Method, system, and computer program for controlling robot and facility

Abstract

To provide a robot and a method for controlling a facility.SOLUTION: The method includes controlling a plurality of robots to perform a service to travel toward a target space, controlling a door of the target space to be opened based on arrival of a first robot at a waiting place of the target space, controlling the first robot to enter the target space through the opened door of the target space, maintaining the door of the target space in an opened state for entry of a second robot different from the first robot into the target space, controlling the second robot to enter the target space through the opened door of the target space, and controlling the door of the target space to be closed based on exit of the first robot and the second robot from the target space.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a method, system, and building for controlling robots and facilities, and more particularly to a method, system, and building for efficiently and stably controlling robots when multiple robots enter a certain indoor space, taking into consideration the convenience of users receiving services. [Background technology]

[0002] In recent years, there has been an increase in activity regarding the commercialization of transport robots, not only in the domestic market but also in the global market. Conventional service robots have been designed so that the hardware for controlling the robot's autonomous movement is installed inside the robot itself. However, when such high-performance processing equipment is installed inside the robot, it is difficult to reduce the size and weight of the robot.

[0003] Furthermore, considering the cost of cameras and lidar sensors installed on each autonomous robot, commercializing transport robots using conventional methods has been practically difficult. Furthermore, if a problem occurs with the robot's operation, the robot itself must be retrieved and the problem analyzed, which is time-consuming. These could be major hurdles to accelerating the spread of transport services using robots. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Korean Patent Publication No. 10-2009-0113084 Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure provides a method for controlling a robot and a facility to solve the above problems, a computer-readable non-transitory recording medium storing instructions, an apparatus (system), and a building. [Means for solving the problem]

[0006] According to one embodiment of the present disclosure, a method for controlling robots and facilities, performed by at least one processor, includes the steps of controlling a plurality of robots performing services to travel toward a target space; controlling a door of the target space to open based on a first robot of the plurality of robots arriving at a waiting location in the target space; controlling the first robot to enter the target space through the open door of the target space; maintaining the door of the target space open to allow a second robot of the plurality of robots, different from the first robot, to enter the target space; controlling the second robot to enter the target space through the open door of the target space; and controlling the door of the target space to close based on the first robot and the second robot exiting the target space.

[0007] A computer program stored on a computer-readable recording medium for executing a method for controlling a robot and a facility object according to an embodiment of the present disclosure on a computer is provided.

[0008] According to one embodiment of the present disclosure, a robot control system includes a memory and at least one processor connected to the memory and configured to execute at least one computer-readable program contained in the memory, the at least one program including instructions for controlling a plurality of robots performing a service so that the plurality of robots travel toward a target space, controlling a door of the target space to open based on a first robot of the plurality of robots arriving at a waiting location in the target space, controlling the first robot so that the first robot enters the target space through the open door of the target space, maintaining the door of the target space open to allow a second robot of the plurality of robots, different from the first robot, to enter the target space through the open door of the target space, and controlling the second robot so that the second robot enters the target space through the open door of the target space, and controlling the door of the target space to close based on the first robot and the second robot exiting the target space.

[0009] According to one embodiment of the present disclosure, a building is equipped with a plurality of robots that travel within the building to provide transportation services, the plurality of robots including a first robot and a second robot, and the plurality of robots are controlled by a robot control system, the robot control system including a memory and at least one processor connected to the memory and configured to execute at least one computer-readable program contained in the memory, the at least one program including instructions for controlling the plurality of robots to travel toward a target space, controlling a door of the target space to open based on a first robot of the plurality of robots arriving at a waiting location in the target space, controlling the first robot to allow the first robot to enter the target space through the open door of the target space, maintaining the door of the target space open to allow a second robot of the plurality of robots, different from the first robot, to enter the target space through the open door of the target space, and controlling the second robot to allow the second robot to enter the target space through the open door of the target space, and controlling the door of the target space to close based on the first robot and the second robot exiting the target space. [Effects of the Invention]

[0010] According to some embodiments of the present disclosure, the movement of a robot can be efficiently controlled using a cloud-based robot control system.

[0011] According to some embodiments of the present disclosure, a robot can be controlled to travel and avoid obstacles without a high-performance sensor.

[0012] According to an embodiment of the present disclosure, when there are requests for transport services for a number of items that exceeds the number that can be loaded onto one robot, it is possible to provide an efficient transport service.

[0013] According to an embodiment of the present disclosure, the travel path of a robot can be efficiently controlled, and convenience for a user receiving the service can be improved. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 10 is a diagram illustrating an example in which multiple transport robots enter a target space according to an embodiment of the present disclosure. [Figure 2] FIG. 1 is a schematic diagram illustrating a configuration in which a robot control system according to an embodiment of the present disclosure is communicatively connected to multiple robots. [Figure 3] FIG. 1 is a block diagram illustrating an internal configuration of a robot and a robot control system according to an embodiment of the present disclosure. [Figure 4] FIG. 10 is a diagram illustrating an example in which a first transport robot provides a transport service according to an embodiment of the present disclosure. [Figure 5] FIG. 10 is a diagram illustrating an example in which a first transport robot provides a transport service, and then a second transport robot provides a transport service according to an embodiment of the present disclosure. [Figure 6] FIG. 10 is a diagram illustrating an example in which a first transport robot and a second transport robot provide a transport service according to an embodiment of the present disclosure. [Figure 7] 10A and 10B are diagrams illustrating an example in which the first transport robot and the second transport robot according to an embodiment of the present disclosure exit the target space. [Figure 8] FIG. 10 is a diagram illustrating another example of a first point and a second point according to an embodiment of the present disclosure. [Figure 9] FIG. 1 illustrates an example of a transport robot installed inside a building according to an embodiment of the present disclosure. [Figure 10] FIG. 10 illustrates an example of a method for controlling a transport robot and a facility object according to an embodiment of the present disclosure. [Figure 11] 1 is a flowchart illustrating a method for a robot control system to control a robot and a door according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, specific details for implementing the present disclosure will be described in detail with reference to the accompanying drawings. However, in the following description, specific descriptions of well-known functions and configurations may be omitted if they may obscure the gist of the present disclosure.

[0016] In the accompanying drawings, the same or corresponding components are denoted by the same reference numerals. In addition, in the following description of the embodiments, duplicated descriptions of the same or corresponding components may be omitted. However, even if a description of a component is omitted, it should not be intended that such a component is not included in a certain embodiment.

[0017] The advantages and features of the disclosed embodiments, and methods for achieving them, will become clearer with reference to the following embodiments, taken in conjunction with the accompanying drawings. However, the present disclosure is not limited to the embodiments disclosed below, and may be embodied in various different forms. However, the present embodiments are provided solely for the purpose of completeness of the disclosure and to enable those skilled in the art to accurately recognize the scope of the invention.

[0018] The terms used in this disclosure will be briefly explained, and the embodiments of the disclosure will be specifically described. The terms used in this disclosure are currently commonly used and general terms that have been selected as much as possible while taking into consideration the function of the disclosure. However, these terms may change depending on the intentions of engineers engaged in the relevant field, precedents, the emergence of new technologies, etc. In addition, in specific cases, there may be terms arbitrarily selected by the applicant, and the meanings of these terms will be described in detail in the description of the invention. Therefore, the terms used in this disclosure should be defined based on the meanings of the terms and the overall content of the disclosure, rather than simply by the names of the terms.

[0019] In this disclosure, unless otherwise clearly specified in the context, singular expressions can include plural expressions, and plural expressions can include singular expressions. Throughout the specification, when a part "comprises" a certain element, this does not exclude other elements, and means that other elements may also be included, unless otherwise specified.

[0020] Additionally, the terms "module" and "module" used herein refer to software or hardware components, each performing a specific function. However, the terms "module" and "module" are not limited to software or hardware. A "module" or "module" may reside on an addressable storage medium or execute one or more processors. Thus, by way of example, a "module" or "module" may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, attributes, procedures, subroutines, program code segments, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and variables. The components and "modules" or "modules" may be combined into fewer components and "modules" or "modules," or the functionality provided therein may be further separated into additional components and "modules" or "modules."

[0021] According to one embodiment of the present disclosure, a "module" or a "unit" may be embodied with a processor and memory. "Processor" should be broadly interpreted to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, a "processor" may also refer to an application-specific semiconductor (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), etc. A "processor" may also refer to a combination of processing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors in conjunction with a DSP core, or any other such configuration. Additionally, "memory" should be broadly interpreted to include any electronic component capable of storing electronic information. "Memory" may include Random Access Memory (RAM), Read Only Memory (ROM), Non-Volatile Random Access Memory (NVRAM), Programmable Read Only Memory (PROM), etc. Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable It can also refer to various types of processor-readable media, such as Read-Only Memory, flash memory, magnetic or optical data storage devices, registers, etc. Memory is said to be in electronic communication with a processor if the processor can read information from / write information to the memory. Memory that is integrated into a processor is in electronic communication with the processor.

[0022] In the present disclosure, a "system" may include at least one of a server device and a cloud device, but is not limited to this. For example, a system may be composed of one or more server devices. As another example, a system may be composed of one or more cloud devices. As yet another example, a system may be operated by comprising both a server device and a cloud device.

[0023] FIG. 1 is a diagram illustrating an example in which multiple transport robots 120 and 130 enter a target space 110 according to an embodiment of the present disclosure. According to an embodiment, the transport robots 120 and 130 can provide transport services by traveling to the target space 110 while carrying transport target items. Here, the transport robots 120 and 130 may refer to any device that controls its own traveling state based on a signal (or data) received from an external device (or external system). Furthermore, the target space 110 may refer to a destination within a building where transport services are provided by the serving robots.

[0024] According to one embodiment, multiple transport robots 120, 130 may move to the target space 110. Generally, the number, weight, or size of items that can be loaded onto one transport robot may be limited. For example, each of the multiple transport robots 120, 130 can carry up to six cups of coffee. Thus, if the items to be transported are 12 cups of coffee, two transport robots 120, 130 may each carry six cups of coffee and move to the target space 110 to provide the transport service.

[0025] According to one embodiment, after the first transport robot 120, which is given priority among the multiple transport robots 120, 130 to enter the target space 110 and provide transport services, exits, the second transport robot 130 can enter the target space 110 and provide transport services. For example, the first transport robot 120, which is the first among the multiple transport robots 120, 130 to arrive at the waiting location 152, enters the target space 110, provides transport services at the first point 154, and then exits. Thereafter, the second transport robot 130, which is the second to arrive at the waiting location 152, enters the target space 110, provides transport services at the first point 154, and then exits. As another example, among the multiple transport robots 120, 130, the first transport robot 120 to arrive at the waiting location 152 in the target space 110 enters the target space 110 and provides transport services at the first point 154, while the second transport robot 130 arrives second at the waiting location 152 and waits. After that, after the first transport robot 120 leaves, the second transport robot 130 can enter the target space 110 and provide transport services at the first point 154. In this case, all of the multiple transport robots 120, 130 can provide transport services at the first point 154 in the target space 110.

[0026] According to another embodiment, the second transport robot 130 can enter the target space 110 and provide transport services before the first transport robot 120, which entered the target space 110 preferentially among the multiple transport robots 120, 130, exits. For example, while the first transport robot 120, which arrived at the waiting location 152 first, is entering the target space 110, the second transport robot 130 arrives at the waiting location 152 second. In this case, after the first transport robot 120 arrives at the first point 154 (or while moving to the first point 154), the second transport robot 130 can enter the target space 110 and provide transport services. As another example, while the first transport robot 120, which arrived at the waiting location 152 first, is providing transport services at the first point 154, the second transport robot 130 arrives at the waiting location 152 second. Similarly, the second transport robot 130 can enter the target space 110 and provide the transport service while the first transport robot 120 is providing the transport service. At this time, the first transport robot 120 and the second transport robot 130 can provide the transport service at the second point 156 and the first point 154, respectively.

[0027] According to one embodiment, the door 140 of the target space 110 may be opened or maintained in an open state to allow entry of the multiple transport robots 120, 130. For example, the door 140 in a closed state opens to allow entry of the first transport robot 120, which is the first of the multiple transport robots 120, 130 to arrive at the waiting location 152. As another example, the door 140 in an open state is maintained in an open state to allow entry of the second transport robot 130, which is the second of the multiple transport robots 120, 130 to arrive at the waiting location 152. According to another embodiment, the door 140 of the target space 110 is closed in response to the exit of the multiple transport robots 120, 130. For example, the door 140 in an open state is closed in response to the second transport robot 130 being the last of the multiple transport robots 120, 130 to exit. That is, the door 140 in the closed state is kept closed when there is no third transfer robot (not shown) entering the target space 110 after the second transfer robot 130 has exited.

[0028] 2 is a schematic diagram illustrating a configuration in which a robot control system 230 according to one embodiment of the present disclosure is communicatively coupled to multiple robots 212_1, 212_2, and 212_3. As shown in the figure, the robot control system 230 can be configured to control the movement and / or operation of the multiple robots 212_1, 212_2, and 212_3 via a network 220. In one embodiment, the robot control system 230 can include computer-executable programs (e.g., downloadable applications) for determining the locations of the multiple robots 212_1, 212_2, and 212_3 and controlling the movement of the robots 212, one or more server devices and / or databases for storing, providing, and executing data, or one or more distributed computing devices and / or distributed databases in a cloud computing service infrastructure. The robot control system 230 can be located inside the building 100 where the robot 212 is located or outside the building 100.

[0029] The plurality of robots 212_1, 212_2, and 212_3 can move within the building 100 and communicate with the robot control system 230 via a network 220. The network 220 can be configured to enable communication between the plurality of robots 212_1, 212_2, and 212_3 and the robot control system 230. Depending on the installation environment, the network 220 can be a wired network such as Ethernet (registered trademark), PLC (Power Line Communication), telephone line communication device, and RS-serial communication, a wireless network such as a mobile communication network, WLAN (Wireless LAN), Wi-Fi (registered trademark), Bluetooth (registered trademark), and ZigBee (registered trademark), or a combination thereof. The communication method is not limited and can include not only a communication method utilizing a communication network that can include the network 220 (e.g., a mobile communication network, a wired Internet, a wireless Internet, a broadcasting network, a satellite network, etc.), but also short-range wireless communication between the robots 212_1, 212_2, and 212_3. For example, the network 220 may be a personal area network (PAN), a local area network (LAN), or a network), CAN (campus area network), MAN (metropolitan area network), WAN (wide area network) Network 220 may include any one or more of the following networks: a broadband network (BBN), a BBN (broadband network), the Internet, etc. Network 220 may also include any one or more of the following network topologies, including, but not limited to, a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree or hierarchical network, etc.

[0030] 2 illustrates an article / food transport robot 212_1, a guide robot 212_2, and a beverage transport robot 212_3 as examples of robots, but is not limited thereto, and the multiple robots 212_1, 212_2, and 212_3 may be any robots capable of wireless communication and autonomous movement. Also, while FIG. 2 illustrates three robots 212_1, 212_2, and 212_3 communicating with the robot control system 230 via the network 220, it is not limited thereto, and a different number of robots may be configured to communicate with the robot control system 230 via the network 220.

[0031] FIG. 3 is a block diagram illustrating the internal configuration of a robot 212 and a robot control system 230 according to an embodiment of the present disclosure. The robots 212_1, 212_2, and 212_3 may be any computing device capable of wired and / or wireless communication and capable of installing and executing a computer program (e.g., an application, etc.). As shown in the figure, the robot 212 may include a memory 312, a processor 314, a communication module 316, and an input / output interface 318. Similarly, the robot control system 230 may include a memory 332, a processor 334, a communication module 336, and an input / output interface 338. As shown in FIG. 3, the robot 212 and the robot control system 230 may be configured to communicate information and / or data via the network 220 using their respective communication modules 316 and 336. Furthermore, the input / output device 320 may be configured to input information and / or data to the robot 212 and output information and / or data generated by the robot 212 via the input / output interface 318.

[0032] The memories 312 and 332 may include any non-transitory computer-readable recording medium. According to one embodiment, the memories 312 and 332 may include a permanent mass storage device such as a random access memory (RAM), a read only memory (ROM), a disk drive, a solid state drive (SSD), and a flash memory. As another example, a permanent mass storage device such as a ROM, an SSD, a flash memory, or a disk drive may be included in the robot 212 or the robot control system 230 as a separate permanent storage device distinct from the memory. The memories 312 and 332 may also store an operating system and at least one program code (e.g., code for autonomous driving / service provision / movement / parking, etc., configured and operated by the robot 212).

[0033] Such software components may be loaded from a computer-readable recording medium separate from the memories 312, 332. Such separate computer-readable recording medium may include a recording medium directly connectable to the robot 212 and the robot control system 230, but may also include other computer-readable recording media such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, and a memory card. As another example, software components may be loaded into the memories 312, 332 via the communication modules 316, 336 rather than from a computer-readable recording medium. For example, at least one program may be loaded into the memories 312, 332 based on a computer program to be installed from a file provided via the network 220 by a developer or a file distribution system that distributes application installation files.

[0034] The processors 314, 334 may be configured to process computer program instructions by performing basic arithmetic, logic, and input / output operations. The instructions may be provided to the processors 314, 334 by the memories 312, 332 or the communications modules 316, 336. For example, the processors 314, 334 may be configured to execute instructions received by program code stored in a storage device, such as the memories 312, 332.

[0035] The communication modules 316 and 336 may provide configurations and functions for the robot 212 and the robot control system 230 to communicate with each other via the network 220, and may also provide configurations and functions for the robot 212 and / or the robot control system 230 to communicate with other robots, other user terminals, or other systems (e.g., another cloud system). For example, a request or data (e.g., data related to location information) generated by the processor 314 of the robot 212 via program code stored in a storage device such as the memory 312 may be transmitted to the robot control system 230 via the network 220 under the control of the communication module 316. Conversely, a control signal or command provided by the processor 334 of the robot control system 230 may be received by the robot 212 via the communication module 316 of the robot 212 via the communication module 336 and the network 220. For example, the robot 212 may receive an updated map, movement commands, movement destinations or movement routes, stopping commands, etc. from the robot control system 230.

[0036] The input / output interface 318 may be a means for interfacing with the input / output devices 320. By way of example, the input devices include devices such as a camera including an audio sensor and / or an image sensor, a keyboard, a microphone, a mouse, etc., and the output devices include a display, a speaker, a haptic feedback device, etc. The input / output interface 318 may include a device such as a touch screen. As another example, the input / output interface 318 may be a means for interfacing with a device that integrates input and output configurations or functions, such as a touch screen. For example, when the processor 314 of the robot 212 processes instructions of a computer program loaded into the memory 312, a service screen configured using information and / or data provided by the robot control system 230 may be displayed on a display via the input / output interface 318. Although the input / output device 320 is not shown in FIG. 3 as being included in the robot 212, the present invention is not limited thereto and the input / output device 320 may be integrated with the user terminal 210. Furthermore, the input / output interface 338 of the robot control system 230 may be a means for connecting to the information processing system 230 or for interfacing with an input or output device (not shown) that may be included in the information processing system 230. Although the input / output interfaces 318 and 338 are shown in FIG. 3 as elements configured separately from the processors 314 and 334, the present invention is not limited thereto and the input / output interfaces 318 and 338 may be configured to be included in the processors 314 and 334.

[0037] The robot 212 and the robot control system 230 may include more components than those shown in FIG. 3. However, it is not necessary to explicitly show most of the prior art components. According to one embodiment, the robot 212 may be embodied to include at least some of the input / output devices 320 described above. The robot 212 may also include a transceiver, a GPS (Global Positioning System), and / or other input / output devices. The robot 212 may further include other components such as a robotic positioning system (Positioning System) module, a camera, various sensors, a database, etc. For example, if the robot 212 is a dedicated transport robot, it may include components that a transport robot typically has, and may be embodied to further include various components such as an acceleration sensor, a gyro sensor, a proximity sensor, a camera module, various physical buttons, a touch panel button, an input / output port, and a vibrator for vibration.

[0038] According to one embodiment, the processor 314 of the robot 212 may be configured to autonomously move under the control of the robot control system 230. In this case, related program code may be loaded into the memory 312 of the robot 212. While the robot 212 is moving, the processor 314 of the robot 212 may receive information and / or data provided from the input / output device 320 via the input / output interface 318 or from the robot control system 230 via the communication module 316, process the received information and / or data, and store it in the memory 312. Furthermore, such information and / or data may be provided to the robot control system 230 via the communication module 316.

[0039] While the robot is moving, the processor 314 can receive text, images, videos, and / or audio input or selected through an input device such as a touch screen, keyboard, camera including an audio sensor and / or image sensor, microphone, etc. connected to the input / output interface 318, and can store the received text, images, videos, and / or audio in the memory 312 or provide the received text, images, videos, and / or audio to the robot control system 230 via the communication module 316 and the network 220. For example, the processor 314 can receive an image input using a camera including an image sensor and provide the image to the robot control system 230 via the communication module 316 and the network 220.

[0040] The processor 314 of the robot 212 may be configured to manage, process, and / or store information and / or data received from the input / output devices 320, other robots, the robot control system 230, and / or multiple external systems. The information and / or data processed by the processor 314 may be provided to the robot control system 230 via the communication module 316 and the network 220. The processor 314 of the robot 212 may transfer and output information and / or data to the input / output devices 320 via the input / output interface 318. For example, the processor 314 may display the received information and / or data on a display of the robot 212 .

[0041] The processor 334 of the robot control system 230 may be configured to manage, process, and / or store information and / or data received from the plurality of robots and / or the plurality of external systems. The information and / or data processed by the processor 334 may be provided to the robot 212 via the communication module 336 and the network 220. For example, the processor 334 may provide information regarding the movement destination of each of the plurality of robots and control each of the plurality of robots to move to that destination.

[0042] In FIG. 3, the robot control system 230 is shown as a single system, but is not limited to this and can be configured as multiple systems / servers.

[0043] The processor 334 of the robot control system 230 may be configured to output the processed information and / or data via an output device 320, such as a display-capable device (e.g., a touchscreen, a display, etc.) or an audio-capable device (e.g., a speaker) of the robot 212.

[0044] 4 is a diagram illustrating an example in which a first transport robot 412 enters a target space 400 and provides a transport service according to an embodiment of the present disclosure. According to an embodiment, a processor (e.g., processor 334) can control the first transport robot 412 and / or the second transport robot 414 to move to a waiting location 418 in the target space 400. Here, the first transport robot 412 and / or the second transport robot 414 can refer to robots that provide a transport service in the target space 400. As illustrated in the figure, a first operation step 410 illustrates an example in which the second transport robot 414 moves to the waiting location 418 while the first transport robot 412 arrives at the waiting location 418 and waits there.

[0045] According to one embodiment, the processor can acquire information that the first transport robot 412 is located at the waiting location 418 in the target space 400. For example, the processor can acquire information that the first transport robot 412 is located at the waiting location 418 by comparing the location information received from the first transport robot 412 with the location information of the waiting location 418 stored in a database (e.g., memory 332). As another example, the processor can receive information from the first transport robot 412 that the first transport robot 412 is located at the waiting location 418.

[0046] According to one embodiment, the processor can determine whether a robot is present in the target space 400. For example, the processor can determine whether a robot is present in the target space 400 based on each of a plurality of pieces of position information received from at least some of a plurality of robots provided in a building (e.g., building 100). As another example, the processor can determine whether a robot is present in the target space 400 using an image sensor (e.g., a camera) included in the target space 400.

[0047] According to one embodiment, the processor can control the door 416 of the target space 400 to open in response to determining that no robot is present in the target space 400. In this case, the door 416 can include a communication module (not shown) and a drive unit (not shown) so that the opening and closing of the door 416 is controlled by the processor.

[0048] A second operation step 420 illustrates an example in which the second transport robot 414 arrives at the waiting location 418 and waits while the first transport robot 412 enters the target space 400 and provides transport services. According to one embodiment, the processor can control the first transport robot 412 to enter the target space 400 from the waiting location 418 in response to determining that the door 416 is opened. For example, the processor can control the first transport robot 412 to move from the waiting location 418 to a first point 422 in the target space 400 in response to determining that the door 416 is opened. In this case, the first point 422 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). Alternatively, the first point 422 can be calculated based on data acquired by an image sensor (e.g., a camera) included in the target space 400, or based on data acquired by an image sensor and / or a distance sensor (e.g., a LiDAR) included in the first transport robot 412.

[0049] According to one embodiment, the processor can control the first transport robot 412 to provide transport services within the target space 400. For example, the processor can control the first transport robot 412 to protrude an item load box built into the first transport robot 412 to the outside. As another example, the processor can control the first transport robot 412 to unlock a door lock of the item load box built into the first transport robot 412. As yet another example, the processor can control the input / output interface (e.g., input / output interface 318) of the first transport robot 412 to output a screen on which a password can be entered to unlock the door lock of the item load box.

[0050] According to one embodiment, the processor can receive information that the transfer service of the first transfer robot 412 has been completed. For example, the processor can receive information that the transfer service of the first transfer robot 412 has been completed from the first transfer robot 412. Thereafter, in response to receiving the information that the transfer service has been completed, the processor can control the first transfer robot 412 to exit the target space 400.

[0051] According to one embodiment, the processor can acquire information that the second transport robot 414 entering the target space 400 is located in a waiting location 418 in the target space 400. For example, the processor can acquire information that the second transport robot 414 is located in the waiting location 418 by comparing the position information received from the second transport robot 414 with the position information of the waiting location 418 stored in a database (e.g., memory 332). As another example, the processor can receive information from the second transport robot 414 that the second transport robot 414 is located in the waiting location 418.

[0052] According to one embodiment, the processor can determine whether a robot is present in the target space 400. For example, the processor can determine whether a first transport robot 412 is present in the target space 400. In response to determining that the first transport robot 412 is present in the target space 400, the processor can control the second transport robot 414 to wait at a waiting location 418.

[0053] 5 is a diagram illustrating an example in which a second transfer robot 514 provides a transfer service after a first transfer robot 512 provides a transfer service according to an embodiment of the present disclosure. According to an embodiment, a processor (e.g., processor 334) can control the second transfer robot 514 to enter the target space 500 and provide the transfer service after the first transfer robot 512 exits. As shown in the figure, a first operation step 510 illustrates an example in which the first transfer robot 512 exits the target space 500 while the second transfer robot 514 waits at a waiting location 516.

[0054] According to one embodiment, the processor can control the first transport robot 512 to exit the target space 500 in response to receiving information that the transport service of the first transport robot 512 has been completed. For example, if the loaded items of the first transport robot 512 have been transported, the processor can receive information from the first transport robot 512 that the transport service has been completed and control the first transport robot 512 to exit the target space 500. Additionally or alternatively, the processor can receive information that the transport service of the first transport robot 512 has been completed even if the loaded items of the first transport robot 512 have not been transported. For example, if a menu item different from the user's order is transported via the first transport robot 512, the user may attempt to return the different menu item via the first transport robot 512. At this time, the first transport robot 512 receives a user input indicating that the transport is complete, such as by touching an interface (e.g., input / output interface 318), and the processor can receive information indicating that the transport service is complete from the first transport robot 512. Alternatively, the processor can receive information indicating that the transport service is complete from a user terminal associated with the robot control system (e.g., robot control system 230).

[0055] According to one embodiment, the processor can determine whether or not there is a second transfer robot 514 entering the target space 500 in response to determining that the exit of the first transfer robot 512 has been completed. For example, the processor can determine that there is a second transfer robot 514 entering the target space 500 based on information that the second transfer robot 514 entering the target space 500 is located at a waiting location 516 in the target space 500. Additionally, even if the second transfer robot 514 is not located at the waiting location 516, the processor can determine that there is a second transfer robot 514 entering the target space 500 based on information that the second transfer robot 514 is located within a certain distance from the waiting location 516 in the target space 500 or can arrive there within a certain time period. That is, the processor can determine that there is a second transport robot 514 entering the target space 500 if the second transport robot 514 is located at the waiting location 516 or adjacent to the waiting location 516 after the first transport robot 512 has completed exiting. As a result, the processor can determine that there is no second transport robot 514 entering the target space 500 if the second transport robot 514 is located outside a certain distance from the waiting location 516 in the target space 500 or on another layer, or if it is unable to arrive within a certain time.

[0056] When it is determined that a second transfer robot 514 is entering the target space 500, the processor can control the door 518 of the target space 500 to be kept open. According to one embodiment, the processor can control the door 518 of the target space 500 to be kept open based on information that the second transfer robot 514 is located at the waiting location 516 when the first transfer robot 512 has completed exiting. For example, if the second transfer robot 514 arrives at the waiting location 516 within a given time after the first transfer robot 512 has arrived at the waiting location 516, the processor can efficiently control the operation of the door 518 by keeping the door 518 open for the second transfer robot 514 that will immediately enter the target space 500. On the other hand, when it is determined that a second transfer robot 514 is not entering the target space 500, the processor can control the door 518 of the target space 500 to be closed. For example, if the second transport robot 514 does not arrive within any time after the first transport robot 512 arrives at the waiting location 516, the processor can control the door 518 to be closed for the convenience of users of the target space 500.

[0057] On the other hand, in the present disclosure, controlling to maintain an open or closed state can include all of the following: the processor transmitting a control signal to the door 518 to maintain the door 518 in an open or closed state, and / or not transmitting a control signal to maintain the door 518 in an open or closed state.

[0058] The second operation step 520 illustrates an example in which the second transport robot 514 enters the target space 500 to provide transport services. According to one embodiment, if the door 518 is kept open after the first transport robot 512 exits, the processor may omit the steps of determining whether a robot is present in the target space 500 and controlling the door 518 of the target space 500 to open in response to a determination that no robot is present in the target space 500. According to another example, if the door 518 is closed after the first transport robot 512 exits, the processor may determine whether a robot is present in the target space 500 and control the door 518 of the target space 500 to open in response to a determination that no robot is present in the target space 500.

[0059] According to one embodiment, in response to determining that the door 518 of the target space 500 is open, the processor can control the second transfer robot 514 to enter the target space 500 from the waiting location 516. For example, the processor can control the second transfer robot 514 to move from the waiting location 516 to a first point 522 within the target space 500. Thereafter, the processor can control the second transfer robot 514 to provide transfer services within the target space 500.

[0060] According to one embodiment, the first point 522 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). According to other embodiments, the first point 522 can be calculated based on data acquired by an image sensor (e.g., a camera) included in the target space 500, or based on data acquired by an image sensor and / or a distance sensor (e.g., LiDAR) included in the second transfer robot 514. Additionally, the first point 522 can be the same as or different from the first point (e.g., first point 422) of FIG. 4.

[0061] The third operation step 530 illustrates an example in which the second transport robot 514 exits the target space 500. According to one embodiment, the processor can control the second transport robot 514 to exit the target space 500 in response to receiving information that the transport service of the second transport robot 514 has been completed. In this case, the processor can receive information that the transport service of the second transport robot 514 has been completed in the same or similar manner as the case in which the processor receives information that the transport service of the first transport robot 512 has been completed in the first operation step 510 described above.

[0062] According to one embodiment, the processor can determine whether or not there is a third transport robot (not shown) entering the target space 500 in response to determining that the exit of the second transport robot 514 has been completed. At this time, the processor can determine whether or not there is a third transport robot entering the target space 500 by the same or similar method as the case of determining whether or not there is a second transport robot 514 entering the target space 500 in the first operation step 510.

[0063] According to one embodiment, the processor can control the opening and closing of the door 518 of the target space 500 based on whether or not there is a third transport robot entering the target space 500. For example, if it is determined that there is no third transport robot entering the target space 500, the processor can control the door 518 to remain open. As another example, if it is determined that there is a third transport robot entering the target space 500, the processor can control the door 518 to close. That is, if the second transport robot 514 is the last transport robot to provide transport service in the target space 500 in response to a transport request from a user, the processor can control the door 518 to close after the second transport robot 514 exits the target space 500.

[0064] 6 is a diagram illustrating an example in which a first transfer robot 612 and a second transfer robot 614 provide a transfer service according to an embodiment of the present disclosure. According to an embodiment, a processor (e.g., processor 334) can control the first transfer robot 612 and the second transfer robot 614, which provide a transfer service in a target space 600, to move to a waiting location 616 in the target space 600. As shown in the figure, a first operation step 610 illustrates an example in which the second transfer robot 614 moves to the waiting location 616 while the first transfer robot 612 arrives at the waiting location 616 in the target space 600 and waits there.

[0065] According to one embodiment, the processor can acquire information that the first transport robot 612 is located at the waiting location 616 in the target space 600. For example, the processor can acquire information that the first transport robot 612 is located at the waiting location 616 by comparing the location information received from the first transport robot 612 with the location information of the waiting location 616 stored in a database (e.g., memory 332). As another example, the processor can receive information from the first transport robot 612 that the first transport robot 612 is located at the waiting location 616.

[0066] According to one embodiment, the processor can determine whether a robot is present in the target space 600. For example, the processor can determine whether a robot is present in the target space 600 based on each of a plurality of pieces of position information received from at least some of a plurality of robots provided in a building (e.g., building 100). As another example, the processor can determine whether a robot is present in the target space 600 using an image sensor (e.g., a camera) included in the target space 600.

[0067] According to one embodiment, the processor can control the door 618 of the target space 600 to open in response to determining that no robot is present in the target space 600. In this case, the door 618 can include a communication module (not shown) and a drive unit (not shown) so that the opening and closing of the door 618 is controlled by the processor.

[0068] A second operation step 620 illustrates an example in which the second transfer robot 614 arrives at the waiting location 616 and waits while the first transfer robot 612 enters the target space 600. According to one embodiment, the processor can control the first transfer robot 612 to enter the target space 600 from the waiting location 616 in response to determining that the door 618 is opened. For example, the processor can control the first transfer robot 612 to move from the waiting location 616 to a first point 624 in the target space 600 in response to determining that the door 618 is opened. In this case, the first point 624 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). According to another embodiment, the first point 624 can be determined based on data acquired by an image sensor included in the target space 600. According to yet another embodiment, the first point 624 can be determined based on data acquired by an image sensor and / or a distance sensor included in the first transfer robot 612 .

[0069] According to one embodiment, the processor can control the door 618 to remain open for the entry of the second transport robot 614 after the first transport robot 612 has entered the target space 600.

[0070] Meanwhile, the second operation step 620 illustrates, but is not limited to, a case in which the second transfer robot 614 waits at the waiting location 616 while the first transfer robot 612 moves to the first point 624. For example, while the first transfer robot 612 moves to the first point 624, the processor can control the second transfer robot 614 to enter a second point 622 within the target space 600. As another example, in response to the first transfer robot 612 completing its movement to the first point 624, the processor can control the second transfer robot 614 to enter the second point 622 within the target space 600. In this case, the second point 622 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). According to another embodiment, the second point 622 can be determined based on data acquired by an image sensor included in the target space 600. According to yet another embodiment, the second point 622 can be determined based on data acquired by an image sensor and / or a distance sensor included in the second transfer robot 614 .

[0071] The third operation step 630 shows an example in which the first transfer robot 612 and the second transfer robot 614 provide transport services at the first point 624 and the second point 622, respectively. In this case, the distance from the door 618 of the target space 600 to the first point 624 can be greater than the distance from the door 618 of the target space 600 to the second point 622. In other words, the first transfer robot 612, which has priority to enter the target space 600, can provide transport services at a location farther away within the target space 600 than the second transfer robot 614. In this way, if the first transfer robot 612 starts to enter the first point 624 first and then the second transfer robot 614 starts to enter the second point 622, the first transfer robot 612 and the second transfer robot 614 can arrive at the first point 624 and the second point 622 at similar times, respectively, so that services can be provided to users at similar times and some users do not need to wait for the transfer of other users. In other words, the transfer robots 612 and 614 can be controlled efficiently and user convenience can be improved.

[0072] FIG. 7 is a diagram illustrating an example in which a first transfer robot 714 and a second transfer robot 712 exit a target space 700 according to an embodiment of the present disclosure. As illustrated in the figure, a first operation step 710 illustrates an example in which, of the first transfer robot 714 and the second transfer robot 712 that have provided transfer service in the target space 700, the second transfer robot 712 exits preferentially. According to an embodiment, a processor (e.g., processor 334) can control the second transfer robot 712 to exit the target space 700 in response to determining that the transfer service of the first transfer robot 714 and the transfer service of the second transfer robot 712 have been completed. In this manner, when the first transfer robot 714 exits after the second transfer robot 712 has preferentially exited, the second transfer robot 712, which is located near the door 716 on the exit path of the first transfer robot 714, is unlikely to act as an obstacle to the first transfer robot 714. That is, the processor can stably control the transport robots 712 and 714 while preventing collisions between them. At this time, the processor can control the door 716 to remain open so that the first transport robot 714 can exit.

[0073] A second operation step 720 illustrates an example in which the first transport robot 714 exits after the second transport robot 712 has completed exiting. According to one embodiment, the processor can control the first transport robot 714 to exit the target space 700 in response to determining that the second transport robot 712 has completed exiting.

[0074] The third operation step 730 shows an example in which the first transfer robot 714 has completed its exit. According to one embodiment, the processor can control the door 781 of the target space 700 to be closed in response to determining that the exit of the first transfer robot 714 has completed. At this time, the processor can determine whether there is another robot entering the target space 700 before controlling the door 718 of the target space 700 to be closed. Only when there is no other robot entering, can the processor control the door 718 of the target space 700 to be closed.

[0075] 8 is a diagram illustrating another example of a first point 822 and a second point 824 according to an embodiment of the present disclosure. As illustrated in the figure, the first point 822 and the second point 824 may be located on the user side so that the user can directly pick up items to be transported by the transport robots 812 and 814. A first operation step 810 illustrates an example in which the second transport robot 814 moves to the waiting location 816 in the target space 800 while the first transport robot 812 arrives at the waiting location 816 and waits there.

[0076] According to one embodiment, the processor can acquire information that the first transfer robot 812 is located at the waiting location 816 in the target space 800. For example, the processor can acquire information that the first transfer robot 812 is located at the waiting location 816 by comparing the location information received from the first transfer robot 812 with the location information of the waiting location 816 stored in a database (e.g., memory 332). As another example, the processor can receive information from the first transfer robot 812 that the first transfer robot 812 is located at the waiting location 816. At this time, the information can be acquired by the first transfer robot 812.

[0077] According to one embodiment, the processor can determine whether a robot is present in the target space 800. For example, the processor can determine whether a robot is present in the target space 800 based on each of a plurality of pieces of position information received from at least a portion of all of the robots installed in the building. As another example, the processor can determine whether a robot is present in the target space 800 using an image sensor (e.g., a camera) included in the target space 800.

[0078] According to one embodiment, the processor can control a door 818 of the target space 800 to open in response to determining that no robot is present in the target space 800. In this case, the door 818 can include a communication module (not shown) and a drive unit (not shown) so that the opening and closing of the door 818 is controlled by the processor.

[0079] The second operation step 820 illustrates an example in which the first transfer robot 812 arrives at a first point 822 in the target space 800, and then the second transfer robot 814 arrives at the waiting location 816 and waits there. According to one embodiment, the processor can control the first transfer robot 812 to enter the target space 800 from the waiting location 816 in response to determining that the door 818 is opened. For example, the processor can control the first transfer robot 812 to move from the waiting location 816 to the first point 822 in the target space 800 in response to determining that the door 818 is opened. In this case, the first point 822 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). According to another embodiment, the first point 822 can be determined based on data acquired by an image sensor included in the target space 800. According to yet another embodiment, the first point 822 can be determined based on data acquired by an image sensor and / or a distance sensor included in the first transfer robot 812 .

[0080] According to one embodiment, the processor can control the door 818 to remain open after the first transport robot 812 has entered the target space 800, to allow the second transport robot 814 to enter.

[0081] Meanwhile, the second operation step 820 illustrates, but is not limited to, a case in which the second transfer robot 814 waits at a waiting location 816 while the first transfer robot 812 moves to a first point 822. For example, while the first transfer robot 812 moves to the first point 822, the processor can control the second transfer robot 814 to enter a second point 824 within the target space 80. As another example, in response to the first transfer robot 812 completing its movement to the first point 822, the processor can control the second transfer robot 614 to enter a second point 824 within the target space 80. In this case, the second point 824 can be predetermined as a specific point on a local map stored in a database (e.g., memory 332). According to another embodiment, the second point 824 can be determined based on data acquired by an image sensor included in the target space 800. According to yet another embodiment, the second point 824 can be determined based on data acquired by an image sensor and / or a distance sensor included in the second transfer robot 814 .

[0082] The third operation step 830 shows an example in which the first transfer robot 812 and the second transfer robot 814 provide transport services at a first point 822 and a second point 824, respectively. In this case, the distance from the door 818 of the target space 800 to the first point 822 can be greater than the distance from the door 818 of the target space 800 to the second point 824. In other words, the first transfer robot 812, which has priority to enter the target space 800, can provide transport services at a location farther away within the target space 800 than the second transfer robot 814. In this way, when the first transfer robot 812 starts to enter the first point 822 first and then the second transfer robot 814 starts to enter the second point 824, the first transfer robot 812 and the second transfer robot 814 can arrive at the first point 822 and the second point 824 at similar times, respectively, so that services can be provided to users at similar times and some users do not need to wait for the transfer of other users. In other words, the transfer robots 812 and 814 can be controlled efficiently and at the same time, user convenience can be improved.

[0083] 9 is a diagram illustrating an example of transport robots 920 and 930 installed inside a building 900 according to an embodiment of the present disclosure. According to an embodiment, the transport robots 920 and 930 can provide services by autonomously traveling inside the building 900. For example, the transport robots 920 and 930 can provide services such as transporting coffee while moving between a cafe and a conference room inside the building 900, distributing food when placed in a cafeteria inside the building 900, or delivering bento boxes to customers who have ordered them.

[0084] According to one embodiment, the transport robots 920, 930 can be controlled by signals, data, information, etc. received from a robot control system (not shown) that communicates with the transport robots 920, 930. For example, the transport robot 920 can move and enter the target space 910 based on a control signal received from the robot control system to provide transport services in the target space 900. As another example, the transport robot 930 can stop at a predetermined location outside the target space 900 based on a control signal received from the robot control system.

[0085] According to one embodiment, the transfer robots 920 and 930 can autonomously navigate inside the building 900 using a local map (or map data) of the building 900. Specifically, the transfer robots 920 and 930 can autonomously navigate inside the building 900 using a local map stored in a robot control system. In this case, the local map can be generated by a mapping robot (not shown) equipped with one or more sensors (e.g., a camera, a lidar sensor, a GPS sensor, etc.) and traveling inside the building 900 to collect map data. Additionally, the transfer robots 920 and 930 can directly generate a local map using sensors included in the transfer robots 920 and 930, and autonomously navigate inside the building 900 using the generated local map.

[0086] 10 is a diagram illustrating an example of a method 1000 for controlling a transport robot and a facility object according to one embodiment of the present disclosure. Method 1000 can be performed by at least one processor (e.g., processor 334) of an information processing system. As shown in the figure, method 1000 can begin by controlling a first transport robot to move to a waiting location in a target space (S1010).

[0087] According to one embodiment, the processor can acquire information that the first transport robot is located at a waiting location in the target space (S1020). Thereafter, the processor can determine whether the robot is present in the target space (S1030), and can control the door of the target space to open in response to determining that the robot is not present in the target space (S1040).

[0088] According to one embodiment, in response to determining that the door is opened, the processor can control the first transport robot to enter the target space from the waiting location (S1050). Thereafter, the processor can control the first transport robot to provide transport services within the target space (S1060).

[0089] According to one embodiment, the processor can control the first transport robot to exit the target space in response to receiving information that the transport service of the first transport robot has been completed. Thereafter, the processor can determine whether or not a second transport robot is entering the target space in response to determining that the first transport robot has completed its exit. At this time, the processor can control the opening and closing of a door of the target space based on whether or not a second transport robot is entering the target space.

[0090] According to one embodiment, when it is determined that a second transport robot entering the target space is present, the processor can control the door of the target space to be kept open. When it is determined that a second transport robot entering the target space is not present, the processor can control the door of the target space to be closed. To this end, the processor can acquire information that the second transport robot entering the target space is located in a waiting area of ​​the target space.

[0091] According to one embodiment, the processor can control the second transport robot to provide transport service within the target space, and then, in response to receiving information that the transport service of the second transport robot has been completed, control the second transport robot to exit the target space.

[0092] According to one embodiment, the processor can determine whether or not a third transport robot is entering the target space in response to determining that the second transport robot has completed exiting, and then can control opening and closing of the door of the target space based on whether or not a third transport robot is entering the target space.

[0093] According to one embodiment, the processor can control the second transfer robot entering the target space to move to a waiting location in the target space. At this time, the processor can obtain information that the second transfer robot entering the target space is located at the waiting location in the target space. As a result, the processor can determine whether the first transfer robot is present in the target space, and, in response to a determination that the first transfer robot is present in the target space, control the second transfer robot to wait at the waiting location.

[0094] According to one embodiment, the processor can control the first transport robot to provide transport service at a first point in the target space. At this time, the processor can control the second transport robot to move to a waiting location in the target space. Then, the processor can control the second transport robot to enter the target space and provide transport service at the second point. At this time, the distance from the door of the target space to the first point can be configured to be greater than the distance from the door of the target space to the second point. Also, the first point can be located on one side of the target space, and the second point can be located on the opposite side. Additionally, the processor can control the second transport robot to exit the target space in response to determining that the transport service of the first transport robot and the transport service of the second transport robot have been completed. Then, the processor can control the first transport robot to exit the target space in response to determining that the exit of the second transport robot has been completed.

[0095] 11 is a flowchart illustrating a method 1100 in which a robot control system 1120 controls a robot 1110 and a door 1130 according to an embodiment of the present disclosure. As shown in the figure, the method 1100 may begin with a step (S1142) of controlling the robot 1110 to move to a waiting location. Meanwhile, the robot control system 1120 may receive position information of the robot 1110 from the robot 1110 at regular time intervals, which information is used to control the robot 1110 and / or the door 1130, but this step is omitted in FIG. 11 .

[0096] According to one embodiment, the robot control system 1120 can acquire information that the robot 1110 is located at a waiting location based on the position information of the robot 1110. For example, the robot control system 1120 can acquire information that the robot 1110 is located at a waiting location by comparing the position information of the robot 1110 with the position information of the waiting location stored in the robot control system 1120. Additionally or alternatively, the robot control system 1120 can receive information from the robot 1110 indicating that the robot 1110 has arrived at the waiting location.

[0097] According to one embodiment, the robot control system 1120 can determine whether a robot is present in the target space (S1144). If it is determined that a robot is present in the target space, it can re-determine whether a robot is present in the target space after a given period of time has elapsed (S1144). On the other hand, if it is determined that a robot is not present in the target space, the robot control system 1120 can control the door 1130 of the target space to open (S1146).

[0098] According to one embodiment, the robot control system 1120 can determine whether the door 1130 is open (S1148). If it is determined that the door 1130 of the target space is not open, the robot control system 1120 can again control the door 1130 of the target space to open after a given period of time has elapsed (S1148). On the other hand, if it is determined that the door 1130 of the target space is open, the robot control system 1120 can control the robot 1110 to enter the target space (S1152).

[0099] According to one embodiment, the robot control system 1120 can determine whether the robot 1110 has completed entering the target space or a specific point within the target space (e.g., the first point 154, the second point 156) (S1154). For example, the robot control system 1120 can compare the position information of the robot 1110 with the position information of the target space or a specific point within the target space (e.g., the first point 154, the second point 156) stored in the robot control system 1120 to determine whether the robot 1110 has completed entering the target space. Additionally or alternatively, the robot control system 1120 can determine whether the robot 1110 has completed entering the target space.

[0100] According to one embodiment, the robot control system 1120 can control the robot 1110 to provide the transport service (S1156). Thereafter, the robot control system 1120 can receive information from the robot 1110 that the transport service has been completed (S1158), and in response to receiving the information, can control the robot 1110 to exit the target space (S1162).

[0101] According to one embodiment, the robot control system 1120 may determine whether the robot 1110 has completely exited the target space (S1164). If the robot 1110 has not completely exited the target space, the robot control system 1120 may re-determine whether the robot 1110 has completely exited the target space after a given period of time has elapsed (S1164). On the other hand, if the robot 1110 has completely exited the target space, the robot control system 1120 may determine whether a robot is entering the target space (S1166). If no robot is entering the target space, the robot control system 1120 may control the door 1130 to close (S1168), and if a robot is entering the target space, the robot control system 1120 may control the door 1130 to remain open.

[0102] The above-described method may be provided as a computer-readable non-transitory recording medium on which instructions for execution by a computer are recorded. The medium may continuously store a computer-executable program or may temporarily store it for execution or download. The medium may be a variety of recording or storage means in the form of a single piece of hardware or a combination of multiple pieces of hardware, and is not limited to a medium directly connected to a computer system, but may be distributed over a network. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. Examples of media include a storage medium, ROM, RAM, flash memory, etc., configured to store program instructions. Other examples of media include recording media or storage media managed by app stores that distribute applications, or sites or servers that supply or distribute various other software.

[0103] The methods, operations, or techniques of the present disclosure can be implemented by a variety of means. For example, such techniques can be embodied in hardware, firmware, software, or a combination thereof. Those skilled in the art will appreciate that the various exemplary logical blocks, modules, circuits, and algorithm steps described in this disclosure can be embodied in electronic hardware, computer software, or a combination of both. To clearly illustrate this interchange between hardware and software, the various exemplary components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is embodied as hardware or software will vary depending on the particular application and design requirements imposed on the overall system. Those skilled in the art may implement the described functionality in various ways for each particular application, but such implementations should not be interpreted as departing from the scope of the present disclosure.

[0104] In a hardware implementation, the processing units utilized to perform the techniques may be embodied within one or more ASICs, DSPs, digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, electronic devices, other electronic units designed to perform the functions described in this disclosure, computers, or combinations thereof.

[0105] Accordingly, the various exemplary logic blocks, modules, and circuits described in this disclosure may be embodied or performed by any combination of general purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate and transistor logic, discrete hardware components, or any combination designed to perform the functions described herein. A general purpose processor may be a microprocessor, but alternatively, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be embodied as a combination of computing devices, such as a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other configuration.

[0106] In firmware and / or software implementations, the techniques may include random access memory (RAM), read-only memory (ROM), non-volatile random access memory (NVRAM), and access memory), PROM (programmable read-only memory), EPROM (erasable programmable read-only The software may be embodied as instructions stored on a computer-readable medium such as a memory, an electrically erasable programmable read-only memory (EEPROM), a flash memory, a compact disc (CD), a magnetic or optical data storage device, etc. The instructions may be executable by one or more processors to cause the processors to perform certain aspects of the functions described in this disclosure.

[0107] If embodied as software, the techniques can be stored on or transmitted via a computer-readable medium as one or more instructions or code. Computer-readable media includes any medium that facilitates transfer of a computer program from one place to another, including both computer storage media and communication media. Storage media can be any available medium that can be accessed by a computer. By way of non-limiting example, such computer-readable media can include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to transport or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Also, any connection can be properly termed a computer-readable medium.

[0108] For example, if software is transferred from a website, server, or other remote source using coaxial cable, fiber optic cable, lead wire, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, the coaxial cable, fiber optic cable, lead wire, Digital Subscriber Line, or wireless technologies such as infrared, radio, and microwave are included within the definition of medium. As used herein, "disk" and "disc" include CDs, laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically while discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable medium.

[0109] A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. Alternatively, the processor and the storage medium may reside as discrete components in a user terminal.

[0110] Although the embodiments described above are described as utilizing aspects of the presently disclosed subject matter on one or more stand-alone computer systems, the present disclosure is not limited thereto and may be implemented in any computing environment, such as a network or distributed computing environment. Furthermore, aspects of the subject matter in the present disclosure may be implemented on multiple processing chips or devices, and storage may be shared across multiple devices. Such devices may include PCs, network servers, and handheld devices.

[0111] Although the present disclosure has been described herein by way of some embodiments, various modifications and alterations that would be understood by those skilled in the art to which the present disclosure pertains can be made without departing from the scope of the present disclosure, and such modifications and alterations should be understood to fall within the scope of the claims appended hereto.

Claims

1. 1. A method for controlling a robot and an object, performed by at least one processor, comprising: controlling a plurality of robots performing a service so that the plurality of robots travels toward a target space; controlling a door of the target space to open based on arrival of a first robot of the plurality of robots at a waiting location in the target space; controlling the first robot so that the first robot enters the target space through an open door of the target space; maintaining a door of the target space in an open state for a second robot, different from the first robot, among the plurality of robots to enter the target space; controlling the second robot so that the second robot enters the target space through an open door of the target space; and controlling a door of the target space so that the door closes based on the first robot and the second robot exiting the target space.

2. The step of maintaining the door of the target space in an open state includes: determining whether the second robot is entering the target space; 2. The method for controlling a robot and a facility object according to claim 1, further comprising: a step of maintaining a door to the target space open when it is determined that the second robot is entering the target space as a result of the determination.

3. 2. The method for controlling a robot and a facility according to claim 1, wherein the second robot is controlled to enter the target space after the first robot has exited the target space.

4. 2. The method for controlling a robot and a facility object according to claim 1, wherein the loading boxes of the first robot and the second robot are loaded with items that need to be delivered to the target space.

5. 2. The method for controlling a robot and a facility object according to claim 1, further comprising the step of controlling the first robot and the second robot so that the first robot and the second robot exit the target space when it is determined that the service of the first robot and the second robot in the target space has been completed.

6. 2. The method for controlling a robot and a facility object according to claim 1, further comprising the step of controlling the first robot and the second robot so that the first robot and the second robot that have entered the target space provide service in the target space.

7. determining whether a third robot is entering the target space; 2. The method for controlling a robot and a facility object according to claim 1, further comprising the step of controlling opening and closing of a door to the target space based on whether or not a third robot is entering the target space.

8. A computer program stored on a computer-readable recording medium for executing the method according to any one of claims 1 to 7 on a computer.

9. 1. A robot control system, comprising: Memory and at least one processor coupled to the memory and configured to execute at least one computer-readable program contained in the memory; The at least one program controlling a plurality of robots performing a service so that the robots move toward a target space; controlling a door of the target space to open based on arrival of a first robot of the plurality of robots at a standby location in the target space; controlling the first robot so that the first robot enters the target space through an open door of the target space; maintaining a door of the target space in an open state for a second robot, different from the first robot, among the plurality of robots to enter the target space; controlling the second robot so that the second robot enters the target space through an open door of the target space; a robot control system including a command for controlling a door of the target space to close the door based on the first robot and the second robot exiting the target space;

10. In buildings, a plurality of robots are arranged to travel within the building and provide transportation services; the plurality of robots includes a first robot and a second robot; the plurality of robots are controlled by a robot control system; The robot control system includes: Memory and at least one processor coupled to the memory and configured to execute at least one computer-readable program contained in the memory; Including, controlling a plurality of robots performing a service so that the robots move toward a target space; controlling a door of the target space to open based on arrival of a first robot of the plurality of robots at a standby location in the target space; controlling the first robot so that the first robot enters the target space through an open door of the target space; maintaining a door of the target space in an open state for a second robot, different from the first robot, among the plurality of robots to enter the target space; controlling the second robot so that the second robot enters the target space through an open door of the target space; A building, comprising a command for controlling a door of the target space so that the door of the target space closes based on the first robot and the second robot exiting the target space.

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