Robot driving control system and robot control method

Abstract

The present invention discloses a robot travel control system and a robot control method. The robot travel control system according to the present invention includes a plurality of robots traveling in a predetermined space on a map, and a server that communicates with the plurality of robots and determines the degree of congestion in a designated area where traffic control is required in the predetermined space on the map. The server also registers at least one designated area as a detour node based on the determined degree of congestion, includes the registered detour node in the travel path, detects robots entering a predetermined range from the detour node, and generates and provides a detour path for the detected robots, taking into account the travel paths of other robots present around the detour node. This makes it possible to minimize the occurrence of congested areas by knowing the degree of congestion in a space in advance and providing detour paths so that robots do not concentrate in a specific section, thereby enabling robots to complete their work without time delay.

Description

Technical Field

[0001] The present invention relates to a robot running control system and a robot control method. More specifically, the present invention relates to a robot running control system and a robot control method that enable a plurality of robots to communicate with a server while running in a predetermined space so as to avoid congestion in advance.

Background Art

[0002] A robot means a machine capable of autonomous running in order to process a given task by itself and is utilized in various fields. Such a robot is equipped with a plurality of sensors for avoiding obstacles during running and can run while avoiding obstacles by itself.

[0003] On the other hand, when a plurality of robots run in a space where a service is provided, there is a possibility that a congestion situation such as a plurality of robots concentrating in a specific area may occur. Here, it is important to minimize the congestion situation and appropriately balance the running routes of the plurality of robots. However, if an attempt is made to grasp the congestion degree for all the spaces where a plurality of robots can move, the load is large and it is inefficient.

[0004] In relation to this, Korean Registered Patent No. 10-1215395 (hereinafter referred to as "Prior Art Document 1") discloses a technique for avoiding a deadlock state and a collision between robots so that a plurality of robots have the shortest movement time and distance. However, although Prior Art Document 1 is advantageous in setting an optimal route with a small amount of calculation, it has limitations in applications for eliminating the concentration of a large number of robots.

[0005] Furthermore, Korean Registered Patent No. 10-1620290 (hereinafter referred to as "Prior Document 2") discloses a technology for generating paths to avoid collisions between multiple mobile robots. However, Prior Document 2 presents travel priority and guidance to new paths to prevent collisions between robots when a collision is expected, and is unrelated to minimizing congestion in advance where collisions are not expected.

[0006] Therefore, even if actual collisions do not occur between multiple robots, a plan is needed to balance them in advance to prevent them from concentrating in a particular area. [Overview of the project] [Problems that the invention aims to solve]

[0007] Herein, the object of the embodiments of this disclosure is to provide a robot driving control system and a robot control method that can provide balancing to minimize the occurrence of congested areas.

[0008] Furthermore, according to the embodiments of this disclosure, the objective is to provide a robot travel control system and a robot control method that can pre-determine the degree of robot congestion, focusing on areas such as intersections on a map, and regenerate routes so that robots do not concentrate in specific sections.

[0009] Furthermore, according to embodiments of this disclosure, the objective is to provide a robot travel control system and a robot control method that generate detour routes to prevent robots from concentrating in a specific section, while ensuring that these routes do not overlap with the travel routes of other robots currently in motion. [Means for solving the problem]

[0010] In the robot driving control system and robot control method according to an embodiment of the present invention, a server communicates with multiple robots, grasps the degree of congestion, mainly at intersections and narrow roads on a map, and controls the robots in motion so that they can avoid and detour around congested areas in advance.

[0011] In this case, the alternative detour route is generated while taking into account the movement paths of other robots in motion, and applying a bias to ensure that the routes do not overlap.

[0012] Furthermore, by understanding the congestion level not for all robots across the entire map, but for areas (designated zones) around locations requiring traffic control (e.g., intersections, pathways, narrow roads, etc.), congestion can be efficiently balanced in advance.

[0013] Specifically, the robot travel control system according to the present invention includes a plurality of robots that travel in a predetermined space on a map, and a server that communicates with the plurality of robots and determines the degree of congestion in a designated area where traffic control is required in the predetermined space on the map. Furthermore, the server registers at least one designated area as a detour node based on the determined degree of congestion, includes the registered detour node in the travel path, detects robots that enter a predetermined range from the detour node, and generates a detour path for the detected robots, taking into account the travel paths of other robots present around the detour node.

[0014] According to the embodiment, the server can determine the degree of congestion for each designated area by taking into account the movement directions of other robots present in the vicinity of the designated area.

[0015] According to the embodiment, the server determines whether or not to register a bypass node based on whether the determined congestion level deviates from the set criteria, registers bypass nodes corresponding to designated areas where the congestion level for each designated area deviates from the set criteria in the list, and removes bypass nodes corresponding to designated areas where the congestion level has decreased as having met the set criteria from the list.

[0016] According to the embodiment, the server determines the degree of congestion in a designated area of ​​the entire map at regular time intervals, updates the list based on the determination, and the regular time interval can be varied based on the characteristics of the map and the total number of robots operating in the predetermined space.

[0017] According to the embodiment, the server can count a bias on the links to the bypass nodes, taking into account each movement path of the other robots, and generate the bypass path of the detected robot.

[0018] According to the embodiment, the server can select the links in the detour path by applying a bias to the links in the detour path so as to avoid the links in the detour path when the direction of movement of the other robot approaches the detour node, and by applying the same bias to the links in the detour path as the other links when the direction of movement of the other robot moves away from the detour node.

[0019] According to the embodiment, the server can consider the current position and destination of the detected robot, apply a bias to each designated area that the robot moving in the predetermined space is heading towards, and generate the detour route so that it does not overlap with the path of the moving robot.

[0020] According to the embodiment, after the detected robot enters the predetermined range, if it receives a detour route from the server, it can transmit information about the modified travel route according to the received detour route to the server and perform travel according to the modified travel route.

[0021] According to the embodiment, if the generated detour route is the same as the conventional travel route, or if the detected robot's current travel route is in one direction, the server can transmit a stop command to the detected robot so that it begins traveling after the congestion at the detour node ahead has been cleared.

[0022] Also, the robot control method according to an embodiment of the present invention is a robot control method including a plurality of robots traveling in a predetermined space on a map and a server communicating with the plurality of robots, the method comprising: determining a congestion level for a designated area where traffic control is required in the predetermined space of the map; registering at least one designated area as a detour node based on the determined congestion level; detecting a robot entering within a predetermined range of the registered detour node by including the registered detour node in a movement route; and generating a detour route for the detected robot in consideration of movement routes of other robots existing around the detour node.

Effects of the Invention

[0023] According to the robot travel control system and the robot control method according to an embodiment of the present invention, even if congestion or collision does not actually occur, the congestion level of the space can be grasped in advance, and by providing a detour route so that robots do not concentrate in a specific section, the occurrence of a congested area can be minimized, thereby enabling the robots to complete operations (e.g., delivery, picking, etc.) without time delay.

[0024] Also, according to the robot travel control system and the robot control method according to an embodiment of the present invention, when generating a route for bypassing a congested area, by considering the traveling directions and movement routes of other robots so that the routes do not overlap, not only can it prevent robots from concentrating in a specific section, but also the robots can be moved in a more balanced manner overall.

[0025] Also, according to the robot travel control system and the robot control method according to an embodiment of the present invention, when there are special circumstances such as when a robot is currently traveling in one direction or when the detour route is the same as the conventional travel route, it waits for a certain period of time and starts traveling after the congestion situation has been resolved, so that it can operate flexibly even in exceptional situations.

Brief Description of the Drawings

[0026] [Figure 1]It is an exemplary block diagram showing a travel control system of a robot related to the present invention. [Figure 2] It is a diagram for explaining the registration of the congestion degree of a designated area and a detour node related to the present invention. [Figure 3] It is a block diagram showing the detailed configuration of a robot related to the present invention and a server that communicates with the robot. [Figure 4] It is a typical flowchart of a robot control method related to the present invention. [Figure 5] It is a diagram for explaining that when determining the congestion degree of a designated area related to the present invention, it is determined in consideration of the movement paths of other robots. [Figure 6] It is a diagram for explaining that when generating a detour path related to the present invention, it is determined in consideration of the traveling directions of all robots during movement. [Figure 7] It is a diagram for explaining the operation when the detour path related to the present invention is the same as the conventional traveling path. [Figure 8] It is a flowchart showing in more detail a method for providing a detour path for congestion avoidance related to the present invention.

Mode for Carrying Out the Invention

[0027] The embodiments disclosed herein will be described in detail below with reference to the drawings, but regardless of the reference numerals used in the drawings, identical or similar components will be given the same reference numerals and redundant descriptions will be omitted. The suffixes “module” and “part” used for components in the following description are added or used interchangeably solely for the ease of writing this specification and do not have any distinguishing meaning or role in themselves. Furthermore, in describing the embodiments disclosed herein, if it is determined that a specific description of the relevant prior art may obscure the gist of the embodiments disclosed herein, the detailed description will be omitted. In addition, the accompanying drawings are provided to facilitate an understanding of the embodiments disclosed herein and should be understood that the technical ideas disclosed herein are not limited by the accompanying drawings and include all modifications, equivalents or substitutes that fall within the concept and technical scope of the present invention.

[0028] Terms such as "First," "Second," etc., are used to describe the various components of the embodiment. However, the interpretation of these components should not be limited by these terms. Such terms are merely used to distinguish one component from another.

[0029] When it is mentioned that one component is “linked” or “connected” to another component, it should be understood that this means it is directly linked or connected to that other component, but also includes cases where another component is interposed between them. On the other hand, when it is mentioned that one component is “directly linked” or “directly connected” to another component, it should be understood that there is no other component interposed between them.

[0030] A singular expression includes plural forms unless the context clearly indicates otherwise.

[0031] Furthermore, in this specification, terms such as “includes” or “having” merely specify the presence of features, figures, stages, operations, components, parts, or combinations thereof as described in the specification, and should be understood not to preemptively exclude the possibility of the presence or addition of one or more other features, figures, stages, operations, components, parts, or combinations thereof.

[0032] On the other hand, as disclosed herein, “robot” means a machine capable of performing a predetermined task or mission while autonomously moving. In this specification, “robot” may also mean multiple robots, such as multiple logistics robots, delivery robots, or other mobile robots, that travel within a predetermined space and each capable of performing a predetermined task or mission. In such cases, while the robots are performing their respective tasks or missions, they may be expected to concentrate in areas such as intersections or collide with each other, depending on the travel path or direction of movement of each robot.

[0033] Figure 1 is an exemplary block diagram showing a robot locomotion control system related to the present invention.

[0034] Referring to Figure 1, the robot travel control system comprises a robot 200 and a server 100 that communicates with the robot. The server 100 can receive travel path information from the robot 200, generate detour routes based on the received travel path information, and transmit the detour route information to the robot 200.

[0035] Robot 200 is a group of robots that travel in a predetermined space on a map, and may include, for example, robot 1, robot 2, ..., robot N.

[0036] Here, the map is, for example, a map relating to a travel area, and may include, for example, a navigation map, a SLAM (simultaneous localization and mapping) map, a learning map, a topology map, a grid map based on cell data, an obstacle recognition map, and the like. In this specification, the robot 200 is described on the premise that it travels in a predetermined space on a topology map used for overall position recognition, but it is not limited to this.

[0037] Server 100 can communicate with robot 200 via wired or wireless communication. For example, robot 200 can communicate with server 100 using wireless communication technologies such as WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), and LTE-A (Long Term Evolution-Advanced).

[0038] As shown in Figure 1, server 100 can communicate with other control servers to receive tasks or missions for the robots 200 and assign them to each robot 200.

[0039] The server 100 can recognize the space in which the robot travels on the map, for example, a topology map, by dividing it into multiple areas. Specifically, the server 100 can recognize designated areas among the multiple areas where traffic control is required.

[0040] Here, the designated area means a region or area that requires control by the server 100, including sections that cause (internal) congestion, such as intersections, one-way lanes, and other narrow roads (for example, sections so narrow that only about one robot can pass through).

[0041] According to the embodiment, the server 100 grasps the degree of congestion of robots 200 centered on intersections of the (topology) map, and then, taking into account the movement paths of robots in designated congested areas, generates and provides alternative routes in advance to avoid congestion.

[0042] Server 100 can determine the level of congestion in a designated area at regular time intervals, taking into account the number of robots 200 currently operating in the map space and the characteristics of the map. For example, if there are approximately 30 robots operating in the map space, the level of congestion in a designated area across the entire map can be determined at intervals of approximately 8 seconds.

[0043] When determining the degree of congestion in a designated area, server 100 considers not only the number of robots in the designated area but also the movement paths of those robots to determine the degree of congestion.

[0044] For example, even if multiple robots are moving within a designated area, if their movement paths do not overlap and they are facing different directions, it will be determined that there is no congestion. On the other hand, if two robots are moving within a designated area and are approaching each other in opposite directions, it will be determined that there is congestion.

[0045] To this end, the server 100 receives location information and travel path information from the robots 200, particularly from robots around the designated area, and uses the received location information and travel path information to determine the degree of congestion in the designated area.

[0046] Server 100 determines that a designated area is congested to a degree that exceeds the set criteria and registers it as a bypass node. If the congestion level of a designated area is within the set criteria, Server 100 determines that the congestion level is low (or normal) and bypasses that designated area. In other words, Server 100 registers only the congested areas on the map as bypass nodes.

[0047] Here, being registered as a bypass node means that it is set as a section that is controlled and managed by the server 100 so that a moving robot will bypass the area. Information about the registered bypass node (e.g., location coordinates, flags indicating registration, etc.) can be stored in the server 100's memory or linked storage.

[0048] Server 100 repeatedly assesses the congestion level of designated areas at regular intervals. Therefore, designated areas registered as bypass nodes can be deregistered once congestion is resolved, and new designated areas can be registered as bypass nodes.

[0049] Once the registration of the detour node is complete, the server 100 searches for and detects robots that enter a predetermined range from the detour node, while including the registered detour node in the movement path. Here, the predetermined range refers to the surrounding area including the detour node.

[0050] According to the embodiment, the server 100 can detect the robot even before the robot enters the predetermined range if it is reasonably expected that the robot will enter the predetermined range within a certain period of time (for example, within 1 to 2 seconds).

[0051] Robots detected by server 100 become robots targeted for detours. In other words, detected robots are controlled to travel according to a detour route generated by server 100, rather than following their conventional travel path.

[0052] Server 100 generates a detour route for the detected robot, taking into account the movement paths of other robots present around the detour node.

[0053] For example, server 100 selects a link for a detour route by applying a bias to the links corresponding to each movement path of other robots, so that the detour route for the detected robot does not overlap with each movement path of other robots. As a result, the detour route is generated to bypass the links to which the bias has been applied.

[0054] Furthermore, server 100 generates detour routes for detected robots so that they do not overlap with the movement paths of all robots currently moving in the map space at the time of detour route generation.

[0055] Therefore, the server 100 receives the robot's position information and travel path information, and based on the received information, identifies the designated area located in front of each robot's direction of travel (hereinafter referred to as "forward node") and assigns a bias. As a result, the detour route for the detected robot is generated in such a way that the bias is minimized, that is, as the route that passes through the fewest forward nodes.

[0056] In this way, once a detour route is generated for the detected robot, the server 100 transmits the detour route information to the detected robot, and the detected robot travels according to the detour route instead of its conventional travel path.

[0057] On the other hand, in exceptional situations such as when the detour route is the same as the conventional route, when the detected robot is approaching its destination, or when the detour route is significantly longer than the conventional route, the server 100 can transmit a stop command to the detected robot until the congestion is resolved, and then control and manage the robot to start traveling once the congestion is resolved.

[0058] Thus, according to the robot driving control system of the present invention, even if congestion or collisions do not actually occur, the degree of congestion in a space can be grasped in advance, and alternative routes can be provided to prevent robots from concentrating in specific sections, thereby minimizing the occurrence of congested areas. This allows robots to complete their work (e.g., delivery, picking, etc.) without time delays.

[0059] Figure 2 is a diagram illustrating the congestion level of a designated area and the registration of detour nodes related to the present invention.

[0060] Figure 2 shows a portion of the topology map 10, where the map's space includes both unidirectional and bidirectional routes. Each intersection in map 10 is centered around a designated area. For the sake of explanation, designated areas 201, 202, 203, and 204 in Figure 2 are referred to as Area 1, Area 2, Area 3, and Area 4, respectively.

[0061] Server 100 (Figure 1) determines the level of congestion in each designated area 201, 202, 203, and 204 by considering the movement directions of other robots present around those areas. If the level of congestion exceeds a certain standard, Server 100 registers that area as a bypass node.

[0062] Specifically, server 100 determines whether or not to register a bypass node based on whether the determined congestion level deviates from the set criteria.

[0063] Here, the aforementioned established criteria refer to the criteria for determining whether a designated area is not congested. For example, if the direction of travel is the same and there is no concern about collision, if the travel routes do not overlap, or if the directions of travel are different but the routes are bidirectional, the situation can be judged to be within the established criteria.

[0064] Therefore, a deviation from the established criteria means that the designated area is judged to be congested. For example, if the movement paths of robots overlap, or if robots are traveling in a one-way direction facing each other, it is considered a deviation from the established criteria and judged to be a congested situation.

[0065] In Figure 2, the congestion level for designated areas 201, 202, 203, and 204 is determined to be congested in area 3, which is traversed by two robots 200B whose movement paths overlap in a one-way route. In other words, the server 100 (Figure 1) determines that the congestion level in area 3 is above a certain standard and registers it as a detour node.

[0066] In the case of regions 1, 2, and 4, it is determined that there is no congestion, and the process is bypassed without registering a detour node. Once detour node registration is complete for the entire map, server 100 only needs to search for robots moving to region 3 (e.g., robot 1, robot 2) and provide them with a detour route.

[0067] For example, if region 3 is registered as a bypass node in Figure 2, the server 100 searches for robots (e.g., robot 1, robot 2) that are moving to region 3, and provides bypass routes to robots that are within a certain range, so as to avoid passing through or bypassing that region (i.e., region 3).

[0068] In the case of robot 2, since it is moving along a bidirectional path, it is possible to bypass area 3 without passing through it. Therefore, the server 100 transmits a command to robot 2 to bypass area 3 without passing through it, and robot 2 can bypass area 1 by following the bypass route based on that command.

[0069] However, since robot 1;200A is moving along a one-way path, it must pass through area 3. In other words, even if a detour route is generated, it will inevitably pass through area 3. At this point, server 100 transmits a stop command to robot 1;200A to wait for a certain period of time, and after the congestion in area 3 is cleared, transmits a drive command to robot 1;200A.

[0070] Since the congestion level for designated areas 201, 202, 203, and 204 is repeatedly assessed at regular time intervals (for example, every 8 to 10 seconds), the server 100 can determine whether the congestion in area 3 has been resolved after a certain time interval. Furthermore, since the server 100 and robot 1;200A can search for robots around the detour node at shorter time intervals than the aforementioned regular time intervals, they can recognize when at least one of the robots 200B in area 3 has moved and the congestion has been resolved. In other words, robot 1;200A can temporarily wait at its current location and resume its journey after at least one of the robots 200B in area 3 has moved away from area 3 (after the congestion has been resolved).

[0071] On the other hand, although not shown in Figure 2, if the travel path of a single robot includes multiple detour nodes, the detour path should be generated targeting the detour node closest to the current position.

[0072] As described above, according to the robot travel control system of the embodiment of the present invention, when generating a route that bypasses a congested area, the system takes into account the direction of travel and movement paths of other robots to prevent the routes from overlapping. This not only prevents robots from concentrating in a specific section, but also allows them to move in a balanced manner overall.

[0073] Figure 3 is a block diagram showing the detailed configuration of a robot related to the present invention and a server that communicates with the robot.

[0074] Referring to Figure 3, the robot 200 communicates with the server 100 and can be configured to include a communication unit 210, a control unit 220, a memory 230, and a travel unit 240. On the other hand, the components shown in Figure 2 are not essential for realizing the robot, and the robot 200 disclosed herein may include more or fewer components than those described above. Furthermore, the server 100 communicates with multiple robots and may include a communication module 110, a processor 120, and a memory 130.

[0075] The communication unit 210 of the robot 200 may include one or more modules that enable wireless communication with the server 100, and one or more modules for connecting the robot 200 to a network.

[0076] The communication unit 210 of the robot 200 can communicate with an artificial intelligence server and the like using wireless internet communication technologies such as WLAN (Wireless LAN), Wi-Fi (Wireless Fidelity), Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), and LTE-A (Long Term Evolution-Advanced). Furthermore, the communication unit 210 can also use Bluetooth. TM It can communicate with server 100 using short-range communication technologies such as RFID (Radio Frequency Identification), infrared communication (Infrared Data Association; IrDA), UWB (Ultra Wideband), ZigBee, and NFC (Near Field Communication).

[0077] The robot 200 can transmit its own location information and travel path information to the communication module 110 of the server 100 via the communication unit 210. For example, the robot 200 can transmit coordinate values ​​corresponding to its current location to the communication module 110 of the server 100 via the communication unit 210, and if the travel path includes detour nodes, it can transmit that travel path information to the server 100.

[0078] The robot 200 can receive detour route information related to a detour node at its current location via the communication unit 210 from the communication module 110 of the server 100. For example, the robot 200 can receive via the communication unit 210 a detour route generated with a bias to avoid overlapping with other robots in the vicinity. Alternatively, for example, if the robot 200 cannot detour from its current location, it can receive a command to wait / stop until the congestion is resolved via the communication unit 210.

[0079] The control unit 220 of the robot 200 typically controls the overall operation of the robot 200. The control unit 220 can process assigned tasks or provide services by processing signals, data, information, etc. that are input or output through the aforementioned components, by launching applications stored in the memory 230, or by controlling the travel unit 240.

[0080] Furthermore, although not shown, the control unit 220 of the robot 200 may include a learning processor (not shown) to perform actions related to the robot's artificial intelligence technology. Here, the learning processor can learn one or more models consisting of artificial neural networks using training data, and may be configured to receive, classify, store and output information used for data mining, data analysis, intelligent decision-making, and machine learning algorithms and techniques. In addition, the learning processor may include one or more memory units configured to store information received, detected, perceived, generated, predefined, or output via the robot, or information output by other means via the robot, or data received, detected, perceived, generated, predefined, or output by other configurations, devices, and terminals. The learning processor may be integrated into the robot or may include memory. In this embodiment, the learning processor may be implemented via memory 230. However, it may not be limited to this, and the learning processor may be implemented in external memory associated with the robot 200, or via memory 130 of a server 100 that can communicate with the robot 200. In other embodiments, the learning processor may be implemented via memory maintained in a cloud computing environment, or via other remote memory accessible by the robot via communication means such as a network.

[0081] The robot 200's memory 230 stores data that supports various functions of the robot 200. The memory 230 can store multiple application programs or applications driven by the robot 200, as well as data and commands for the robot 200's operation. The memory 230 can also store map data relating to the space in which the robot 200 travels to perform tasks or missions. Furthermore, the memory 230 can store tasks assigned to the robot and travel path information for performing those tasks.

[0082] Memory 170 may include, for example, at least one type of storage medium from among flash memory type, hard disk type, SSD type (Solid State Disk type), SDD type (Silicon Disk Drive type), multimedia card micro type, card type memory (e.g., SD or XD memory), RAM (random access memory), SRAM (static random access memory), ROM (read-only memory), EEPROM (electrically erasable programmable read-only memory), PROM (programmable read-only memory), magnetic memory, magnetic disk, and optical disk.

[0083] The travel unit 240 of the robot 200 performs movement such as moving and rotating the robot body. For this purpose, the travel unit 240 may be configured to include multiple drive wheels, drive motors, and multiple casters. The travel unit 240 moves according to control commands received by the control unit 220 of the robot 200, rotates to pick up logistics, and / or travels by bypassing a specific designated area according to a detour route received from the server 100.

[0084] Although not shown in the figures, the robot 200 may be equipped with various sensors for avoiding obstacles while traveling in a predetermined space, such as cameras, IR sensors, lidar sensors, radar sensors, proximity sensors, and UWB sensors. The robot 200 may also include a power supply unit that receives power from an external or internal power supply and supplies power to each component of the robot 200 under the control of the control unit 220. Such a power supply unit may include a battery, which can be built-in or replaceable.

[0085] At least some of the aforementioned components can work in coordination with each other to realize the robot's operation, control, or control method according to the various embodiments described below. Furthermore, the robot's operation, control, or control method can be realized on the robot by driving at least one application program stored in the memory 170. Moreover, the various embodiments disclosed below can be realized, for example, in a recording medium readable by a computer or similar device using software, hardware, or a combination thereof.

[0086] As shown in Figure 1, the server 100 can be configured to include a communication module 110 for communicating with multiple robots, a processor 120, and memory 130.

[0087] The communication module 110 of the server 100 receives location information (for example, coordinate values ​​corresponding to the current position) from multiple robots that are communicating with it. For example, the communication module 110 can receive location information from robots located in a congested designated area, i.e., the area around the bypass node, and can receive location information from robots that are detected to be attempting to enter the area around the bypass node, and provide this information to the processor 120.

[0088] The communication module 110 of the server 100 generates an alternative route for the detected robot and transmits the generated alternative route to the detected robot, or transmits a wait command to the detected robot until the congestion is resolved.

[0089] The processor 120 of server 100 determines the level of congestion for each designated area on the map where traffic control is required. Here, the determination of congestion is based on whether the level of congestion in the designated area is within or beyond a certain level. For example, if the level of congestion in the designated area is within a set standard, the processor 120 passes it as not being congested. If the level of congestion in the designated area exceeds the set standard, it determines that it is congested and registers it as a detour node so that other robots can take a detour.

[0090] The registration of bypass nodes is performed for designated areas across the entire map. Specifically, the processor 120 registers congested designated areas within the entire map as bypass nodes and bypasses uncongested designated areas, thereby executing the bypass node registration process.

[0091] The detour node registration process involves the server 100 periodically assessing the congestion level of a designated area across the entire map, taking into account the number of surrounding robots and the movement paths of those robots. Only designated areas deemed congested are registered as detour nodes, and if any robots attempt to pass through a registered detour node, the server 100 controls and manages them to avoid it.

[0092] Once all detour nodes have been registered, the processor 120 includes the detour nodes in the route and detects robots approaching those detour nodes. The detected robots become the target robots for the detour route. To this end, the processor 120 receives current location information and travel path information from each robot via the communication module 111 and detects robots approaching the detour nodes based on the received information.

[0093] The processor 120 generates a detour route for the detected robot by applying a bias to the movement path of robots around the detour node and by applying a bias to the designated area in front of each direction of movement for all robots currently moving on the map, thereby generating a detour route that does not overlap with the path of a moving robot.

[0094] If the detected robot cannot pass through the detour route, or if the processor 120 determines that the detour route is the same as the conventional route, it transmits a command to the detected robot to wait / stop until the congestion at the detour node is resolved. After the congestion is resolved, the processor 120 transmits a command to start moving to the detected robot.

[0095] The memory 130 of the server 100 stores map data of the space in which the robot 200 travels. The memory 130 also stores registration information of detour nodes corresponding to congested designated areas. Furthermore, the memory 130 can store identification information, location information, and travel path information of robots attempting to enter congested designated areas, and can also store the detour routes generated for these robots.

[0096] According to the embodiment, the processor 120 determines the degree of congestion in a designated area of ​​the entire map at regular time intervals and updates the list of registered detour nodes based on that determination. Here, the regular time interval can be varied based on the characteristics of the map and the total number of robots in operation.

[0097] For example, the more robots in operation there are, the higher the likelihood of congestion, and the interval for determining congestion can be shortened. Also, for example, if the distance between designated areas (e.g., intersections) is short or if there are consecutive sections due to the characteristics of the map, the interval for determining congestion can be shortened. Furthermore, for example, if the number of robots in operation decreases, the likelihood of congestion is considered to have decreased, and the interval for determining congestion can be lengthened.

[0098] The processor 120 can count the bias for the links of the bypass node, taking into account the movement paths of other robots present around the bypass node, and generate a bypass path for the detected robot based on the count result.

[0099] Specifically, when the direction of movement of the other robot approaches a detour node, the processor 120 further applies a bias to the link in the movement path to avoid that link. Also, when the direction of movement of the other robot moves away from a detour node, the processor 120 selects a link in the detour path by applying the same bias to that link in the movement path as to the other links. That is, the links in the detour path are selected as either those with no bias applied, or those with at least the same bias applied. When the selected links are connected together, starting from the detected current position of the robot, a detour path is formed.

[0100] The processor 120 can take into account the detected robot's current position and destination, apply a bias to each designated area the moving robot is heading towards in the map space, and generate detour routes so that they do not overlap with the moving robot's path.

[0101] Once a detour route is generated in this way, the processor 120 transmits the detour route information to the detected robot via the communication module 110. In this case, the detected robot transmits information about the modified travel route based on the received detour route to the server and executes its journey according to the modified travel route.

[0102] Figure 4 is a typical flowchart of a robot control method related to the present invention. Unless otherwise specified, each step in Figure 4 is executed by a server 100 that communicates with multiple robots, or by the server's processor 120.

[0103] Referring to Figure 4, a server 100 (see Figure 3) that communicates with multiple robots traveling in a predetermined space on the map determines the degree of congestion in a designated area on the map where traffic control is required (410). In this case, the designated area refers to an area / region that includes nodes on the map that may cause congestion, such as intersections, narrow roads, one-way routes, and passages.

[0104] According to the embodiment, the level of congestion in the designated area is determined not only by the number of surrounding robots, but also by understanding each robot's movement path (or direction of movement).

[0105] Furthermore, according to the embodiment, the server 100 determines the level of congestion for all designated areas included in the map and repeats the congestion determination at regular intervals. For example, if approximately 40 robots are in operation, the server 100 can determine the level of congestion for a designated area at 8-second intervals.

[0106] If the level of congestion is within the set criteria, server 100 determines that the designated area is not congested and passes through that area.

[0107] On the other hand, if the level of congestion deviates from the set criteria, for example, if the movement paths of robots around the designated area overlap, or if the robots' movement directions are different but the paths are unidirectional, the server 100 determines that the designated area is congested.

[0108] According to the embodiment, the degree of congestion in a designated area is determined by considering the number of surrounding robots and the robots' movement paths (direction of movement). For example, the greater the number of robots around the designated area, the greater the congestion; the greater the congestion when the map's paths are unidirectional rather than bidirectional; and congestion occurs when the robots' movement paths overlap.

[0109] In this way, once server 100 has grasped the congestion level for all designated areas, it is then sufficient to rebalance only the congested designated areas.

[0110] To this end, the server 100 registers at least one designated area as a bypass node based on the determined congestion level (420). As described above, designated areas whose congestion level (degree) deviates from the set criteria are registered as bypass nodes, and other robots are controlled to either not pass through this node, bypass it, or wait.

[0111] In this case, if there are multiple congested designated areas, multiple detour nodes are also registered and managed as a list. The detour nodes included in the list are maintained as long as the congestion in the corresponding designated area continues, and are deleted when the congestion is resolved. In addition, if a new congested designated area occurs, a new detour node is registered in the list. Since the congestion level is determined repeatedly at regular intervals, the list (and the detour nodes within it) is updated based on the new congestion level determination result. In this way, detour nodes are continuously deleted and registered, so the complexity of the calculations related to detour route generation, which will be described later, does not increase cumulatively.

[0112] Once all detour nodes have been registered, the server 100 includes the registered detour nodes in the travel path and detects robots entering a predetermined area of ​​the detour node (430). It is assumed that all robots heading towards the detour node are traveling at the same speed.

[0113] Here, there may be multiple robots detected. For example, as explained in Figure 2, robot 1 and robot 2 heading towards region 3 may be detected simultaneously. Also, a single robot may be detected multiple times as a robot heading towards multiple different detour nodes. In this case, a detour route is generated targeting the detour node closest to the detected robot's current position, as described later.

[0114] Next, the server 100 generates a bypass route for the detected robot, taking into account the movement paths of other robots located around the bypass node (440). A bias is assigned to the links corresponding to each movement path of the other robots so that the detected robot will bypass them. However, if the link is a bidirectional link, it is counted as having the same bias as the other links.

[0115] The detour route needs to extend not only around the detour node but also to the final destination of the detected robot, and it is desirable that the route be selected so as not to overlap with the movement paths of other robots moving on the map.

[0116] To this end, in the embodiment, when generating a detour route, the server 100 can also apply a bias to designated area nodes located ahead of the direction of travel of all robots currently moving on the map, thereby generating a detour route. This ensures that the detour route is generated in a balanced manner compared to the paths of other robots already in motion.

[0117] As described above, according to the embodiment of the present invention, even if congestion or collisions do not actually occur, the degree of congestion in a space can be grasped in advance, and alternative routes can be provided to prevent robots from concentrating in specific sections, thereby minimizing the occurrence of congested areas. As a result, robots can complete their work (e.g., delivery, picking, etc.) without time delay. Furthermore, when generating routes to bypass congested areas, the direction of travel and movement paths of other robots are taken into consideration to prevent the routes from overlapping, which not only prevents robots from concentrating in specific sections but also allows for balanced movement overall.

[0118] Figure 5 is a diagram illustrating how the degree of congestion in a designated area related to the present invention is determined by considering the movement paths of other robots.

[0119] Below, with reference to Figure 5, an example of the process 410 for determining the degree of congestion in Figure 4 will be described in detail.

[0120] Figure 5 shows a portion of the topology map, which includes both unidirectional and bidirectional travel routes. Designated areas are defined around intersections on the map. When determining the congestion level of a designated area, the system considers not only the number of robots concentrated in the surrounding area, but also the direction of movement of surrounding robots as they move.

[0121] In Figure 5, in designated areas 1;501, 2;502, and 3;503, three robots are concentrated around the intersection in each case, but the robots are moving in different directions.

[0122] Specifically, in the case of designated area 1;501, the surrounding robots 200B proceed through the intersection to link L3 or link L4. Since links L3 and L4 are one-way travel paths and these paths overlap, the server 100 (Figure 1) determines that the congestion level in the designated area is high (exceeding the set level).

[0123] On the other hand, in the case of designated areas 2;502 and 3;503, the routes in the direction of travel after passing through the intersection do not overlap, and the robots travel along bidirectional routes. Therefore, even if three robots are moving, the server 100 determines that the congestion level in designated areas 502 and 503 is not high (it is within the set level).

[0124] Therefore, the server 100 can determine that the congestion level is highest when the robot is approaching designated area 1;501, and that the congestion level is lowest when the robot is leaving designated area 1;501.

[0125] Server 100 registers designated area 1;501, which has a high level of congestion, as a bypass node, and bypasses designated areas 2 and 3;502 and 503, which have a low level of congestion.

[0126] Once the registration of the detour node is complete, the server 100 detects robots moving on the map that will enter a predetermined range from designated area 1;501. In Figure 5, robot 1;200A falls into this category. However, robot 1;200A is currently located on a one-way travel path and is forced to pass through designated area 1;501. Therefore, it is necessary to regenerate the path so that the travel paths do not overlap, taking into account the travel paths of other robots 200B in the vicinity.

[0127] To this end, the server 100 considers the movement paths of other robots 200B within the designated area 1;501 and generates a detour path for robot 1;200A while counting the bias on the links.

[0128] Specifically, when another robot's movement direction approaches a detour node, server 100 further applies a bias to the link on that movement path to avoid it. Also, when another robot's movement direction moves away from a detour node, server 100 applies the same bias to the link on that movement path as to the other links and selects the link on the detour path.

[0129] In Figure 5, since robot 1;200A bypasses designated area 1;501, checking the movement paths of the other robots 200B within designated area 1;501 reveals that two of the other robots 200B pass through intersection 510 and move to link L3 to the right, while the other robot passes through intersection 510 and moves to link L4 below. In this case, server 100 further applies a bias to links L3 and L4 to select a path, so a path is generated that causes robot 1;200A to pass through intersection 510 and head towards link 2;L2.

[0130] To illustrate with an example from the perspective of link selection, in Figure 5, when robot 2;200C passes through the intersection in designated area 2;502, all three links are bidirectional travel paths, while the remaining one is a unidirectional travel path. Therefore, an additional bias is applied only to the unidirectional travel path, while the remaining three links are given the same bias.

[0131] On the other hand, other robots 200B located within a predetermined range of designated area 1;501 are searched for at shorter time intervals (e.g., 500 msec) than the fixed time interval at which server 100 determines the degree of congestion. Therefore, even while designated area 1501 maintains the bypass node registration state, robot 1;200A can recognize the easing of congestion due to the movement of other robots 200B.

[0132] Thus, in this invention, congestion is not determined solely by the number of concentrated robots, but by considering the movement paths to determine the actual level of congestion. Furthermore, for detour routes for robots approaching a congested area, the optimal link for the detour route can be selected by applying weights or biases that take into account the movement paths of other robots and the characteristics of the routes (e.g., unidirectional, bidirectional).

[0133] Figure 6 illustrates, in relation to the present invention, that when generating a detour route, the direction of travel of all moving robots is taken into consideration and determined accordingly.

[0134] In the following section, with reference to Figure 6, an example related to the process of generating the detour path in Figure 4 (440) will be described in detail. When generating a detour path for a detected robot, considering the direction of travel of all robots moving in space and ensuring that the paths do not overlap as much as possible is effective in enhancing the rebalancing effect.

[0135] According to the embodiment, the server 100 can assign a bias to each designated area that the robot is heading towards while moving in space, taking into account the detected robot's current position and destination, and based on this, generate a detour route that does not overlap with the path of the moving robot.

[0136] In other words, in Figure 5, robot 1;200A does not simply bypass designated area 1;501, but rather generates a well-balanced bypass route that does not overlap with the movement paths of other robots moving across the entire map.

[0137] In Figure 6, robot 1;200A does not only avoid the designated area 601, which is a congested area, but also applies a bias to the link so that it does not overlap with the paths of all robots currently moving on the map from its current position to the destination DES. In Figure 6, a bias is applied to the forward node based on the direction of travel of each robot, and each is shown as a solid circle.

[0138] Server 100 determines the detour route for robot 1;200A such that the assigned bias count value is minimized.

[0139] For example, in Figure 6, a bias is applied to the first intersection node 611 encountered in the direction of travel (arrow direction) of the moving robot R. This same method is used to apply biases to nodes corresponding to other robots.

[0140] If robot 1;200A generates a detour path downwards, avoiding designated area 601, and then passes through another designated area 602 to reach destination DES, three more biases are counted. If it generates a detour path upwards from designated area 601, one more bias is counted up to destination DES. A higher bias count means that more robots are passing through that intersection, so when the number of biased nodes / links is minimized, the robots' detours are generated more efficiently.

[0141] On the other hand, the detour route 620 counts only one bias from robot 1;200A's current position to destination DES, resulting in the minimum bias count value. This means that it minimizes overlap with the movement paths of other robots, providing a balanced detour route for the entire map.

[0142] Thus, according to the embodiment of the present invention, when generating a route that bypasses a congested area, the direction of travel and movement paths of other robots are further considered to prevent the routes from overlapping. This not only prevents robots from concentrating in a particular section, but also allows them to move in a balanced manner overall.

[0143] Furthermore, even if an alternative route is generated to avoid congestion, there may be exceptional cases where it is unavoidable to pass directly through the congested area by following the conventional route. For example, if all links leaving the congested area are one-way routes, the alternative route may become significantly longer than the conventional route, or the result may be identical to the conventional route despite an alternative route being generated.

[0144] Figure 7 illustrates an example of this, showing the operation when the generated detour route and the conventional route are the same.

[0145] According to the embodiment, when a detour route is generated for a robot detected by server 100 (Figure 1), it is transmitted to the detected robot. If multiple robots are detected, a detour route is generated and transmitted for each robot.

[0146] Thus, after the detected robot enters a designated area from a congested zone and then receives an alternative route from the server, it transmits information about the modified travel route based on the received alternative route to the server and then executes its journey according to that modified route.

[0147] Here, information regarding the modified route may include new links and nodes compared to the conventional route, and may include whether the modified route bypasses or directly passes through designated congested areas. Furthermore, the information regarding the modified route may include the degree of change compared to the conventional route.

[0148] According to the embodiment, if the generated detour route is the same as the conventional travel route, or if the robot's current travel route is unidirectional, the server 100 can transmit a stop command to the detected robot so that the robot starts traveling after the congestion at the detour node ahead has been cleared.

[0149] Since the congestion status of the bypass node ahead is assessed at shorter time intervals than the congestion level is determined, the robot can immediately recognize when the congestion ahead is cleared.

[0150] The server 100 can transmit a command to start moving again to the detected robot when the congestion is resolved, or, if the congestion is resolved after a stop command is issued, it can choose not to transmit an additional start command so that the robot can start moving on its own.

[0151] Referring to Figure 7, this illustrates the case where, for robot 1;200A approaching a congested designated area 701, the generated detour route to the destination DES is the same as the conventional travel route. In such a case, robot 1;200A waits until other robots 200B within the designated area 701 move and the congestion is resolved. At this time, the waiting point of robot 1;200A may be the boundary point of the designated area 701 or its vicinity.

[0152] On the other hand, if robot 1;200A recognizes that the congestion in designated area 701 has been resolved before or simultaneously with reaching the waiting point, robot 1;200A can continue traveling along its conventional route without stopping.

[0153] On the other hand, if congestion persists in designated area 701, robot 1;200A will stop at the waiting point until the congestion is resolved. During this time, server 100 will check the congestion levels of other robots 200B within designated area 701 at shorter time intervals than the congestion level assessment for all designated areas, for example, every 500 msec.

[0154] Once the congestion in designated area 701 is resolved, the robot 1;200A will begin traveling towards the destination DES, either according to a start command received from server 100 or based on its own judgment.

[0155] Furthermore, although not shown in the diagram, if the generated detour route is significantly longer than the conventional route (for example, by about 4.5 times or more), it is desirable to wait until the congestion is resolved before resuming travel, and in this case as well, a stop command is transmitted by the server 100.

[0156] Thus, according to the embodiment of the present invention, in special circumstances such as when the robot is currently traveling in one direction or when the detour route is the same as the conventional travel route, the robot can be made to operate flexibly even in exceptional situations by waiting for a certain period of time and then starting to travel once the congestion has cleared.

[0157] Figure 8 is a flowchart illustrating in more detail a method for providing detour routes to avoid congestion related to the present invention.

[0158] In Figure 8, robot 200A is defined as a robot whose movement path includes a detour node and which has entered a predetermined range from the detour node. In Figure 8, other robots 200B are defined as one or more robots located in the area surrounding the detour node and which are approaching or moving away from the detour node.

[0159] Server 100 can communicate with robot 200A, other robots 200B, and all robots in the space, and can determine the degree of congestion in designated areas on the map where traffic control is required (811). Here, the designated areas can be set around intersections, narrow roads, passages, etc. on the map.

[0160] According to the embodiment, the server 100 can determine the degree of congestion by considering the movement direction of each robot around the designated area. For example, even if there are three robots around the designated area, if each is leaving the designated area in a different direction, it can be determined that there is no congestion. Conversely, if two robots are approaching the designated area from different directions, it can be determined that there is congestion.

[0161] According to the embodiment, the server 100 determines the degree of congestion for all designated areas on the map at regular time intervals.

[0162] For example, server 100 can determine the level of congestion for all intersection areas in the entire topology map at regular time intervals (e.g., every 8 seconds). In other words, it can determine whether or not all designated areas are congested at regular time intervals.

[0163] According to the embodiment, the fixed time interval can be varied depending on the characteristics of the map to be applied and the number of robots operating in the map space.

[0164] For example, if the interval between designated areas is short due to the characteristics of the topology map, the fixed time interval can be increased from the standard value, and if the number of robots in operation is small, the fixed time interval can be decreased from the standard value.

[0165] Next, the server 100 can register a congested designated area as a bypass node based on the determination of the congestion level of the designated area (812). Here, registration as a bypass node means setting the designated area as congested and storing the designated area or its surrounding area as a bypass node in the server 100's memory or linked storage so that robots can bypass it.

[0166] According to the embodiment, the registration of bypass nodes is performed for designated areas across the entire topology map. That is, the degree of congestion is determined for each designated area across the entire map, and designated areas whose congestion level exceeds a set standard are registered as bypass nodes.

[0167] According to the embodiment, whether or not the congestion level of a designated area exceeds a set standard can be determined based on the number of robots moving toward the designated area and the direction of their respective movements.

[0168] For example, even if there are three robots moving towards a designated area, if each robot is leaving the detour node in a different direction, the congestion level will be determined to be below the set standard or to meet the set standard. In other words, the congestion level of the designated area will be judged to be low. On the other hand, for example, if two robots are approaching an intersection towards the designated area, facing each other, the congestion level will be judged to be above the set standard, meaning that the congestion level of the designated area is high.

[0169] Once the process of registering all designated areas with high congestion levels as bypass nodes is complete, the server 100 receives position and travel path information from robot 200A and other robots 200B, respectively, and searches for robots approaching the registered bypass nodes.

[0170] The server 100 then generates a detour route as follows, so that the searched robot can avoid congestion at the detour node.

[0171] Specifically, the server 100 considers the travel paths of other robots 200B located around the detour node and generates a detour route while counting biases for the corresponding designated area nodes (813). In other words, considering the direction of travel of other robots 200B, a bias (or weighting) is assigned to the links of the detour node that match the current direction of travel of the other robots 200B in order to select links of the detour node so that the paths do not overlap.

[0172] Furthermore, according to the embodiment, the server 100 generates a detour route by applying a bias not only to other robots 200B around the detour node, but also to a designated area in front of the direction of travel of all robots moving on the map.

[0173] This allows for the generation of balanced detours that not only avoid the current detour node but also do not overlap with the movement paths of other robots moving across the entire map at that time.

[0174] Thus, when the detour route generated by the server 100 is provided to the robot 200A that has been searched (814), the robot 100A travels according to the detour route instead of the conventional route (817).

[0175] On the other hand, if it is determined that the received detour route is the same as the conventional route (815), the robot 100A will encounter congestion if it continues to travel in that direction. Therefore, the searched robot 100A receives a control command from the server 100 to stop and start traveling after the congestion at the detour node has been cleared (816).

[0176] According to the embodiment, if an exceptional situation occurs where a detour route has been generated, it is also possible to travel along the conventional route instead of the detour route. In this case, in order to avoid congestion, the server 100 can control the vehicle to stop, and then, once the congestion is resolved or after a certain period of time has elapsed, it can be controlled to travel along the conventional route.

[0177] As described above, according to the robot travel control system and robot control method of the present invention, even if congestion or collisions do not actually occur, the degree of congestion in a space can be grasped in advance, and detour routes can be provided so that robots do not concentrate in specific sections, thereby minimizing the occurrence of congested areas, and allowing robots to complete their work (e.g., delivery, picking, etc.) without time delay. Furthermore, when generating detour routes around congested areas, the direction of travel and movement paths of other robots are taken into consideration to prevent overlapping routes, allowing robots to move in a balanced manner overall without concentrating in specific sections. In addition, in special circumstances such as when a robot is currently traveling in one direction or when the detour route is the same as the conventional travel route, the robot can wait for a certain period of time and then resume travel once the congestion is resolved, enabling flexible operation even in exceptional situations.

[0178] The additional scope of applicability of the present invention will become apparent from the following detailed description. However, since various changes and modifications within the spirit and scope of the invention can be clearly understood by those skilled in the art, the detailed description and specific embodiments, such as preferred embodiments of the invention, should be understood as being given merely as examples.

[0179] The features, structures, and effects described in the above embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to just one embodiment. Furthermore, the features, structures, and effects exemplified in each embodiment can be combined or modified and implemented in other embodiments by a person with ordinary skill in the art to which the embodiment belongs. Therefore, these combinations and modifications should also be interpreted as being within the scope of the present invention.

[0180] Furthermore, while the above description has focused on examples, these are merely illustrative and do not limit the present invention. Those with ordinary skill in the art to which the present invention pertains will understand that various modifications and applications not exemplified above are possible without departing from the essential features of these examples. For example, each component specifically shown in the examples can be modified and implemented. Differences related to these modifications and applications should also be interpreted as being within the scope of the present invention as defined in the appended claims.

Claims

1. Multiple robots moving within a predetermined space on a map; and Includes a server that communicates with the aforementioned multiple robots and determines the degree of congestion in a designated area where traffic control is required within a predetermined space on the map, The aforementioned server, Based on the determined congestion level, at least one designated area is registered as a detour node; the registered detour node is included in the travel path; robots entering a predetermined range from the detour node are detected; and a detour path for the detected robot is generated, taking into account the travel paths of other robots present around the detour node. Robot movement control system.

2. The aforementioned server, The system determines the degree of congestion in each designated area by considering the movement directions of other robots present in the vicinity of the designated area. The robot travel control system according to claim 1.

3. The aforementioned server, Based on whether the determined congestion level deviates from the set criteria, the necessity of registering a detour node is determined. Detour nodes corresponding to designated areas whose congestion level deviates from the set criteria are registered in the list, and detour nodes corresponding to designated areas whose congestion level has decreased as meeting the set criteria are removed from the list. The robot driving control system according to claim 2.

4. The aforementioned server, The congestion level for the designated area of ​​the entire map is determined at regular intervals, and the list is updated based on the determination. The aforementioned fixed time interval is variable based on the characteristics of the map and the total number of robots operating in the predetermined space. The robot travel control system according to claim 3.

5. The aforementioned server, Considering each movement path of the other robots, the bias is counted for the links to the bypass nodes, and the bypass path of the detected robot is generated. The robot travel control system according to claim 1.

6. The aforementioned server, If the movement direction of the other robot approaches the bypass node, a bias is further applied to the link in the movement path to avoid the link. If the movement direction of the other robot deviates from the detour node, the link in that movement path is assigned the same bias as the other links, and the link in the detour path is selected. The robot travel control system according to claim 5.

7. The aforementioned server, Considering the current position and destination of the detected robot, a bias is applied to each designated area that the robot moving in the predetermined space is heading towards, and a detour route is generated so that the path does not overlap with that of the moving robot. The robot travel control system according to claim 5.

8. After the detected robot enters the predetermined range, if it receives a detour route from the server, it transmits information about the modified travel route based on the received detour route to the server and executes travel according to the modified travel route. The robot travel control system according to claim 1.

9. The aforementioned server, If the generated detour route is the same as the conventional travel route, or if the detected robot's current travel route is unidirectional, a stop command is transmitted to the detected robot so that it begins traveling only after the congestion at the detour node ahead has been cleared. The robot travel control system according to claim 1.

10. A robot control method including a plurality of robots that travel in a predetermined space on a map and a server that communicates with the plurality of robots, A step in determining the degree of congestion in a designated area requiring traffic control within a predetermined space on the aforementioned map; A step in which at least one designated area is registered as a bypass node based on the congestion level determined above; A step of including the registered detour node in the travel path and detecting a robot entering within a predetermined range of the detour node; and The step of generating a detour path for the detected robot, taking into account the movement paths of other robots located around the detour node, Robot control methods.

11. The step of determining the degree of congestion is, This is the stage where the degree of congestion in each designated area is determined by considering the movement directions of other robots present in the vicinity of the designated area. The robot control method according to claim 10.

12. The step of registering as a bypass node is, The step of determining whether or not to register a detour node based on whether the determined congestion level deviates from the set criteria; The detour node corresponding to a designated area whose congestion level deviates from the set criteria is registered in the list; and, The process includes removing detour nodes corresponding to designated areas where congestion has decreased as they meet the aforementioned criteria from the list. The robot control method according to claim 11.

13. The step of determining the degree of congestion is: The process includes determining the degree of congestion in a designated area of ​​the entire map at regular time intervals and updating the list based on the determination, The aforementioned fixed time interval is variable based on the characteristics of the map and the total number of robots operating in the predetermined space. The robot control method according to claim 12.

14. The step of generating a detour route is, This step involves considering each movement path of the other robots, counting the bias on the links to the bypass nodes, and generating the bypass path of the detected robot. The robot control method according to claim 10.

15. The step of generating the aforementioned detour route is: If the movement direction of the other robot approaches the bypass node, a bias is further applied to the link in the movement path to avoid the link. If the movement direction of the other robot deviates from the detour node, the process includes the step of selecting the detour link by assigning the same bias to the links in its movement path as to the other links. The robot control method according to claim 14.

16. The step of generating the aforementioned detour route is: The process includes the step of considering the current position and destination of the detected robot, applying a bias to each designated area that the robot moving in the predetermined space is heading towards, and generating the detour route so that it does not overlap with the path of the moving robot. The robot control method according to claim 14.

17. After generating the aforementioned detour route, The detected robot, after entering the predetermined range, receives a detour route from the server, and further includes the step of transmitting information about the modified travel route based on the received detour route to the server, and then executing the travel according to the modified travel route. The robot control method according to claim 10.

18. After generating the aforementioned detour route, If the generated detour route is the same as the conventional travel route, or if the detected robot's current travel route is unidirectional, the server further includes the step of transmitting a stop command to the detected robot so that it begins traveling after the congestion at the detour node ahead has been cleared. The robot control method according to claim 10.

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