A robot control method for controlling the entry or exit of a robot into or from a partitioned space based on situation information from a robot acting as an agent

Abstract

A robot control method for controlling a robot entering or exiting a partitioned space is provided, which is executed by a robot control system. The robot control system moves a first robot that has entered the partitioned space to a preset reference position within the interior area of ​​the partitioned space, and sets the first robot as an agent for monitoring the interior situation of the partitioned space, thereby acquiring situation information about the interior of the partitioned space from the first robot, and controls the entry and / or exit of other robot(s) into and / or out of the partitioned space based on the situation information.

Description

[Technical Field]

[0001] The following description relates to a robot control method and system that is a technology for controlling a robot's entry or exit into a partitioned space, in which a robot that has entered the partitioned space (e.g., boarding an elevator car) is moved to a reference position within the partitioned space and made to act as an agent, and the robot's entry into and / or exit from the partitioned space is controlled based on situation information obtained from the agent. [Background technology]

[0002] An autonomous robot is a robot that looks around its surroundings, detects obstacles, and uses its wheels and legs to find the optimal route to its destination. It has been developed and is being used in a variety of fields, including autonomous vehicles, logistics, hotel services, and robot vacuum cleaners.

[0003] When a robot is operated in a space such as a building to provide services, the robot moves between floors in the space using an elevator (elevator car or cabin). Such an elevator may be a robot-only elevator used only by the robot, or may be an elevator shared by robots and humans.

[0004] When multiple robots (i.e., multi-robots) are operated in a space, each robot is controlled by a robot control system, which also controls entry and exit into a partitioned space, for example, boarding and exiting an elevator car. To control a robot's entry and exit into an elevator car, it is important to grasp situational information, such as dynamic spatial information about the interior of the elevator car. In particular, when an elevator car is shared by a human and a robot, the robot cannot grasp the situation inside the elevator before boarding. Therefore, an active sensing device must be installed inside the elevator to obtain situational information about the elevator car. For elevator cars without an active sensing device, it is difficult to obtain situational information, making it difficult to appropriately and efficiently formulate boarding and exiting plans for the elevator car.

[0005] If an active sensing device is not installed in the elevator or if it is not possible to install an active sensing device in the elevator, the situation inside the elevator is grasped using a sensor installed in the robot itself. In such cases, however, there is a problem that the situation inside the elevator can only be grasped when the elevator door is open, and the situation in areas that fall within the sensor's blind spot cannot be grasped.

[0006] Korean Patent Publication No. 10-2005-0024840 is a technology relating to a path planning method for an autonomous mobile robot, and discloses a method for planning an optimal path for a mobile robot that moves autonomously in a home or office to move safely and quickly to a target point while avoiding obstacles.

[0007] The information provided above is merely intended to aid in the understanding of the present invention and may include material that does not form part of the prior art, or that the prior art would not suggest to one skilled in the art. Summary of the Invention [Problem to be solved by the invention]

[0008] A method is provided in which a first robot that has entered a partitioned space is moved to a predetermined reference position in the internal area of ​​the partitioned space and set as an agent for monitoring the internal situation of the partitioned space, situation information regarding the interior of the partitioned space is obtained from the first robot set as an agent, and based on the obtained situation information, the boarding and / or disembarking of other robot(s) into the partitioned space is controlled.

[0009] A method can be provided in which a first robot mounted on an elevator car, which is an example of a partitioned space, is set as an agent for monitoring the internal situation of the elevator car by moving it to a predetermined reference position in the interior area of ​​the elevator car, and situation information regarding the interior of the elevator car is obtained from the first robot set as an agent, and based on the obtained situation information, the boarding and / or disembarking of other robot(s) into the elevator car is controlled.

[0010] A robot control method can be provided in which, when it is determined that the elevator car that the first robot is scheduled to board is empty, the first robot is positioned in front of the elevator door in the waiting space around the elevator door for boarding the elevator car, thereby enabling the first robot to pre-emptively occupy the boarding / disembarking position for the elevator car.

[0011] A method can be provided that works in conjunction with an elevator control system that controls elevator cars, calls an optimal elevator car via the elevator control system for the first robot to board, and controls the robot's boarding and / or disembarking from the called elevator car. [Means for solving the problem]

[0012] In one aspect, a robot control method is provided that is executed by a robot control system and controls a robot entering or exiting a partitioned space within the space, the robot control method including the steps of: moving a first robot that has entered the partitioned space to a predetermined reference position within an internal area of ​​the partitioned space; setting the first robot as an agent for monitoring the internal situation of the partitioned space and acquiring situation information regarding the interior of the partitioned space from the first robot; and controlling the entry of a second robot that has not yet entered the partitioned space into the partitioned space, or the exit of a third robot that has entered the partitioned space from the partitioned space based on the situation information.

[0013] The robot control system may control robots getting on or off an elevator car that gets on and off within the space, the divided space being the elevator car, the step of moving to a reference position moving the first robot on board the elevator car to the reference position in an internal area of ​​the elevator car, the step of acquiring status information setting the first robot as an agent for monitoring the internal situation of the elevator car and acquiring the status information regarding the interior of the elevator car from the first robot, and the step of controlling may control the second robot that has not yet boarded the elevator car to board the elevator car or the third robot that is on board the elevator car to disembark from the elevator car based on the status information.

[0014] The reference position may be a position indicating the center region of the internal region.

[0015] The situation information may include data for identifying a dynamic obstacle in the elevator car, and the controlling step may include a step of identifying a boarding and alighting flow of the dynamic obstacle relative to the elevator car based on the situation information, a step of determining whether the dynamic obstacle has completed disembarking from the elevator car based on the boarding and alighting flow, and a step of controlling the boarding of the second robot, which is located in a waiting space around the elevator doors for boarding the elevator car, into the elevator car depending on whether it is determined that the dynamic obstacle has completed disembarking.

[0016] The robot control method further includes a step of acquiring status information regarding an entry / exit area associated with the waiting space from the second robot, and the step of determining whether dismounting of the moving obstacle has been completed may determine whether dismounting of the moving obstacle has been completed based on the boarding / exiting flow and the status information regarding the entry / exit area.

[0017] The step of controlling the second robot to board the elevator car may include the steps of positioning the second robot on one side of the elevator door in the waiting space while the moving obstacle is dismounting, positioning the second robot in front of the elevator door in the waiting space when the moving obstacle has dismounted, and controlling the second robot to pass through the elevator door and board the elevator car.

[0018] The robot control method may further include a step of, when the second robot gets on the elevator car, moving the second robot to the reference position and moving the first robot to another position in the interior area, and a step of setting the second robot as the agent for monitoring the interior situation of the elevator car instead of the first robot, and acquiring situation information about the interior of the elevator car from the second robot.

[0019] The robot control method may further include a step of controlling the first robot to disembark from the elevator car when the elevator car arrives at a target floor that is the destination of the first robot; a step of moving a fourth robot already in the elevator car to the reference position when the first robot leaves the reference position; and a step of setting the fourth robot as the agent for monitoring the internal situation of the elevator car instead of the first robot, and acquiring situation information about the interior of the elevator car from the fourth robot.

[0020] The controlling step may include a step of moving the third robot to the reference position and moving the first robot to another position in the internal area before the elevator car arrives at the target floor, which is the destination of the third robot; a step of setting the third robot as the agent for monitoring the internal situation of the elevator car instead of the first robot and acquiring situation information about the interior of the elevator car from the third robot; and a step of controlling the third robot to get off the elevator car from the reference position when the elevator car arrives at the target floor, which is the destination of the third robot.

[0021] The robot control method may further include a step of, when it is determined that the elevator car in which the first robot is scheduled to board is empty, positioning the first robot in front of the elevator doors in a waiting space around the elevator doors for boarding the elevator car, so that the first robot is positioned in front of the elevator doors so that the first robot will be the first to board the empty elevator car.

[0022] The robot control method may further include a step of interfacing with an elevator control system that controls the elevator car, wherein the interfacing step may include a step of calling the elevator control system to call for an empty elevator car, and in response to the call, the elevator control system may move an empty elevator car among a plurality of elevator cars operating in the space to a floor where the first robot is located.

[0023] The elevator car being moved to the floor where the first robot is located may be controlled not to stop at any floors other than the floor where the first robot is located, or may output at least one of a visual indicator and an audible indicator to prevent any more humans from boarding.

[0024] If there is no empty elevator car among a plurality of elevator cars operating within the space, the elevator control system may determine an empty elevator car among the plurality of elevator cars by using at least one of a visual indicator and an audible indicator to guide a person in the elevator car that is moving the person to the floor where the first robot is located to disembark.

[0025] The first robot may be an idle robot that is not currently performing a task, and while in the idle state, the first robot may be maintained at the reference position.

[0026] The robot control method may further include a step of controlling the first robot set as the agent to output at least one of a visual indicator and an audible indicator to guide the person riding in the elevator car to move to another position.

[0027] The robot control method may further include a step of controlling the second robot to output at least one of a visual indicator and an audible indicator when the second robot enters the elevator car to restrict human entry into the elevator car, or controlling the third robot to output at least one of a visual indicator and an audible indicator when the third robot exits the elevator car to restrict human entry into the elevator car.

[0028] The robot control method may further include a step of interfacing with an elevator control system that controls the elevator car, and the step of interfacing may include a step of obtaining, from the elevator control system, schedule information regarding a plurality of elevator cars controlled by the elevator control system; a step of determining, based on the schedule information, an elevator car from among the elevator cars to move to a floor where the first robot is located; and a step of requesting the elevator control system to move the determined elevator car to the floor where the first robot is located.

[0029] The determined elevator car, which is moved to the floor where the first robot is located in response to the request, may be controlled to move immediately to the floor where the first robot is located without stopping at other floors.

[0030] In another aspect, there is provided a computer system constituting a robot control system that controls robots getting on or off an elevator car that gets on or off within a space, the computer system including at least one processor implemented to execute computer-readable instructions, wherein the at least one processor moves a first robot on board the elevator car to a preset reference position in an interior area of ​​the elevator car, sets the first robot as an agent for monitoring the internal situation of the elevator car, obtains situation information about the interior of the elevator car from the first robot, and, based on the situation information, controls the boarding of a second robot that has not yet boarded the elevator car into the elevator car, or the disembarking of a third robot on board the elevator car from the elevator car.

[0031] In another aspect, a computer system constituting a robot control system for controlling robots entering or exiting a partitioned space is provided, the computer system including at least one processor configured to execute computer-readable instructions, wherein the at least one processor moves a first robot that has entered the partitioned space to a predetermined reference position within an internal area of ​​the partitioned space, sets the first robot as an agent for monitoring the internal situation of the partitioned space, obtains status information regarding the interior of the partitioned space from the first robot, and, based on the status information, controls the entry of a second robot that has not yet entered the partitioned space into the partitioned space, or the exit of a third robot that has entered the partitioned space from the partitioned space. [Effects of the Invention]

[0032] As a partitioned space, for example, by setting a robot on board an elevator car as an agent for monitoring the internal situation of the elevator car, situational information about the interior of the elevator car can be obtained and used to control the entry and / or exit of the robot(s) into the elevator car without the need to install active sensing devices such as cameras or other sensors inside the elevator car.

[0033] By utilizing idle robots that are not assigned any tasks as robots set as agents, the operational efficiency of robots operated within a space can be improved.

[0034] By allowing the robot to pre-occupy the boarding / exiting positions (entrance / exit areas) of the elevator car before boarding, the robot can have priority over humans when boarding the elevator car. [Brief explanation of the drawings]

[0035] [Figure 1] FIG. 10 is a diagram showing a method in one embodiment in which a first robot on board an elevator car is set as an agent for monitoring the internal situation of the elevator car, and the robot's entry / exit from the elevator car is controlled based on situation information from the agent. [Figure 2] FIG. 1 is a block diagram illustrating a robot providing services within a space in one embodiment. [Figure 3] FIG. 1 is a block diagram illustrating a robot control system for controlling a robot according to an embodiment. [Figure 4] FIG. 1 is a block diagram illustrating a robot control system for controlling a robot according to an embodiment. [Figure 5] FIG. 1 is a block diagram illustrating an elevator control system for controlling access to and from elevator cars operating within a space, in one embodiment. [Figure 6]10 is a flowchart showing a method in one embodiment in which a first robot on board an elevator car is set as an agent for monitoring the internal situation of the elevator car, and the robot's entry / exit from the elevator car is controlled based on situation information from the agent. [Figure 7] 1 is a flow chart illustrating a method for controlling the entry of a second robot into an elevator car in one example. [Figure 8] 10 is a flowchart illustrating a method for setting a second robot as an agent in place of a first robot in one example. [Figure 9] 10 is a flowchart illustrating a method for setting a fourth robot as an agent in place of a first robot in one example. [Figure 10] 10 is a flowchart illustrating a method for controlling disembarking of a third robot from an elevator car in one example. [Figure 11] 1 is a flow chart illustrating a method for interfacing with an elevator control system to control the entry and exit of a robot into and from an elevator car, in one example. [Figure 12] FIG. 10 is a diagram illustrating a method for placing a robot scheduled to board an elevator car in a waiting space in one example. [Figure 13] FIG. 10 is a diagram showing a reference position where a robot set as an agent is placed in one example. [Figure 14] FIG. 10 is a diagram illustrating how other robots and humans get on and off an elevator car when a first robot is set as an agent in one example. [Figure 15] FIG. 10 illustrates a method for setting another robot as an agent in place of a robot set as an agent in one example. [Figure 16] FIG. 10 illustrates how a robot may output visual and / or audible indicators in one example. [Figure 17]FIG. 1 illustrates a method for controlling an elevator car that a robot gets on and off in one example. DETAILED DESCRIPTION OF THE INVENTION

[0036] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings.

[0037] FIG. 1 is a diagram showing a method in one embodiment in which a first robot on board an elevator car is set as an agent for monitoring the internal situation of the elevator car, and the robot's entry / exit from the elevator car is controlled based on situation information from the agent.

[0038] FIG. 1 shows a robot 100 configured to provide a service within a space and an elevator (i.e., elevator car 20) for accessing and de-accessing the space consisting of multiple floors, and illustrates how the robot 100 is configured as an agent for monitoring the internal conditions of the elevator car as controlled by a robot control system 120.

[0039] The space may be an environment in which multiple robots (i.e., multi-robots) travel to provide services, and each of the multiple robots travels along a route and destination set for itself. The space may be composed of multiple floors, and multiple elevator cars 20 may be operated within the space for passengers to get on and off between floors. As an example, the space may be a building in which multiple robots and elevator cars 20 are operated, or may be a complex space including indoor and outdoor spaces.

[0040] The space may include compartment(s). A compartment may refer to any area, such as a room, within a space that is separated from the outside by a doorway. A compartment may be, for example, an elevator car 20 (i.e., the interior of the elevator car 20) where the robot 100 can board / disembark. In other words, multiple elevator cars 20 may be operated within the space for boarding and disembarking between floors, and a compartment may refer to the interior of each elevator car. Meanwhile, a space including compartments may be a building or a complex space including indoor and outdoor spaces. The following embodiments will be described focusing on an elevator car 20, i.e., a method for controlling a robot's boarding and / or disembarking from the elevator car 20. However, this can be extended to a method for controlling a robot's entry and / or exit from any compartment, not limited to an elevator car 20. In this regard, redundant description will be omitted.

[0041] As shown, robots such as robot 100 may be controlled by robot control system 120. Additionally, elevator car 20 may be controlled by elevator control system 130.

[0042] Robot control system 120 is a computer system for controlling robot 100 and may be a server. Robot control system 120 may be a server located outside a space or building and may be a cloud server. Alternatively, in some embodiments, robot control system 120 may be located inside a space or building.

[0043] Meanwhile, elevator control system 130 is a computer system for controlling the entry and exit of elevator car 20 and may be a server. Elevator control system 130 may be a server located outside a space or building. Alternatively, in some embodiments, elevator control system 130 may be located inside a space or building.

[0044] Each of the robots, including robot 100, may be a service robot used to provide services within a space. Although not shown in the figure, a large number of robots may be placed within the space, and a large number of robots may also be placed within elevator car 20.

[0045] The services provided by each robot may include, for example, at least one of a home delivery service, a custom drink (such as coffee) delivery service, a cleaning service, and other information / content providing services.

[0046] Each robot, including robot 100, may be configured to autonomously navigate to a predetermined location in space or to provide a service to a predetermined user, and the movement of each robot and the provision of services may be controlled by robot control system 120.

[0047] The structures of the robot 100, the robot control system 120, and the elevator control system 130 will be described in more detail with reference to FIGS.

[0048] The elevator car 20 may be a general elevator that can accommodate both humans and the robot 100. Alternatively, the elevator car 20 may be a robot-only elevator that can accommodate only the robot 100. In some embodiments, a general elevator may be configured as a robot-only elevator (for example, by the elevator control system 130 receiving a request from the robot control system 120). The elevator car 20 may include doors for humans and / or the robot 100 to board / disembark. In some drawings, including FIG. 1, such doors may be omitted for ease of explanation. FIG. 1 illustrates an elevator car 20 that can accommodate both humans and the robot 100.

[0049] In an embodiment, the robot control system 120 may move the first robot 100 on board the elevator car 20 to a preset reference position in the interior area of ​​the elevator car 20, and may set the first robot 100 that has moved to the reference position as an agent for monitoring the interior situation of the elevator car 20. The robot control system 120 may acquire situation information about the interior of the elevator car 20 from the first robot 100 that has been set as the agent, and may control the boarding of a second robot that has not yet boarded the elevator car 20 into the elevator car 20 or the disembarking of a third robot that is on board the elevator car 20 from the elevator car 20 based on the acquired situation information.

[0050] The first robot 100 is one of a plurality of robots controlled by the robot control system 120, and may represent a robot that is (or will be) on board the elevator car 20. The second robot and the third robot may also each be one of a plurality of robots controlled by the robot control system 120. In FIG. 1, the second robot and the third robot are omitted from illustration.

[0051] In this way, in this embodiment, the robot control system 120 sets the first robot 100 riding in the elevator car 20 as an agent and obtains situation information about the interior of the elevator car 20 from the agent.Therefore, even if an active sensing device is not installed inside the elevator car 20, the situation information about the interior of the elevator car 20 can be appropriately taken into consideration and the boarding and / or disembarking of the robot(s) into and / or from the elevator car 20 can be controlled.

[0052] The method of setting a robot controlled by the robot control system 120 as an agent and the method of controlling the robot's entry / exit into the elevator car 20 based on situation information from such an agent will be described in further detail with reference to Figures 6 to 17.

[0053] As described above, the embodiment can be extended to control the entry and / or exit of a robot into a partitioned space within a room. In other words, the robot control system 120 sets the first robot 100 in the partitioned space as an agent and acquires situation information about the interior of the partitioned space from the agent. Even if an active sensing device is not installed in the partitioned space, the robot control system 120 can appropriately consider the situation information about the interior of the partitioned space and control the entry and / or exit of the robot(s) into the partitioned space. In this regard, a redundant description will be omitted.

[0054] FIG. 2 is a block diagram illustrating a robot providing a service in a space in one embodiment.

[0055] For ease of explanation, the first robot 100 will be referred to as robot 100 below, and its configuration will be described. Each robot controlled by robot control system 120 may include the same or similar configuration as robot 100 described below.

[0056] As described above, the robot 100 may be a service robot used to provide a service within a space. The robot 100 may provide a service to a predetermined location in the space or to a predetermined user by autonomous navigation.

[0057] The robot 100 may be a physical device and may include a control unit 104, a drive unit 108, a sensor unit 106, and a communication unit 102 as shown.

[0058] The control unit 104 may be a physical processor built into the robot 100, and may include a path planning processing module, a mapping processing module, a drive control module, a localization processing module, a data processing module, and a service processing module, although these are not shown in the figure. In this case, the path planning processing module, the mapping processing module, and the localization processing module may be selectively included in the control unit 104 depending on the embodiment, so that the robot 100 can navigate indoors autonomously even when communication with the robot control system 120 is not performed.

[0059] The communication unit 102 may be a configuration for the robot 100 to communicate with other devices (such as other robots or the robot control system 120). In other words, the communication unit 102 may be a hardware module such as an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot 100, or a software module such as a network device driver or a networking program, which transmits and receives data and / or information to and from other devices.

[0060] The drive unit 108 is a component that controls and enables the movement of the robot 100, and may include equipment for doing so.

[0061] The sensor unit 106 may be configured to collect data required for the autonomous navigation and service provision of the robot 100. The sensor unit 106 does not need to include an expensive sensing device and may include sensors such as a low-cost ultrasonic sensor and / or a low-cost camera. The sensor unit 106 may include a sensor for identifying other robots or humans in front and / or behind the robot. For example, other robots, humans, and other objects may be identified as obstacles via the camera of the sensor unit 106. Alternatively, the sensor unit 106 may include an infrared sensor (or an infrared camera). In addition to the camera, the sensor unit 106 may further include a sensor for recognizing / identifying nearby users, other robots, or objects. In this way, the sensor unit 106 may be configured to identify obstacles.

[0062] As an example, when an algorithm for autonomous navigation of the robot 100 is executed in the robot control system 120, which controls the robot 100, the data processing module of the control unit 104 may transmit sensing data including output values ​​of the sensors of the sensor unit 106 to the robot control system 120 via the communication unit 102. The robot control system 120 may transmit path data (path) generated using an indoor map of the space to the robot 100. The path data may be transmitted to the data processing module via the communication unit 102. The data processing module may immediately transmit the path data to the drive control module, which may control the drive unit 108 based on the path data to control the indoor autonomous navigation of the robot 100. This enables the robot 100 to autonomously navigate within the space described above. On the other hand, when the robot control system 120 executes a driving algorithm, the robot control system 120 may generate control signals (e.g., speed and / or direction control signals) for controlling the robot 100 according to the driving algorithm based on the sensing data received from the robot 100, and the robot 100 may be controlled based on the generated control signals.

[0063] Alternatively, when the robot 100 and the robot control system 120 cannot communicate with each other or when an algorithm for autonomous driving is executed within the robot 100, the data processing module can send sensing data to the localization processing module, generate route data via the route planning processing module and the mapping processing module, and directly process the indoor autonomous driving of the robot 100.

[0064] The robot 100 may be distinguished from a mapping robot used to generate an indoor map of a space. The robot 100 does not include an expensive sensing device and may perform indoor autonomous navigation using output values ​​from sensors such as low-cost ultrasonic sensors and / or low-cost cameras. Meanwhile, if the robot 100 has previously performed indoor autonomous navigation through communication with an existing robot control system 120, it may perform more accurate indoor autonomous navigation even using low-cost sensors by further utilizing mapping data including path data previously received from the robot control system 120.

[0065] However, depending on the embodiment, the robot 100 may also serve as the mapping robot.

[0066] The service processing module may receive commands received via the robot control system 120 via the communication unit 102, or via the communication unit 102 and the data processing module. The driving unit 108 may include not only equipment for moving the robot 100 but also equipment related to the service provided by the robot 100. For example, to perform a food / delivery delivery service, the driving unit 108 of the robot 100 may include a component for loading the food / delivery and a component for delivering the food / delivery to the user (e.g., a robot arm). The robot 100 may also include a speaker and / or a display for providing information / content. The service processing module may transmit a driving command for the service to be provided to the driving control module, and the driving control module may control the components included in the robot 100 and the driving unit 108 in accordance with the driving command to provide the service.

[0067] The robot 100 may board the elevator car 20 to travel to a destination indicated by the route (e.g., a destination located on a target floor), and after arriving at the target floor, may get off the elevator car 20 and travel to the destination. Meanwhile, for convenience of explanation, the target floor to which the robot 100 travels to arrive at the destination may be described using the term "destination." That is, the term "destination" described below may refer to the destination of the robot 100's travel by the elevator car 20. In an embodiment, when the robot 100 boards the elevator car 20, the robot 100 may be set as an agent for obtaining situation information about the interior of the elevator car 20 under the control of the robot control system 120.

[0068] Meanwhile, as described above, if the robot 100 simply provides the robot control system 120 with sensing data for controlling the robot 100, and a running algorithm for controlling the robot 100 is executed by the robot control system 120, the robot 100 may be considered a brainless robot. However, depending on the embodiment, such a running algorithm may be installed in the robot 100.

[0069] Furthermore, each robot 100 may have a different size and shape depending on the model, the services provided, and the like.

[0070] The configuration and operation of the robot control system 120 that controls the robot 100 will be described in more detail with reference to FIGS. 3 and 4 below.

[0071] The technical features described above with reference to FIG. 1 can be applied to FIG. 2 as they are, so duplicated explanations will be omitted.

[0072] 3 and 4 are block diagrams showing a robot control system for controlling a robot in one embodiment.

[0073] The robot control system 120 may be a device that controls the movement (i.e., running) of the above-described robot 100 within a space and the provision of a service by the robot 100 within the space. The robot control system 120 may control the movement of each of the multiple robots 100 and the provision of a service by each of the robots 100. The robot control system 120 may set a path for the robot 100 to provide a service by communicating with the robot 100 and may transmit information about such a path to the robot 100. The robot 100 may run according to the received information about the path and may provide a service at a predetermined location or to a predetermined user. The robot control system 120 may control the movement of the robot so that the robot moves (runs) along the set path.

[0074] The robotic control system 120 may include at least one computing device.

[0075] As described above, the robot control system 120 may be a device that sets a path for the robot 100 to travel and controls the movement of the robot 100. The robot control system 120 may include at least one computing device and may be realized as a server located within or outside the space.

[0076] The robotic control system 120 may include a memory 330, a processor 320, a communication unit 310, and an input / output interface 340 as shown.

[0077] Memory 330 is a computer-readable recording medium and may include random access memory (RAM), read-only memory (ROM), and a permanent mass storage device such as a disk drive. Here, a permanent mass storage device such as a ROM or a disk drive may be included as a separate permanent storage device separate from memory 330. An operating system and at least one program code may also be stored in memory 330. Such software components may be loaded from a computer-readable recording medium separate from memory 330. Such a separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, or a memory card. In another embodiment, the software components may be loaded into memory 330 via communication unit 310, which is not a computer-readable recording medium.

[0078] The processor 320 may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. The instructions may be provided to the processor 320 by the memory 330 or the communication unit 310. For example, the processor 320 may be configured to execute instructions received according to program code loaded into the memory 330. Such a processor 320 may include components 410 to 440 as shown in FIG. 4.

[0079] Each of the components 410 to 440 of the processor 320 may be a software and / or hardware module as part of the processor 320, and may represent a function (functional block) realized by the processor. The components 410 to 440 of the processor 320 will be described with reference to FIG. 4.

[0080] The communication unit 310 may be a configuration for the robot control system 120 to communicate with other devices (such as the robot 100 or another server). In other words, the communication unit 310 may be a hardware module, such as an antenna, a data bus, a network interface card, a network interface chip, or a networking interface port, of the robot control system 120, which transmits / receives data and / or information to / from other devices, or a software module, such as a network device driver or a networking program.

[0081] The input / output interface 340 may be a means for interfacing with input devices such as a keyboard, mouse, etc., and output devices such as a display, speakers, etc.

[0082] Additionally, in other embodiments, the robotic control system 120 may include more components than those shown in the figures.

[0083] 4, the components 410 to 440 of the processor 320 will be described in more detail. As shown in the figure, the processor 320 may include a map generation module 410, a localization processing module 420, a route planning processing module 430, and a service operation module 440. The components included in the processor 320 may represent different functions executed by at least one processor included in the processor 320 in accordance with control instructions from the operating system code and the code of at least one computer program.

[0084] The map generation module 410 may be a component for generating an indoor map of a target facility (e.g., the interior of a space) using sensing data generated by a mapping robot (not shown) autonomously moving within the space.

[0085] At this time, the localization processing module 420 may determine the position of the robot 100 inside the target facility using sensing data received from the robot 100 via the network and an indoor map of the target facility generated via the map generation module 410.

[0086] The path planning processing module 430 may generate a control signal for controlling the autonomous indoor movement of the robot 100 using the sensing data received from the robot 100 and the generated indoor map. For example, the path planning processing module 430 may generate a path (i.e., path data) for the robot 100. The generated path (path data) may be set for the robot 100 so that the robot 100 moves along the path. The robot control system 120 may transmit information about the generated path to the robot 100 via a network. For example, the information about the path may include information indicating the current location of the robot 100, information for mapping the current location with the indoor map, and path planning information. The information about the path may include information about a path that the robot 100 should travel at a predetermined position in a space or to provide a service to a predetermined user. The path planning processing module 430 may set a path (i.e., path data) for the robot 100. The robot control system 120 may control the movement of the robot 100 so that the robot 100 moves along the path thus set (i.e., along the set path).

[0087] The service operation module 440 may include a function for controlling services provided by the robot 100 within a space. For example, the robot control system 120 or a service provider operating the space may provide an integrated development environment (IDE) for services (e.g., cloud services) provided by the robot control system 120 to a user or creator of the robot 100. In this case, the user or creator of the robot 100 may create software for controlling services provided by the robot 100 within the space using the IDE and register the software in the robot control system 120. In this case, the service operation module 440 may control the services provided by the robot 100 using the software registered in association with the robot 100. As a specific example, assuming that the robot 100 provides a service of delivering an item requested by a user (e.g., food, drink, or home delivery) to the user's location, the robot control system 120 not only controls the indoor autonomous movement of the robot 100 to control the robot 100 to move to the user's location, but also transmits related commands to the robot 100 so that the robot 100 provides a series of services, such as handing over the item to the user and outputting a user response voice when it arrives at the destination.

[0088] Robot control system 120 is a computer system for controlling robot 100 and may be a server. Robot control system 120 may be a server located outside a space or building and may be a cloud server. Alternatively, in some embodiments, robot control system 120 may be located inside a space or building.

[0089] The robot control system 120 (i.e., processor 320) may control each of the multiple robots (i.e., multi-robots) 100 operating in a space, and may control each robot 100 getting on or off the elevator car 20.

[0090] Furthermore, the robot control system 120 may move the first robot 100 that is on board the elevator car 20 to a preset reference position in the interior area of ​​the elevator car 20, and may set the first robot 100 that has moved to the reference position as an agent for monitoring the interior situation of the elevator car 20. The robot control system 120 may acquire situation information about the interior of the elevator car 20 from the first robot 100 that is set as the agent, and may control the boarding of a second robot that has not yet boarded the elevator car 20 into the elevator car 20 or the disembarking of a third robot that is on board the elevator car 20 from the elevator car 20 based on the acquired situation information.

[0091] Thus, in an embodiment, the first robot 100 configured as an agent and controlled by the robot control system 120 may be utilized to obtain situational information about the interior of the elevator car 20 .

[0092] The method of setting a robot controlled by the robot control system 120 as an agent and the method of controlling the robot's entry / exit into the elevator car 20 based on situation information from such an agent will be described in further detail with reference to Figures 6 to 17.

[0093] The technical features described above with reference to FIGS. 1 and 2 can be applied to FIGS. 3 and 4 as well, so duplicated explanations will be omitted.

[0094] FIG. 5 is a block diagram illustrating an elevator control system for controlling access to and from elevator cars operating within a space, in one embodiment.

[0095] Elevator control system 130 may be a device that calls and controls (or generates signals to control) the movement of elevator car 20 as it moves (e.g., boards and alights) within a space or building. Elevator control system 130 may include at least one computing device and may be implemented as a computer system located within or outside the building.

[0096] The elevator control system 130 may be separate from the control panel that directly controls the elevator car 20. The elevator control system 130 may transmit signals to the control panel required to control the elevator car 20. Alternatively, the elevator control system 130 may be configured to include the control panel.

[0097] Elevator control system 130 may include memory 530, processor 520, communication unit 510, and input / output interface 540 as shown.

[0098] Regarding the general explanation of the components 510 to 540 of the elevator control system 130, the explanation of the general technical features of the components 310 to 340 of the robot control system 120 described above can be applied as is, so duplicate explanations will be omitted.

[0099] Meanwhile, the elevator control system 130 may be operated by a separate entity or implemented as a separate system from the robot control system 120. However, depending on the implementation method, the elevator control system 130 and the robot control system 120 may be implemented as a single system. In other words, the elevator control system 130 and the robot control system 120 may be implemented as a single server or computing device located inside or outside the building.

[0100] The elevator control system 130 may be linked with the robot control system 120. For example, the elevator control system 130 may share with the robot control system 120 schedule information including the current location and destination of the elevator car(s) 20, and status information including the occupancy rate and internal occupancy status of the elevator car(s) 20, and may control the elevator car(s) 20 in response to a request from the robot control system 120. More detailed embodiments of this will be described in more detail with reference to the drawings described below.

[0101] The technical features described above with reference to FIGS. 1 to 4 can be applied to FIG. 5 as they are, so duplicated explanations will be omitted.

[0102] In the detailed description provided below, operations performed by components of the robot control system 120 or elevator control system 130 (e.g., processors 320, 520, etc.) are described as operations performed by the robot control system 120 or elevator control system 130 for convenience of explanation.

[0103] FIG. 6 is a flowchart showing a method in one embodiment in which a first robot on board an elevator car is set as an agent for monitoring the internal situation of the elevator car, and the robot's entry / exit from the elevator car is controlled based on situation information from the agent.

[0104] The robot control system 120 (i.e., processor 320) may control each of the multiple robots (i.e., multi-robots) operated in the space, including the first robot 100, and may control each robot 100 getting on or off the elevator car 20.

[0105] In step 610, the robot control system 120 may move the first robot 100 in the elevator car 20 to a preset reference position in the interior area of ​​the elevator car 20. The reference position is a position determined in advance in consideration of the sensing range of the sensor unit 106 of the first robot 100, and may be a position in the interior area of ​​the elevator car 20 that is suitable for the first robot 100 to monitor the interior situation of the elevator car 20. The reference position may indicate, for example, the center area of ​​the interior area of ​​the elevator car 20. In other words, the robot control system 120 may move the first robot 100 in the elevator car 20 to the center position of the interior area of ​​the elevator car 20.

[0106] In step 620, the robot control system 120 may set the first robot 100 as an agent for monitoring the internal situation of the elevator car 20, and may obtain situation information related to the interior of the elevator car from the first robot 100. The first robot 100 set as an agent may sense the internal situation of the elevator car 20 at a reference position, and transmit situation information including sensing data related to the internal situation of the elevator car 20 to the robot control system 120.

[0107] In step 630, based on the acquired situation information, the robot control system 120 may control the boarding of a second robot that has not yet boarded the elevator car 20 (i.e., a robot that is scheduled to board the elevator car 20 after the first robot 100) into the elevator car 20, or the disembarking of a third robot that is boarded the elevator car 20 (i.e., a robot that boarded the elevator car 20 before or after the first robot 100 boarded) from the elevator car 20.

[0108] In other words, the robot control system 120 can appropriately control the second robot and the third robot to get on / off the elevator car 20 according to the internal situation of the elevator car 20 based on the situation information about the elevator car 20 obtained from the agent.

[0109] The situation information acquired from the agent may include data for identifying a dynamic obstacle in the elevator car 20. The data for identifying a dynamic obstacle may include sensing data on the dynamic obstacle detected by the sensor unit 106 of the first robot 100. The dynamic obstacle may include a dynamic obstacle present in the elevator car 20 and / or a dynamic obstacle getting on / off the elevator car 20. The dynamic obstacle may include other robot(s) other than the first robot 100 and / or a human.

[0110] The robot control system 120 may control the second robot's entry into the elevator car 20 in accordance with steps 632 to 636 in response to such situation information.

[0111] In step 632, the robot control system 120 may identify an entry / exit flow of the dynamic obstacle relative to the elevator car 20 based on the situation information from the first robot 100, which is an agent. The entry / exit flow may include entry flow information in which the identified dynamic obstacle passes through the doors of the elevator car 20 to enter and / or exit flow information in which the identified dynamic obstacle exits. The entry flow information may indicate whether the identified dynamic obstacle is entering the elevator car 20 in real time (or near real time), and the exit flow information may indicate whether the identified dynamic obstacle is exiting the elevator car 20 in real time (or near real time).

[0112] In step 634, the robotic control system 120 may determine whether the disembarkation (or boarding) of the identified dynamic obstacle from the elevator car 20 is complete based on the identified boarding / alighting flow. For example, the robotic control system 120 may determine that the disembarkation of the dynamic obstacle is complete when it is determined that the identified dynamic obstacle has passed through an entry / exit area (or boarding / alighting area), which is the area around the door of the elevator car 20, and exited the elevator car 20. The robotic control system 120 may also determine that the boarding (or boarding) of the dynamic obstacle is complete when it is determined that the identified dynamic obstacle has passed through an entry / exit area (or boarding / alighting area), which is the area around the door of the elevator car 20, and entered the elevator car 20. The entry / exit area will be described in more detail with reference to FIG. 14 .

[0113] In step 636, the robot control system 120 may control the boarding of a second robot located in a waiting space around the elevator doors into the elevator car 20 to board the elevator car 20, depending on whether it is determined that the dismounting (or boarding) of the identified moving obstacle has been completed. For example, the robot control system 120 may control the second robot to board the elevator car 20 when it is determined that the dismounting of the moving obstacle has been completed. Thus, interference between the boarding of the second robot and the dismounting of the moving obstacle can be prevented. The second robot may wait in a position in the waiting space that does not interfere with the dismounting of the moving obstacle until it is determined that the dismounting (or boarding) of the moving obstacle has been completed.

[0114] Here, the waiting space is a space where passengers wait to board the elevator car 20, and may be, for example, the front room space or a partial area of ​​the front room space. The waiting space will be described in more detail with reference to FIG. 14.

[0115] In the embodiment, in addition to the status information from the first robot 100, which is the agent, status information about the waiting space from the second robot located in the waiting space can be utilized to control the second robot getting on to the elevator car 20 and the third robot getting off.

[0116] In this regard, in step 625, the robot control system 120 may acquire additional situation information from the second robot. The additional situation information may include situation information regarding the entry / exit area described above. In other words, the robot control system 120 may further acquire situation information regarding the entry / exit area associated with the waiting space from the second robot.

[0117] When determining whether the disembarking (or boarding) of the identified moving obstacle is completed, the robot control system 120 may determine whether the disembarking (or boarding) of the moving obstacle is completed based on the boarding / alighting flow from the first robot 100, which is an agent, and situation information related to the entry / exit area. As an example, the robot control system 120 may determine whether the disembarking (or boarding) of the moving obstacle is completed by combining and analyzing the boarding and / or alighting flow information of the moving obstacle from the first robot 100, which is an agent, and situation information related to the entry / exit area from the second robot (waiting in the waiting space to board the elevator car 20).

[0118] Such additional situation information obtained from the second robot can complement the situation information from the first robot 100, specifically, it can complement situation information regarding areas of the entry / exit area that are outside the sensing range of the first robot 100 (i.e., blind spots).

[0119] The method for controlling the boarding of the second robot into the elevator car 20 will be described in more detail below with reference to FIG.

[0120] FIG. 7 is a flow chart illustrating a method for controlling the entry of a second robot into an elevator car, in one example.

[0121] In step 710, the robot control system 120 may position the second robot on one side of the elevator door of the waiting space while the moving obstacle is getting off (or on) (i.e., when it is determined that the moving obstacle is getting off (or on) based on the above-mentioned situation information and / or additional situation information). In this case, the side of the elevator door of the waiting space where the second robot is positioned may be outside the above-mentioned entry / exit area or at the boundary of the entry / exit area. In other words, the second robot may wait at a position in the waiting space that does not interfere with the moving obstacle getting on or off.

[0122] In step 720, when the disembarking (or boarding) of the moving obstacle is completed (i.e., when it is determined that the disembarking (or boarding) of the moving obstacle is completed based on the above-described situation information and / or additional situation information), the robot control system 120 may position the second robot in front of the elevator door of the waiting space. At this time, the area in front of the elevator door of the waiting space where the second robot is located may be within the above-described entry / exit area. In this way, by having the second robot preemptively occupy the area in front of the elevator door (entry / exit area), the second robot can prevent other moving obstacles (such as humans) from boarding the elevator car 20.

[0123] In step 730, the robot control system 120 may control the second robot to pass through the elevator doors and board the elevator car 20. The second robot may pass through the elevator doors and board the elevator car 20 from the area in front of the previously occupied elevator doors (entrance / exit area).

[0124] This allows the second robot to board the elevator car 20 without interfering with the moving obstacle that has boarded / disembarked from the elevator car 20 before in the embodiment.

[0125] Returning to FIG. 6, we will now explain how the first robot 100 pre-occupies the area in front of the elevator doors in the waiting space (i.e., the entry / exit area) before boarding the elevator car 20.

[0126] In step 605, the robot control system 120 may cause the first robot 100 to occupy a waiting space for boarding the elevator car 20. The robot control system 120 may position the first robot 100 in front of the elevator door in the waiting space around the elevator door to board the elevator car 20. This allows the first robot 100 to preemptively occupy the above-mentioned entry / exit area.

[0127] As an example, when it is determined that the elevator car 20 in which the first robot 100 is scheduled to board is empty, the robot control system 120 may position the first robot 100 in front of the elevator doors of the waiting space. In other words, the robot control system 120 may cause the first robot 100 to occupy the entry / exit area first when the first robot 100 is to board the empty elevator car 20. In this way, by positioning the first robot in front of the elevator doors (i.e., by occupying the entry / exit area first), the first robot 100 can be the first to board the empty elevator car 20.

[0128] Whether the elevator car 20 is empty may be determined based on information obtained from the elevator control system 130. For example, the robot control system 120 may determine whether the elevator car 20 is empty based on occupancy status information about the elevator car 20 obtained from the elevator control system 130 (e.g., information about the occupancy rate based on sensing values ​​from a weight sensor (weight tolerance determination), a camera, etc.). Alternatively, the robot control system 120 may directly receive information indicating that the elevator car 20 is empty from the elevator control system 130. On the other hand, an empty elevator car 20 may indicate an elevator car that is predicted to be empty within a certain time from the time of calling.

[0129] In this way, when the first robot 100 boards the elevator car 20, the first robot can occupy the entry / exit area first so that the boarding of the first robot 100 is not obstructed.

[0130] The first robot 100 may travel a route according to the assigned task or the service to be provided, and may move to a target floor that is a destination.

[0131] In step 640, the robot control system 120 may control the first robot 100 to exit the elevator car 20 when the first robot 100 arrives at its target floor.

[0132] When the first robot 100 dismounts or moves away from the reference position, the robot control system 120 may prevent the first robot 100 from acting as an agent any more, and may allow another robot to act as an agent in place of the first robot 100.

[0133] The method of making another robot act as an agent in place of the first robot 100 will be described in more detail with reference to FIGS.

[0134] Meanwhile, the first robot 100 operating as an agent may be an idle robot that is not currently performing a task or service. When the first robot 100 is an idle robot, it may be maintained at a reference position. In this case, the reference position may be a standby position where the idle robot waits. Meanwhile, in some embodiments, a charging facility for charging the idle robot may be provided at the reference position. In such an embodiment, the idle robot may be charged while operating as an agent.

[0135] In this way, by utilizing idle robots that are not assigned any tasks as robots set as agents, it is possible to improve the operational efficiency of robots operated within a space.

[0136] The technical features described above with reference to FIGS. 1 to 5 can be applied to FIGS. 6 and 7 as they are, and therefore, redundant description will be omitted.

[0137] As described above, the embodiment can be extended to controlling the entry and / or exit of a robot into a partitioned space within a room. In other words, the robot control system 120 may execute a robot control method for controlling a robot entering or exiting a partitioned space. In step 610 described above, the robot control system 120 may move the first robot 100 that has entered the partitioned space to a preset reference position within the interior area of ​​the partitioned space. In step 620 described above, the robot control system 120 may set the first robot 100 as an agent for monitoring the internal situation of the partitioned space and acquire situation information about the interior of the partitioned space from the first robot 100. In step 630 described above, the robot control system 120 may control the entry of a second robot that has not yet entered the partitioned space into the partitioned space or the exit of a third robot that has entered the partitioned space from the partitioned space based on the situation information. In short, the partitioned space may be an elevator car 20. The features of the robot's entry / exit control for the elevator car 20 described in this disclosure can be similarly applied to the features of the robot's entry / exit control for any partitioned space, so duplicated explanations in this regard will be omitted.

[0138] Next, a method for causing another robot to act as an agent in place of the first robot 100 will be described in more detail with reference to FIGS.

[0139] FIG. 8 is a flow chart illustrating a method for setting a second robot as an agent in place of a first robot in one example.

[0140] In an embodiment, the robot control system 120 may substitute for the first robot 100 by setting a second robot aboard the elevator car 20 as an agent.

[0141] In step 810, once the second robot boards the elevator car 20, the robot control system 120 may move the second robot to a reference position and move the first robot to another position in the interior area of ​​the elevator car 20 (by the method described with reference to Figures 6 and 7). In other words, the second robot may be controlled to substitute for the position of the first robot 100.

[0142] In step 810, the robot control system 120 may set the second robot, instead of the first robot, as an agent for monitoring the interior situation of the elevator car 20 and may obtain situation information about the interior of the elevator car from the second robot. In this way, the second robot that boards later can be set as an agent instead of the first robot 100. In some embodiments, the second robot that boards later can be set as an agent instead of the first robot 100 only if the second robot disembarks after the first robot 100.

[0143] FIG. 9 is a flowchart illustrating a method for setting a fourth robot as an agent in place of a first robot in one example.

[0144] In an embodiment, the robot control system 120 may substitute for the first robot 100 by setting a fourth robot on board the elevator car 20 as an agent.

[0145] Similar to step 640 described above, the robot control system 120 may control the first robot 100 to exit the elevator car 20 when the elevator car 20 arrives at the target floor, which is the destination of the first robot 100.

[0146] In step 910, when the first robot 100 leaves the reference position to disembark, the robot control system 120 may move the fourth robot already on the elevator car 20 to the reference position. In other words, the fourth robot may be controlled to take the position of the first robot 100.

[0147] In step 920, the robot control system 120 may set the fourth robot, instead of the first robot 100, as an agent for monitoring the internal situation of the elevator car 20 and may obtain situation information regarding the interior of the elevator car 20 from the fourth robot. In this way, when the first robot 100 arrives at the destination and gets off, another robot, the fourth robot, on board the elevator car 20 may be set as an agent instead of the first robot 100. Depending on the embodiment, the fourth robot set as an agent may be the robot on board the elevator car 20 that gets off last.

[0148] FIG. 10 is a flow chart illustrating a method for controlling disembarking of a third robot from an elevator car, in one example.

[0149] In an embodiment, the robot control system 120 may substitute for the first robot 100 by setting a third robot scheduled to get off the elevator car 20 as an agent.

[0150] In step 1010, before the elevator car 20 arrives at the target floor that is the destination of the third robot (for example, when the next destination of the elevator car 20 is the target floor of the third robot), the robot control system 120 may move the third robot to the reference position where the first robot 100 is located, and move the first robot 100 to another position in the internal area. In other words, the third robot may be controlled to substitute for the position of the first robot 100.

[0151] In step 1020, the robot control system 120 may set the third robot, instead of the first robot 100, as an agent for monitoring the internal situation of the elevator car 20 and may obtain situation information about the interior of the elevator car 20 from the third robot. In this way, the third robot that arrives at the destination and gets off the elevator car may be set as an agent instead of the first robot 100. To facilitate getting off the elevator car, the third robot may move to a reference position (e.g., the center position of the internal area) in advance before getting off the elevator car, and may thereby be set as an agent.

[0152] In step 1030, the robot control system 120 may control the third robot to get off the elevator car 20 from the reference position when the elevator car 20 arrives at the target floor, which is the destination of the third robot.

[0153] After the third robot gets off the elevator car 20, the first robot 100 may move to the reference position again and be set as the agent. Alternatively, another robot whose target floor is the next floor of the elevator car 20 (i.e., another robot that is scheduled to get off) may move to the reference position and be set as the agent.

[0154] The technical features explained above with reference to FIGS. 1 to 7 can be applied to FIGS. 8 to 10 as they are, and therefore, redundant explanations will be omitted.

[0155] FIG. 11 is a flow chart illustrating a method for interfacing with an elevator control system to control the entry and exit of a robot into and from an elevator car, in one example.

[0156] As described above, the robot control system 120 may interface with the elevator control system 130 (step 1110). For example, the elevator control system 130 may share with the robot control system 120 schedule information, including the current location and destination of the elevator car(s) 20, and status information, including the occupancy rate and interior occupancy status of the elevator car(s) 20, and may control the elevator car 20 in response to a request from the robot control system 120.

[0157] For example, the robot control system 120 may request the elevator control system 130 to call an empty elevator car (as the elevator car 20 for the first robot 100 to board). In response to this request, the elevator control system 130 may move an empty elevator car among multiple elevator cars operating in the space to the floor where the first robot 100 is located.

[0158] In this case, the elevator car moving to the floor where the first robot 100 is located may be controlled not to stop at any floors other than the floor where the first robot 100 is located, or such an elevator car may output at least one of a visual indicator and an audible indicator to prevent any more people from boarding the elevator car.

[0159] For example, the external user UI of the elevator (the external user UI that can be viewed in the waiting space) may display information indicating that the first robot 100 is scheduled to board, information indicating that the elevator is set as a robot-only elevator, or information indicating that other humans are not allowed to board. Alternatively, an elevator car that is moving for the first robot 100 to board may be prevented from being called by humans. Alternatively, the internal user UI of the elevator (the internal user UI that can be viewed inside the elevator car) may display or output information indicating that the first robot 100 is scheduled to board, information indicating that the elevator is set as a robot-only elevator, or information indicating that other humans are not allowed to board.

[0160] On the other hand, if there is no empty elevator car among the multiple elevator cars operating in the space, the elevator control system 130 may use at least one of a visual indicator and an audible indicator to guide a person in the elevator car moving to the floor where the first robot 100 is located to exit the elevator car, and may determine an empty elevator car from among the multiple elevator cars. Such exit guidance may be performed via the elevator's internal user UI. The elevator control system 130 may move the determined elevator car to the floor where the first robot 100 is located.

[0161] As another example, to empty the elevator car, it is also possible to apply a method in which the up / down indication continues to be displayed on the internal user UI or external user UI even when the elevator car reaches the top / bottom floor.

[0162] An elevator car that is determined to be empty may be moved to the nearest floor to a robot waiting to board.

[0163] In step 1120, the robot control system 120 may control the robot(s) based on information from the elevator control system 130.

[0164] Another embodiment of the interlocking between the robot control system 120 and the elevator control system 130 will be described in more detail below with reference to steps 1112 to 1116.

[0165] In step 1112, the robot control system 120 may obtain, from the elevator control system 130, schedule information regarding multiple elevator cars controlled by the elevator control system 130. For example, the schedule information may include current location information of each elevator car, (scheduled) stop position information of each elevator car, boarding / exiting request information for each elevator car, etc. The robot control system 120 may also obtain interior occupancy status information for each elevator car from the elevator control system 130.

[0166] In step 1114, the robot control system 120 may determine, based on the schedule information, which of the elevator cars to move to the floor where the first robot 100 is located. For example, based on the internal occupancy information, the robot control system 120 may determine an empty elevator car as the elevator car to move to the floor where the first robot 100 is located. Alternatively, based on the schedule information, the robot control system 120 may determine, as the elevator car to move to the floor where the first robot 100 is located, the elevator car (among all elevator cars or empty elevator cars) that can move to the floor where the first robot 100 is located first.

[0167] In step 1116, the robot control system 120 may request the elevator control system 130 to move the determined elevator car to the floor where the first robot is located. In some embodiments, the above-described step 1114 may be performed by the elevator control system 130.

[0168] Meanwhile, in response to the request, the elevator car that has been determined to move to the floor where the first robot 100 is located may be controlled to move immediately to the floor where the first robot 100 is located without stopping at other floors.

[0169] In this manner, in the embodiment, the robot control system 120 and the elevator control system 130 work together to efficiently call the elevator car 20 and control the robot getting on and off the called elevator car 20.

[0170] The technical features explained above with reference to FIGS. 1 to 10 can be applied to FIG. 11 as they are, so duplicated explanations will be omitted.

[0171] FIG. 12 is a diagram illustrating a method for arranging a robot scheduled to board an elevator car in a waiting space in one example.

[0172] As shown in the figure, humans and robots may be located in a waiting space 1210 for boarding / exiting the elevator car 20. The robot 1200 may be a robot scheduled to board.

[0173] As shown in "1", the robot 1200 may pre-occupy the area in front of the elevator doors of the waiting space 1210 (i.e., the entry / exit area). As an example, if the robot 1200 determines that the elevator car 20 that the robot 1200 is scheduled to board is empty, the robot control system 120 may position the robot 120 in front of the elevator doors of the waiting space 1210. This allows the robot 1200 to board the empty elevator car 20 first, thereby preventing a human from boarding the elevator car 20 first.

[0174] Meanwhile, as shown in "2," the robot 1200 may be positioned on one side of the elevator door in the waiting space 1210 when a moving obstacle (human and / or another robot) is getting off (or on) (i.e., when it is determined that the moving obstacle is getting off (or on) based on the above-described situation information and / or additional situation information). The one side of the elevator door may be outside the entry / exit area or at the boundary of the entry / exit area. This allows the robot 1200 to wait at a position in the waiting space 1210 that does not interfere with the moving obstacle getting on or off. Meanwhile, the direction of the moving obstacle getting on or off may be guided depending on the waiting position of the robot 1200. For example, if the robot 1200 waits on the right side of the door, the moving obstacle may be guided to get on or off to the left.

[0175] In this manner, in the embodiment, interference between robots and humans entering / exiting the elevator car 20 can be eliminated or minimized.

[0176] The technical features explained above with reference to FIGS. 1 to 11 can be applied to FIG. 12 as they are, and therefore, redundant explanations will be omitted.

[0177] FIG. 13 is a diagram showing a reference position where a robot set as an agent is placed in one example.

[0178] As described above, the reference position may be the central position "1" of the interior area of ​​the elevator car 20. However, depending on the embodiment, the reference position may be a corner position of the elevator car 20 (any one of "2" to "5") or a position on the wall side of the elevator car 20.

[0179] When the reference position is the central position "1", the interior area of ​​the elevator car 20 that is not covered by the situation information (i.e., blind spots) can be minimized. Also, other robots and humans on board will be positioned around the agent, making it easier to coordinate and identify them.

[0180] However, if the first robot 100 is located at the central position "1", people riding in the elevator car 20 may feel uncomfortable. Therefore, in some embodiments, the reference position may be set to a corner position (any one of "2" to "5") of the elevator car 20. Even if the first robot 100 is located at a corner position (any one of "2" to "5"), if the sensing range covered by the first robot 100 is sufficient to cover the interior area of ​​the elevator car 20, the reference position may be set to a corner position (any one of "2" to "5").

[0181] When the agent is placed at the reference position, the central position "1", other robots on board may be placed on the corners of the elevator car 20 or as close to the wall as possible so as not to interfere with people getting on and off.

[0182] When the reference position is set to a corner position (any one of "2" to "5"), a person getting on the elevator car 20 may be guided to get off while avoiding the corner where the agent is located. A person getting on the elevator car 20 may also be guided to get on while avoiding the corner where the agent is located.

[0183] The technical features explained above with reference to FIGS. 1 to 12 can be applied to FIG. 13 as they are, so duplicated explanations will be omitted.

[0184] FIG. 14 is a diagram illustrating a method for other robots and humans to get on and off an elevator car when a first robot is set as an agent in one example.

[0185] 14 defines an entry / exit area 1430 associated with a waiting space 1210 for boarding / exiting elevator car 20. As shown, entry / exit area 1430 may include a portion of waiting space 1210 and a portion of the interior area of ​​elevator car 20.

[0186] The agent 1400 may be placed at a central position in the interior area of ​​the elevator car 20. Based on the situation information from the agent 1400, the robot control system 120 may grasp the boarding and alighting flow of the human being, which is a dynamic obstacle. This allows the robot control system 120 to determine whether the alighting (or boarding) of the dynamic obstacle has been completed and control the boarding of the robot 1410 into the elevator car 20.

[0187] Additionally, as described above, the robot control system 120 may obtain additional situation information from the robot 1410 located in the waiting space 1210. The additional situation information may include situation information regarding the entry / exit area 1430. In other words, the robot control system 120 may further obtain, from the robot 1410, additional situation information regarding the entry / exit area 1430 associated with the waiting space 1210.

[0188] When determining whether the dismounting (or riding) of the identified dynamic obstacle (the human being depicted in the figure) has been completed, the robot control system 120 may determine whether the dismounting (or riding) of the dynamic obstacle has been completed based on the on-boarding / off-boarding flow from the agent 1400 and additional situation information from the robot 1410 regarding the entry / exit region 1430. As an example, the robot control system 120 may determine whether the dismounting (or riding) of the dynamic obstacle (the human being depicted in the figure) has been completed by fusing and analyzing the on-boarding and / or off-boarding flow information of the dynamic obstacle from the agent 1400 and the additional situation information from the robot 1410 regarding the entry / exit region 1430.

[0189] The robot 1410 may wait on one side of the elevator doors of the waiting space 1210 while the human is getting off (or getting on) (i.e., when it is determined that the human is getting off (or getting on) based on the above-mentioned situation information and / or the additional situation information). Furthermore, the robot 1410 may be positioned in front of the elevator doors of the waiting space 1210 when the human has finished getting off (or getting on) (i.e., when it is determined that the human has finished getting off (or getting on) based on the above-mentioned situation information and / or the additional situation information). In other words, by occupying the entry / exit area 1430 first, the robot 1410 can board the elevator car 20 before other humans board.

[0190] In this way, the additional situation information obtained from the robot 1410 shown in the figure can complement the situation information from the agent 1400, specifically, the situation information regarding the area of ​​the entry / exit area 1430 that is outside the sensing range C1 of the agent 1400 (i.e., the blind spot area that belongs to the sensing range C2 of the robot 1410).

[0191] In an embodiment, the robots controlled by the robot control system 120, including the robot 1410, may be brainless robots. Such robot(s) may be configured to transmit sensing data acquired from their own sensors as situation information to the robot control system 120 (located at a remote location). The robot control system 120 may construct more complete information about the compartment (i.e., the elevator car 20) by fusing the information transmitted from such robot(s). In other words, the robot control system 120 may more accurately grasp the situation of the compartment.

[0192] The robot control system 120 may dynamically configure information indicating a more accurate situation for the partitioned space based on information transmitted from the robot(s), and may control the entry and / or exit and movement of the robot(s) into and / or from the partitioned space based on such dynamically configured information.

[0193] By realizing the robot(s) as brainless robots, fewer calculations are performed on each robot, and each robot can be controlled by the robot control system 120 by transmitting sensing data to the robot control system 120 and receiving control commands from the robot control system 120.

[0194] Thus, in an embodiment, each robot may be implemented in a passive manner, and the fusion of information acquired by each robot may be performed by the remote robot control system 120.

[0195] The technical features explained above with reference to FIGS. 1 to 13 can be applied to FIG. 15 as they are, so duplicated explanations will be omitted.

[0196] FIG. 15 is a diagram illustrating a method for setting another robot as an agent in place of a robot set as an agent in one example.

[0197] As described with reference to FIGS. 8 to 10, the agent 1510 may be replaced by another robot 1520 getting on the elevator car 20 or another robot 1530 that is scheduled to get off the elevator car 20.

[0198] When an agent 1510 is replaced, the robot corresponding to the existing agent 1510 may exit the elevator car 20 or be moved to another location in the interior area.

[0199] The technical features explained above with reference to FIGS. 1 to 14 can be applied to FIG. 15 as they are, so duplicated explanations will be omitted.

[0200] FIG. 16 illustrates how a robot may output visual and / or audible indicators in one example.

[0201] As shown, the robot 1600 may be configured to output a visual indicator (e.g., a light, etc.) and / or an audible indicator (e.g., a sound, a beep, etc.). The robot 1600 may be a boarding robot, a disembarking robot, or a robot configured as an agent, as described above.

[0202] For example, the robot control system 120 may control the robot 1600 set as an agent to output at least one of a visual indicator and an audible indicator to guide the human being in the elevator car 20 to move to another position. By recognizing the output indicator, the human being will move to another position.

[0203] The robot control system 120 may also control the robot 1600 to output at least one of a visual indicator and an audible indicator when boarding the elevator car 20, so that the robot 1600 restricts human boarding of the elevator car 20.

[0204] The robot control system 120 may also control the robot 1600 to output at least one of a visual indicator and an audible indicator when the robot 1600 exits the elevator car 20, to restrict human entry into the elevator car 20.

[0205] In this way, the robot 1600 of the embodiment can output a visual and / or audible indicator to allow the human to move so as not to interfere with the robot 1600 getting on or off.

[0206] The technical features explained above with reference to FIGS. 1 to 15 can be applied to FIG. 16 as they are, so duplicated explanations will be omitted.

[0207] FIG. 17 is a diagram illustrating a method for controlling an elevator car in which a robot gets on and off, in one example.

[0208] As shown in the figure, the descending elevator car 20 may be controlled to sweep from the top floor (floor n) of a space or building to the bottom floor (floor 1). The elevator car 20 may be controlled by an elevator control system 130. For example, the elevator car 20 may be controlled by the elevator control system 130 in conjunction with the robot control system 120.

[0209] The elevator car 20 carrying a robot (e.g., the first robot 100) may be controlled not to stop at floors where there are no robots or humans getting off the elevator car 20. That is, the elevator car 20 may be configured to stop at floors where a robot is boarding.

[0210] Also, the elevator car 20 that is called to board a robot (for example, the first robot 100) may be controlled to move immediately to the floor where the robot is located without stopping at other floors.

[0211] Regarding the control of the elevator car 20 through the cooperation of the robot control system 120 and the elevator control system 130, the contents explained with reference to FIG. 11 can be similarly applied, and therefore a duplicated explanation will be omitted.

[0212] The technical features described above with reference to FIGS. 1 to 16 can be applied to FIG. 17 as they are, so duplicated explanations will be omitted.

[0213] According to the embodiment, the robot control system 120 can receive sensing data (situation information) from the robot 100, which is an agent occupying a reference position, and the robot control system 120 can recognize the situation inside the elevator car 20 based on such situation information and determine in real time whether the robot(s) required to board the elevator car 20 are able to board the elevator car 20.

[0214] In addition, the robot control system 120 can obtain schedule information, such as human call information for the elevator car 20 and information on the floors at which the elevator car 20 is scheduled to stop, from the elevator control system 130, and based on this, can request the elevator control system 130 to change the elevator car 20 in which the robot 100 boards to another elevator car. In this way, the robot control system 120 can attempt to proactively schedule the elevator cars. For example, the robot control system 120 can request the elevator control system 130 to proactively schedule at least one of the elevator cars, such as requesting priority dispatch or non-stop movement.

[0215] The above-described systems or devices may be realized using hardware components, software components, or a combination of hardware and software components. For example, the devices and components described in the embodiments may be realized using one or more general-purpose or special-purpose computers, such as a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or various devices capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the OS. The processing device may also access, record, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, a single processing device may be described. However, those skilled in the art will understand that a processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing device may include multiple processors or one processor and one controller. Other processing configurations, such as parallel processors, are also possible.

[0216] Software may include computer programs, codes, instructions, or a combination of one or more of these, and may configure a processing device to operate as desired or may independently or collectively instruct the processing device. The software and / or data may be embodied in any type of machine, component, physical device, virtual device, computer storage medium, or device to be interpreted by the processing device or to provide instructions or data to the processing device. The software may be distributed and stored and executed in a distributed manner on computer systems connected by a network. The software and data may be stored on one or more computer-readable storage media.

[0217] Methods according to embodiments may be embodied in the form of program instructions executable by various computer means and stored on a computer-readable medium. The computer-readable medium may include, alone or in combination, program instructions, data files, data structures, and the like. The program instructions stored on the medium may be specially designed for the embodiments or may be readily available to those skilled in the art of computer software. Examples of computer-readable storage media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specially configured to store and execute program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language code, such as that generated by a compiler, but also high-level language code executed by a computer using an interpreter, for example.

[0218] Although the embodiments have been described above based on limited examples and drawings, those skilled in the art will appreciate that various modifications and variations may be made from the above description. For example, the described techniques may be performed in an order different from that described, and / or the described system, structure, device, circuit, or other element may be coupled or combined in a manner different from that described, or may be substituted or replaced by other elements or equivalents, and still achieve suitable results.

[0219] Therefore, different embodiments are within the scope of the appended claims, provided that they are equivalent to the claims.

Claims

1. A robot control method executed by a robot control system for controlling a robot in a space to enter or exit a partitioned space, comprising: a step of moving the first robot that has entered the partitioned space to a predetermined reference position within an internal region of the partitioned space; setting the first robot as an agent for monitoring the internal situation of the partitioned space, and acquiring situation information regarding the inside of the partitioned space from the first robot; and and controlling, based on the situation information, the entry of a second robot that has not yet entered the partitioned space into the partitioned space or the exit of a third robot that has entered the partitioned space from the partitioned space. A robot control method comprising:

2. the robot control system controls a robot to get on or off an elevator car that gets on or off within the space; the compartment is the elevator car; the step of moving to the reference position includes moving the first robot loaded on the elevator car to the reference position in an interior area of ​​the elevator car; the step of acquiring the situation information includes setting the first robot as an agent for monitoring an internal situation of the elevator car, and acquiring the situation information regarding the interior of the elevator car from the first robot; 2. The robot control method according to claim 1, wherein the controlling step controls, based on the situation information, the second robot that has not yet boarded the elevator car to board the elevator car, or the third robot that has boarded the elevator car to disembark from the elevator car.

3. The robot control method according to claim 1 , wherein the reference position is a position indicating a central region of the internal region.

4. the situational information includes data for identifying a dynamic obstacle within the elevator car; The controlling step includes: identifying an entry / exit flow of a dynamic obstacle relative to the elevator car based on the situation information; determining whether the moving obstacle has finished dismounting from the elevator car based on the boarding / dismounting flow; and and controlling the second robot, which is located in a waiting space around an elevator door for boarding the elevator car, to board the elevator car according to whether it is determined that the dismounting of the moving obstacle has been completed. The robot control method according to claim 2 , comprising:

5. obtaining status information from the second robot regarding an entry / exit area associated with the waiting space; further comprising 5. The robot control method according to claim 4, wherein the step of determining whether dismounting of the dynamic obstacle is completed determines whether dismounting of the dynamic obstacle is completed based on the boarding / dismounting flow and situation information related to the entry / exit area.

6. The step of controlling the second robot to board the elevator car includes: positioning the second robot at one side of the elevator door in the waiting space while the moving obstacle is being dismounted; When the moving obstacle has been dismounted, the second robot is positioned in front of the elevator door in the waiting space; and controlling the second robot to pass through the elevator doors and enter the elevator car. The robot control method according to claim 5 , comprising:

7. When the second robot enters the elevator car, moving the second robot to the reference position and moving the first robot to another position in the interior area; and setting the second robot as the agent for monitoring the interior situation of the elevator car instead of the first robot, and obtaining situation information about the interior of the elevator car from the second robot; The robot control method of claim 2 further comprising:

8. When the elevator car arrives at a target floor that is the destination of the first robot, controlling the first robot to get off the elevator car; When the first robot leaves the reference position, moving a fourth robot already on the elevator car to the reference position; and setting the fourth robot as the agent for monitoring the interior situation of the elevator car instead of the first robot, and obtaining situation information about the interior of the elevator car from the fourth robot; The robot control method of claim 2 further comprising:

9. The controlling step includes: before the elevator car arrives at a target floor that is the destination of the third robot, moving the third robot to the reference position and moving the first robot to another position in the interior area; setting the third robot as the agent for monitoring the interior situation of the elevator car instead of the first robot, and obtaining situation information about the interior of the elevator car from the third robot; and When the elevator car arrives at a target floor that is the destination of the third robot, controlling the third robot to get off the elevator car from the reference position. The robot control method according to claim 2 , comprising:

10. When it is determined that the elevator car in which the first robot is to board is empty, positioning the first robot in front of the elevator door in a waiting space around the elevator door for boarding the elevator car. further comprising The first robot is positioned in front of the elevator doors, so that the first robot will be first to board the empty elevator car. The robot control method according to claim 2 .

11. Interfacing with an elevator control system that controls the elevator car. further comprising The interlocking step includes: requesting the elevator control system to call the empty elevator car; Including, 11. The robot control method according to claim 10, wherein in response to the call, the elevator control system moves an empty elevator car among a plurality of elevator cars operating in the space to a floor where the first robot is located.

12. The elevator car that is moved to the floor where the first robot is located is The robot is controlled so as not to stop at any floor other than the floor where the first robot is located, 12. The method of claim 11, further comprising outputting at least one of a visual indicator and an audible indicator to prevent further human boarding.

13. 12. The robot control method according to claim 11, wherein, when there is no empty elevator car among the plurality of elevator cars operating in the space, the elevator control system determines an empty elevator car from among the plurality of elevator cars by using at least one of a visual indicator and an audible indicator to guide a person in the elevator car that is to move the first robot to the floor where the first robot is located to disembark.

14. the first robot is an idle robot that has no ongoing mission; The robot control method according to claim 1 , wherein the first robot is maintained at the reference position while the first robot is in the idle robot state.

15. controlling the first robot set as the agent so that the first robot outputs at least one of a visual indicator and an audible indicator to guide the person in the elevator car to move to another position; The robot control method of claim 2 further comprising:

16. controlling the second robot to output at least one of a visual indicator and an audible indicator when the second robot enters the elevator car to restrict human entry into the elevator car, or controlling the third robot to output at least one of a visual indicator and an audible indicator when the third robot exits the elevator car to restrict human entry into the elevator car. The robot control method of claim 2 further comprising:

17. Interfacing with an elevator control system that controls the elevator car. further comprising The interlocking step includes: obtaining, from the elevator control system, schedule information relating to a plurality of elevator cars controlled by the elevator control system; determining, based on the schedule information, an elevator car to move the first robot to a floor where the first robot is located; and requesting the elevator control system to move the determined elevator car to the floor where the first robot is located; The robot control method according to claim 2 , comprising:

18. 18. The robot control method according to claim 17, wherein the determined elevator car, which is moved to the floor where the first robot is located in response to the request, is controlled to move immediately to the floor where the first robot is located without stopping at other floors.

19. A computer system constituting a robot control system that controls a robot getting on and off an elevator car that gets on and off in a space, At least one processor implemented to execute computer-readable instructions Including, The at least one processor A computer system that moves a first robot that is on board the elevator car to a preset reference position in an interior area of ​​the elevator car, sets the first robot as an agent for monitoring the internal situation of the elevator car, obtains situation information regarding the interior of the elevator car from the first robot, and controls, based on the situation information, the boarding of a second robot that has not yet boarded the elevator car into the elevator car, or the disembarking of a third robot that is on board the elevator car from the elevator car.

20. A computer system constituting a robot control system that controls a robot entering or exiting a partitioned space, At least one processor implemented to execute computer-readable instructions Including, The at least one processor A computer system that moves a first robot that has entered the partitioned space to a predetermined reference position within the internal area of ​​the partitioned space, sets the first robot as an agent for monitoring the internal situation of the partitioned space, obtains situation information regarding the interior of the partitioned space from the first robot, and controls, based on the situation information, the entry of a second robot that has not yet entered the partitioned space into the partitioned space, or the entry of a third robot that has entered the partitioned space from the partitioned space.

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