to form a communication network. Via such a communication network, it may be configured so that i) the cloud server 20 and the robot R, ii) the cloud server 20 and the building 1000, iii) the cloud server 20 and the facility infrastructure 200, iv) the facility infrastructure 200 and the robot R, and v) the facility infrastructure 200 and the building 1000 can communicate with each other.

[0142] Next, the building 1000 may include a sensing unit 120, and the sensing unit 120 may be configured to include various sensors. At least a portion of the information sensed through the sensing unit 120 of the building 1000 may be transmitted to at least one of the cloud server 20, the robot R, and the facility infrastructure 200 via a communication network formed by the communication unit 110. At least one of the cloud server 20, the robot R, and the facility infrastructure 200 may control the robot R or the facility infrastructure 200 using the information sensed through the sensing unit 120.

[0143] The types of sensors included in the sensing unit 120 may be very diverse. The sensing unit 120 may be provided in the building 1000 and configured to sense various information about the building 1000. The information sensed by the sensing unit 120 may be information about the robot R traveling in the building 1000, a person or obstacle located in the building 1000, etc., and may also include various environmental information about the building (e.g., temperature, humidity, etc.).

[0144] As shown in FIG. 5, the sensing unit 120 may include at least one of an image sensor 121, a microphone 122, a biosensor 123, a proximity sensor 124, an illuminance sensor 125, an infrared sensor 126, a temperature sensor 127, and a humidity sensor 128.

[0145] Here, the image sensor 121 may correspond to a camera. As discussed in FIG. 3, a camera corresponding to the image sensor 121 may be installed in the building 1000. In this specification, the camera is given the same reference numeral "121" as the image sensor 121.

[0146] Meanwhile, there is no limit to the number of cameras 121 installed in the building 1000. There are various types of cameras 121 installed in the building 1000, and as an example, the cameras 121 installed in the building 1000 may be CCTV (closed circuit television). Meanwhile, the installation of the cameras 121 in the building 1000 may mean that the cameras 121 are installed in the indoor space 10 of the building 1000.

[0147] The microphone 122 may then be configured to sense various sound information generated in the building 1000.

[0148] The biosensor 123 is for sensing biometric information, and can sense biometric information (for example, fingerprint information, face information, iris information, etc.) of a person or animal located in the building 1000.

[0149] The proximity sensor 124 may be configured to sense an object (such as a robot or a person) approaching or positioned around the proximity sensor 124 .

[0150] Furthermore, the illuminance sensor 125 is configured to sense the illuminance around the sensor, and the infrared sensor 126 has an LED built in, which can be used to capture images of the building 1000 in dark indoor spaces or at night.

[0151] Furthermore, the temperature sensor 127 can sense the temperature around the temperature sensor 127 , and the humidity sensor 128 can sense the temperature around the humidity sensor 128 .

[0152] On the other hand, in the present invention, the type of sensors that make up the sensing unit 120 is not particularly limited, and it is sufficient that the functions defined by each sensor are realized.

[0153] Next, the output unit 130 is a means for outputting at least one of visual, auditory, and tactile information to a person or robot R in the building 1000, and may include at least one of a display unit 131, an audio output unit 132, and a lighting unit 133. Such an output unit 130 may be placed at an appropriate position in the indoor space of the building 1000 depending on the need or situation.

[0154] Then, the storage unit 140 may be configured to store various information related to at least one of the building 1000, the robot, and the facility infrastructure. In the present invention, the storage unit 140 may be provided in the building 1000 itself. Alternatively, at least a part of the storage unit 140 may represent at least one of the cloud server 20 or an external database. In other words, it is sufficient for the storage unit 140 to be a space in which various information related to the present invention is stored, and it can be understood that there is no restriction on the physical space.

[0155] The control unit 150 is a unit for performing overall control of the building 1000 and can control at least one of the communication unit 110, the sensing unit 120, the output unit 130, and the storage unit 140. The control unit 150 can control the robot in conjunction with the cloud server 20. Furthermore, the control unit 150 may exist in the form of the cloud server 20. In this case, the building 1000 may be controlled by the cloud server 20, which is a control unit for the robot R. Alternatively, the cloud server controlling the building 1000 may exist separately from the cloud server 20 controlling the robot R. In this case, the cloud server controlling the building 1000 and the cloud server 20 controlling the robot R may be linked to each other through mutual communication to provide services by the robot R, and may be linked to each other for the robot's movement, function maintenance, cleanliness maintenance, etc. Meanwhile, the control unit of the building 1000 may be named a "processor," and the processor may be configured to process various instructions by performing basic arithmetic, logic, and input / output operations. As discussed above, at least one of the building 1000, the robot R, the cloud server 20, and the facility infrastructure 200 may be configured to form a network 40 based on a communication network so that various services using the robots can be provided within the building 1000.

[0156] As discussed above, in the building 1000 according to the present invention, the robot R, the facility infrastructure 200 provided in the building, and the cloud server 20 can be organically connected so that various services can be provided by the robot. At least a part of such robot R, the facility infrastructure 200, and the cloud server 20 can exist in the form of a platform for constructing a robot-friendly building.

[0157] The process by which the robot R uses the facility infrastructure 200 will be discussed in more detail below with reference to the building 1000, building system 1000a, facility infrastructure 200, and cloud server 20 discussed above. In this case, the robot R can travel within the indoor space 10 of the building 1000 or move using the facility infrastructure 200 and can also use the facility infrastructure 200 for the purposes of performing a task (or providing a service), traveling, charging, maintaining cleanliness, waiting, etc.

[0158] In this way, based on a certain "purpose," the robot R can move around the indoor space of the building 1000 or use the facility infrastructure 200 to achieve the "purpose," and can further use the facility infrastructure 200.

[0159] In this case, the objectives that the robot must achieve can be identified based on various factors. There can be two types of objectives that the robot must achieve: a first type objective and a second type objective.

[0160] Here, the first type of purpose may be a purpose for the robot to perform the robot's original task, and the second type of purpose may be a purpose for the robot to perform a task or function other than the robot's original task.

[0161] That is, the objective that the robot of the first type must achieve may be the objective for performing the robot's original task. Such an objective can also be understood as the robot's "task."

[0162] For example, if the robot is a robot that provides a food delivery service, the robot can travel in the indoor space of the building 1000 or move using the facility infrastructure 200 to achieve the goal or task of providing the food delivery service, and can further use the facility infrastructure 200. Also, if the robot is a robot that provides a route guidance service, the robot can travel in the indoor space of the building 1000 or move using the facility infrastructure 200 to achieve the goal or task of providing the route guidance service, and can further use the facility infrastructure 200.

[0163] Meanwhile, a building according to the present invention may be equipped with a plurality of robots operated for different purposes, i.e., different robots capable of performing different tasks may be installed in the building, and different types of robots may be installed in the building according to the needs of the building manager and various entities occupying the building.

[0164] For example, a building may be equipped with robots that provide at least one of the following services: delivery, logistics, guidance, interpretation, parking assistance, security, crime prevention, guarding, public order, cleaning, disease prevention, disinfection, laundry, food production, cooking, catering, fire suppression, medical support, and entertainment services. The services provided by the robots may be diverse and include more than the examples given above.

[0165] On the other hand, the second type of purpose is a purpose for the robot to perform a task or function other than the robot's original task, and may be a purpose unrelated to the robot's original task. Such a second type of purpose may be a task or function that is not directly related to the robot's original task, but is indirectly necessary.

[0166] For example, a robot needs sufficient power to perform its intended task, and cleanliness must be maintained in order for the robot to provide comfortable services to people. Furthermore, there may be situations where multiple robots must wait in a certain space in order to operate efficiently within a building.

[0167] Thus, in the present invention, the robot can travel in the indoor space of the building 1000 or move using the facility infrastructure 200 to achieve the second type of objective, and can further use the facility infrastructure 200.

[0168] For example, the robot may use a charging facility infrastructure to achieve a goal with a charging function, and may use a washing facility infrastructure to achieve a goal with a washing function.

[0169] Thus, in the present invention, the robot can travel in the indoor space of the building 1000 or move using the facility infrastructure 200 to achieve a certain purpose, and can also use the facility infrastructure 200.

[0170] On the other hand, the cloud server 20 can perform appropriate control over each robot located in the building based on information corresponding to each of the multiple robots located in the building stored in a database.

[0171] Meanwhile, the database may store various information about each of the multiple robots located in the building, and the information about the robot R may be very diverse. For example, the information may include i) identification information (e.g., serial number, tag information, QR code information, etc.) for identifying the robot R located in the space 10, ii) task information assigned to the robot R (e.g., type of task, action according to the task, information about the target user for the task, task execution location, scheduled task execution time, etc.), iii) travel path information set for the robot R, iv) location information of the robot R, v) status information of the robot R (e.g., power status, whether there is a malfunction, cleaning status, battery status, etc.), vi) video information received from a camera provided in the robot R, and vii) operation information about the operation of the robot R.

[0172] On the other hand, appropriate control of the robot may relate to control of operating the robot in accordance with the first type of purpose or the second type of purpose discussed above.

[0173] Here, operation of the robot may mean controlling the robot to move within the indoor space of the building 1000 or move using the facility infrastructure 200, and further using the facility infrastructure 200.

[0174] The movement of the robot can also be referred to as the running of the robot, and therefore, in the present invention, the terms "movement path" and "running path" can be used interchangeably.

[0175] The cloud server 20 can assign tasks suitable for each robot depending on the robot's purpose (or original task) based on the information of each robot stored in the database, and control the robot so that the assigned tasks are performed. In this case, the assigned tasks may be tasks for achieving the first type of objective discussed above.

[0176] Furthermore, the cloud server 20 can control each robot to achieve a second type of objective based on the information about each robot stored in the database.

[0177] At this time, the robot that receives a control command from the cloud server 20 to achieve the second type of objective can move to a charging equipment infrastructure or a cleaning equipment infrastructure, etc., based on the control command, to achieve the second type of objective.

[0178] Meanwhile, in the following, the terms "objective" or "task" are used without distinguishing between the first type and the second type of objectives, and the objectives described below may be either the first type of objectives or the second type of objectives.

[0179] Similarly, the tasks described below may be tasks for achieving a first type of objective or tasks for achieving a second type of objective.

[0180] For example, if there is a robot that can provide a food delivery service and there is a target user to deliver the food to, the cloud server 20 can control the robot so that the robot performs a task corresponding to delivering the food to the target user.

[0181] As another example, if there is a robot that needs to be charged, the cloud server 20 can perform control to move the robot to a charging facility infrastructure so that the robot can perform a task corresponding to charging.

[0182] Therefore, hereinafter, without distinguishing between the first type of purpose and the second type of purpose, a method in which a robot performs a purpose or task using the equipment infrastructure 200 under the control of the cloud server 20 will be more specifically discussed. Meanwhile, in this specification, a robot controlled by the cloud server 20 to perform a task may also be named a "target robot."

[0183] The cloud server 20 may, upon request or at its own discretion, identify at least one robot to perform a task.

[0184] Here, the request can be received from various entities. For example, the cloud server can receive the request from various entities, such as visitors, managers, residents, and workers, located in the building, in various ways (e.g., user input via electronic devices, user input via gestures). Here, the request may be a service request that enables the robot to provide a specific service (or a specific task).

[0185] Based on this request, the cloud server 20 can identify a robot that can perform the corresponding service from among the multiple robots located in the building 1000. The cloud server 20 can identify a robot that can handle the request based on i) the type of service that the robot can perform, ii) the task that the robot has already been assigned to, iii) the current location of the robot, and iv) the status of the robot (e.g., power status, cleanliness status, battery status, etc.). As discussed above, the database contains various information about each robot, and the cloud server 20 can identify a robot that can perform a task based on the request based on this database.

[0186] Furthermore, the cloud server 20 can identify at least one robot to perform the task based on its own discretion.

[0187] Here, the cloud server 20 can make its own decision based on various reasons.

[0188] For example, the cloud server 20 may determine whether a service needs to be provided to a specific user or a specific space in the building 1000. The cloud server 20 may extract a specific target for which a service needs to be provided based on information sensed and received from at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, the sensing unit included in the facility infrastructure 200, and the sensing unit provided in the robot.

[0189] Here, the specific target may include at least one of a person, a space, or an object. The object may refer to a facility, an object, or the like located in the building 1000. Furthermore, the cloud server 20 can identify the type of service required for the extracted specific target and control the robot so that the specific service is provided to the specific target.

[0190] To this end, the cloud server 20 can identify at least one robot that provides a particular service to a particular subject.

[0191] The cloud server 20 can determine a target requiring provision of a service based on various determination algorithms. For example, the cloud server 20 can identify the type of service, such as route guidance, food delivery, stair navigation, etc., based on information sensed and received from at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, the sensing unit included in the facility infrastructure 200, and the sensing unit provided in the robot. The cloud server 20 can also identify a target requiring a corresponding service. Furthermore, the cloud server 20 can identify a robot capable of providing the identified service so that the service can be provided by the robot.

[0192] Furthermore, the cloud server 20 can determine a specific space for which a service needs to be provided based on various determination algorithms. For example, the cloud server 20 can extract a specific space or object for which a service needs to be provided, such as a delivery target user, a guest requiring guidance, a contaminated space, a contaminated facility, or a fire area, based on information sensed and received from at least one of the sensing unit 120 (see FIGS. 4 to 6) present in the building 1000, a sensing unit included in the facility infrastructure 200, and a sensing unit provided in the robot, and identify a robot capable of providing the corresponding service so that the robot can provide the service to the corresponding specific space or object.

[0193] In this way, when a robot that will perform a specific task (or service) is identified, the cloud server 20 can assign the task to the robot and perform a series of controls necessary for the robot to perform the task.

[0194] In this case, the series of controls may include at least one of: i) setting a movement path for the robot; ii) identifying facility infrastructure to be used for movement to a destination to perform the task; iii) communication with the identified facility infrastructure; iv) control of the identified facility infrastructure; v) monitoring the robot performing the task; vi) evaluation of the robot's movement; and vii) monitoring whether the robot has completed the task.

[0195] The cloud server 20 may identify a destination for the robot to perform a task and set a movement route for the robot to reach the destination. Once the movement route is set by the cloud server 20, the robot R may be controlled to move to the destination to perform the task.

[0196] Meanwhile, the cloud server 20 can set a movement path for the robot to travel from a position where the robot starts performing a task (hereinafter referred to as a "task performance start position") to a destination. Here, the position where the robot starts performing a task may be the current position of the robot or the position of the robot at the time when the robot starts performing the task.

[0197] The cloud server 20 can generate a movement path for a robot to perform a task based on a map (or map information) corresponding to the indoor space 10 of the building 1000.

[0198] Here, the map may include map information for each of the spaces on a plurality of floors 10a, 10b, 10c, . . . that make up the indoor space of the building.

[0199] Furthermore, the travel route may be a travel route from a task execution start position to a task destination.

[0200] In the present invention, the map information and travel route are described as relating to an indoor space, but the present invention is not necessarily limited to this. For example, the map information may include information on an outdoor space, and the travel route may be a route leading from an indoor space to an outdoor space.

[0201] As shown in FIG. 8, the indoor space 10 of the building 1000 may be composed of multiple different floors 10a, 10b, 10c, 10d, ..., and the task execution start location and destination may be located on the same floor or on different floors.

[0202] The cloud server 20 can generate a movement route for a robot that provides a service within the building 1000 by using map information for the multiple floors 10a, 10b, 10c, 10d, . . .

[0203] The cloud server 20 can identify at least one facility among the facility infrastructure (plurality of facilities) arranged in the building 1000 that the robot must use or pass through to travel to the destination.

[0204] For example, when a robot needs to move from the first floor 10a to the second floor 10b, the cloud server 20 may identify at least one facility 204, 205 that assists the robot in moving between floors, and generate a movement path that includes a point where the identified facility is located. Here, the facility that assists the robot in moving between floors may be at least one of a robot-dedicated elevator 204, a shared elevator 213, and an escalator 205. In addition to the above, there may be various types of facility that assists the robot in moving between floors.

[0205] As an example, the cloud server 20 can check a specific floor corresponding to the destination among the multiple floors 10a, 10b, 10c, ... of the indoor space 10, and determine whether the robot needs to move between floors to perform the service based on the robot's task execution start position (e.g., the robot's position at the time of starting the task corresponding to the service).

[0206] Furthermore, cloud server 20 may include, on the movement path, a facility (means) that assists the robot in moving between floors, based on the determination result. In this case, the facility that assists the robot in moving between floors may be at least one of robot-dedicated elevator 204, shared elevator 213, and escalator 205. For example, when the robot needs to move between floors, cloud server 20 can generate a movement path such that the facility that assists the robot in moving between floors is included on the movement path of the robot.

[0207] As another example, when the robot-dedicated passages 201 and 202 are located on the robot's movement path, the cloud server 20 may generate a movement path including the points where the robot-dedicated passages 201 and 202 are located so that the robot moves using the robot-dedicated passages 201 and 202. As discussed above with reference to FIG. 3, the robot-dedicated passage may include at least one of a first dedicated passage (or a first type passage) 201 and a second dedicated passage (or a second type passage) 202. The first dedicated passage and the second dedicated passage 201 and 202 may be provided on the same floor or on different floors. The first dedicated passage 201 and the second dedicated passage 202 may have different heights from the bottom of the building.

[0208] Meanwhile, the cloud server 20 can control the robot to change its driving characteristics on the robot-only path based on the type of robot-only path used by the robot and the degree of congestion around the robot-only path. As shown in Figures 3 and 8, when the robot is driving on the second dedicated path, the cloud server 20 can change the driving characteristics of the robot based on the degree of congestion around the robot-only path. Since the second dedicated path is a path accessible to people or animals, both safety and movement efficiency must be taken into consideration.

[0209] Here, the driving characteristics of the robot may be related to the driving speed of the robot. Furthermore, the congestion degree may be calculated based on images received from at least one of the camera (or image sensor) 121 installed in the building 1000 and the camera installed in the robot. Based on such images, if the location where the robot is located and the robot-dedicated passage in the direction of travel are congested, the cloud server 20 can control the driving speed of the robot to be equal to or less than a preset speed (or less).

[0210] In this way, the cloud server 20 uses map information for the multiple floors 10a, 10b, 10c, 10d, ... to generate a movement route for a robot that performs a service within the building 1000, and at this time, can identify at least one facility that the robot must use or pass through to move to the destination among the facility infrastructure (multiple facilities) arranged in the building 1000. Also, it can generate a movement route that includes at least one identified facility on the movement route.

[0211] Meanwhile, the robot traveling in the indoor space 10 to perform a service can travel along a travel route received from the cloud server 20, sequentially using or passing through the at least one facility, and travel to the destination.

[0212] Meanwhile, the order in which the robot must use the facilities can be determined under the control of the cloud server 20. Furthermore, the order in which the robot must use the facilities may be included in the movement route information received from the cloud server 20.

[0213] On the other hand, as shown in FIG. 7, the building 1000 may include at least one of robot-dedicated facilities 201, 202, 204, 208, 209, and 211 that are used exclusively by robots, and shared facilities 205, 206, 207, and 213 that are used jointly with humans.

[0214] The robot-dedicated equipment used exclusively by the robot may include equipment 208, 209 that provides the robot with the functions required (e.g., charging function, cleaning function, standby function) and equipment 201, 202, 204, 211 that is used for the robot's movement.

[0215] When generating a movement path for a robot, if there is robot-dedicated equipment on the path from the task execution start position to the destination, the cloud server 20 can generate the movement path so that the robot moves using (or passes through) the robot-dedicated equipment. That is, the cloud server 20 can generate a movement path giving priority to the robot-dedicated equipment. This is to increase the efficiency of the robot's movement. For example, if both a robot-dedicated elevator 204 and a shared elevator 213 are present on the movement path to the destination, the cloud server 20 can generate a movement path that includes the robot-dedicated elevator 204.

[0216] As discussed above, the robot that moves around the building 1000 according to the present invention can move around the indoor space of the building 1000 to perform tasks using various facilities provided in the building 1000.

[0217] The cloud server 20 may be configured to communicate with a control system (or control server) of at least one facility that the robot is using or is scheduled to use, for smooth movement of the robot. As discussed above in conjunction with FIG. 4, a specific control system for controlling the facility can communicate with at least one of the cloud server 20, the robot R, and the building 1000 to perform appropriate control over each facility so that the robot R can use the facility.

[0218] Meanwhile, the cloud server 20 needs to secure the position information of the robots within the building 1000. That is, the cloud server 20 can monitor the positions of the robots moving within the building 1000 in real time or at preset time intervals. The cloud server 20 may monitor the position information of all of the multiple robots moving within the building 1000, or may selectively monitor the position information of only a specific robot, as necessary. The monitored position information of the robots may be stored in a database that stores information about the robots, and the position information of the robots may be continuously updated over time.

[0219] There are many different methods for estimating the location information of a robot located in the building 1000, and the following will discuss an embodiment for estimating the location information of a robot.

[0220] 9 to 11 are conceptual diagrams for explaining a method for estimating the position of a robot traveling in a robot-friendly building according to the present invention.

[0221] As an example, as shown in Fig. 9, the cloud server 20 according to the present invention is configured to receive an image of the space 10 using a camera (not shown) provided on the robot R and perform visual localization to estimate the position of the robot from the received image. At this time, the camera is configured to capture (or sense) an image of the space 10, i.e., an image around the robot R. Hereinafter, for convenience of explanation, an image acquired using the camera provided on the robot R will be referred to as a "robot image." Also, an image acquired through a camera arranged in the space 10 will be referred to as a "space image."

[0222] 9(a), the cloud server 20 is configured to acquire a robot image 910 through a camera (not shown) provided on the robot R. The cloud server 20 can also estimate the current position of the robot R using the acquired robot image 910.

[0223] The cloud server 20 can compare the robot image 910 with the map information stored in the database and extract the location information corresponding to the current location of the robot R (e.g., "3rd floor area A (3, 1, 1)"), as shown in (b) of Figure 9.

[0224] As discussed above, in the present invention, the map for the space 10 may be a map created in advance based on Simultaneous Localization and Mapping (SLAM) by at least one robot moving through the space 10. In particular, the map for the space 10 may be a map created based on video information.

[0225] That is, the map for the space 10 may be a map generated by vision-based SLAM technology.

[0226] Therefore, the cloud server 20 can identify coordinate information (e.g., (3rd floor, area A (3, 1, 1)) for the robot image 910 acquired from the robot R, as shown in (b) of FIG. 9. In this way, the identified coordinate information may be the current location information of the robot R.

[0227] At this time, the cloud server 20 can estimate the current location of the robot R by comparing the robot image 910 acquired from the robot R with a map generated by vision (or visual)-based SLAM technology. In this case, the cloud server 20 can identify the location information of the robot R by i) identifying the image most similar to the robot image 910 by comparing the robot image 910 with images constituting a pre-generated map, and ii) acquiring location information matched to the identified image.

[0228] 9(a), when the cloud server 20 acquires a robot image 910 from the robot R, the cloud server 20 can identify the current location of the robot using the acquired robot image 910. As discussed above, the cloud server 20 can extract location information (e.g., coordinate information) corresponding to the robot image 910 from map information (e.g., which can also be named a "reference map") stored in advance in a database.

[0229] Meanwhile, in the above description, an example has been described in which the position of the robot R is estimated by the cloud server 20, but as discussed above, the position of the robot R can be estimated by the robot R itself. That is, the robot R can estimate its current position by the method discussed above based on the image received by the robot R itself. Furthermore, the robot R can transmit the estimated position information to the cloud server 20. In this case, the cloud server 20 can perform a series of controls based on the position information received from the robot.

[0230] In this way, when the position information of the robot R is extracted from the robot video 910, the cloud server 20 can identify at least one camera 121 arranged in the indoor space 10 corresponding to the position information. The cloud server 20 can identify the camera 121 arranged in the indoor space 10 corresponding to the position information from matching information related to the camera 121 stored in the database.

[0231] Such images may be used not only for estimating the position of the robot but also for controlling the robot. For example, the cloud server 20 may output both a robot image 910 acquired by the robot R itself and an image acquired from a camera 121 disposed in the space where the robot R is located to a display unit of the control system in order to control the robot R. As a result, an administrator who remotely manages and controls the robot R inside or outside the building 1000 can remotely control the robot R by taking into consideration not only the robot image 910 acquired from the robot R but also an image of the space where the robot R is located.

[0232] As another example, the position of a robot traveling in the indoor space 10 may be estimated based on a tag 1010 provided in the indoor space 10, as shown in FIG. 10(a).

[0233] 10, as shown in (b) of Fig. 10, a tag 1010 may have location information corresponding to the point where the tag 1010 is attached, which may be matched. That is, tags 1010 having different identification information may be provided at different points in the indoor space 10 of the building 1000. The identification information of each tag and the location information of the point where the tag is attached may be matched and stored in a database.

[0234] Additionally, tags 1010 may be configured to include location information matched to each tag 1010 .

[0235] The robot R can recognize the tag 1010 provided in the space 10 using a sensor provided in the robot R. Through this recognition, the robot R can extract the location information included in the tag 1010 and grasp the current location of the robot R. The extracted location information may be transmitted from the robot R to the cloud server 20 via the communication unit 110. This allows the cloud server 20 to monitor the location of the robot traveling in the building 1000 based on the location information received from the robot R that sensed the tag.

[0236] Furthermore, the robot R can transmit the identification information of the recognized tag 1010 to the cloud server 20. The cloud server 20 can extract location information that matches the identification information of the tag 1010 from the database and monitor the location of the robot within the building 1000.

[0237] Meanwhile, the term tag 1010 described above can be named in various ways. For example, such tag 1010 can be named in various ways, such as a QR code, a barcode, an identification mark, etc. Meanwhile, the term tag discussed above can be used interchangeably with "marker."

[0238] Hereinafter, among methods for monitoring the location of the robot R located in the indoor space 10 of the building 1000, a method for monitoring the robot R using an identification mark provided on the robot R will be discussed.

[0239] As described above, it has been discussed that various information about the robot R may be stored in the database. The various information about the robot R may include identification information (e.g., serial number, tag information, QR code information, etc.) for identifying the robot R located in the indoor space 10.

[0240] Meanwhile, the identification information of the robot R may be included in an identification sign (or identification mark) provided on the robot R, as shown in FIG. 11 . Such an identification sign can be sensed or scanned by the building control system 1000a and the facility infrastructure 200. As shown in (a), (b), and (c) of FIG. 11 , the identification signs 1101, 1102, and 1103 of the robot R may include the robot's identification information. As shown, the identification signs 1101, 1102, and 1103 may appear as a barcode 1101, a series of information (or serial information) 1102, a QR code 1103, an RFID tag (not shown), an NFC tag (not shown), or the like. The barcode 1101, the series of information (or serial information) 1102, the QR code 1103, the RFID tag (not shown), or the NFC tag (not shown), or the like, may be configured to include the identification information of the robot provided with (or attached to) the identification sign.

[0241] The robot identification information is information for distinguishing each robot, and even robots of the same type may have different identification information. Meanwhile, the information constituting the identification mark may be configured in various ways other than the barcode, serial information, QR code, RFID tag (not shown), or NFC tag (not shown) discussed above.

[0242] The cloud server 20 can extract the identification information of the robot R from the video received from a camera installed in the indoor space 10, a camera installed on another robot, or a camera installed in the facility infrastructure, and can grasp and monitor the position of the robot in the indoor space 10. Meanwhile, the means for sensing the identification sign is not necessarily limited to a camera, and a sensing unit (e.g., a scanning unit) may be used depending on the form of the identification sign. Such a sensing unit may be installed in at least one of the indoor space 10, the robot, and the facility infrastructure 200.

[0243] As an example, when an identification mark is sensed from a video captured by a camera, the cloud server 20 can ascertain the position of the robot R from the video received from the camera. At this time, the cloud server 20 can ascertain the position of the robot R based on at least one of the position information of the camera and the position information of the robot in the video (more precisely, the position information of the graphic object corresponding to the robot in the video captured with the robot as the subject).

[0244] The database may contain identification information of the cameras installed in the indoor space 10 and location information of the locations where the cameras are installed, which may be matched together. Thus, the cloud server 20 can extract the location information of the robot R by extracting the location information matched with the identification information of the camera that captured the video from the database.

[0245] As another example, when an identification mark is sensed by the scanning unit, the cloud server 20 can ascertain the location of the robot R from the scan information sensed by the scanning unit. The database may contain matching information on the location where the scanning unit is located, along with the identification information on the scanning unit located in the indoor space 10. Thus, the cloud server 20 can extract the location information of the robot R by extracting, from the database, the location information that is matched with the scanning unit that scanned the identification mark provided on the robot.

[0246] As discussed above, in a building according to the present invention, it is possible to extract and monitor the location of a robot using various infrastructures installed in the building. Furthermore, by monitoring the location of such a robot, the cloud server 20 can efficiently and accurately control the robot within the building.

[0247] Meanwhile, in order to provide various services using the robot R, it is very important to generate a map that reflects the characteristics and conditions of the actual space within the building 1000 and is used for the operation and navigation of the robot R so that the robot R located in the building 1000 can move safely and efficiently within the building 1000.

[0248] As a result, the present invention provides a user environment in which a user can conveniently and intuitively create and modify maps for the operation and navigation of a robot R that provides services in a building 1000, and proposes a method for the operation and navigation of the robot R within the building 1000 based on the maps created and modified by the user.

[0249] Hereinafter, with reference to the accompanying drawings, a user environment in which a user can conveniently and efficiently create and modify a map and a method for operating the robot R using the created and modified map will be more specifically discussed.

[0250] Figure 12 is a conceptual diagram illustrating a map generation system for robot operation according to the present invention. Figure 13 is a flowchart illustrating a map generation method for robot operation according to the present invention. Figures 14 and 15 are conceptual diagrams illustrating an editing interface provided by the present invention. Figure 16 is a conceptual diagram illustrating a method for generating a map using point cloud technology according to the present invention. Figures 17A, 17B, and 18 are conceptual diagrams illustrating area graphic objects according to the present invention. Figures 19A, 19B, 20, 21, and 22 are conceptual diagrams illustrating node graphic objects according to the present invention. Figures 23A, 23B, 23C, 23D, and 23E are conceptual diagrams illustrating areas according to the present invention. Figures 25A and 25B are conceptual diagrams illustrating a method for filtering graphic objects on the editing interface according to the present invention.

[0251] As shown in FIG. 12, a map generation system 3000 for operating a robot R according to the present invention may include at least one of a communication unit 310, a storage unit 320, and a control unit 330.

[0252] The map generation system 3000 for operating the robot R according to the present invention provides a user environment in which a user can conveniently, intuitively, and efficiently generate, change, and edit (hereinafter referred to as "editing") a map for operating the robot R, and can be variously named interchangeably, such as "map generation system," "map editing system," "map management system," "map generation editor," "map editing editor," "map management editor," "map editor," "editing editor," etc.

[0253] The communication unit 310 may be configured to communicate with at least one of i) electronic devices 50, ii) cloud server 20, iii) various robots R arranged within the building 1000, iv) various facility infrastructures 200 arranged within the building 1000, and v) building systems 1000a.

[0254] Here, the electronic device 50 may be any electronic device capable of communicating with the map generation system 3000 for operating the robot R according to the present invention, and the type of electronic device is not particularly limited. For example, the electronic device 50 may include a mobile phone, a smartphone, a notebook computer, a laptop computer, a slate PC, a tablet PC, an ultrabook, a desktop computer, a digital broadcasting terminal, a personal digital assistant (PDA), a portable multimedia player (PMP), a navigation system, a wearable device (e.g., a smartwatch, smart glasses, or a head-mounted display (HMD)), etc. In the present invention, the electronic device may be used interchangeably with a user terminal and a user terminal device.

[0255] The communication unit 310 can transmit information about the editing interface 1500 to the electronic device 50 in order to output the editing interface 1500 for creating and editing a map on the display unit 51 of the electronic device 50 .

[0256] Here, information related to the editing interface 1500 can be understood to include any information provided to a user through the editing interface 1500 to perform map editing.

[0257] The communication unit 310 can receive editing information based on user input applied on the editing interface 1500 through the electronic device 50 .

[0258] Here, the editing information may include information used to identify and allocate a graphic object on a map. For example, the editing information may include at least one of: i) a placement position of the graphic object, ii) a size of the graphic object, iii) a shape of the graphic object, vi) the graphic object, and v) various information related to the graphic object in a particular map.

[0259] Furthermore, when a graphic object is assigned to a specific map 1700 based on the editing information received from the electronic device 50, the communication unit 310 can update the map to which the graphic object is assigned to the cloud server 20.

[0260] The storage unit 320 may be configured to store various information related to the present invention. In the present invention, the storage unit 320 may be provided in the map generation system 3000 itself for operating the robot R. Alternatively, at least a portion of the storage unit 320 may refer to at least one of the cloud server 20, the external database, and the storage unit 140 of the building system 1000a. In other words, the storage unit 320 is sufficient as long as it is a space for storing information necessary for generating a map according to the present invention, and it can be understood that there is no physical space restriction. Therefore, hereinafter, the storage unit 320, the cloud server 20, the external database, and the storage unit 140 of the building system 1000a will all be referred to as the storage unit 320 without any distinction.

[0261] Then, the control unit 330 may be configured to control the overall operation of the map generation system 3000 for operating the robot R according to the present invention. The control unit 330 may process signals, data, information, etc. input or output via the components discussed above, or may provide or process information or functions suitable for the user.

[0262] Based on the editing information received from the electronic device 50, the control unit 330 can assign a graphic object having at least one type of the multiple types of graphic objects on a specific map 1700 corresponding to a specific floor of the multiple floors.

[0263] Here, the types of graphic objects can be classified (or divided) according to the functions associated with the graphic objects, and may include i) area graphic objects related to the function of specifying the driving mode of the robot, ii) driving node graphic objects related to the function of configuring the driving path of the robot, iii) action node graphic objects related to specific actions of the robot, and vi) equipment graphic objects related to equipment.

[0264] The control unit 330 may assign (or place) a graphic object corresponding to any one of the plurality of graphic object types on a specific map 1700 based on user input applied to the editing interface 1500 provided through the electronic device 50.

[0265] Furthermore, the control unit 330 can update the specific map to which the graphic object is assigned to the cloud server so that the robot travels on a specific floor according to the attributes of the graphic object assigned to the specific map.

[0266] As described above, the cloud server 20 can control a plurality of robots R that provide services within a building. In particular, the cloud server 20 can generate a global movement path and a local movement path for the robot R based on a specific map 1700 corresponding to a specific space or a specific floor, and control the robot R to move along the generated movement path.

[0267] In this way, the present invention can generate a map based on each of a plurality of floors to be used for controlling the robot R that provides services within a building, and can provide an editing interface 1500 that allows a user to easily and intuitively create and edit the map.

[0268] Below, we will explain in more detail how a user can conveniently and efficiently create a map to be used for operating and traveling the robot R, based on each configuration of the map generation system 3000 for operating the robot R described above.

[0269] First, the present invention can perform a process of receiving a map editing request for a specific floor among a plurality of floors of a building 1000 (S1310, see FIG. 13).

[0270] As described above, the building 1000 of the present invention may be configured with multiple floors. The communication unit 310 can receive a map editing request for a specific floor among the multiple floors that configure the building 1000 from the electronic device 50.

[0271] In the present invention, "map editing" can be understood as the task of generating or modifying a map (map or map information) for the space 10 within the building 1000. In particular, in the present invention, "map editing for a specific floor among multiple floors" can be understood as the task of generating or modifying a map (or map information) for a specific floor of the building 1000.

[0272] The map editing request for a particular floor can be received from the electronic device 50 in a variety of ways.

[0273] For example, the map editing request for the specific floor may be made in a state where a monitoring screen 1400 is provided on the display unit of the electronic device 50 as shown in FIG.

[0274] The monitoring screen 1400 is a screen that allows monitoring of multiple robots R located within a building 1000 having multiple floors, and may include at least one of: i) a building graphic object 1410 corresponding to the building 1000; ii) a status graphic object 1420 including status information of the robots R located on each floor; iii) a specific area 1430 linked to a page (or screen) related to map management corresponding to any one of the multiple floors; and vi) a graphic object 1440 corresponding to information regarding the robots R located on all floors of the building 1000.

[0275] As shown in FIG. 14, when a building graphic object 1410 corresponding to a building is output on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the specific floor based on the selection of sub-graphic objects 1411, 1412 corresponding to a specific floor.

[0276] For example, when a user selects the sub-graphic object 1411 corresponding to the eighth floor on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the eighth floor.

[0277] Furthermore, as shown in FIG. 14, when status graphic objects 1420 corresponding to each of a plurality of floors are output on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for the specific floor based on the selection of status graphic objects 1421, 1422 corresponding to a specific floor.

[0278] For example, based on the user selecting the status graphic object 1421 corresponding to the eighth floor on the display unit 51 of the electronic device 50, the communication unit 310 may receive a map editing request for the eighth floor.

[0279] Here, the "status graphic object 1420" can be understood as a graphic object having a visual appearance corresponding to status information, such that the status information of the robot R located on each of the multiple floors in the building 1000 is displayed.

[0280] For example, a status graphic object corresponding to the 8th floor may consist of a visual appearance corresponding to the first status information and a visual appearance corresponding to the second status information of some of the robots R among the plurality of robots R located on the 8th floor.

[0281] Through the state graphic object 1420, the user can intuitively recognize the state of the robot R on each of the multiple floors in the building 1000.

[0282] Furthermore, as shown in FIG. 14, based on the selection of a particular area (e.g., “Map Management,” 1430) on the display unit 51 of the electronic device 50, the communication unit 310 can receive a map editing request for a particular floor.

[0283] For example, when a user input for a specific area 1430 corresponding to "map management" is received, the control unit 330 may provide a graphic object (or a screen) on the display unit 51 of the electronic device 50, in which a selection for a specific floor among a plurality of floors in a building is input. More specifically, the control unit 330 may provide a pop-up including a plurality of graphic objects including numbers corresponding to each of the plurality of floors on the display unit of the electronic device 50. The communication unit 310 may receive a map editing request for the specific floor from the electronic device 50 based on the selection of the graphic object corresponding to the specific floor among the plurality of graphic objects.

[0284] Meanwhile, the above-mentioned method of receiving a map editing request for a specific floor corresponds to one embodiment, and the method of receiving a map editing request for a specific floor in the map generation system 3000 according to the present invention is not limited to the above-mentioned method.

[0285] Next, in the present invention, in response to a map editing request corresponding to a specific floor received from the electronic device 50, a process of providing an editing interface 1500 including at least a portion of a specific map corresponding to the specific floor on the display unit 51 of the electronic device 50 can be performed (S1320, see FIG. 13).

[0286] As shown in FIG. 15, the editing interface 1500 may include at least one of a first area 1510 containing at least a portion of a particular map corresponding to a particular floor, and a second area 1520 containing functionality for configuring settings for the particular map 1700.

[0287] In the present invention, the editing interface 1500 is a screen output on the display unit 51 of the electronic device 50 to provide the user with the ability to edit a specific map 1700, and may be named an "editing screen," an "editing user graphic interface (GUI)," an "editing page," etc.

[0288] Meanwhile, the first area 1510 may include (or may be output or provided) at least one of i) at least a portion of a specific map (hereinafter referred to as a specific map) 1700 corresponding to a specific floor, ii) an area graphic object 1800, and iii) a node graphic object 1900. Such a first area may also be called a "map area."

[0289] The specific map 1700 may be stored in the storage unit 320 together with an editing history for the specific map. When the control unit 330 receives a request to edit a map corresponding to a specific floor, the control unit 330 may refer to the editing history and provide an editing interface 1500 including the specific map 1700 that was last updated on the display unit of the electronic device 50.

[0290] For example, if three edits have been made to a specific map 1700, the control unit 330 may provide an edit interface 1500 on the display unit of the electronic device 50, which includes the specific map 1700 updated based on the third edit, based on an edit request for a map corresponding to a specific floor.

[0291] Meanwhile, at least a portion of the specific map 1700 may include at least one of an area graphic object 1800 and a node graphic object 1900 overlapping therewith.

[0292] The area graphic object 1800 may be related to the driving mode of the robot R in a specific space within a specific floor, and may be represented (or placed) on a specific map 1700, overlaid on an area corresponding to a specific space within a specific floor.

[0293] The visual appearance of the area graphic object 1800 may be determined by at least one of the size, position, shape (or pattern) and color on the particular map 1700 depending on the actual position, actual size, actual shape (or pattern) and properties of the particular space within the particular floor.

[0294] As shown in FIG. 15, the visual appearance of each of the first area graphic object 1800a and the second area graphic object 1800b may differ from each other in size, position, shape (or pattern) and color depending on the actual position, actual size, actual shape (or actual pattern) and nature (or type) of the corresponding first space and second space.

[0295] The color of the visual appearance of the region graphic object 1800 may be determined based on the type matched to the region graphic object (or real space). As shown in Fig. 15, when the types matched to a first region graphic object 1800a and a second region graphic object 1800b are different from each other, the colors of the first region graphic object 1800a and the second region graphic object 1800b may be different from each other.

[0296] Meanwhile, the node graphic object 1900 may refer to a graphic object allocated (placed, displayed, represented, or included) on a specific map 1700 so as to correspond to a node allocated to an actual space (also referred to as an actual area, target space, etc.) on a specific floor. Therefore, in the present invention, the node graphic object 1900 and a node can be used interchangeably.

[0297] In the present invention, the term "node" refers to a point or area that serves as a unit target for the movement of a robot, and each node can correspond to a specific point or area in the target space.

[0298] The node graphic object 1900 may be expressed (or placed) on a specific map 1700, superimposed on a position corresponding to a specific point (or a specific area) on a specific floor.

[0299] Furthermore, the node graphic object 1900 may have three different types depending on its attribute (or type): i) a node having a first node type is a traveling node (traveling node graphic object 1910) linked to the traveling of the robot R, ii) a node having a second node type is an action node (action node graphic object 1920) corresponding to an action node linked to a specific action of the robot, and iii) a node having a third node type may represent a facility node (facility node graphic object 1930) corresponding to a facility node linked to a facility located on a specific floor.

[0300] The traveling node graphic object 1910 can be understood as a graphic object relating to a traveling node that constitutes the traveling path of the robot and corresponds to a traveling node linked to the traveling of the robot.

[0301] The robot R can move along the traveling node based on information (for example, direction information) matched to the traveling node graphic object 1910.

[0302] The action node graphic object 1920 can be understood as a graphic object relating to an action node associated with a particular action of the robot R.

[0303] The robot R can perform a specific action at the travel node based on the specific action matched to the action node graphic object 1920.

[0304] For example, assume that a waiting action is matched to the action node graphic object 1920. When the robot R arrives at the action node while moving along the travel node, it can stop traveling and enter the waiting action.

[0305] Additionally, the action node graphic object 1920 may include the role of a traveling node graphic object (or traveling node).

[0306] Meanwhile, the facility node graphic object 1930 can be understood as a graphic object corresponding to a facility node associated with a facility located on a specific floor. More specifically, the facility node graphic object 1930 may be displayed (output or provided) by being superimposed on a point (position) corresponding to a point (location or space) where the facility infrastructure is located on a specific map 1700.

[0307] The facility node graphic object 1930 may not be assigned to a particular map 1700 based on receiving editing information from the electronic device 50, but may be assigned in advance during the process of generating a particular map 1700 corresponding to a particular floor.

[0308] Furthermore, the facility node graphic object 1930 may be assigned to a space corresponding to at least one of a specific point where a specific facility is located in the space of a specific floor and a specific space through which the robot must pass in order to pass through the specific facility (e.g., a speed gate, an elevator, etc.). In other words, when the robot uses a specific facility, the robot may need to move to at least some of the facility node graphic objects and travel node graphic objects corresponding to the specific facility.

[0309] On the other hand, the visual appearance of the node graphic object 1900 may determine at least one of its position and color on the particular map 1700 depending on the actual location of the node within the particular floor and the type (or nature) of the node.

[0310] In particular, the color of the visual appearance of the node graphic object 1900 may be determined based on the type matched to the node graphic object (or actual node).

[0311] As shown in FIG. 15, the type of the first node graphic object corresponds to an operation node graphic object 1920, and the type of the second node graphic object corresponds to an equipment node graphic object 1930, whereby the visual appearances (e.g., color, shape, pattern, three-dimensional effect, icon shape, etc.) of the first node graphic object and the second node graphic object may be different from each other.

[0312] Alternatively, if the types of the node graphic objects are the same, the visual appearances (eg, color, shape, pattern, three-dimensional effect, icon shape, etc.) of the node graphic objects may be the same.

[0313] Additionally, the visual appearance of the facility node graphic object 1930 may be configured to differ from one another depending on the facility type, so as to represent the type of facility infrastructure that it corresponds to.

[0314] For example, an equipment graphic object 2000a corresponding to an elevator may be represented with a visual appearance corresponding to an elevator, and an equipment graphic object 2000a corresponding to a speed gate may be represented with a visual appearance corresponding to a speed gate.

[0315] Next, the present invention can perform a process of allocating at least one graphic object on a specific map 1700 included in the editing interface 1500 based on information received from the electronic device 50 (S1330, see Figure 13).

[0316] The assigned graphic object may mean at least one of the area graphic object 1800 and the node graphic object 1900 described above.

[0317] The control unit 330 may assign either an area graphic object 1800 or a node graphic object 1900 to a position corresponding to a specific area of ​​a specific map 1700 included in the first area 1510 based on user input applied to the specific area.

[0318] In the present invention, "assigning a graphic object" can be understood as overlaying and placing a graphic object on a specific area of ​​a specific map, and matching (or setting) the area (or point) where the graphic object is placed to have a type corresponding to the type of the graphic object.

[0319] For example, the control unit 330 can overlay and display a node graphic object 1900 in a specific area of ​​a specific map 1700 as shown in FIG. 15, and match a node corresponding to the node graphic object 1900 in the specific area.

[0320] A user can assign a graphic object to a specific point on a specific map 1700 by applying a user input for the desired specific point on the specific map 1700. A method for assigning a graphic object will be described in detail below.

[0321] Next, in the present invention, a process can be performed in which the specific map 1700 to which the graphic object is assigned is updated to the cloud server so that the robot R travels on a specific floor depending on the type of graphic object assigned to the specific map 1700 (S1340, see Figure 13).

[0322] As discussed above, the cloud server 20 can set a movement path for the robot R within the space of the building 1000 using a map (or map information 1700) stored in the cloud server 20. In addition, the cloud server 20 can control the robot R to move from its current location to a specific destination. The cloud server 20 can identify the current location information and destination location information of the robot, set a path to reach the destination, and control the robot to move along the set path to reach the destination.

[0323] More specifically, a plurality of nodes may correspond to each of the plurality of node graphic objects 1900, and node information may be matched for each node. Such node information may include various information, and may typically include coordinate information and node connection information.

[0324] First, the node information includes coordinate information. A single node specifies a specific coordinate or a coordinate range on a map. For example, a node may be configured to specify a circular area having a predetermined area on a map. For this purpose, the coordinate information included in the node may consist of a specific coordinate or a coordinate range.

[0325] Second, the node information includes node connection information. A single node includes information defining other nodes to which the robot can move from the node. The node connection information may include unique numbers of other nodes to which the robot can move from the node, or coordinate information specified by the other nodes.

[0326] The node connection information may also include direction information that defines the direction in which the robot can move between nodes. When the robot can move from one of two nodes to the other, the direction information may define whether the robot can move in only one direction or in both directions.

[0327] Furthermore, among the node graphic objects, a plurality of facility node graphic objects 1930 may correspond to a plurality of facilities, respectively, and facility information may be matched for each facility.

[0328] The facility information defines information about the facility located in the target space. Specifically, the facility information may include at least one of the following: a type of facility, information about a server corresponding to the facility, and node information about a node corresponding to the location where the facility is located.

[0329] The cloud server 20 controls the robot R to move from one node to another and repeats this process until the robot reaches a destination. In this specification, the robot moving to a specific node may mean that the robot moves to coordinate information or within a coordinate range designated by the specific node.

[0330] Furthermore, the area graphic object 1800 may correspond to a specific actual space and may match driving mode information of the robot R in the specific space. For example, the driving mode may include a basic autonomous driving mode, a strict path following mode, a maintenance driving mode, etc.

[0331] When controlling the robot R to move from one node to another, the cloud server 20 can control the robot R to move in the space corresponding to the area graphic object 1800 according to the driving mode matched to the area graphic object 1800.

[0332] In this way, the cloud server 20 can control the generation of the movement route and the running of the robot R based on the map (or map information) updated in the present invention.

[0333] As a result, the present invention proposes a user environment method that allows the user to conveniently and intuitively edit (create or change) a map (or map information) so that the cloud server 20 can efficiently set a movement route for the robot.

[0334] The following describes a method in which the control unit 330 generates a map (or map information) based on information received from the electronic device 50. However, the map may be generated by the cloud server 20 or another system, rather than the control unit 330. The other system may be a system built for generating maps, and the present invention is not particularly limited thereto.

[0335] Meanwhile, as described above, the control unit 330 may provide an editing interface 1500 including the specific map 1700 on the display unit of the electronic device 50 based on receiving an editing request for a specific map 1700 corresponding to a specific floor from the electronic device (see FIG. 15).

[0336] The specific map 1700 may consist of at least one of a two-dimensional or three-dimensional map for a specific floor, and may refer to a map used to set the robot R's travel path.

[0337] In this case, the map may be a map created in advance based on SLAM (Simultaneous Localization and Mapping) by at least one robot moving in the space 10. In other words, the map may be a map generated by a vision (or visual)-based SLAM technique.

[0338] 16(a), the robot R can sense the space within the building 1000 while traveling within the building 1000. The cloud server 20 can control the traveling of the robot R so that the robot R can sense the space within the building 1000.

[0339] Based on the information 1610 about the space sensed by the robot R, the server for map generation can perform a process of detecting static obstacles (Obstacles, O1, O2, O3, O4) in the space (see (b) of Figure 16).

[0340] Here, the server related to map generation may refer to the map generation system 3000 according to the present invention or another server. For example, the other server may be the cloud server 20 or a server performing another map generation function. In the following description, the map is generated by the cloud server 20, but the same function can also be performed by the control unit 330 according to the present invention or another server.

[0341] Cloud server 20 can use point cloud technology to generate points having three-dimensional coordinates for detected obstacles.

[0342] Here, point cloud technology, also known as point cloud data technology or point cloud technology, can refer to a technology that provides a large number of point clouds (or point measurements) that are emitted from a sensor, reflected by a target, and returned to a receiver.

[0343] The point cloud (or group of measurement points) can be acquired by sampling each point based on a central coordinate system (x, y, z).

[0344] The cloud server 20 can convert the three-dimensional point cloud for an obstacle obtained using the point cloud technology into two-dimensional point cloud information P1 and P2 as shown in (c) of Fig. 16. That is, the cloud server 20 can convert the three-dimensional point cloud for a detected obstacle into two-dimensional flattened point clouds P1 and P2.

[0345] 16(d), the cloud server 20 can perform a process of determining the position of a static obstacle by matching a map (or map information) M1 including a two-dimensional flattened point cloud with a drawing M2 of the building 1000. More specifically, the cloud server 20 can determine the position and size of a static obstacle relative to the robot R in consideration of detection information and positioning of physical obstacles in the actual space, with the map M1 including the two-dimensional flattened point cloud and the drawing M2 of the building 1000 overlapping each other.

[0346] Furthermore, the cloud server 20 can create the static obstacles as figures (Figures F1 and F2) on the map M3 based on the positions and sizes of the identified static obstacles, as shown in (e) of Figure 16.

[0347] In the present invention, the map generated through the above-described process is provided on the display unit 51 of the electronic device 50, and a user environment can be provided in which the user can edit the map.

[0348] Meanwhile, the above-described map generation process may be performed by the cloud server 20 or by an operator (or administrator). When the map generation process is performed by an operator (or administrator), some of the above-described map generation process may be performed by the operator (or administrator).

[0349] Meanwhile, as described above, in the present invention, while providing an editing interface 1500 on the display unit 51 of the electronic device 50, a region graphic object 1800 can be assigned to a particular map 1700 based on user input applied to the editing interface 1500.

[0350] Here, the area graphic object 1800 can be understood as a setting for setting the robot R to run (or operate) in a specific running mode in a specific area on a specific floor.

[0351] The process of allocating the area graphic object 1800 will be described in more detail below with reference to FIGS. 17A, 17B and 18. FIG.

[0352] First, the control unit 330 may control the editing interface 1500 in an area editing mode based on receiving a request for area editing from the electronic device 50 .

[0353] Here, the "area editing mode" can be understood as a mode in which an area graphic object 1800 can be allocated on a specific map 1700 through the editing interface 1500, and the type and related information of the area graphic object 1800 can be set.

[0354] The control unit 330 can switch the mode of the editing interface 1500 to the area editing mode based on the selection of a specific editing tool (see reference numeral 1531 in FIG. 17A) corresponding to the area editing mode when the editing interface 1500 is in a mode other than the area editing mode (e.g., basic mode).

[0355] With the editing interface 1500 operating in the region editing mode, the control unit 330 can assign region graphic objects on a particular map 1700 based on the editing information received from the electronic device 50 .

[0356] The editing information may include information for identifying at least one of: i) the location of the region graphic object 1800; ii) the size of the region graphic object 1800; iii) the shape of the region graphic object 1800; and vi) the type of the region graphic object 1800 in a particular map 1700.

[0357] Such editing information may be formed by combining user inputs entered into the first area 1510 and the second area 1520 of the editing interface 1500 .

[0358] As described above, the first area 1510 of the editing interface 1500 may include a particular map 1700. Additionally, the second area 1520 may include a settings menu for settings related to editing the particular map 1700.

[0359] In this case, the second area 1520 may include a setting menu for setting the area graphic object by the editing interface 1500 operating in the area editing mode.

[0360] The control unit 330 can identify an area graphic object 1800 to assign on a particular map 1700 by determining i) the placement location, ii) the size, and iii) the shape of the area graphic object 1800 based on user input applied to the first region 1510.

[0361] Additionally, the control unit 330 can identify the type of the region graphic object 1800 based on the user input applied to the second region 1520 .

[0362] The control unit 330 can combine the user inputs applied to the first region 1510 and the second region 1520, respectively, to assign a region graphic object on a particular map 1700.

[0363] The following describes in detail a method for determining at least one of the placement position, size, and shape of the area graphic object 1800 based on user input applied to the first area 1510 (first allocation process), and a method for determining the type of the area graphic object 1800 based on user input applied to the second area 1520 (second allocation process).

[0364] In the following description, the first allocation process will be described first, followed by the second allocation process, but the order of the first and second allocation processes may be changed, i.e., the second allocation process may be performed first, followed by the first allocation process.

[0365] The control unit 330 can determine at least one of the area (or placement position), size, and shape of the area graphic object 1800 to be assigned on the specific map 1700 based on the editing information received based on the application of user input to the first area 1510.

[0366] The control unit 330 can identify the region graphic object 1800 to be assigned to a particular map 1700 based on at least one of a first user input for a first region that identifies the region in which the region graphic object 1800 is located, a second user input for the first region that identifies the size of the region graphic object 1800, and a third user input for the first region that identifies the shape of the region graphic object.

[0367] The first user input, second user input, and third user input can be classified according to which information the applied user input relates to: the position area (or placement position), size, and shape of the area graphic object 1800.

[0368] For example, if the applied user input can specify the placement position and size of the region graphic object 1800, the user input may correspond to a first user input and a second user input.

[0369] Therefore, in the following, user inputs that specify area graphic objects will not be distinguished and will all be described as user inputs, and such user inputs may be user inputs for specifying at least one of the placement position, size, and shape of the area graphic object 1800.

[0370] The control unit 330 may receive editing information that can identify at least one of the placement position, size, and shape of the region graphic object based on user input applied to the first region when the editing interface 1500 is in region editing mode.

[0371] The control unit 330 can also identify an area graphic object 1800 to be allocated on a particular map 1700 based on the received editing information.

[0372] 17A and 17B, the control unit 330 may receive, from the electronic device 50, editing information based on user inputs (e.g., clicks) applied to four specific points 1511a, 1511b, 1511c, and 1511d different from one another in the first region 1510. In addition, the control unit 330 may specify a rectangular first region graphic object 1810 of a specific size to be located at the bottom left corner of the specific map 1700 based on the received editing information.

[0373] 17B , the control unit 330 may receive, from the electronic device 50, editing information based on a drag input on the first region 1510. Furthermore, the control unit 330 may specify, based on the received editing information, a triangular second region graphic object 1820 of a specific size that is to be placed at the bottom center of the specific map 1700.

[0374] As another example, as shown in FIG. 17B, the control unit 330 can identify a trapezoidal third region graphic object 1830 of a specific size that is placed in the center of a specific map 1700 based on editing information received from the electronic device 50.

[0375] As another example, although not shown, the control unit 330 may identify an area graphic object 1800 corresponding to a figure whose size and shape have been changed by the changed line based on a user input that changes at least one of the position and shape of the lines constituting a figure pre-formed in the first area 1510.

[0376] In this manner, a region graphic object 1800 having a size and shape corresponding to the user input can be assigned on a particular region of a particular map 1700 corresponding to the location where the user input was applied.

[0377] In order to set the robot R to operate in a specific driving mode in a specific space, the user can assign an area graphic object to an area corresponding to a specific space on a specific map 1700. In this way, the user can conveniently and intuitively set the operation mode of the robot R for each space in the building 1000 through the editing interface 1500 provided by the present invention.

[0378] Meanwhile, as described above, the control unit 330 can switch the mode of the editing interface 1500 to the area editing mode based on the selection of a particular editing tool 1531 exposed on the editing interface 1500.

[0379] In such a region edit mode state, at least one of the position, size, and shape of the region graphic object 1800 can be specified based on user input applied on the first region.

[0380] Thus, in the present invention, the specific editing tool 1531 can be understood as a tool that serves as a medium for user input for specifying the area graphic object 1800 .

[0381] Such a particular editing tool 1531 can form a plurality of editing tools 1530 together with other tools 1532, 1533 matched to other functions.

[0382] The plurality of editing tools 1530 may be located in at least one area of ​​the editing interface 1500 and may be moved to another area of ​​the editing interface 1500 based on user input applied to the plurality of editing tools 1530 .

[0383] 17B, ​​the plurality of editing tools 1530 may be provided superimposed (or overlapped) on the specific map 1700 at the upper left corner of the first region 1510. Also, the user can move the plurality of editing tools 1530 to other positions on the specific map 1700 through user input to the plurality of editing tools 1530.

[0384] Even if a portion of a particular map 1700 is covered by multiple editing tools 1530, the user can place an area graphic object 1800 on the part of the particular map 1700 that was covered by moving the position of the multiple editing tools 1530.

[0385] Meanwhile, when the editing interface 1500 is operating in the area editing mode, the control unit 330 can receive editing information based on user input applied to the second area 1520 of the editing interface 1500 and identify the type of the area graphic object 1800.

[0386] As described above, the type of the area graphic object is associated with the driving mode of the robot R, and different types of area graphic objects may be associated with different driving modes, respectively. For example, a first type of area graphic object may be associated with a first driving mode, and a second type of area graphic object may be associated with a second driving mode.

[0387] Therefore, in the present invention, "identifying the type of area graphic object 1800" can be understood as identifying the driving mode of robot R in a specific space (or area) on a specific floor corresponding to the area graphic object.

[0388] To specify the type of the region graphic object 1800, the control unit 330 may provide a setting menu (or setting menu graphic object 1521) on the second region 1520, as shown in FIG. 17B, which can receive selection of the type of the region graphic object 1800.

[0389] The control unit 330 may receive a selection of the type of the region graphic object based on a user input (which may also be named a fourth user input) to the setting menu 1521 included in the second region 1520.

[0390] In addition, the control unit 330 can identify the type of area graphic object so that the robot R operates in a driving mode associated with the selected type in a specific space (or area) on a specific floor corresponding to the area graphic object 1800.

[0391] More specifically, the control unit 330 may provide a setting menu 1521 including a first sub-setting menu graphic object 1521a and a second sub-setting menu graphic object 1521b on the second area, as shown in FIG. 17B.

[0392] In this case, the first sub-setting menu graphic object 1521a may correspond to a first type of area graphic object (or a first driving mode), and the second sub-setting menu graphic object 1521b may correspond to a second type of area graphic object (or a second driving mode).

[0393] The control unit 330 can receive editing information including type information for the area graphic object 1800 from the electronic device 50 based on the selection of either the first sub-setting menu graphic object 1521a or the second sub-setting menu graphic object 1521b.

[0394] The control unit 330 may determine the type of the region graphic object based on the editing information. For example, if the control unit 330 receives editing information based on the selection of the first sub-setting menu graphic object 1521a, the control unit 330 may identify the region graphic object 1800 as a first type region graphic object. In contrast, if the control unit 330 receives editing information based on the selection of the second sub-setting menu graphic object 1521b, the control unit 330 may identify the region graphic object 1800 as a second type region graphic object.

[0395] Furthermore, the control unit 330 can determine the operation mode of the robot R in the area graphic object 1800 based on the editing information. For example, when the control unit 330 receives editing information based on the selection of the first sub-setting menu graphic object 1521a, the control unit 330 can specify the operation mode of the robot R in the area graphic object 1800 as the first operation mode. In contrast, when the control unit 330 receives editing information based on the selection of the second sub-setting menu graphic object 1521b, the control unit 330 can specify the operation mode of the robot R in the area graphic object 1800 as the second operation mode.

[0396] In this way, the area graphic object 1800 of the present invention may be configured to have any one of a plurality of different types. Also, the area graphic object 1800 of the present invention may be configured to allow the robot R to operate in any one of the different driving modes.

[0397] Meanwhile, in the present invention, in order to allow the user to intuitively recognize the driving mode of the robot R in a specific area on a specific map 1700, the visual appearances of the first type area graphic object and the second type area graphic object may be configured to be different from each other.

[0398] Here, the "visual appearance" may refer to at least one of the color, three-dimensional effect, pattern, and included icon of the area graphic object. For convenience of explanation, the following description will be made using color as an example of the visual appearance.

[0399] The first type area graphic object and the second type area graphic object may be matched with different visual information (e.g., color information), respectively. The first type area graphic object may be matched with first visual information, and the second type area graphic object may be matched with second visual information.

[0400] When the type of the region graphic object 1800 is identified, the control unit 330 can control the color of the region graphic object on the specific map 1700 to have visual information that matches the type of the identified region graphic object 1800.

[0401] If the types identified as the plurality of area graphic objects are different from each other, the control unit 330 may display the plurality of area graphic objects on a specific map 1700 with visual characteristics corresponding to different visual information from each other.

[0402] For example, as shown in FIG. 17B, a first region graphic object 1810 identified as a first type may be displayed on a particular map 1700 with first color information matching the first type, and a third region graphic object 1830 identified as a second type may be displayed on a particular map 1700 with second color information matching the second type.

[0403] On the other hand, if the types identified as multiple area graphic objects are the same, the control unit 330 can display the multiple area graphic objects on a specific map 1700 as visual characteristics corresponding to the same visual information.

[0404] For example, as shown in FIG. 17B, a first area graphic object 1810 and a second area graphic object identified as a first type may be displayed on a particular map 1700 with the same color information as each other.

[0405] Thus, one or more area graphic objects of the same or different types may be assigned to a particular map 1700 in the present invention.

[0406] Meanwhile, in the present invention, the type of the selected area graphic object can be determined in a state where the area graphic object 1800 is selected first.

[0407] For example, the control unit 330 may provide a setting menu 1521 for selecting the type of the specific region graphic object on the second region 1520 based on receiving a user selection of at least one specific region graphic object on the first region 1510. When a specific type is selected via the setting menu 1521 on the second region 1520, the control unit 330 may set the specific region graphic object as a region graphic object of a specific type.

[0408] In this case, the setting menu 1521 may include sub-explanation menu graphic objects 1521a and 1521b corresponding to the area graphic object types applicable to the type applicable to the selected area graphic object.

[0409] In addition, in the present invention, when the type of the graphic object is previously selected, the type of the area graphic object 1800 specified as the selected type can be determined.

[0410] For example, the control unit 330 may determine the type of a particular area graphic object as a pre-selected type based on user input to the first area 1510 when a particular type is selected via the setting menu 1521 on the second area 1520.

[0411] In this way, the present invention can provide an editing interface 1500 that can assign an area graphic object associated with a specific driving mode on a specific map 1700 for a specific floor.

[0412] This allows the user to control the robot R to operate in a specific driving mode within a specific space on a specific floor corresponding to the area graphic object 1800 simply by selecting the area graphic object 1800 through the second area 1520 of the editing interface 1500.

[0413] Furthermore, the user can intuitively recognize the driving mode of the robot R linked to the area graphic object 1800 on the specific map 1700 through the color of the area graphic object 1800.

[0414] Meanwhile, as shown in FIG. 18, in the storage unit 320, a plurality of different types of area graphic objects 1841 to 1846 may be associated with a plurality of different driving modes, respectively, and may exist as area association information.

[0415] The area cooperation information may include driving characteristic information 1841a to 1846a for a plurality of mutually different driving modes that are defined (or set) in advance.

[0416] A first traveling mode may be matched to the first type area graphic object 1841. The traveling characteristics 1841a of the first traveling mode relate to an operation mode that more closely follows a route, minimizes avoidance, and limits waiting. The robot R can travel in an area corresponding to the first type area graphic object 1841 so as to closely follow the route.

[0417] A second driving mode may be matched to the second type area graphic object 1842. The driving characteristics 1842a of the second driving mode relate to a conservative driving operation mode. The robot R can drive relatively more conservatively in the area corresponding to the second type area graphic object 1842 than in other areas.

[0418] A third travel mode may be matched to the third type area graphic object 1843. The travel characteristics 1843a of the third travel mode relate to a travel mode linked with an elevator. In the area corresponding to the third type area graphic object 1843, the robot R can perform operations in travel modes such as getting on and off the elevator, and waiting.

[0419] A fourth running mode may be matched to the fourth type area graphic object 1844. The running characteristics 1844a of the fourth running mode relate to a running mode associated with a metal wall surface. In the area corresponding to the fourth type area graphic object 1844, the robot R can run in association with the metal wall surface (for example, run to prevent slipping).

[0420] A fifth driving mode may be matched to the fifth type area graphic object 1845. The driving characteristics 1845a of the fifth driving mode relate to prohibiting entry of the robot R. The robot R may not enter an area corresponding to the fifth type area graphic object 1845.

[0421] Furthermore, a sixth driving mode may be matched to an area 1846 to which no area graphic object is assigned. The driving characteristics 1846a of the sixth driving mode relate to the basic autonomous driving mode. The robot R may operate in the basic autonomous driving mode in an area to which no area graphic object is assigned.

[0422] In this way, the robot R traveling within the building 1000 can travel in a specific area in a specific travel mode according to the travel mode associated with the area graphic object assigned to the specific map 1700. Hereinafter, a method for controlling the travel mode of the robot R based on the area graphic object assigned to the specific map 1700 will be described in more detail.

[0423] As shown in FIG. 17Bb, when at least one area graphic object 1800 is assigned, the control unit 330 may update the specific map 1700 to the cloud server 20 so that the robot R operates in a specific driving mode in a specific area corresponding to the area graphic object 1800.

[0424] Based on the assignment of at least one area graphic object 1800 on a particular map 1700, the cloud server 20 can control the robot R to operate in one of a plurality of driving modes in the area corresponding to the at least one area graphic object 1800.

[0425] The cloud server 20 can control the robot R to run in the area (or region) corresponding to the specific area graphic object 1810 according to the running characteristics of the running mode associated with the type of the specific area graphic object 1810.

[0426] More specifically, the cloud server 20 can control the robot R to travel according to the first travel mode when the robot R enters a first section (area) of a specific floor corresponding to an area to which a first type of area graphic object 1810 is assigned in a specific map 1700.

[0427] In addition, when the robot R leaves the first area (region), the cloud server 20 can change the driving mode of the robot R based on the type of region graphic object corresponding to the region in which the robot R is located after leaving the first region.

[0428] For example, if the new area (region) where the robot R is located outside the first area (region) corresponds to an area to which no area graphic object is assigned on the specific map 1700, the cloud server 20 may change the driving mode of the robot R from the first driving mode to the basic driving mode. In this case, the basic driving mode may correspond to the driving mode of the robot R before it entered the first area.

[0429] As another example, if the new area (region) in which the robot R is located outside the first area (region) is an area (region) corresponding to an area to which a second type of area graphic object 1830 is assigned in a particular map 1700, the cloud server 20 can change the driving mode of the robot R from the first driving mode to the second driving mode.

[0430] In this way, the cloud server 20 can control the robot R to travel according to the second travel mode when the robot R enters a second area (zone) on a particular floor corresponding to an area to which a second type of area graphic object 1830 is assigned on a particular map 1700.

[0431] Furthermore, when the robot R leaves the second area (region), the cloud server 20 may change the driving mode of the robot R based on the type of the area graphic object corresponding to the area where the robot R is located after leaving the second area. For example, the cloud server 20 may change the driving mode of the robot R from the second driving mode to the basic driving mode. In this case, the basic driving mode may correspond to the driving mode of the robot R before it entered the second area.

[0432] Meanwhile, the cloud server 20 can generate a movement path for the robot R based on the fact that at least one area graphic object 1800 is assigned to a specific map 1700 .

[0433] For example, in FIG. 17B, the type of a first area graphic object 1810 on a particular map 1700 is the fifth type of area graphic object 1845 described above, and the actual area corresponding to the first area graphic object 1810 having the fifth type is the first area.

[0434] Before the first area graphic object 1810 having the fifth type is assigned to a particular map 1700, the cloud server 20 can generate a movement path 1710 passing through the first area as shown in FIG. 17A to control the movement of the robot R.

[0435] Alternatively, after the first area graphic object 1810 having the fifth type is assigned to a particular map 1700, the cloud server 20 can generate a movement path 1720 that avoids the first area, as shown in FIG. 17B, to control the movement of the robot R.

[0436] In this way, the present invention provides the user with an editing interface 1500 that allows the user to assign an area graphic object 1800 on a specific map 1700, and the user can control the robot R to operate in a specific driving mode within a specific area on a specific floor simply by assigning the area graphic object 1800 on a specific map 1700 through the editing interface 1500.

[0437] Meanwhile, as described above, the present invention provides an editing interface 1500 on the display unit of the electronic device 50, and allows node graphic objects to be assigned to a particular map 1700 based on user input applied to the editing interface 1500.

[0438] Here, the node graphic object 1900 may refer to a graphic object allocated (placed, displayed, represented, or included) on a specific map 1700 so as to correspond to a node allocated to an actual area (also referred to as an actual region, space, target space, etc.) on a specific floor. Thus, in the present invention, the node graphic object 1900 and a node may be used interchangeably.

[0439] Furthermore, "a node is assigned on a particular map 1700" can be understood as "a node graphic object 1900 is assigned on a particular map 1700," "a node is assigned to a location in an actual area corresponding to a point on the particular map 1700 to which the node graphic object is assigned," or "a node graphic object 1900 is assigned to a point on the particular map 1700 corresponding to the location of the actual area to which the node is assigned," etc.

[0440] Furthermore, the node graphic object 1900 can have three different types depending on the attribute (or type): i) a node having the first node type is a traveling node (traveling node graphic object 1910) linked to the traveling of the robot R, ii) a node having the second node type is an action node graphic object (action node graphic object 1920) corresponding to an action node linked to a specific action of the robot, and iii) a node having the third node type may represent an equipment node (equipment node graphic object 1930) corresponding to an equipment node linked to equipment located on a specific floor.

[0441] In the present invention, a robot providing a service may be configured to perform an action defined in a node assigned to the location where the robot is located.

[0442] The action node graphic object 1920 can be understood as a node that is preset so that the robot R, which has moved to a specific node by traveling between nodes, performs an action corresponding to the specific node. That is, since the action node graphic object (or traveling node 1920) is a node that also includes the role of the traveling node graphic object (or traveling node), the traveling node graphic object 1910 in the present invention can be understood as including the action node graphic object 1920.

[0443] The facility node graphic object 1930 is assigned to an area corresponding to at least one of a specific point where a specific facility is located in an actual area (or target space) on a specific floor and a specific area through which a robot must pass in order to pass the specific facility (e.g., a speed gate, an elevator, etc.). In other words, when a robot uses a specific facility, the robot must move to at least a part of the multiple facility node graphic objects corresponding to the specific facility.

[0444] The node graphic object 1900 described below can be understood as including at least one of a travel node graphic object 1910 , an action node graphic object 1920 , and an equipment node graphic object 1930 .

[0445] Meanwhile, node graphic object information may correspond to each node graphic object 1900. The node graphic object information may include at least three pieces of information.

[0446] First, the node graphic object information includes coordinate information. A single node graphic object specifies a specific coordinate or a coordinate range on the map. For example, the node graphic object 1900 may be configured to specify a circular area having a predetermined area on the map. For this purpose, the coordinate information included in the node graphic object 1900 may be configured as a specific coordinate or a coordinate range.

[0447] Second, the node graphic object information includes node graphic object connection information. A single node graphic object includes information defining other node graphic objects 1900 to which the robot can move from the node graphic object. The node graphic object connection information may include unique numbers of other node graphic objects to which the robot can move from the node graphic object or coordinate information specified by the other node graphic objects.

[0448] Third, the node graphic object information includes facility information. The facility information defines information about the facility located in the target space. Specifically, the facility information may include at least one of the following: a type of facility, information about a server corresponding to the facility, and node graphic object information of a node graphic object corresponding to the location where the facility is located.

[0449] Meanwhile, in the present invention, a line connecting a specific node graphic object and a node graphic object different from the specific node graphic object can be named an edge or an edge graphic object.

[0450] The edges (or edge graphic objects) may be associated (or matched) with edge information (or edge graphic object information) for each edge.

[0451] The edge information may include direction information that defines the direction in which the robot R can move between two different node graphic objects connected by the edge.

[0452] The direction information defines whether the robot can move in only one direction or in both directions when the robot can move from one of the two node graphic objects to the other.

[0453] For example, suppose that a robot R can move from a first node graphical object to a second node graphical object, but is restricted from moving from the second node graphical object to the first node graphical object. Edge information corresponding to an edge connecting the first node graphical object and the second node graphical object may include direction information defining unidirectional movement from the first node graphical object to the second node graphical object.

[0454] As another example, suppose that a robot R is capable of both moving from a first node graphical object to a second node graphical object and moving from the second node graphical object to the first node graphical object, and edge information corresponding to an edge connecting the first node graphical object and the second node graphical object may include direction information defining movement in both directions between the first node graphical object and the second node graphical object.

[0455] Meanwhile, the direction information in the present invention can also be explained as being included in node graphic object information. More specifically, when the direction information is included in edge information (or edge graphic object information) corresponding to an edge (or edge graphic object) connecting a first node graphic object and a second node graphic object, the direction information can also be explained as being included in node graphic object information corresponding to each of the first node graphic object and the second node graphic object.

[0456] That is, in the present invention, the direction information set to a specific node graphic object can be understood as direction information included in an edge (or edge graphic object) related to the specific node graphic object and another specific node graphic object.

[0457] On the other hand, the target space of a particular floor may be divided into multiple areas. A particular map 1700 includes multiple areas. At least one node graphic object is assigned to each area. Each area is divided based on at least one node included in the area.

[0458] Meanwhile, in this specification, a zone may have two types depending on the type of nodes assigned to the zone. Specifically, a zone may be composed of a first zone type zone including nodes assigned to an area corresponding to the location where the equipment is located, and a second zone type zone including nodes assigned to an area not corresponding to the location where the equipment is located.

[0459] Each of the first and second area types may be assigned only areas of the same type, for example, an area of ​​the first area type may be assigned only nodes of the first node type, and an area of ​​the second area type may be assigned only nodes of the second node type.

[0460] Each area may have area information corresponding to the area, which may include at least one of serial numbers and location information of nodes included in the area, connection information between nodes included in the area, area connection information between adjacent areas, and facility information.

[0461] Zone connection information may be generated for each zone adjacent to a corresponding zone. Zone connection information for adjacent first and second zones may include node information of a first node located closest to the second zone among nodes included in the first zone, and node information of a second node located closest to the first zone among nodes included in the second zone. That is, the zone connection information defines nodes that must be moved for movement between zones.

[0462] The process of allocating the node graphic object 1900 will be described in more detail below with reference to the accompanying drawings.

[0463] First, the control unit 330 may control the edit interface 1500 in a node edit mode based on receiving a request for node edit from the electronic device 50.

[0464] Here, the "node edit mode" can be understood as a mode in which a node graphic object 1900 can be allocated on a particular map 1700 through the edit interface 1500 and the type and related information of the node graphic object 1900 can be set.

[0465] The control unit 330 can switch the mode of the editing interface 1500 to the node editing mode based on the selection of a specific editing tool (see reference numeral 1532 in FIG. 19A) corresponding to the node editing mode when the editing interface 1500 is in a mode other than the area editing mode (e.g., the basic mode).

[0466] The control unit 330 can assign node graphic objects 1900 on a particular map 1700 based on editing information received from the electronic device 50 with the editing interface 1500 operating in node editing mode.

[0467] The editing information may include information for identifying at least one of: i) the placement position of the node graphic object 1900 in a particular map 1700; ii) the type of the node graphic object 1900; iii) identification information of the node graphic object 1900; vi) attribute information of the node graphic object 1900; v) information on the equipment to which the node graphic object 1900 is linked; and vi) identification information of the zone in which the node graphic object 1900 is included.

[0468] Such editing information may be formed by combining user inputs entered into the first area 1510 and the second area 1520 while the editing interface 1500 is operating in node editing mode.

[0469] As described above, the first area 1510 of the editing interface 1500 may include a particular map 1700. Additionally, the second area 1520 may include a settings menu for settings related to editing the particular map 1700.

[0470] In this case, the second area 1520 may include a setting menu for setting the node graphic object by the editing interface 1500 operating in a node editing mode.

[0471] The control unit 330 can identify the node graphic object 1900 to be allocated on the particular map 1700 by identifying the placement position of the node graphic object 1900 based on the user input applied to the first region 1510.

[0472] In addition, the control unit 330 can determine the type, attributes, identification information, inclusion zone, linked equipment, and visual appearance (color or shape of inclusion icon) of the node graphic object 1900 based on user input applied to the second area 1520.

[0473] The following describes in detail a method for determining the placement position of the node graphic object 1900 based on user input applied to the first area 1510 (first allocation process), and a method for determining the type of the node graphic object 1900 based on user input applied to the second area 1520 (second allocation process).

[0474] The order of the first allocation process and the second allocation process may be changed, i.e., the second allocation process may be performed first and then the first allocation process, or conversely, the first allocation process may be performed first and then the second allocation process.

[0475] Meanwhile, the control unit 330 can determine the area (or placement position) where the node graphic objects 1911a, 1911b, 1911c, 1911d, and 1911e to be assigned on a specific map 1700 are located based on editing information received upon application of user input to the first area 1510.

[0476] As shown in Figures 19A and 19B, each time a user input is applied to the first area 1510, the control unit 330 can output (display or provide) node graphic objects 1911a, 1911b, 1911c, 1911d, and 1911e at the point where the user input is applied.

[0477] In addition, the control unit 330 can specify a running direction to define the running direction of the robot between at least some of the nodes among a plurality of running node graphic objects 1900 assigned on a specific map 1700 .

[0478] Such a running direction can be achieved through a process of adding connecting lines 1912a and 1912b (see FIG. 19B) connecting adjacent running node graphic objects among a plurality of running node graphic objects through the editing interface 1500.

[0479] The editing information may include direction information included in each of the node graphic objects 1911 a , 1911 b , 1911 c , 1911 d that are assigned to the particular map 1700 .

[0480] Such directional information may be generated based on at least one of the order and direction in which user inputs are applied on the first region 1510.

[0481] As an example, the direction information may include bidirectional information that guides the robot R to move to a node graphic object assigned in an order before the specific node graphic object, and to a node graphic object assigned in the next order.

[0482] 19A, a first node graphic object 1911a, a second node graphic object 1911b, a third node graphic object 1911c, and a fourth node graphic object 1911d are assigned in this order. Direction information included in the second node graphic object 1911b may include bidirectional information indicating that the robot R can move to the first node graphic object 1911a, which is assigned in the previous order, and the third node graphic object 1911c, which is assigned in the next order.

[0483] As another example, the direction information may include one-way information indicating that the robot R can only move to a node graphic object that is assigned next in order to a specific node graphic object. More specifically, the direction information included in the second node graphic object 1911b may include one-way information indicating that the robot R can only move to a third node graphic object 1911c that is assigned next in order.

[0484] Furthermore, such directional information may be generated or changed based on user information input through the second area 1520. For example, the second area 1520 may include an area for receiving input of directional information. The control unit 330 may generate or change directional information for a specific node graphic object based on the directional information for the specific node graphic object being input through the second area 1520.

[0485] Furthermore, the control unit 330 can perform control so that the connecting lines 1912a and 1912b are formed as arrows. The control unit 330 can represent the movable directions of the robot R on the specific map 1700 with the connecting lines 1912a and 1912b (see FIG. 19B) having arrows, based on the direction information included in each of the plurality of node graphic objects 1911a, 1911b, 1911c, and 1911d.

[0486] A user can conveniently and easily assign node graphic objects onto specific map 1700 regions that correspond to specific real-world locations simply by applying user input to the editing interface 1500 .

[0487] Meanwhile, when the editing interface 1500 is operating in node editing mode, the control unit 330 can receive editing information based on user input applied to the second area 1520 of the editing interface 1500 and identify information about a specific node graphic object 1900.

[0488] As shown in FIG. 20, in the present invention, various information regarding a specific node graphic object may be set through a second area 1520.

[0489] As shown in FIG. 20, the various information related to a specific node graphic object may include at least one of: i) identification information (e.g., node ID, node name, identification number, etc.) 1522 of the node graphic object; ii) coordinate information 1523 of the node graphic object; iii) information 1524a, 1524b, 1524c on any one of a plurality of types of the node graphic object; iv) zone information 1525a, 1525b, 1525c on any one of a plurality of different zones including the node graphic object; v) facility information 1526 on a facility linked to the node graphic object; vi) information 1527, 1528 on any one of a plurality of attributes of the node graphic object; and vii) marker information 1529 on the facility linked to the node graphic object.

[0490] The control unit 330 may provide information about the selected node graphic object and an area for receiving input of the information in the second area 1520 based on the selection of one of the plurality of node graphic objects allocated on a specific map 1700.

[0491] First, the identification information 1522 of the node graphic object may be set to be different for each of the plurality of node graphic objects. For example, different first and second identification information may be matched to different first and second node graphic objects, respectively.

[0492] Second, the coordinate information 1523 of the node graphic object may include coordinate information of either two-dimensional coordinates (x, y) or three-dimensional coordinates (x, y, z) and angle information (which can also be expressed as "direction information").

[0493] The coordinate information may be determined (or generated) based on a user input entered on the first area 1510. The control unit 330 may match the coordinate information corresponding to the user input applied to the first area 1510 to a node graphic object 1900 assigned on the particular map 1700 based on the user input.

[0494] The coordinate information may include coordinates of a point to which a specific node graphic object is assigned, and such coordinate information may be matched to the specific node graphic object based on a user input entered in the first area 1510.

[0495] The coordinate information may be changed based on user input that changes the position of a node graphic object pre-assigned to the first region 1510 .

[0496] More specifically, when a node graphic object pre-assigned to a first location on a specific map 1700 moves to a second location based on user input (e.g., dragging), the control unit 330 can change the coordinate information matched to the node graphic object from coordinate information corresponding to the first location to coordinate information corresponding to the second location.

[0497] Alternatively, the coordinate information may be configured not to be arbitrarily changed by a user input applied to the second area 1520 .

[0498] The control unit 330 may deactivate a function for applying user input to the area on the second area 1520 where the coordinate information is output, thereby preventing the coordinate information of the node graphic object from being changed through the second area.

[0499] On the other hand, the angle information is information regarding the direction that the robot R located at the actual node corresponding to the node graphic object is looking at, and may be information that defines in which direction (e.g., clockwise or counterclockwise) and at what angle the robot R rotates based on a reference line (or reference point) of a specific map 1700, and in which direction the front of the robot R faces.

[0500] For example, as shown in (a) of FIG. 21, when angle information D1 of 0° is matched to a specific node graphic object, the robot R can be positioned by rotating 0° from the node corresponding to the specific node graphic object based on the reference line (or reference point).

[0501] As another example, as shown in (b) of FIG. 21, when 90° angle information D2 is matched to a specific node graphic object, the robot R can be positioned by rotating 90° from the node corresponding to the specific node graphic object based on the reference line (or reference point).

[0502] As shown in (a) of Figure 21, the user can control robot R to wait at a node related to elevator waiting while looking at the elevator by setting angle information so that the front of robot R is associated with the elevator direction at the node related to elevator waiting.

[0503] The angle information may be matched to a preset value for the node graphic object based on the allocation of the node graphic object on a specific map 1700. The preset value is angle information preset by an administrator of the system 3000, and may be named basic angle information (or basic angle value, default value).

[0504] Such basic angle information may be changed based on user information applied on the second area 1520.

[0505] The control unit 330 may activate a function to apply user input to the area on the second area 1520 where the angle information is output, thereby changing the angle information of the node graphic object through the second area.

[0506] Meanwhile, thirdly, the type information 1524a, 1524b, and 1524c for the node graphic object is information that determines the attributes of the node graphic object, and the type of the node graphic object may be information about any one of i) a traveling node graphic object linked to the traveling of the robot R, ii) an action node graphic object linked to the action of the robot R, and iii) an equipment node graphic object related to the equipment.

[0507] 22, node type information related to the type of a node graphic object may exist in the storage unit 320. Each node type information may match the node to one of a first type node (travel type node), a second node type (operation type node), and a third node type (facility type node).

[0508] For example, in FIG. 22 , the first node information ("Default") 2211 is a node associated with the general driving of the robot R, and may be matched with a first type node (driving type node). Furthermore, the second node information ("Robot Elevator") 2212, the third node information ("Speed ​​Gate") 2213, and the fourth node information ("Charging") 2214 are each nodes related to equipment located in the building 1000, and may be matched with a third type node (equipment type node). Furthermore, the fifth node information ("Queue") 2215 and the sixth node information ("Wating") 2216 are each nodes related to the operation (queuing or waiting) of the robot R, and may be matched with a second type node (operation type node).

[0509] The control unit 330 may determine (or set) the type of a specific node graphic object based on the selection of any one of the plurality of node type information through a user input applied to the second area 1520. The control unit 330 may also match the set (or determined) type to the specific node graphic object.

[0510] For example, as shown in FIG. 20(a), when 'Queueing 1524a' is selected in the second region 1520, the control unit 330 can match a second node type (action node type) to the specific node graphic object.

[0511] When the robot R is located at an action node corresponding to the second knot type, the cloud server 20 can control the robot R to perform a specific action matching the second node type (e.g., stopping the robot R's movement and waiting or queuing).

[0512] As another example, as shown in (b) and (c) of Figure 20, when "Robot Elevator 1524b" or "Charger 1524c" is selected in the second area 1520, the control unit 330 can match a third node type (equipment node type) to the specific node graphic object.

[0513] Meanwhile, fourthly, the zone information 1525a of the node graphic object can be understood as information for grouping at least some of the nodes assigned to a particular map 1700 so that they are included in the same zone.

[0514] As shown in FIG. 23A, at least some of the nodes 2311a, 2312a, 2313a among the multiple nodes assigned to a particular map 1700 may be grouped into a first group so as to be included in a first same area (ZONE) 2310a, and at least some of the other nodes 2311b, 2312b, 2313b may be grouped into a second group so as to be included in a second same area (ZONE) 2310b.

[0515] The control unit 330 may provide multiple nodes grouped in the same group so that they are included in the same area with the same visual appearance (e.g., color, shape, pattern, three-dimensional effect, icon shape, etc.) on the first area 1510 so that the user can intuitively recognize multiple nodes grouped in the same area simply by looking at the editing interface 1500.

[0516] For example, in FIG. 23A, multiple nodes 2311a, 2312a, 2313a grouped into a first group to be included in a first identical area 2310a may include the same icon (eg, a lightning bolt icon) as each other.

[0517] As another example, in FIG. 23A, multiple nodes 2311b, 2312b, 2313b grouped into a second group to be included in a second identical area 2310b may be provided on the first region 1510 in the same color as each other.

[0518] Meanwhile, the control unit 330 may group at least some of the nodes assigned to a particular map 1700 into the same group so that they are included in the same zone based on user input applied to the second area 1520.

[0519] In the present invention, "grouping nodes" can be understood as "including nodes in a specific zone," "adding nodes to a specific group," or "registering nodes in a specific zone."

[0520] On the other hand, the control unit 330 can group at least some of the multiple nodes assigned to a particular map 1700 into the same group based on user input (or user information) applied via the second area 1520, as shown in FIG. 23B.

[0521] When any one of the multiple node graphic objects assigned to a particular map 1700 is selected, the second area 1520 may provide at least one of identification information of the selected node and identification information of the area in which the selected node is included.

[0522] If the selected node is not included in the specific area, the control unit 330 may activate a function to receive user input to include the selected node in the specific area on the second area 1520, as shown in (a) of FIG. 23B.

[0523] 23B(b), the control unit 330 may provide an area list 2321 including items corresponding to at least one area (e.g., "Wating-007-001", "Wating-007-002") existing on a specific floor. Based on the selection of any one item in the area list 2321, the control unit 330 may include the selected node graphic object in the area corresponding to the selected item.

[0524] Furthermore, when the control unit 330 receives a request for area creation from the electronic device 50 based on a user selection input on the second area 1520, it can create a new area and include the selected node graphic object in the newly created area.

[0525] As shown in FIG. 23B(c), when the area 2322 corresponding to “Add New” is selected on the second area 1520, the control unit 330 can generate a new area and then include the selected node in the new area.

[0526] In this case, the new area may be associated with a specific floor on which the selected node is located. For example, if the selected node is located on the seventh floor, the new area may be associated with the seventh floor.

[0527] Meanwhile, in a specific zone, various information related to the specific zone may be matched and exist.

[0528] Based on receiving a request for information about a specific area from the electronic device 50, the control unit 330 can provide various information about the specific area on the second area 1520 of the editing interface 1500, as shown in FIG. 23C.

[0529] The "request for information on a specific area" may be made in various ways. For example, in Fig. 23B, the request may be made based on a user input for the name of the specific area when a specific node graphic object is included in the specific area. As another example, as shown in Fig. 23F, a request for information on the specific area corresponding to the selected item may be made based on a user selecting one of a plurality of items 2361, 2362, 2363, 2364, and 2365 included in the area list 2360 provided in the second area 1520.

[0530] As shown in FIG. 23C, the information regarding the specific area may include at least one of: i) identification information of the specific area (e.g., Waiting-007-001); ii) type (or attribute) information 2331 of the specific area; iii) service information 2332 regarding the specific area; vi) label (or keyword information) 2333 regarding the specific area; v) facility information 2334 associated (or linked) with the specific area; and vi) a node list 2335 including items 2335a, 2335b, 2335c corresponding to at least one node graphic object included in the specific area.

[0531] In the storage unit 320 according to the present invention, a specific area and information about the specific area may be matched with each other and exist as matching information.

[0532] On the other hand, the type information 2331 of the specific area may be determined (specified or set) based on the type of at least one node graphic object included in the specific area, or may be determined (specified or set) based on user selection.

[0533] More specifically, if the specific area includes a node graphic object of a specific type (e.g., an equipment node graphic object), the type of the specific area may be set as the type corresponding to the specific node graphic object (e.g., an equipment area).

[0534] Furthermore, if the specific area includes node graphic objects of different types, the type of the specific area may be set based on a common purpose pursued by the node graphic objects of different types.

[0535] For example, if a specific area includes a facility node graphic object corresponding to an elevator and an action node graphic object corresponding to a waiting action in front of the elevator, the type of the specific area may be related to the use of the elevator.

[0536] Meanwhile, the control unit 330 may activate a selection or input function for the second area 1520 so that a user can input information about any one of the specific areas while the information about the specific areas is displayed on the second area 1520.

[0537] The control unit 330 may set (determine or specify) or change information about the specific area for the specific area based on the information selected or input through the second area 1520.

[0538] For example, when facility information 2334 linked (or associated) with a specific area is input via the second area 1520, the control unit 330 may link the specific area with the input facility information. More specifically, the control unit 330 may link at least one node graphic object included in the specific area with the input facility information.

[0539] As another example, the control unit 330 may set or change the type of a particular area based on a user input applied via the second area 1520 .

[0540] As described above, in the present invention, information for a specific area can be set based on information input through the second area 1520, and the information input through the second area 1520 can be called "edit information" in the present invention.

[0541] Meanwhile, a plurality of node graphic objects included in the same area may be matched in priority order, and as shown in (a) of Fig. 23D, a node list 2335 may be provided in the second area 1520, in which items 2335a, 2335b, and 2335c corresponding to the node graphic objects are arranged based on the priority order.

[0542] Here, the "priority" relates to the order of use of the robot R, and a node graphic object with a higher priority may be used in preference to a node graphic object with a lower priority.

[0543] For example, suppose that a specific area includes a first facility node graphic object corresponding to a first charger and a second facility node graphic object corresponding to a second charger, and the first facility node graphic object is matched with a first priority and the second facility node graphic object is matched with a second priority. When both the first and second chargers are empty, the control unit 330 can generate a movement path (or driving path) for the robot R to move to the first charger with a higher priority and charge there.

[0544] On the other hand, the node list 2335 may have a plurality of items 2335a, 2335b, 2335c arranged in order from an item corresponding to a node graphic object with a high priority to an item corresponding to a node graphic object with a low priority.

[0545] For example, as shown in (a) of FIG. 23D, the node list 2335 may have a first item 2335a at the top corresponding to the first node graphic object (e.g., "NODE_A") with a matched first priority, a second item 2335b below the first item 2335a corresponding to the second node graphic object (e.g., "NODE_B") with a matched second priority lower than the first priority, and a third item 2335c below the second item 2335b corresponding to the third node graphic object (e.g., "NODE_C") with a matched third priority lower than the second priority.

[0546] Additionally, as shown in FIG. 23E(a), each of the multiple node graphic objects 2350a, 2350b, 2350c assigned to a particular map 1700 may include priority information matched to the respective node graphic object.

[0547] For example, the first node graphic object 2350a includes the number "1" corresponding to the first priority, the second node graphic object 2350b includes the number "2" corresponding to the second priority, and the third node graphic object 2350c includes the number "3" corresponding to the third priority.

[0548] The cloud server 20 can control the robot R based on the priority matched (or assigned) to each of the multiple node graphic objects included in the specific area.

[0549] More specifically, the cloud server 20 can generate a movement path for the robot R by giving priority to the first node among the first to third nodes based on matching (or assigning) the first to third priorities to the first to third node graphic objects 2350a, 2350b, and 2350c included in the same area.

[0550] For example, suppose that the first to third node graphic objects 2350a, 2350b, and 2350c included in the same area are graphic objects corresponding to the first to third chargers, respectively. If all of the first to third chargers are empty (or available for charging), the cloud server 20 can control the robot R to charge at the first charger corresponding to the first node graphic object assigned (or matched) with the first priority.

[0551] Meanwhile, the control unit 330 may change the priority of multiple node graphic objects included in the same area based on a user input applied to the editing interface 1500. Furthermore, based on the change in the priority of the multiple node graphic objects, the control unit 330 may update priority information included in multiple node graphic objects provided on a specific map 1700.

[0552] As shown in (b) of FIG. 23D, when one of the multiple items included in the node list on the first area 1520 (e.g., the first item 2335a) is selected, the selected item 2335a may be highlighted with a visual appearance different from that of the other items 2335b and 2335c so that the user can intuitively recognize which item is selected.

[0553] In addition, when any item (e.g., the first item 2335a) is selected in the node list, the control unit 330 can change the position of the selected item 2335a on the node list based on receiving a selection from the electronic device 50 regarding the position to which the selected item 2335a should be moved.

[0554] For example, as shown in (c) of FIG. 23D, when a user selects any item (e.g., the first item 2335a) in the node list, based on a user input (e.g., a drag) to move the selected item 2335a below the third item 2335c, the control unit 330 can move the selected item (e.g., the first item 2335a) below the third item 2335c, as shown in (d) of FIG. 23D.

[0555] Additionally, the control unit 330 can change (or update) the priority matched to each of the node graphic objects based on the position of the changed items 2335a, 2335b, 2335c on the node list.

[0556] For example, as shown in (d) of Figure 23, the first priority may be matched to the second node graphic object corresponding to the second item 2335b located at the top of the node list 2335, the second priority may be matched to the third node graphic object corresponding to the third item 2335c, and the third priority may be matched to the first node graphic object corresponding to the first item 2335a.

[0557] Furthermore, the control unit 330 may change (or update) the priority information included in each of the multiple node graphic objects 2350a', 2350b', and 2350c' assigned to a particular map 1700, as shown in (b) of Figure 23E, based on the change (or update) of the priority matched to each of the multiple node graphic objects included in the same area.

[0558] For example, the first node graphic object (2350a') may be updated to include the number "3" corresponding to the changed third priority, the second node graphic object (2350b') may be updated to include the number "1" corresponding to the changed first priority, and the third node graphic object (2350c') may be updated to include the number "2" corresponding to the second priority.

[0559] Furthermore, the cloud server 20 may control the robot R differently from before the priority change based on a change in the priority matched (or assigned) to each of the multiple node graphic objects included in the specific area.

[0560] More specifically, the cloud server 20 can generate a movement path for the robot by giving priority to the second node among the first to third nodes, based on the fact that the first priority has been changed to be matched (or assigned) to the second node graphic object among the first to third node graphic objects 2350a', 2350b', 2350c' included in the same area.

[0561] For example, if all of the first to third chargers are empty (or available for charging), the cloud server 20 can control the robot R to charge at the second charger corresponding to the second node graphic object assigned (or matched) with the first priority.

[0562] Meanwhile, the editing interface 1500 according to the present invention can provide a user interface that allows editing and managing information about a region.

[0563] As shown in (a) of FIG. 23F, the control unit 330 may provide an area list 2360 on the second area 1520 based on receiving a request for providing an area list from the electronic device 50.

[0564] The area list 2360 may include an item (hereinafter, a plurality of items 2361 to 2365) corresponding to at least one area.

[0565] The items included in the area list 2360 may correspond to items corresponding to areas associated with a particular floor. For example, the area list 2360 may include items corresponding to each of areas 1 through 5 associated with the seventh floor.

[0566] Each item included in the zone list 2360 may include identification information (e.g., "ZONE-ID-001") of the zone corresponding to the specific item 2361, and information (e.g., "5") 2361a about the number of node graphic objects included in the zone corresponding to the specific item 2361. Through the number information, a user can intuitively recognize the number of node graphic objects included in each zone.

[0567] Furthermore, each item included in the area list 2360 may further include a function icon 2365 a for receiving a request to delete the area corresponding to the particular item 2365 .

[0568] The control unit 330 can delete information about a specific zone corresponding to a specific item 2365 including the functional icon 2365a based on receiving a user input for the functional icon 2365a. In this case, when the functional icon 2365a is selected, the control unit 330 can output guidance information guiding the user to delete the zone information ("Deleting the Zone will also delete all Zone information entered in the Node. Do you want to delete the Zone?") as shown in (b) of FIG. 23F.

[0569] The control unit 330 may delete information about a specific area based on receiving a user input for the function icon 2365a. Furthermore, the control unit 330 may delete information about the specific area to which at least one node graphic object included in the specific area is matched. That is, the control unit 330 may ungroup the node graphic objects included in the specific area so that they are no longer included in the specific area.

[0570] Furthermore, based on receiving a user input for the function icon 2365a relating to the specific area, the control unit 330 may deallocate at least one node graphic object included in the specific area on the specific map 1700. That is, the control unit 330 may delete the node graphic object so that the node graphic object overlapping and displayed on the specific map 1700 is no longer provided on the specific map 1700.

[0571] In this way, the present invention not only provides a user interface for deleting specific node graphic objects assigned to a specific map 1700, but also provides a user interface for deleting multiple node graphic objects included in a specific area all at once.

[0572] As described above, the present invention can provide a user interface that allows a user to freely and conveniently group multiple nodes into one area and edit the priority of multiple nodes included in the same area. As a result, the user can conveniently set the travel path and operation of the robot R that provides services within the building 1000 through the user interface provided by the present invention, and can intuitively recognize the setting contents.

[0573] Such a user interface of the present invention can provide services optimized for efficient management of robots R in a building 1000 consisting of multiple floors and in which multiple robots R exist.

[0574] Meanwhile, as described above, at least one of the node graphic object 1900 and the area assigned on the specific map 1700 may be matched with facility information for facilities located on a specific floor in the building 1000.

[0575] The control unit 330 can link a specific node graphic object 1900 or multiple node graphic objects included in a specific area with the equipment based on the fact that equipment information is matched to at least one of the node graphic object 1900 and the area.

[0576] As shown in FIG. 24(a), the control unit 330 can link the specific node with at least one equipment infrastructure 2420, 2430, 2440 included in the equipment information based on the equipment information 2410 input via the second area 1520.

[0577] Here, "linking the node with the equipment infrastructure" means that the node and the equipment operate in cooperation with each other. For example, when the robot R is located at a specific node located on a specific floor, the elevator linked to the specific node can be controlled to move to the specific floor.

[0578] The node and the equipment infrastructure may be interconnected between at least one node and at least one equipment infrastructure. More specifically, the node and the equipment infrastructure may be interconnected one-to-one, or multiple equipment infrastructures may be interconnected with one node. Also, multiple nodes may be interconnected with one equipment infrastructure.

[0579] As described above, the control unit 330 can link a specific node (or multiple nodes included in a specific area) with a specific facility based on facility information input through the second area 1520 of the editing interface 1500.

[0580] In this way, the present invention provides a user interface that allows a user to set up linkage between nodes and equipment through the editing interface 1500, and a user can simply and easily link nodes and equipment infrastructure together by simply entering equipment information for the equipment infrastructure into the editing interface 1500.

[0581] Meanwhile, as described above, a user can assign multiple types of area graphic objects 1800 and multiple node graphic objects 1900 on a particular map 1700 through the editing interface 1500 of the present invention (see FIG. 15).

[0582] When multiple area graphic objects 1800 having different types and multiple node graphic objects 1900 having different types are assigned to a particular map 1700, it may be difficult for a user to intuitively recognize the area graphic objects and node graphic objects on the particular map 1700.

[0583] Therefore, the present invention allows for filtering and providing graphic objects of each type on a particular map 1700 based on the type of the graphic object.

[0584] As shown in FIG. 25A, when a specific map 1700 corresponding to a specific floor is provided in the first area 1510 of the editing interface 1500, the control unit 330 can provide a filtering area 2600 in the second area 1520 regarding a filtering function for at least one graphic object type assigned to the specific map 1700.

[0585] The filtering area 2600 may include information 2610, 2620, 2630, 2640, 2650 about a plurality of graphic object types assigned to the particular map 1700, and checkboxes matching each of the information about the plurality of graphic object types.

[0586] The control unit 330 can provide only the graphic objects of the type corresponding to the checked checkboxes based on the user input to the filtering area 2600 overlaid on the specific map 1700 of the first area 1510 .

[0587] 25A, when check boxes corresponding to a first specific type ("Virtual Wall") 2630 and a second specific type (Advanced Area") 2640 are selected in the filtering area 2600, the control unit 330 may provide a graphic object 2651 of the first specific type and a graphic object 2652 of the second specific type superimposed on a specific map 1700 of the first area 1510. In this case, the control unit 330 may restrict the output of graphic objects corresponding to a third specific type ("Node") 2610 and a fourth specific type ("Edge") 2620, which correspond to unchecked check boxes.

[0588] 25B, when checkboxes corresponding to a third specific type ("Node") 2610 and a fourth specific type ("Edge") 2620 are selected in the filtering area 2600, the control unit 330 may provide a graphic object 2661 of the third specific type and a graphic object 2662 of the second specific type overlaid on a specific map 1700 of the first area 1510. In this case, the control unit 330 may restrict the output of graphic objects corresponding to a first specific type ("Virtual Wall") 2630 and a second specific type (Advanced Area) 2640, which correspond to unchecked checkboxes.

[0589] In the following description, the first allocation process will be described first, followed by the second allocation process, but the order of the first and second allocation processes may be changed, i.e., the second allocation process may be performed first, followed by the first allocation process.

[0590] The map generating method and system for robot operation according to the present invention may provide an editing interface including at least a portion of a specific map corresponding to a specific floor on a display unit of an electronic device in response to receiving a map editing request for a specific floor among multiple floors of a building. This allows a user to generate and edit a specific map for each floor of a building consisting of multiple floors. This allows a user to generate and modify a customized map for each floor of a building consisting of multiple floors, reflecting the characteristics of each floor.

[0591] Furthermore, the map generation method and system for robot operation according to the present invention can assign graphic objects to a specific map included in an editing interface based on editing information received from an electronic device. This allows a user to create and edit a map simply by assigning graphic objects to the editing interface, making it convenient and easy for even an inexperienced user to create and edit a map.

[0592] Furthermore, the map generation method and system for robot operation according to the present invention can update a specific map to which a graphic object is assigned to a cloud server so that the robot can travel on a specific floor according to the attributes of the graphic object assigned to the specific map. This allows the robot to travel efficiently according to an overall plan without processing a complex environment based on a map that reflects interactions between robots, between robots and humans, and between the robot and various equipment infrastructure installed in the building.

[0593] Furthermore, the robot-friendly building of the present invention can provide a new space where such technologies, robots, and the equipment infrastructure installed within the building are organically combined using technological convergence, which combines and links robots, autonomous driving, AI, and cloud technology.

[0594] Furthermore, the robot-friendly building of the present invention can systematically manage the operation of robots that provide services by organically controlling multiple robots and facility infrastructure using a cloud server linked to multiple robots, thereby enabling the robot-friendly building of the present invention to provide various services to people more safely, quickly, and accurately.

[0595] Furthermore, the robots applied to buildings according to the present invention can be realized in a brainless format controlled by a cloud server, which not only enables multiple robots to be placed in buildings to be manufactured inexpensively without expensive sensors, but also allows them to be controlled with high performance and precision.

[0596] Furthermore, in the building of the present invention, the movement of multiple robots placed in the building is controlled not only taking into account the tasks and movement conditions assigned to them, but also taking into account people, allowing robots and people to naturally coexist in the same space.

[0597] Furthermore, in buildings according to the present invention, various controls can be implemented to prevent accidents caused by robots and to respond to unforeseen situations, thereby instilling in people the perception that robots are not dangerous, but rather friendly and safe.

[0598] However, the invention discussed above can be implemented as a program for execution by one or more processes in a computer and storable on such a computer-readable medium.

[0599] Furthermore, the present invention discussed above can be realized as computer-readable code or instructions stored on a medium having a program recorded thereon. That is, various control methods according to the present invention can be provided in the form of a program, either integrated or individually.

[0600] On the other hand, computer-readable media includes any kind of recording device that stores data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices.

[0601] Furthermore, the computer-readable medium may include a storage device, such as a server or cloud storage device that can be accessed by an electronic device through communication. In this case, the computer can download the program according to the present invention from the server or cloud storage device through wired or wireless communication.

[0602] Furthermore, in the present invention, the above-mentioned computer is an electronic device equipped with a processor, that is, a CPU (Central Processing Unit), and there are no particular limitations on the type.

[0603] However, the above detailed description should not be construed as limiting in all respects, but should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all modifications within the scope of the present invention are included in the scope of the present invention.

Claims

1. receiving a map editing request for a particular floor of a plurality of floors of a building; providing, in response to the editing request, an editing interface on a display unit of an electronic device, the editing interface including at least a portion of the particular map corresponding to the particular floor; assigning at least one graphical object on the particular map included in the editing interface based on editing information received from the electronic device; and updating the specific map to which the graphic object is assigned to a cloud server so that a robot travels on the specific floor according to attributes of the graphic object assigned on the specific map.

2. On the specific map, based on the editing information, an area graphic object for specifying a running mode of the robot for a specific area on the specific floor; a travel node graphic object that constitutes a travel route of the robot and corresponds to a travel node linked to the travel of the robot; an action node graphic object corresponding to an action node associated with a specific action of the robot; The map generating method according to claim 1, wherein at least one of the facility node graphic objects corresponding to the facility node linked to the facility located on the specific floor is assigned.

3. When the region graphic object is assigned to the specific map through the editing interface, the specific map to which the region graphic object is assigned is updated to the cloud server; 3. The map generating method according to claim 2, wherein when the robot traveling on the specific floor travels in the specific area to which the area graphic object is assigned on the specific floor, the robot travels in the specific area according to the travel characteristics of the travel mode linked to the area graphic object.

4. The area graphic object is The vehicle speed control device is configured to have one of a plurality of different types associated with different driving modes, 4. The map generating method according to claim 3, wherein one or more area graphic objects of the same or different types can be assigned to the specific map.

5. The area graphic objects corresponding to the plurality of types respectively include: a first type area graphic object associated with a first driving mode; a second type of area graphic object associated with a second driving mode different from the first driving mode; 5. The map generating method of claim 4, wherein the first type of area graphic object and the second type of area graphic object have different visual appearances.

6. The robot When the vehicle enters a first area on the specific floor corresponding to an area to which the first type of area graphic object is assigned on the specific map, the vehicle is controlled to travel in the first traveling mode; When the vehicle deviates from the first region, the vehicle is controlled to travel in the travel mode before entering the first region, When the vehicle enters a second area on the specific floor corresponding to an area to which the second type of area graphic object is assigned on the specific map, the vehicle is controlled to travel in the second driving mode; The map generating method according to claim 5, wherein, when the vehicle deviates from the second area, the vehicle is controlled to travel in a travel mode before entering the second area.

7. In the step of allocating the graphic object, if the area graphic object is allocated, The editing information is 5. The map generating method of claim 4, further comprising information for specifying at least one of a location of the region graphic object in the particular map, a type of the region graphic object, a size of the region graphic object, and a shape of the region graphic object.

8. The editing interface includes: a first area including the specific map, and a second area including a setting menu for setting the specific map to be edited; The map generating method according to claim 7 , wherein the editing information is formed by combining user inputs inputted for at least one of the first area and the second area.

9. The allocation of the area graphic object is a first user input for the first region that identifies the region in which the region graphic object is located; a second user input for the first region specifying a size of the region graphical object; 9. The map generating method of claim 8, wherein the region graphic object is specified based on at least one of a third user input for the first region that specifies a shape of the region graphic object.

10. The first region includes: The map generating method according to claim 9, further comprising providing a graphic object editing tool that is a medium for the first user input, the second user input, and the third user input.

11. The step of allocating a graphic object comprises: identifying the region graphic object based on at least one of the first user input, the second user input, and the third user input; and selecting a type of the region graphic object based on a fourth user input to the setting menu included in the second region.

12. When the type of the area graphic object is selected through the fourth user input, The color of the area graphic object on the particular map is The map generating method of claim 11, wherein the region graphic object selected through the fourth user input has a color that matches the type of the region graphic object.

13. The travel path of the robot is formed along a plurality of travel nodes respectively corresponding to a plurality of travel node graphic objects assigned to the particular map; The step of allocating a graphic object comprises: a travel direction is specified to define a travel direction of the robot between at least some of the plurality of travel nodes; The travel direction is determined by:

3. The map generating method of claim 2, wherein the method is performed by adding a connection line connecting adjacent ones of the plurality of traveling node graphic objects through the editing interface.

14. receiving a map editing request for a particular floor of a plurality of floors of a building; providing, in response to the editing request, an editing interface on a display unit of an electronic device, the editing interface including at least a portion of the particular map corresponding to the particular floor; assigning at least one node on the particular map included in the editing interface based on editing information received from the electronic device; and updating the specific map to which the nodes are assigned to a cloud server so that the robot travels on the specific floor along the nodes assigned on the specific map, or so that the robot performs the operations defined in the nodes on the specific floor.

15. The node a first type node that constitutes a travel route of the robot and corresponds to a travel node linked to the travel of the robot; a second type node corresponding to an action node associated with a specific action of the robot; The third type of node corresponds to any one of the equipment nodes linked to the equipment arranged on the specific floor, The map generating method according to claim 14, wherein the robot performs an action defined in a node assigned to a location where the robot is located.

16. The specific movement of the robot is a standby operation of stopping movement and waiting when the robot is located at the operation node; The map generating method according to claim 15, wherein direction information defining a direction in which a robot positioned at the action node is looking is set in the action node linked to the standby action.

17. At least some of the nodes assigned to the specific map are grouped so as to be included in the same area; When any one of the at least some of the nodes assigned to the particular map is selected through the editing interface, 14. The map generating method of claim 13, wherein at least one of identification information of the selected node and identification information of a region including the selected node is provided in one region of the editing interface.

18. a communication unit that receives a map editing request for a specific floor among a plurality of floors of a building; a control unit that, in response to the editing request, provides an editing interface on a display unit of the electronic device, the editing interface including at least a portion of the specific map corresponding to the specific floor; The control unit assigning at least one graphical object on the particular map included in the editing interface based on editing information received from the electronic device; A map generation system characterized in that the specific map to which the graphic object is assigned is updated to a cloud server so that a robot can travel on the specific floor according to attributes of the graphic object assigned to the specific map.

19. A program executed by one or more processes in an electronic device and stored on a computer-readable recording medium, The program receiving a map editing request for a particular floor of a plurality of floors of a building; providing, in response to the editing request, an editing interface on a display unit of an electronic device, the editing interface including at least a portion of the particular map corresponding to the particular floor; assigning at least one graphical object on the particular map included in the editing interface based on editing information received from the electronic device; and updating the specific map to which the graphic object is assigned to a cloud server so that the robot can travel on the specific floor according to the attribute of the graphic object assigned to the specific map.

20. In buildings where multiple robots provide services, The building is: a plurality of floors having indoor spaces where the robot coexists with people; a communication unit that communicates between the robot and a cloud server, The cloud server Controlling the robot traveling through the building based on a building map generated through an editing interface; The building map includes: receiving a map editing request for a particular floor of a plurality of floors of a building; providing, in response to the editing request, an editing interface on a display unit of an electronic device, the editing interface including at least a portion of the particular map corresponding to the particular floor; and assigning at least one graphical object on the particular map included in the editing interface based on editing information received from the electronic device; The cloud server includes: The specific map to which the graphic object is assigned is updated so that the robot travels on the specific floor according to attributes of the graphic object assigned on the specific map.

Images