Robot-friendly building, control method and system for robots traveling through buildings

Abstract

The present invention relates to a robot-friendly building, a method and system for controlling a robot that travels through a building, and includes a remote adapter communicatively connected to a local adapter provided in the robot, and a function management unit connected to the remote adapter and assigning remote functions required by the robot to the robot based on a request from the remote adapter, wherein the remote adapter can transfer robot data received from the robot to the remote functions and transfer robot control information processed by the remote functions based on the robot data to the local adapter.

Description

[Technical Field]

[0001] The present invention relates to a remote robot control system applicable to a robot-friendly building, and more particularly to a robot control method and system capable of controlling multiple robots located in a robot-friendly building and dynamically allocating resources to the robots as needed.

[0002] The present invention also relates to a robot-friendly building, a control method and system for a robot that travels through the building, and more specifically, to a control method and system for a robot that allows robots to coexist with humans in the same space and provide useful services to humans. [Background technology]

[0003] As technology advances, various service devices have appeared, and in particular, technological development related to robots that perform various tasks or services has been actively carried out recently.

[0004] In addition, with the recent development of artificial intelligence and cloud technologies, robots can now be controlled more precisely and safely, which has led to a gradual increase in the use of robots. In particular, technological advances have led to robots being able to safely coexist with humans in indoor spaces.

[0005] Therefore, recently, robots have been replacing human tasks or work, and various methods for robots to provide services directly to humans, especially in indoor spaces, have been actively researched.

[0006] For example, robots are providing route guidance services in public places such as airports, train stations, and department stores, and serving services in restaurants. Robots are also providing delivery services, delivering mail and parcels in offices and shared living spaces. Robots are also providing a variety of other services, including cleaning services, security services, and logistics processing services. The types and range of services provided by robots are expected to continue to increase exponentially, and the level of service provision is also expected to continue to evolve.

[0007] Such robots provide various services not only in outdoor spaces but also in indoor spaces of buildings such as offices, apartment buildings, department stores, schools, hospitals, and amusement facilities. In such cases, the robots are controlled to provide various services while moving around the indoor spaces of the buildings.

[0008] Meanwhile, with the development of service robots, the range of services that robots can provide is gradually increasing, and as a result, research into using robots for various purposes has been actively conducted recently.

[0009] Korean Patent Publication No. 10-2019-0098734 describes a technology for embedding robot functions suited to the intended use inside a robot, but this requires the robot itself to perform many calculations, and the robot's uses are limited to the embedded functions.

[0010] Therefore, there is a demand for technology that can reduce the weight of robots, expand the functionality of robots, and enable flexible and efficient control of multiple robots. Summary of the Invention [Problem to be solved by the invention]

[0011] The present invention aims to provide a robot control method and system that can remotely control a lightweight robot.

[0012] In particular, the present invention is directed to providing a robot control method and system capable of processing data related to the robot's functions in order to control the robot.

[0013] More specifically, the present invention provides a robot control method and system that can determine the functions required for the robot depending on the situation and dynamically allocate resources for data processing for the determined functions.

[0014] Furthermore, the robot-friendly building according to the present invention can systematically manage the operation of the robots that provide services by organically controlling the robots and facility infrastructure using a cloud system that links with the robots, thereby enabling the robot-friendly building according to the present invention to provide various services to people more safely, quickly, and accurately. [Means for solving the problem]

[0015] In order to achieve the above object, a robot control system according to the present invention includes a remote adapter communicatively connected to a local adapter provided in a robot, and a function management unit connected to the remote adapter and assigning remote functions required by the robot to the robot based on a request from the remote adapter, wherein the remote adapter can transfer robot data received from the robot to the remote functions and transfer robot control information processed by the remote functions based on the robot data to the local adapter.

[0016] Furthermore, a control method for a robot control system according to the present invention may include the steps of: communicating with a local adapter provided in a robot; assigning a remote function required by the robot to the robot based on a request from the remote adapter; transmitting robot data received from the robot to the remote function; generating robot control information using the robot data in the remote function; and transmitting the robot control information processed by the remote function based on the robot data to the local adapter.

[0017] Furthermore, a program according to the present invention is a program executed by one or more processes in an electronic device and stored on a computer-readable recording medium, and includes instructions to execute the following steps: communicating with a local adapter provided in a robot; assigning a remote function required by the robot to the robot based on a request from the remote adapter; transmitting robot data received from the robot to the remote function; generating robot control information using the robot data in the remote function; and transmitting the robot control information processed by the remote function based on the robot data to the local adapter. [Effects of the Invention]

[0018] The control method and system for a building and a robot traveling within the building according to the present invention includes a remote adapter that is communicatively connected to a local adapter provided on the robot, and a function management unit that assigns remote functions required by the robot to the robot based on a request from the remote adapter. This provides a dynamic control structure that can control multiple robots, rather than being limited to one of multiple robots traveling within the building.

[0019] Furthermore, the control method and system for buildings and robots traveling within buildings according to the present invention transmits robot control information processed by the remote functions required by the robot based on the robot data to the local adapter, thereby enabling remote control of the robot, even extending functions that do not have embedded resources for the functions.

[0020] Furthermore, the control method and system for a building and a robot moving through the building according to the present invention can flexibly respond to the introduction of new robots and the removal of existing robots through a dynamic control structure for multiple robots moving through the building, and can control multiple robots fluidly, systematically, and efficiently.

[0021] Furthermore, the robot-friendly building of the present invention utilizes technological convergence, which combines and connects robots, autonomous driving, AI, and cloud technologies, and can provide a new space where such technologies are organically combined with robots and the equipment infrastructure installed within the building.

[0022] Furthermore, the robot-friendly building of the present invention can systematically manage the movement of robots that provide services by organically controlling the robots and facility infrastructure using a cloud server that links with the robots, thereby enabling the robot-friendly building of the present invention to provide various services to humans more safely, quickly, and accurately.

[0023] Furthermore, in a building according to the present invention, the tasks and movement conditions assigned to the multiple robots placed in the building are taken into consideration, and their movement is controlled to take humans into consideration, allowing robots and humans to coexist naturally in the same space. [Brief explanation of the drawings]

[0024] [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 illustrating a system for controlling a robot traveling through a robot-friendly building and various facilities installed in the robot-friendly building according to the present invention. [Figure 5] FIG. 1 is a conceptual diagram illustrating a system for controlling a robot traveling through a robot-friendly building and various facilities installed in the robot-friendly building according to the present invention. [Figure 6] FIG. 1 is a conceptual diagram illustrating a system for controlling a robot traveling through a robot-friendly building and various facilities installed in the robot-friendly building according to the present invention. [Figure 7] FIG. 1 is a conceptual diagram illustrating the equipment infrastructure provided in a robot-friendly building according to the present invention. [Figure 8] FIG. 1 is a conceptual diagram illustrating 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 robot control system and method for controlling a robot traveling through a building. [Figure 13] 1 is a conceptual diagram for explaining a robot control system according to the present invention. [Figure 14] FIG. 1 is a conceptual diagram for explaining an extension of a robot control system according to the present invention. [Figure 15] 1 is a flowchart illustrating a method for controlling a robot according to the present invention. [Figure 16A] FIG. 1 is a conceptual diagram illustrating remote function management for controlling a robot. [Figure 16B] FIG. 1 is a conceptual diagram illustrating remote function management for controlling a robot. [Figure 16C] FIG. 1 is a conceptual diagram illustrating remote function management for controlling a robot. [Figure 16D] FIG. 1 is a conceptual diagram illustrating remote function management for controlling a robot. [Figure 16E] FIG. 1 is a conceptual diagram illustrating remote function management for controlling a robot. [Figure 17A] FIG. 1 is a conceptual diagram for explaining remote function management for robot travel control. [Figure 17B] FIG. 1 is a conceptual diagram for explaining remote function management for robot travel control. DETAILED DESCRIPTION OF THE INVENTION

[0025] Hereinafter, the embodiments disclosed herein will be described in detail with reference to the accompanying drawings. Regardless of the drawing number, identical or similar components will be designated by the same or similar reference numerals, and their description will be omitted. The suffixes "module" and "section" used in the following description are added or used interchangeably to facilitate the preparation of the specification and do not have any significance or utility in themselves. 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, that detailed description will be omitted. The accompanying drawings are merely intended to facilitate understanding of the embodiments disclosed herein, and the technical concepts disclosed herein are not limited by the accompanying drawings. It should be understood that the present invention encompasses all modifications, equivalents, and alternatives within the concept and technical scope of the present invention.

[0026] Terms including ordinal numbers such as first, second, etc. are 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.

[0027] When a component is said to be "coupled" or "connected" to another component, it should be understood that the component may be directly coupled or connected to the other component, and that there may be other components in between. Conversely, when a component is said to be "directly coupled" or "directly connected" to another component, it should be understood that there are no other components in between.

[0028] Singular expressions include plural expressions unless otherwise specified.

[0029] In this specification, the terms "comprise" and "have" are intended to specify the presence of a stated feature, number, step, operation, component, part, or combination thereof, but should not be interpreted as precluding the presence or possible addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0030] 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.

[0031] More specifically, the present invention provides a method for providing useful services to humans using robots, robot-friendly infrastructure, and various systems for controlling them. In a building according to the present invention, various infrastructures (or facility infrastructures) can be provided that allow humans and multiple robots to coexist and move freely within the building.

[0032] In the present invention, a building is a structure constructed for sustainable residence, 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.

[0033] In the present invention, infrastructure or facility infrastructure refers to facilities provided in a building for the provision of services, the movement of robots, function maintenance, cleanliness maintenance, etc., and there are a wide variety of types and forms. For example, the infrastructure provided in a building may be a variety of things, such as transportation facilities (e.g., robot movement paths, elevators, escalators, etc.), charging facilities, communication facilities, cleaning facilities, structures (e.g., stairs, etc.). In this specification, such facilities are referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and the terms may be used interchangeably in some cases.

[0034] Furthermore, in a building according to the present invention, the building, various equipment infrastructure installed in the building, and at least one of the robots are controlled in conjunction with one another, allowing the robots to provide various services within the building safely and accurately.

[0035] The present invention proposes a building equipped with various facility infrastructures that allow multiple robots to move around the building, provide services according to their missions (or tasks), and support standby or charging functions as needed, as well as repair and cleaning functions for the robots. Such a building provides an integrated solution (or system) for robots, and the building according to the present invention can be referred to by various modifiers. For example, the building according to the present invention can be variously described 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 humans live together, or v) a building that provides various services using robots.

[0036] On the other hand, "robot-friendly" in this invention refers to a building where robots coexist, and more specifically, means that the building allows robots to move, that robots provide services, that the infrastructure that robots can use is built, and that the infrastructure that provides the functions required by robots (e.g., charging, repair, cleaning, etc.) is built. In this case, "robot-friendly" in this invention is used to mean that there is an integrated solution for the coexistence of robots and humans.

[0037] The present invention will now be described in more detail with reference to the accompanying drawings.

[0038] Figures 1, 2 and 3 are conceptual diagrams illustrating a robot-friendly building according to the present invention, Figures 4, 5 and 6 are conceptual diagrams illustrating a system for controlling a robot traveling through the robot-friendly building and various facilities provided in the robot-friendly building according to the present invention, and Figures 7 and 8 are conceptual diagrams illustrating the facility infrastructure provided in the robot-friendly building according to the present invention.

[0039] First, for the sake of convenience, representative symbols will be defined.

[0040] In the present invention, the building is designated by the symbol "1000," and the spaces (indoor spaces or indoor areas) of the building 1000 are designated by the symbol "10" (see FIG. 8). Also, the indoor spaces corresponding to the respective floors that make up the indoor space of the building 1000 are designated by the symbols 10a, 10b, 10c, etc. (see FIG. 8). In the present invention, the indoor space or indoor area refers to the inside of a building protected by exterior walls, as opposed to the outside of the building, and is not limited to meaning a space.

[0041] In addition, in the present invention, the robots are given the symbol "R", and even if the robots are not marked with a symbol in the drawings or the specification, they can all be understood to be robots R.

[0042] Furthermore, in the present invention, a human or person is given the symbol "U," and a human or person can also be referred to as a dynamic object. Here, the dynamic object does not necessarily mean only a human, but is also accepted to include moving things such as animals such as dogs and cats, or at least one other robot (e.g., a user's personal robot, a robot providing other services, etc.), drones, and vacuum cleaners (e.g., a robot vacuum cleaner).

[0043] On the other hand, the building (building, structure, edifice) 1000 described in this invention means a structure erected for people to live in, work in, raise animals in, or store goods in, and its type is not particularly limited.

[0044] For example, the building 1000 may be an office, an office, an officetel, an apartment, a residential / commercial complex, a house, a school, a hospital, a restaurant, a government office, etc., and the present invention can be applied to such various buildings.

[0045] As shown in FIG. 1, in a building 1000 according to the present invention, a robot can provide various services while moving around.

[0046] There may be one or more different types of robots located within the building 1000, which may travel within the building 1000, provide services, and utilize various facility infrastructure provided in the building 1000 under the control of the server 20.

[0047] In the present invention, the server 20 can be located in various locations. For example, the server 20 can be located inside the building 1000 and / or outside the building 1000. That is, at least a portion of the server 20 can be located inside the building 1000, and another portion can be located outside the building 1000. Alternatively, the server 20 can be located entirely inside the building 1000, or can be located only outside the building 1000. Therefore, in the present invention, the specific location of the server 20 is not particularly limited.

[0048] 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. In addition to the cloud computing or edge computing system, the server 20 can be applied to the present invention as long as it is capable of controlling a robot.

[0049] Meanwhile, the server 20 according to the present invention may, in some cases, combine a cloud computing server 21 and an edge computing system to control at least one of the robots and the equipment infrastructure installed within the building 1000.

[0050] On the other hand, the robot R is driven according to control commands. For example, the robot R can move its position or change its posture by changing its movement, and can perform software updates.

[0051] In the present invention, for the sake of convenience, the server 20 is uniformly named as a "cloud server" and is given the reference number "20." However, it goes without saying that such a cloud server 20 can be substituted by the term edge server 22 of edge computing.

[0052] Furthermore, the term "cloud server" can be changed to various terms such as cloud robot system, cloud system, cloud robot control system, and cloud control system.

[0053] Meanwhile, the cloud server 20 according to the present invention can perform integrated control of a plurality of robots traveling in the building 1000. That is, the cloud server 20 can i) monitor a 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 can successfully complete their tasks, or iv) control the facility infrastructure by communicating with a control system that controls the facility infrastructure.

[0054] In addition, 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, and a standby function for the robots that have completed their missions.

[0055] In order to provide various functions to the robot, the cloud server 20 can control the robot so that the robot uses various facility infrastructures provided in the building 1000. Furthermore, in order to provide various functions to the robot, the cloud server can directly control the facility infrastructures provided in the building 1000, or can control the facility infrastructures by communicating with a control system that controls the facility infrastructures.

[0056] In this way, the robot controlled by the cloud server 20 can provide various services while traveling through the building 1000.

[0057] 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 means for storing information, such as memory, storage, cloud storage, external storage, or external server. Hereinafter, the term "database" will be used consistently.

[0058] 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.

[0059] Furthermore, the cloud server 20 according to the present invention can control the robots that run through the building 1000 based on various artificial intelligence algorithms.

[0060] 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 or the like, and control the robot using the artificial intelligence model constructed as a result.

[0061] Meanwhile, Building 1000 is equipped with various equipment infrastructures for the robots to move, provide robot functions, maintain robot functions, perform robot missions, or enable coexistence between robots and humans.

[0062] For example, as shown in (a) of FIG. 1, various facility infrastructures 1 and 2 that support the movement (or movement) of the robot R are provided within the building 1000. Such facility infrastructures 1 and 2 can support the horizontal movement of the robot R within the floors of the building 1000, or can support the vertical movement of the robot R so that the robot R moves between different floors of the building 1000. In this manner, the facility infrastructures 1 and 2 can include a transportation system that supports the movement of the robot. The cloud server 20 can control the robot R to use such various facility infrastructures 1 and 2, thereby allowing the robot R to move within the building 1000 to provide services, as shown in (b) of FIG. 1.

[0063] Meanwhile, 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 services corresponding to a given mission.

[0064] Furthermore, as shown in FIG. 1(c), a building according to the present invention is a building where robots and humans coexist, and the robot is configured to travel while avoiding obstacles such as humans U, objects used by humans (e.g., strollers, carts, etc.), and animals, and may be configured to output notification information 3 regarding the robot's travel in some cases. The travel 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 from various sensors provided in the robot (e.g., a camera (image sensor), a proximity sensor, an infrared sensor, etc.).

[0065] Furthermore, 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.

[0066] The type of service provided by a robot varies from robot to robot. That is, there are various types of robots depending on their applications, robots have different structures depending on their applications, and robots are equipped with programs suitable for their applications.

[0067] For example, robots that provide at least one of the following services are deployed in Building 1000: delivery, logistics, guidance, interpretation, parking assistance, security, crime prevention, guarding, public order, cleaning, disease prevention, disinfection, laundry, beverage production, food and beverage production, serving, firefighting, medical support, and entertainment services. Services provided by robots are diverse and include services other than those listed above.

[0068] Meanwhile, the cloud server 20 can assign appropriate tasks to the robots in consideration of the respective uses of the robots, and control the robots so that the assigned tasks are performed.

[0069] At least a portion of the robots described in the present invention can move or perform tasks under the control of the cloud server 20, in which case the amount of data processed by the robot itself to move or perform a task is minimized. In the present invention, such robots are also referred to as brainless robots. Such brainless robots rely on the control of the cloud server 20 for at least a portion of their control to perform actions such as moving, performing tasks, charging, waiting, and cleaning within the building 1000.

[0070] However, in this specification, brainless robots will not be given different names, but will all be referred to uniformly as "robots."

[0071] 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.

[0072] As described above, in a building according to the present invention, the positions of the robots can be extracted and monitored using various infrastructures installed in the building. Furthermore, by monitoring the positions of the robots, the cloud server 20 can efficiently and accurately control the robots within the building.

[0073] 12 is a conceptual diagram illustrating a robot control system and method for controlling a lightweight robot. In the present invention, the robot control system is also called a "server," a "robot control server," a "cloud server," or a "brainless server." Such a server can perform all the functions of the robot control system.

[0074] As shown in FIG. 12(b), the present invention relates to a control system 1300 and a method for remotely controlling multiple robots R1, R2, and R3 by performing various functions ("Functions 1 to 3") for a robot R to perform a mission in a robot control system.

[0075] Here, the term "function" refers to the robot's work, movement, operation, or part of these, and varies depending on the task assigned to the robot R or the situation of the robot R.

[0076] For example, if the task assigned to robot R is "delivery," the functions of robot R may correspond to "running" and "object transfer motion."

[0077] In addition, the functions required for the "driving" function, such as "positioning," "movement planning," "route setting," "driving mode setting," "obstacle avoidance," and "operation of the driving part of robot R," can correspond to "sub-functions of the robot" for the "driving" function.

[0078] As described above, the functions of the robots described in the present invention are extremely diverse in type and scope. Therefore, hereinafter, the types and scope of the tasks, movements, operations, or parts thereof of the robot R will not be distinguished, and they will all be referred to as "functions," "robot functions," or "unit functions."

[0079] As shown in (b) of FIG. 12, the control system 1300 according to the present invention directly processes data for various functions (e.g., "Functions 1 to 3") and remotely controls multiple robots R1, R2, and R3, thereby controlling the robot R to perform various tasks even if the robot R does not have a processing unit (or calculation unit) for executing the various functions.

[0080] The "robot R" described in this invention may be a robot R that does not have resources for a specific function embedded within the robot R itself, and such a specific function may be executed by the control system 1300, and the execution result or a control command based on the execution result may be transmitted to the robot R.

[0081] That is, in the control system 1300 according to the present invention, as shown in (a) of FIG. 12, even if the resources 1210 to 1230 for executing functions (e.g., "Functions 1 to 3") are not embedded in each of the robots R1, R2, and R3, the robots R can be controlled so that they achieve the same functions as the robot R in which the resources are embedded.

[0082] Therefore, in the present invention, the role of robot R can be expanded by controlling robot R to perform various functions without being limited to a specific unit function whose resources are incorporated inside robot R.

[0083] Furthermore, when controlling multiple robots R1, R2, and R3, the control system 1300 according to the present invention can allocate resources so that functions for the multiple robots R1, R2, and R3 are executed simultaneously and temporarily, thereby realizing flexible data processing that is not limited to a specific robot R.

[0084] That is, the control system 1300 according to the present invention does not allocate resources limited to specific resources, but dynamically generates functions according to the situations of multiple robots R1, R2, and R3, and allocates resources (e.g., resources, memory, etc.) for executing the generated functions.

[0085] The term "resources" used in this invention can be understood as a general term for the mechanisms and functions of a computer system or operating system used to run and operate software, including memory resources, calculation resources, timer resources, control program resources, etc.

[0086] In the present invention, the term "resource" can be used interchangeably with "computing resource." Also, for the sake of convenience, the present invention will be described using "memory resource" as an example, but it is clear that this is not limited to memory resource and should be understood to mean computing resource.

[0087] The control system 1300 having a dynamic structure will be described in more detail below with reference to the accompanying drawings. Fig. 13 is a conceptual diagram illustrating a robot control system according to the present invention. Fig. 14 is a conceptual diagram illustrating an extension of the robot control system according to the present invention. Fig. 15 is a flowchart illustrating a method for controlling a robot according to the present invention. Figs. 16A, 16B, 16C, 16D, and 16E are conceptual diagrams illustrating function management for controlling the robot. Figs. 17A and 17B are conceptual diagrams illustrating function management for controlling the robot's travel.

[0088] As shown in FIG. 13, the control system 1300 according to the present invention may include at least one of a remote adapter unit 1310, a function management unit 1320, a messaging unit (or message unit) 1330, a map information storage unit 1340, a positioning unit 1350, and a motion plan unit 1360.

[0089] On the other hand, as shown in FIG. 14, the control system 1300′ according to the present invention may include at least one of a real-time robot control system (e.g., an edge server) 1300a that controls the robot in real time, and a database robot control system 1300b that controls the robot based on data.

[0090] For example, the real-time robot control system 1300a may be an edge server, and the database robot control system 1300b may be a cloud server.

[0091] In each of the real-time robot control system 1300a and the database robot control system 1300b, robot control can be performed using the configurations described below. For convenience of explanation, the real-time robot control system 1300a and the database robot control system 1300b will not be distinguished from each other, and the control system 1300 according to the present invention will be described below using FIG. 13.

[0092] The remote adapter unit 1310 communicates with at least one of the plurality of robots R1, R2, R3 and can include a plurality of remote adapters 1311, 1312, 1313.

[0093] The multiple remote adapters 1311, 1312, 1313 may be configured to be matched one-to-one with the multiple robots R1, R2, R3, or may be randomly connected to communicate with at least one of the multiple robots R1, R2, R3 depending on the situation.

[0094] Each of the multiple remote adapters 1311, 1312, 1313 can execute a series of procedures to control the robot R according to the functions required of the robot R to which it is communicatively connected in order to perform the tasks assigned to the robot R.

[0095] In the present invention, each of the multiple remote adapters 1311, 1312, and 1313 can play the role of a coordinator that controls the robot R connected to it so that it performs the task assigned to it.

[0096] For the sake of convenience, the following description will be given using as an example a series of steps that the first remote adapter 1311 performs to control the first robot R1 so that the first robot R1, which is connected to it via communication, performs the task assigned to the first robot R1.

[0097] In the present invention, the content described using the first remote adapter 1311 and the first robot R1 as an example can be applied to multiple other remote adapters and robots communicatively connected to the multiple other remote adapters. Also, it is clear that the term "first remote adapter 1311" can be used interchangeably with "remote adapter," and the term "first robot" can be used interchangeably with "robot."

[0098] In the present invention, a process of establishing a communication connection between a local adapter and a remote adapter provided in a robot can be performed (S1510, see FIG. 15). The first remote adapter 1311 can receive robot data of the first robot R1 from the first robot R1 that is connected via communication.

[0099] Here, "robot data" can be understood as various information related to the robot R. For example, the robot data can include at least one of i) robot identification information (robot ID, serial number, mission information assigned to the robot, etc.), ii) robot status information (e.g., battery status information, driving status information, etc.), and iii) sensing information (e.g., image information) sensed (or collected) by a sensing module (e.g., a camera) provided on the robot.

[0100] The first remote adapter 1311 can receive robot data from a local adapter A1 provided in the first robot R1, or can receive robot data via a link unit (see reference numeral 1370 in FIG. 13).

[0101] Here, the link unit 1370 can be understood as a path that connects the first remote adapter 1311 and the first robot R1 for communication and transmits information (data).

[0102] When the link unit 1370 receives robot data of the first robot R1 from the local adapter A1 of the first robot R1 that is communicatively connected to the first remote adapter 1311, it can transmit (transmit) the robot data of the first robot R1 to the first remote adapter 1311 among the multiple remote adapters 1311, 1312, and 1313 based on information (e.g., identification information) contained in the robot data of the first robot R1.

[0103] Furthermore, when the link unit 1370 receives robot control information for controlling a robot from the first remote adapter 1311, it can transmit (transmit) the robot control information to any one of the local adapters of the multiple robots R1, R2, and R3 based on the received robot control information.

[0104] Such a link unit 1370 can transmit (convey) information (data) based on reference information (or rules) for communicatively connecting any one of the multiple remote adapters 1311, 1312, 1313 with any one of the multiple robots R1, R2, R3.

[0105] Specifically, the link unit 1370 can be communicatively connected to local adapters A1, A2, and A3 provided on the plurality of robots R1, R2, and R3, respectively.

[0106] The link unit 1370 can transmit specific robot data among the robot data received from the local adapters A1, A2, and A3 provided in each of the multiple robots R1, R2, and R3 to a specific remote adapter connected to the local adapter of the specific robot.

[0107] For the sake of convenience, the following description will be given assuming that information is transmitted between the first remote adapter 1311 and the first robot R1, but this may also be performed via the link unit 1370.

[0108] Meanwhile, the first remote adapter 1311 can identify the remote functions required for the first robot R1 to perform the task assigned to the first robot R1 based on the robot data of the first robot R1.

[0109] The first remote adapter 1311 may specify different remote functions required for the first robot R1 when the tasks assigned to the first robot R1 are different.

[0110] Specifically, when the task assigned to the first robot R1 is "object delivery," the first remote adapter 1311 can identify the function required for object delivery as the remote function.

[0111] On the other hand, if the task assigned to the first robot R1 is "serving food," the first remote adapter 1311 can identify the function required for serving food as the remote function.

[0112] Furthermore, when the robot data of the first robots R1 are different from each other, the first remote adapter 1311 can specify the remote functions required for the first robots R1 differently from each other.

[0113] Specifically, if the robot data of the first robot R1 includes "image information of a narrow corridor," the first remote adapter 1311 can identify the functions necessary for traveling in the "narrow corridor" as remote functions.

[0114] In contrast, when the robot data of the first robot R1 includes "image information of a large space (lobby)," the first remote adapter 1311 can identify the functions necessary for running in a "large space" as remote functions.

[0115] That is, the first remote adapter 1311 can identify at least one of a plurality of remote functions corresponding to different driving modes as a remote function required to perform a task assigned to the first robot R1 based on the robot data of the first robot R1. For example, as shown in Fig. 16A, the first remote adapter 1311 can identify a first remote function F1 and a second remote function F2 as remote functions required to perform a task assigned to the first robot R1.

[0116] Meanwhile, the first remote adapter 1311 can identify at least one remote function among the multiple remote functions that corresponds to the robot data of the first robot R1 by referring to matching information (or reference information) that is predefined and exists in the database.

[0117] The matching information in the database may include different remote functions that are matched with each other for each task and robot data assigned to the first robot R1.

[0118] For example, if the task assigned to the first robot R1 is "object delivery," the matching information may include matching remote functions required to perform "object delivery" for each of multiple robot data.

[0119] As another example, if the task assigned to the first robot R1 is "serving food," the matching information may include matching remote functions required to perform "serving food" for each of multiple robot data.

[0120] On the other hand, it is clear that in the remote adapter, the role of identifying the functions required for the robot may be performed by the control system 1300 according to the present invention, rather than by the remote adapter itself, or by a control unit (not shown) included in the control system 1300.

[0121] The first remote adapter 1311 can send a remote function assignment request to the function management unit (see reference numeral 1320 in FIG. 13) to assign the identified remote function to the robot so that the identified remote function can be assigned to the first robot R1.

[0122] In this case, if multiple remote functions are identified in the first remote adapter 1311, the first remote adapter 1311 can send a remote function allocation request to the function management unit 1320 to allocate each of the multiple remote functions (see reference symbols F1 and F2 in FIG. 16A) to the first robot R1.

[0123] Furthermore, the first remote adapter 1311 can request the function manager 1320 to allocate a remote function in response to the time when the remote function is required.

[0124] The first remote function F1 and the second remote function F2 may be determined at first and second points in time that are different from each other.

[0125] The first remote adapter 1311 can request the function manager 1320 to allocate a first remote function at a first time point. The first remote adapter 1311 can also request the function manager 1320 to allocate a second remote function at a second time point.

[0126] In this case, the second point in time may correspond to the point in time when the function corresponding to the first remote function (for example, driving) ends.

[0127] When a function corresponding to the first remote function (e.g., running) in the robot ends at a second time point, the first remote adapter 1311 can request the function management unit 1320 to release the allocation of the first remote function along with the allocation of the second remote function.

[0128] In this way, the first remote adapter 1311 requests the function management unit 1320 to allocate remote functions so as to correspond to the appropriate time when the remote functions are needed in the first robot R1, thereby efficiently distributing resources to the first robot R1 and organically allocating the functions required by the first robot R1.

[0129] Meanwhile, in the present invention, a process of allocating a remote function required by the robot to the robot based on a request from the remote adapter can be performed (S1520, see FIG. 15).

[0130] The function manager 1320 is connected to the first remote adapter 1311 and can play a role in allocating remote functions required by the first robot to the first robot R1 based on a request from the first remote adapter 1311.

[0131] Specifically, the function management unit 1320 can control the remote function based on a remote function allocation request received from the first remote adapter 1311 so that the identified remote function is allocated to the first robot R1.

[0132] In the present invention, "assigning a remote function to a first robot" can be understood as allocating resources (memory or resources) so that the remote function can perform data processing related to the first robot.

[0133] Furthermore, a "remote function" can be understood as an application that performs data processing for the remote function, which can be processed by a processor or a CPU (central processing unit). In the present invention, the "remote function" can be interchangeably named as a "remote function unit."

[0134] Meanwhile, when the function management unit 1320 receives multiple remote function allocation requests from the first remote adapter 1311, it can allocate resources so that each of the multiple remote functions can perform data processing related to the first robot R1.

[0135] For example, as shown in FIG. 16A, the function management unit 1320 can allocate a resource 1321 related to a first remote function F1 and a resource 1322 related to a second remote function F2 to the first robot R1 based on a remote function allocation request from the first remote adapter 1311.

[0136] Meanwhile, in the present invention, a process of transmitting robot data received from the robot to the remote function can be performed (S1530, see FIG. 15).

[0137] The first remote adapter 1311 can transmit robot data of the first robot R1 to the remote function based on the remote function assigned to the first robot R1 by the function manager 1320.

[0138] In this case, the first remote adapter 1311 can transmit robot data of the first robot R1 to the remote function via the messaging unit 1330.

[0139] The messaging unit 1330 is connected to the first remote adapter 1311 and the remote function, and can thus serve as a path connecting the first remote adapter 1311 and the remote function.

[0140] When the messaging unit 1330 receives the robot data of the first robot R1 from the first remote adapter 1311, it can transmit (transmit) the robot data of the first robot R1 to the remote function assigned to the first robot R1.

[0141] When multiple remote functions F1, F2 are assigned to the first robot R1, the messaging unit 1330 can transmit (communicate) the robot data of the first robot R1 to each of the multiple remote functions F1, F2 (see FIG. 16A).

[0142] Meanwhile, in the present invention, the remote function can execute a process of generating robot control information using the robot data (S1540, see FIG. 15).

[0143] The remote function uses the robot data of the first robot R1 to perform data processing by the remote function, and can generate (calculate) robot control information by the data processing.

[0144] At this time, the robot control information generated by the remote function can be understood as robot control information (control command) that causes the first robot R1 to execute a function corresponding to the remote function.

[0145] Furthermore, when a plurality of remote functions are assigned to the first robot R1, each of the plurality of remote functions can perform data processing according to the respective remote functions and generate (calculate) robot control information.

[0146] For example, as shown in FIG. 16A, when a first remote function F1 and a second remote function F2 are assigned to a first robot R1, the first remote function F1 can perform data processing using the first remote function to generate first robot control information, and the second remote function F2 can perform data processing using the second remote function F2 to generate second robot control information.

[0147] Meanwhile, in the present invention, a process of transmitting robot control information processed by the remote function based on the robot data to the local adapter can be performed (S1550, see FIG. 15).

[0148] The first remote adapter 1311 can transmit (send) robot control information processed by the remote function based on the robot data of the first robot R1 to the local adapter A1 provided in the first robot R1.

[0149] The remote function may transmit the processed robot control information to the messaging unit 1330. The messaging unit 1330 may transmit the robot control information transmitted from the remote function to the first remote adapter 1311 that is communicatively connected to the first robot R1 to which the remote function is assigned.

[0150] When the first remote adapter 1311 receives the robot control information processed by the remote function via the messaging unit 1330, it can transmit the robot control information to the local adapter A1 provided in the first robot R1.

[0151] In this case, the first remote adapter 1311 can transmit robot control information to the local adapter A1 provided in the first robot R1 via the link unit (see reference numeral 1370 in FIG. 13).

[0152] Based on the robot control information transmitted from the first remote adapter 1311, the link unit 1370 can transmit the robot control information to the local adapter A1 of the first robot R1 that is communicatively connected to the first remote adapter 1311.

[0153] For the sake of convenience, the following description will be given assuming that robot control information is transmitted from the first remote adapter 1311 to the local adapter A1 provided on the first robot R1, but it is clear that this may also be done via the link unit 1370.

[0154] On the other hand, when the first robot R1 receives robot control information from the first remote adapter 1311, it can perform a remote function based on the robot control information.

[0155] In this way, the first robot R1 can be expanded to perform specific functions for which the resources are not built into the first robot R1.

[0156] On the other hand, the control system 1300 according to the present invention can be configured as a dynamic structure in which a specific remote function is not limited to a specific robot among a plurality of robots R1, R2, and R3 traveling in a building.

[0157] For this reason, the remote function of the present invention can correspond to a function for controlling the movement of a robot traveling in a building. Also, the remote function can generate different robot control information for the movement of the robot depending on which robot among the robots traveling in the building is assigned the remote function.

[0158] Specifically, a first robot R1 and a second robot R2 different from the first robot R1 may each be required to have remote functionality to navigate a building (or perform an assigned task).

[0159] The first remote adapter 1311 and the second remote adapter 1312 can respectively identify remote functions required by the first robot R1 and the second robot R2, and can also request the function manager 1320 to allocate the identified remote functions.

[0160] The function manager 1320 can allocate remote functions to the first robot R1 and the second robot R2 based on a remote function allocation request from each of the first remote adapter 1311 and the second remote adapter 1312.

[0161] As shown in FIG. 16A, based on a request from the first remote adapter 1311, the function management unit 1320 can assign a first resource 1322 corresponding to a part of the remote function F2 to the first robot R1 so that data processing for the first robot R1 is performed by the remote function F2.

[0162] Also, as shown in FIG. 16B, the function management unit 1320 can assign a second resource 1323 of a remote function F2, which is different from the first resource 1322, to the second robot R2 based on a request from the second remote adapter 1312 so that data processing for the second robot R2 is performed by the remote function F2.

[0163] In the remote function F2, data processing by the remote function can be performed based on the first resource 1322, and first robot control information can be generated that causes the first robot R1 to execute a function corresponding to the remote function.

[0164] Furthermore, the remote function F2 can perform data processing by the remote function based on the second resource 1323, and generate second robot control information that causes the second robot R2 to execute a function corresponding to the remote function.

[0165] In this case, the first robot control information and the second robot control information may include different information.

[0166] On the other hand, when an operation by the remote function F2 is completed in at least one of the first robot R1 and the second robot R2, the function management unit 1320 can deallocate the resource allocated to the at least one robot among the first resource 1322 and the second resource 1323 so that the resource allocated to the at least one robot can be used by another robot.

[0167] As shown in FIG. 16C, when the operation by the remote function F2 in the second robot R2 is completed, the function management unit 1320 can release the allocation of the second resource 1323 allocated to the second robot R2.

[0168] Here, "deallocating resources" can be understood as changing the state of resources allocated to a specific robot to a state where they can no longer be allocated to the specific robot.

[0169] Furthermore, as shown in FIG. 16D, the function manager 1320 can reallocate the deallocated second resource to a third robot R3 that is different from the second robot R2.

[0170] In other words, the control system 1300 according to the present invention proposes a method for temporarily allocating remote function resources to a specific robot, so that the remote functions are not limited to a specific robot, but can be dynamically utilized by multiple robots R1, R2, and R3.

[0171] Furthermore, the control system 1300 according to the present invention can dynamically manage resources such that when a remote function is not being executed, resources allocated to the remote function are removed and made available for execution of other remote functions.

[0172] As mentioned above, the "resources" described in this invention can be understood as a general term for the mechanisms and functions of a computer system or operating system used for executing and working with software, including memory resources, calculation resources, timer resources, control program resources, etc.

[0173] In the present invention, the term "resource" can be used interchangeably with "computing resource." For the sake of convenience, the present invention will be described using "memory resource" as an example, but it is clear that this is not limited to memory resource and should be understood to mean computing resource.

[0174] As shown in FIG. 16E, if a deallocation request is received for both the first resource 1322 and the second resource 1323 for remote function F2 and the remote function does not have any resources allocated to other robots, resource 1600 for remote function F2 can be deleted.

[0175] Here, "resource deletion" can be understood as returning resources allocated for data processing by a remote function, for example, returning memory space or computation space already allocated to a remote function.

[0176] The first remote adapter 1311 can receive robot data of the first robot R1 from the local adapter A1 of the first robot R1 that is connected for communication.

[0177] Here, "robot data" can be understood as various information related to the robot R. For example, the robot data can include at least one of i) robot identification information (robot ID, serial number, mission information assigned to the robot, etc.), ii) robot status information (e.g., battery status information, driving status information, etc.), and iii) sensing information (e.g., image information) sensed (or collected) by a sensing module (e.g., a camera) provided on the robot.

[0178] The first remote adapter 1311 can identify at least one function required of the first robot R1 to perform the task assigned to the first robot R1 based on the received robot data of the first robot R1.

[0179] For example, based on the robot data of the first robot R1, the first remote adapter 1311 can identify the "positioning" function, "travel route setting" function, and "driving mode setting function" for the "delivery" mission as remote functions required for controlling the first robot R1.

[0180] The remote function can be specified in various ways based on the task assigned to the first robot R1 and the robot data of the first robot R1.

[0181] For example, the first remote adapter 1311 can specify different traveling operation functions as remote functions for each type of space in which the first robot R1 travels (or is located) based on the robot data of the first robot R1 assigned the "delivery" task.

[0182] Specifically, when the space in which the first robot R1 runs is a "first space (a large space, e.g., a lobby)," the first remote adapter 1311 can identify a function corresponding to the first running mode (e.g., an obstacle avoidance function) as a remote function.

[0183] Furthermore, when the space in which the first robot R1 travels is the "second space (narrow corridor space)," the first remote adapter 1311 can identify a function corresponding to the second travel mode (for example, a travel mode that minimizes evasive travel and moves along the wall at a position close to the wall) as a remote function.

[0184] Furthermore, when the space in which the first robot R1 travels is a "third space (building facility space (elevator, door, gate))", the first remote adapter 1311 can identify a third travel mode function (for example, a travel mode in which the robot moves according to a predetermined operation for using the building facility) as a remote function.

[0185] The first remote adapter 1311 can refer to matching information that is predefined and exists in the database and identify the function corresponding to the robot data of the first robot R1 as the remote function.

[0186] The database may contain matching information for each of multiple robots R1, R2, and R3. The first remote adapter 1311 may refer to the matching information for the first robot R1 in the database and identify a specific function corresponding to specific robot data of the first robot as a remote function.

[0187] Furthermore, the first remote adapter 1311 can send a request to the function management unit 1320 to assign a remote function to the first robot R1 so that the remote function corresponding to the identified function is assigned to the first robot R1.

[0188] The function manager 1320 may control the allocation of a specified remote function to the first robot R1 based on the remote function allocation request received from the first remote adapter 1311.

[0189] Specifically, the function manager 1320 can allocate resources (resources or memory) related to the identified remote function to the first robot R1.

[0190] The first remote adapter 1311 can connect to (or cooperate with) the specified remote function based on the assignment of the specified remote function to the first robot R1.

[0191] Furthermore, the first remote adapter 1311 can transmit the robot data of the first robot R1 to the connected remote function so as to calculate robot control information related to the identified remote function based on the robot data of the first robot R1.

[0192] In the remote function, data processing can be performed by the remote function based on the robot data of the first robot R1 transmitted from the first remote adapter 1311.

[0193] Furthermore, the remote function can calculate, through data processing execution, a robot R control command that causes the first robot R1 to execute a function corresponding to the remote function.

[0194] The first remote adapter 1311 can remotely control the first robot R1 by transmitting to the first robot R1 a robot control command calculated based on the robot data of the first robot R1 using the remote function.

[0195] In this case, the first remote adapter 1311 can transmit a robot control command to the first local adapter A1 of the first robot R1.

[0196] Meanwhile, if the first remote adapter 1311 no longer requires a connection with the remote function, it can request the function manager 1320 to disconnect from the remote function.

[0197] The function management unit 1320 can terminate (or cancel) the allocation of the remote function allocated to the first robot R1 based on a request from the first remote adapter 1311.

[0198] The first remote adapter 1311 can disconnect (or terminate) the connection with the already connected remote function based on unassigning (or terminating) the assignment of the remote function already assigned to the first robot R1.

[0199] In the present invention, it can be explained that the connection of the remote function with the first remote adapter 1311 is released based on the fact that the assignment of the remote function already assigned to the first robot R1 is completed.

[0200] On the other hand, each of the multiple remote adapters 1311, 1312, 1313 can generate control commands for controlling the matched robots R1, R2, R3 based on the data processing results performed by the data processing result function management unit 1320 for the connected remote functions.

[0201] Furthermore, each of the multiple remote adapters 1311, 1312, and 1313 can transmit the generated control command to the local adapters A1, A2, and A3 of the matched robots R1, R2, and R3.

[0202] The first remote adapter 1311 can remotely control the first robot R1 by generating a control command for the first robot R1 based on the data processing execution result for at least one unit function identified based on the robot information of the first robot R1 and sending it to the first local adapter A1 of the first robot R1.

[0203] In addition, the second remote adapter 1312 can remotely control the second robot R2 by generating a control command for the second robot R2 based on the data processing execution result for at least one unit function identified based on the robot information of the second robot R2 and sending it to the second local adapter A2 of the second robot R2.

[0204] For example, suppose the first remote adapter 1311 is dynamically connected to a first remote function F1 and a second remote function F2. The first remote adapter 1311 can transmit control commands corresponding to data processing related to the first remote function F1 and the second remote function F2 to the communicatively connected first robot R1, thereby controlling the first robot R1. In this case, the first remote adapter 1311 can transmit the control commands to the first local adapter A1 of the first robot R1.

[0205] As another example, suppose the second remote adapter 1312 is dynamically connected to the second remote function F2 and the third remote function F3. The second remote adapter 1312 can transmit control commands corresponding to data processing related to the second remote function F2 and the third remote function F3 to the communicatively connected second robot R2. In this case, the second remote adapter 1312 can transmit the control commands to the second local adapter A2 of the second robot R2.

[0206] That is, each of the multiple remote adapters 1311, 1312, and 1313 can adjust functions (identify remote functions, assign remote functions, send control commands, and engage and disengage with the robots) to control the robots R1, R2, and R3 that are communicatively connected to each of the multiple remote adapters 1311, 1312, and 1313.

[0207] The method for dynamically allocating resources in function management unit 1320 will be described in more detail below.

[0208] The function management unit 1320 can allocate resources related to the identified remote function to a specific robot R that is communicatively connected to a specific adapter based on the fact that at least one remote function has been identified for controlling the communicatively connected robot R in a specific adapter among the multiple remote adapters 1311, 1312, 1313.

[0209] Furthermore, the function management unit 1320 can perform data processing related to a specific remote function for a specific robot R using resources allocated to the specific robot R.

[0210] For example, suppose that a first remote function F1 and a second remote function F2 are specified in the first remote adapter 1311 to control the first robot R1.

[0211] As shown in FIG. 16A, the function management unit 1320 can allocate resources 1321 related to the first remote function and resources 1322 related to the second remote function to the first robot R1 based on identifying a first remote function F1 and a second remote function F2 in the first remote adapter 1311 to control the first robot R1.

[0212] The function management unit 1320 can perform data processing related to a first remote function F1 for the first robot R1 using resources 1321 related to a first remote function assigned to the first robot R1. The function management unit 1320 can also perform data processing related to a second remote function F2 for the first robot R1 using resources 1322 related to a second remote function assigned to the first robot R1.

[0213] On the other hand, the function management unit 1320 can simultaneously allocate resources to each of the multiple robots R1, R2, and R3, and simultaneously perform data processing for each of the multiple robots R1, R2, and R3.

[0214] For example, suppose that in a second remote adapter 1312 different from the first remote adapter 1311, a second remote function F2 and a third remote function F3 are specified to control a second robot R2.

[0215] As shown in FIG. 16B, the function management unit 1320 can allocate resources 1323 related to the second remote function and resources 1324 related to the second remote function to the second robot R2 based on identifying the second remote function F2 and the third remote function F3 in the second remote adapter 1312 to control the second robot R2.

[0216] Furthermore, the function management unit 1320 can perform data processing related to a second remote function F2 for the second robot R2 using resources 1323 related to the second remote function assigned to the second robot R2. Furthermore, the function management unit 1320 can perform data processing related to a third remote function F3 for the second robot R2 using resources 1323 related to the third remote function assigned to the second robot R2.

[0217] That is, in the present invention, resources are allocated to each of the first robot R1 and the second robot R2, and data processing for each of the first robot R1 and the second robot R2 can be performed simultaneously using the allocated resources.

[0218] On the other hand, the function management unit 1320 can terminate (or release) the allocation of resources already allocated to a specific robot R based on the completion of data processing related to a specific remote function for a specific robot R among multiple robots R1, R2, and R3.

[0219] Here, "terminating (or canceling) the allocation of resources already allocated to a specific robot R" can be understood as changing the state of resources allocated to a specific robot R to a state where they can no longer be allocated to the specific robot R.

[0220] In the present invention, terminating (or canceling) the allocation of a specific resource that has already been allocated to a specific robot R can be understood as terminating (or canceling) the collaboration between the specific robot R and the already allocated resource.

[0221] In this case, the resource whose allocation is terminated may be the resource associated with the particular remote function for which data processing has terminated.

[0222] In other words, when a specific robot R is assigned resources related to each of multiple remote functions and data processing related to a specific remote function among the multiple remote functions is terminated, the function management unit 1320 can terminate the allocation of resources related to the specific remote function that has been terminated.

[0223] For example, suppose that a resource 1323 related to the second remote function and a resource 1324 related to the third remote function are assigned to the second robot R2, and that the data processing related to the second remote function F2 for the second robot R2 has been completed, out of the data processing related to the second remote function F2 and the data processing related to the third remote function F3.

[0224] 16B, the function management unit 1320 can terminate the allocation of resources 1323 related to the second remote function F2 that has already been allocated to the second robot R2 based on the completion of data processing related to the second remote function F2 for the second robot R2. Furthermore, the function management unit 1320 can maintain the allocation of resources 1324 related to the third remote function for which data processing has not yet been completed.

[0225] Furthermore, the function management unit 1320 can reallocate resources allocated to a particular robot R to other robots R based on the completion of data processing related to a remote function identified for the particular robot R.

[0226] The resources reallocated to other robots R may be resources allocated to a specific robot R for which data processing has been completed.

[0227] Specifically, when all resources related to a specific remote function have been allocated, the function management unit 1320 can designate a robot R that requires data processing for the specific remote function as a standby robot R.

[0228] In addition, the function management unit 1320 can reallocate resources to a standby robot R that is waiting for resource allocation related to a specific remote function based on the completion of data processing related to a specific remote function for a robot R that has already been allocated resources.

[0229] For example, assume that all resources related to the second remote function have been assigned to the first robot R1 and the second robot R2, and the third robot R3 is waiting for an assignment related to the second remote function.

[0230] As shown in FIG. 16D, the function management unit 1320 can reallocate resources 1323 related to the second remote function assigned to the second robot R2 to a third robot R3 corresponding to the standby robot R based on the completion of data processing related to the second remote function for the second robot R2.

[0231] On the other hand, in the present invention, based on the robot data of each of the multiple robots R1, R2, R3, data processing related to functions corresponding to different driving modes can be performed so that each of the multiple robots R1, R2, R3 operates in a different driving mode depending on the type of space in which it runs (or is located).

[0232] In the database, remote functions corresponding to different driving modes for each type of space in which the robot R moves (or is located) can be matched and exist as matching information.

[0233] Specifically, in the first space (a large space, for example, a lobby), a "travel route setting function" and a remote function corresponding to the first driving mode (for example, a function for avoiding obstacles while driving) may be present in a matched manner.

[0234] In addition, in the second space (for example, a narrow corridor space), a matching "travel path setting function" and a remote function corresponding to the second driving mode (for example, a function to minimize evasive driving and drive while moving in a line close to the wall) may exist.

[0235] In addition, a third space (for example, a space for using building facilities (elevators, doors, gates)) may have a matching remote function corresponding to the third driving mode (for example, a function for moving according to operations defined for using the building facilities).

[0236] Each of the multiple remote adapters 1311, 1312, 1313 can identify a remote function corresponding to the type of space in which the communicatively connected robots R1, R2, R3 travel, based on the robot data of the communicatively connected robots R1, R2, R3.

[0237] The function management unit 1320 can allocate resources related to the identified remote functions to each of the communicatively connected robots R1, R2, and R3 based on the remote functions identified in each of the multiple remote adapters 1311, 1312, and 1313.

[0238] In addition, the function management unit 1320 can use the resources allocated to each of the communicatively connected robots R1, R2, and R3 to perform data processing related to the identified remote functions for each of the communicatively connected robots R1, R2, and R3.

[0239] For example, as shown in FIG. 17A, it is assumed that the first robot R1 is traveling in a "corridor" and the second robot R2 is traveling in a "space for using an elevator."

[0240] Based on the robot data received from the first local adapter A1 of the first robot R1, the first remote adapter 1311 can identify the "movement path setting function" and the "corridor traveling function" that are communicatively connected to the "corridor" through which the first robot R1 is traveling.

[0241] On the other hand, the second remote adapter 1312 can identify the "travel path setting function" and "elevator boarding function" that are communicatively connected to the "space for using the elevator" in which the second robot R2 is traveling, based on the robot data received from the second local adapter A2 of the second robot R2.

[0242] 17B, ​​the function management unit 1320 can perform data processing by allocating to the first robot R1 a resource 1710 related to the "movement path setting function" and a resource 1730 related to the "corridor traveling function" based on the unit result identified by the first remote adapter 1311. Furthermore, the function management unit 1320 can perform data processing by allocating to the second robot R2 a resource 1720 related to the "movement path setting function" and a resource 1740 related to "elevator boarding" based on the unit result identified by the second remote adapter 1312.

[0243] The first remote adapter 1311 can generate a control command for the first robot R1 based on the data processing execution result of the "movement path setting function" for the first robot R1 and the data processing execution result of the "corridor traveling function." For example, the first remote adapter 1311 can generate a control command for the first robot R1 to move in a line along the wall of a corridor and then turn right at the end of the corridor.

[0244] Furthermore, the first remote adapter 1311 can transmit the generated control command to the first local adapter A1 of the first robot R1 and control the running of the first robot R1 in accordance with the generated control command.

[0245] Meanwhile, the second remote adapter 1312 can generate a control command for the second robot R2 based on the data processing execution result of the "movement path setting function" for the second robot R2 and the data processing execution result of the "elevator boarding function." For example, the second remote adapter 1312 can generate a control command for the second robot R2 to get on the elevator after moving in front of the elevator.

[0246] Furthermore, the second remote adapter 1312 can transmit the generated control command to the second local adapter A2 of the second robot R2 and control the running of the second robot R2 in accordance with the generated control command.

[0247] For example, in each of the multiple remote adapters 1311, 1312, 1313, based on sensing information of the communicatively connected robots R1, R2, R3, if the space in which the communicatively connected robots R1, R2, R3 are traveling is a "first space (a large space, for example, a lobby)", a first traveling mode function (for example, an obstacle avoidance traveling mode) can be identified as the remote function required to control the communicatively connected robots R1, R2, R3.

[0248] As another example, in each of the multiple remote adapters 1311, 1312, 1313, based on the sensing information of the communicatively connected robots R1, R2, R3, if the space in which the communicatively connected robots R1, R2, R3 are traveling is a "second space (narrow corridor space)", a second traveling mode function (for example, a traveling mode in which evasive maneuvers are minimized and the robots move in a line close to the wall) can be identified as the remote function required to control the communicatively connected robots R1, R2, R3.

[0249] As another example, in each of the multiple remote adapters 1311, 1312, 1313, based on the sensing information of the communicatively connected robots R1, R2, R3, if the space in which the communicatively connected robots R1, R2, R3 travel is a "third space (building facility space (elevator, door, gate))", a third travel mode function (for example, a travel mode in which the robots travel according to operations defined for using the building facility) can be identified as the remote function required for controlling the communicatively connected robots R1, R2, R3.

[0250] The control method and system for a building and a robot traveling within the building according to the present invention includes a remote adapter that is communicatively connected to a local adapter provided on the robot, and a function management unit that assigns remote functions required by the robot to the robot based on a request from the remote adapter. This provides a dynamic control structure that can control multiple robots, rather than being limited to one of multiple robots traveling within the building.

[0251] Furthermore, the method and system for controlling buildings and robots traveling within buildings according to the present invention transmits robot control information processed by remote functions required by the robot based on robot data to a local adapter, and can remotely control the robot by extending the robot to functions for which resources for the function are not embedded.

[0252] Furthermore, the control method and system for a building and a robot moving through the building according to the present invention can flexibly respond to the introduction of new robots and the removal of existing robots through a dynamic control structure for multiple robots moving through the building, and can control multiple robots fluidly, systematically, and efficiently.

[0253] However, the present invention as described above can be implemented as a program that can be executed by one or more processes on a computer and stored on a computer-readable medium.

[0254] Furthermore, the present invention can be realized as computer-readable codes or commands on a program recording medium. That is, various control methods according to the present invention can be provided in the form of a program, either collectively or individually.

[0255] On the other hand, the computer-readable medium includes any kind of storage device that stores data that can be read by a computer system. Examples of the computer-readable medium include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

[0256] The computer-readable medium may also be a server or cloud storage that includes storage and can be accessed by the electronic device via communication, in which case the computer can download the program according to the present invention from the server or cloud storage via wired or wireless communication.

[0257] Furthermore, in the present invention, the computer described above is an electronic device equipped with a processor, that is, a central processing unit (CPU), and the type of the computer is not particularly limited.

[0258] However, the detailed description of the present invention is for illustrative purposes only and should not be construed as limiting in any respect. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

Claims

1. 1. A robot control system, comprising: a remote adapter communicatively connected to a local adapter provided in the robot; a function management unit connected to the remote adapter and assigning to the robot a remote function required by the robot based on a request from the remote adapter, The remote adapter communicating robot data received from the robot to the remote function; a robot control system that transmits robot control information processed by the remote function based on the robot data to the local adapter;

2. The remote adapter Identifying functions required of the robot to perform a task assigned to the robot; transmitting a request to the function manager to assign the remote function corresponding to the identified function to the robot, so that the remote function corresponding to the identified function is assigned to the robot; The function management unit The robot control system according to claim 1 , further comprising: controlling the remote function so that the remote function is assigned to the robot based on the request received from the remote adapter.

3. In the remote function, Based on the assignment of the remote function to the robot, performing data processing by the remote function using robot data received from the robot; The robot control information resulting from the data processing is transmitted to the robot to which the remote function is assigned, The robot control system according to claim 2 , wherein the remote function is executed in the robot based on the robot control information.

4. the remote function corresponds to a function for controlling the movement of a robot traveling through a building; In the remote function, The robot control system according to claim 3, characterized in that robot control information for the movement of different robots is generated depending on which of the robots traveling in the building is assigned a remote function.

5. When the remote function is required for a first robot among the robots traveling in the building and a second robot different from the first robot, a first remote adapter communicatively connected to the local adapter of the first robot and a second remote adapter communicatively connected to the local adapter of the second robot each request allocation of the remote functions to the function manager; 5. The robot control system according to claim 4, wherein the function management unit assigns a first resource of the remote function to the first robot and a second resource of the remote function to the second robot so that data processing for the first robot and the second robot is performed by the remote function.

6. When an operation by the remote function is completed in at least one of the first robot and the second robot, the function management unit 6. The robot control system according to claim 5, wherein the resource allocated to the at least one robot among the first resource and the second resource is deallocated so that the resource allocated to the at least one robot can be used by another robot.

7. The function management unit a deallocation request for both the first resource and the second resource is received from the remote function, and there are no resources allocated to other robots in the remote function; 7. The robot control system of claim 6, wherein resources for the remote function are deleted.

8. a link unit that is communicatively connected to a local adapter provided in each of the plurality of robots that travel through the building and that receives robot data from the robots; The link portion is 2. The robot control system according to claim 1, wherein robot data of a specific robot among the robot data received from the robots is transmitted to a specific remote adapter communicatively connected to the local adapter of the specific robot.

9. The remote function includes a plurality of remote functions each corresponding to a different driving mode, The remote adapter requesting the function management unit to allocate at least one remote function required for running the robot from among the plurality of remote functions; Based on the assignment of the at least one remote function to the robot by the function management unit, The robot control system according to claim 8, wherein the robot data of the robot received via the link unit is transmitted to each of the at least one remote function.

10. When a first remote function and a second remote function are required at different first and second time points, respectively, among the plurality of remote functions to control the traveling of the robot, The remote adapter requesting the function manager to allocate the first remote function in response to the first time point; requesting the function manager to allocate the second remote function in response to the second time point; 10. The robot control system of claim 9, wherein, when the robot finishes traveling corresponding to the first remote function at the second time point, a request is made to release the allocation of the first remote function.

11. a messaging unit for receiving the robot data from the remote adapter; The messaging unit 11. The robot control system according to claim 10, wherein the robot data is transmitted to the first remote function or the second remote function assigned to the robot connected to the remote adapter, among the plurality of remote functions.

12. The messaging unit connected to a plurality of remote adapters that are communicatively connected to the plurality of robots, respectively; 12. The robot control system of claim 11, wherein robot data received from the robots is transferred to at least one of the remote functions based on remote functions requested to be assigned by the remote adapters.

13. A control method for a robot control system, comprising: Communicating with a local adapter provided on the robot; assigning remote functions required by the robot to the robot based on a request from a remote adapter; communicating robot data received from the robot to the remote facility; generating robot control information using the robot data at the remote function; and transmitting robot control information processed by the remote function based on the robot data to the local adapter.

14. A program executed by one or more processes in an electronic device and stored on a computer-readable recording medium, The program Communicating with a local adapter provided on the robot; assigning remote functions required by the robot to the robot based on a request from a remote adapter; communicating robot data received from the robot to the remote facility; generating robot control information using the robot data at the remote function; transmitting robot control information processed by the remote function based on the robot data to the local adapter.

15. A building where multiple robots provide services, The building is a communication unit that communicates between the robot and a control server, The control server a remote adapter communicatively connected to a local adapter provided in the robot; a function management unit connected to the remote adapter and assigning to the robot a remote function required by the robot based on a request from the remote adapter, The remote adapter communicating robot data received from the robot to the remote function; The building is characterized in that robot control information processed by the remote function based on the robot data is transmitted to the local adapter.

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