Methods and systems for controlling robots

Abstract

According to one aspect of the present invention, a method for controlling a robot is provided, which includes the steps of: aggregating the movement paths of a plurality of robots and determining an overlapping region where the movement paths of the plurality of robots overlap; and determining which robot has the right of passage to the overlapping region.

Description

Technical Field

[0001] <Cross - Reference to Related Applications> This application claims the benefit of priority to U.S. Provisional Application No. 63 / 458,212, filed on April 10, 2023, the entire content of which is incorporated herein by reference.

[0002] The present invention relates to a method and system for controlling a robot.

Background Art

[0003] As a method for determining the movement path of a robot, a method in which a user directly specifies the movement path of the robot is known. However, such a method has limitations in that the robot cannot respond to environmental changes. For example, if there are unexpected obstacles on the movement path specified by the user, the corresponding robot will no longer be able to move towards the target point. Furthermore, such a method has problems in that it requires human labor and has poor usage scalability.

Summary of the Invention

Problems to be Solved by the Invention

[0004] An object of the present invention is to solve all the problems of the above - mentioned prior art.

[0005] Another object of the present invention is to enable the robot to perform autonomous driving and to determine an overlapping area where the movement paths of multiple robots overlap, so that the robot can flexibly respond to changes in the driving environment.

Means for Solving the Problems

[0006] Typical configurations of the present invention for achieving the above object are as follows.

[0007] According to one aspect of the present invention, a method for controlling a robot is provided, which includes the steps of: aggregating the movement paths of a plurality of robots and determining an overlapping region where the movement paths of the plurality of robots overlap; and determining which robot has the right of passage to the overlapping region.

[0008] According to another aspect of the present invention, a system for controlling robots is provided, which includes a first determination unit that aggregates the movement paths of a plurality of robots and determines an overlapping region where the movement paths of the plurality of robots overlap, and a second determination unit that determines which robot has the right of passage to the overlapping region.

[0009] In addition, other methods, other systems, and non-temporary computer-readable recording media storing computer programs for performing the present invention are further provided. [Effects of the Invention]

[0010] According to the present invention, by enabling the robot to move autonomously and determining the overlapping region where the movement paths of multiple robots overlap, the robot can respond flexibly to changes in the travel environment. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram showing the schematic configuration of an overall system for controlling a robot according to one embodiment of the present invention. [Figure 2] This drawing illustrates the structure of a robot according to one embodiment of the present invention. [Figure 3] This drawing illustrates the structure of a robot according to one embodiment of the present invention. [Figure 4] This drawing shows in detail the internal configuration of a robot control system according to one embodiment of the present invention. [Figure 5] This diagram illustrates the process of determining the superimposed region according to one embodiment of the present invention. [Figure 6]This diagram illustrates, in an example, the process of determining which robot has the right of passage to the superimposed area according to one embodiment of the present invention. [Figure 7] This diagram illustrates, in an example, the process of determining which robot has the right of passage to the superimposed area according to one embodiment of the present invention. [Figure 8] This diagram illustrates, in an example, the process of determining which robot has the right of passage to the superimposed area according to one embodiment of the present invention. [Modes for carrying out the invention]

[0012] The detailed description of the present invention described below will be accompanied by illustrations of specific embodiments in which the present invention may be carried out. Such embodiments will be described in detail so that those skilled in the art will be able to fully implement the present invention. It should be understood that the various embodiments of the present invention are different from each other but do not necessarily have to be mutually exclusive. For example, specific shapes, structures and characteristics described herein may be modified and embodied from one embodiment to another without departing from the spirit and scope of the present invention. It should also be understood that the position or arrangement of individual components within each embodiment may also be modified without departing from the spirit and scope of the present invention. Therefore, the detailed description described below is not intended to be restrictive, and the scope of the present invention should be accepted as encompassing the scope claimed in the claims and all equivalent scopes thereto. Similar reference numerals in the drawings indicate identical or similar components in various aspects. In the following, various preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those with ordinary skill in the art to which the present invention pertains can easily implement the present invention.

[0013] Overall system configuration

[0014] Figure 1 is a schematic diagram showing the overall system configuration for controlling a robot according to one embodiment of the present invention.

[0015] As shown in FIG. 1, the overall system according to an embodiment of the present invention may include a communication network 100, a robot control system 200, and a robot 300.

[0016] First, the communication network 100 according to an embodiment of the present invention can be configured regardless of the communication mode such as wired communication or wireless communication, and can be composed of various communication networks such as a short-distance communication network (LAN; Local Area Network), a metropolitan area communication network (MAN; Metropolitan Area Network), and a wide area communication network (WAN; Wide Area Network). Preferably, the communication network 100 referred to in this specification may be a known Internet or World Wide Web (WWW; World Wide Web). However, the communication network 100 is not necessarily limited to this, and may include at least a part of a known wired / wireless data communication network, a known telephone network, or a known wired / wireless television communication network.

[0017] For example, the communication network 100 is a wireless data communication network, and implements at least a part of conventional communication methods such as Wi-Fi (WiFi) communication, Wi-Fi Direct (WiFi-Direct) communication, Long Term Evolution (LTE; Long Term Evolution) communication, 5G communication, Bluetooth communication (including Bluetooth Low Energy (BLE; Bluetooth Low Energy) communication), infrared communication, and ultrasonic communication. As another example, the communication network 100 is an optical communication network, and implements at least a part of conventional communication methods such as LiFi (Light Fidelity).

[0018] Next, the robot control system 200 according to an embodiment of the present invention can perform a function of summarizing the movement paths of a plurality of robots 300 to determine an overlapping area where the movement paths of the plurality of robots 300 overlap, and determining a robot 300 that has the right of passage for the corresponding overlapping area.

[0019] Regarding the configuration and functions of the robot control system 200 according to the present invention, it will be examined in detail through the following detailed description.

[0020] Next, a robot 300 according to an embodiment of the present invention can communicate with the robot control system 200 through the communication network 100, and can perform predetermined functions and assigned tasks (e.g., serving food and drink, collecting containers, etc.) through communication with the robot control system 200. The robot 300 can include a support base configured to support at least one object. Further, a robot 300 according to an embodiment of the present invention includes modules (e.g., a grab, a robot arm module, etc.) for loading and unloading an object (e.g., a food and drink tray), a video module (e.g., a visible light camera, an infrared camera, etc.) for acquiring surrounding video, a scanner module (e.g., a lidar sensor, etc.) for acquiring obstacle information, a voice acquisition module (e.g., a microphone, etc.) for acquiring surrounding voice, an illuminance acquisition module (e.g., an illuminance sensor, etc.) for sensing the surrounding brightness, a speaker module for providing voice information, a display module (e.g., an LCD, etc.) for providing visual information such as character information, a light emitting module (e.g., an LED, etc.) for providing visual information such as hue information, and at least one module of a drive module (e.g., a motor, etc.) for moving the robot 300.

[0021] For example, such a robot 300 can be a robot having characteristics and functions similar to at least one of a service robot, a guiding robot, a transporting robot, a cleaning robot, a medical robot, an entertainment robot, a pet robot, and a drone. On the other hand, in this specification, supporting an object should be interpreted to include supporting a container for containing an object such as food and drink, means (e.g., a tray, etc.) on which the container can be placed, and the like.

[0022] On the other hand, according to one embodiment of the present invention, the robot 300 may include an application (not shown) for controlling the robot 300 according to the present invention. Such an application may be downloaded from the robot control system 200 or an external application distribution server (not shown). According to one embodiment of the present invention, the nature of such an application may be generally similar to the first decision unit 210, second decision unit 220, communication unit 230, and control unit 240 of the robot control system 200 as described later. Here, at least a part of the application may be replaced as needed by hardware or firmware devices that can perform substantially the same or equivalent functions.

[0023] Figures 2 and 3 are illustrative diagrams showing the structure of a robot 300 according to one embodiment of the present invention.

[0024] Referring to Figure 2, the robot 300 may be configured to include a main body 310, a drive unit 320, and a processor 330.

[0025] First, a main body 310 according to one embodiment of the present invention may be coupled with support bases 340a, 340b, and 340c configured to support at least one object. According to one embodiment of the present invention, such support bases 340a, 340b, and 340c may be detachably coupled for cleaning, replacement, etc. Furthermore, each support base 340a, 340b, and 340c may include a weight sensor (not shown) for sensing the weight supported by each support base 340a, 340b, and 340c. According to one embodiment of the present invention, the weight sensor may be embodied using one or more strain gauges (e.g., three strain gauges, four strain gauges, etc.). And according to one embodiment of the present invention, such a weight sensor may be coupled to a processor 330.

[0026] Furthermore, in one embodiment of the present invention, the main body 310 may include, in place of or in addition to, a weight sensor, a camera module (not shown) configured to view the spatial area on each of the support bases 340a, 340b, and 340c. On the other hand, according to one embodiment of the present invention, the camera module configured to view the spatial area on each of the support bases 340a, 340b, and 340c does not necessarily have to be included in the main body 310, and at least some of the camera modules may be installed on the structure of the serving place.

[0027] On the other hand, the main body 310 according to one embodiment of the present invention may include at least one loading space for loading objects. According to one embodiment of the present invention, such a loading space may include support bases 340a, 340b, and 340c. The object according to one embodiment of the present invention is a general concept that refers to all types of objects that can be moved by the robot 300, and may include things, animals, etc. For example, the object according to one embodiment of the present invention may include serving objects such as food and drinks, and bussing objects such as containers in which the food and drinks are placed.

[0028] Referring to Figure 3, a robot 300 according to one embodiment of the present invention may include a first space 350 and a second space 360 ​​for providing serving items (i.e., serving) and collecting bashing items (i.e., bashing). The robot 300 may further include a third space 370, which is an extension space provided through a detachable column, and may have more loading space by adding further extension spaces as needed. The robot 300 may also further include a tray 380 dedicated to serving items or bashing items. For example, the tray 380 may have a configuration in which, when viewed from above, a plurality of circular grooves are formed on its upper surface. Each circular groove may be formed so that the bottom of a cup containing a beverage can be placed on it and easily secured to some extent. The size of such circular grooves can vary. Furthermore, below the first space 350 of the robot 300, a fourth space 390 may be further included, which can be removed through the side of the robot 300. The fourth space 390 according to one embodiment of the present invention may have a form similar to a cage, with an open space formed inside, closed sides, an open top, and a closed bottom. However, the loading space of the robot 300 according to one embodiment of the present invention is not limited to the above-listed contents, and can be diversely embodied in other forms of loading spaces, etc., within the scope that can achieve the objectives of the present invention.

[0029] Next, referring again to Figure 2, the drive unit 320 according to one embodiment of the present invention may consist of a module for moving the main body 310 to another location. For example, the drive unit 320 is a module for moving the main body 310 to another location and may include modules relating to wheels, propellers, etc., that are driven electrically, mechanically, or hydraulically.

[0030] Next, the processor 330 according to one embodiment of the present invention can be electrically connected to the drive unit 320 and perform the function of controlling the drive unit 320 (it may further include a communication module for communication with an external system), and may mean a hardware-integrated data processing device having a physically structured circuit for performing a function expressed by code or instructions included in a program. For example, such a hardware-integrated data processing device may include a microprocessor, a central processing unit, a processor core, a multiprocessor, an ASIC (application-specific integrated circuit), an FPGA (field programmable gate array), and other processing devices.

[0031] Furthermore, the processor 330 can perform at least one of the functions of the first decision unit 210 and the second decision unit 220 of the robot control system 200 according to the present invention (for example, the relevant function may be modularized and included in the processor 330), and can also perform the function of controlling the drive unit 320 through communication with an external system (not shown) that performs at least one of the functions of the first decision unit 210 and the second decision unit 220.

[0032] Specifically, the processor 330 can perform the function of aggregating the movement paths of multiple robots 300, determining the overlapping region where the movement paths of multiple robots 300 overlap, and determining which robot 300 has the right to pass through that overlapping region.

[0033] Robot control system configuration

[0034] In the following, we will examine in detail the internal configuration of the robot control system 200, which performs important functions for realizing the present invention, and the functions of each component.

[0035] Figure 4 is a diagram illustrating in detail the internal configuration of a robot control system 200 according to one embodiment of the present invention.

[0036] As shown in Figure 4, a robot control system 200 according to one embodiment of the present invention may be configured to include a first decision unit 210, a second decision unit 220, a communication unit 230, and a control unit 240. According to one embodiment of the present invention, at least a portion of the first decision unit 210, the second decision unit 220, the communication unit 230, and the control unit 240 may be program modules that communicate with an external system (not shown). Such program modules may be included in the robot control system 200 in the form of an operating system, an application program module, or other program module, and may be physically stored in a variety of known storage devices. Alternatively, such program modules may be stored in a remote storage device that can communicate with the robot control system 200. On the other hand, such program modules include, but are not limited to, routines, subroutines, programs, objects, components, data structures, etc., that perform specific tasks or execute specific abstract data types as described later in the present invention.

[0037] On the other hand, although the robot control system 200 has been described as described above, this description is illustrative, and it will be obvious to those skilled in the art that at least some of the components or functions of the robot control system 200 may be implemented or included within the robot 300 or an external system (not shown) as needed. Furthermore, in some cases, all the functions and components of the robot control system 200 may be fully implemented or included within the robot 300.

[0038] First, according to one embodiment of the present invention, the first determination unit 210 can perform the function of determining an overlapping region where the movement paths of multiple robots 300 overlap by aggregating the movement paths of multiple robots 300.

[0039] According to one embodiment of the present invention, the robot 300 can be configured to autonomously navigate within space. Such autonomous navigation may be achieved using a scanner module and / or a video module provided in the robot 300. A variety of technologies, including publicly known technologies, can be used to implement autonomous navigation. The present invention will be described below in terms of the robot 300 autonomously navigating within space.

[0040] According to one embodiment of the present invention, while multiple robots 300 are moving in space, the movement paths of each robot 300 may overlap in at least part. After the first determination unit 210 has compiled the movement paths of the multiple robots 300, it can determine the region where the movement paths of the multiple robots 300 overlap as an overlapping region. Here, each robot 300 may change its existing movement path to another movement path depending on the movement environment while moving in space, but even in such cases, the first determination unit 210 can compile the movement paths and determine (or recrystallize) the overlapping region. In other words, the first determination unit 210 can compile the movement paths of the multiple robots 300 in real time and determine the overlapping region.

[0041] For example, referring to Figure 5, initially the movement paths of the first robot 300a and the second robot 300b do not overlap (see Figure 5(a)), but an unexpected obstacle S may be located on the movement path of the second robot 300b (see Figure 5(b)). In this case, the movement path of the second robot 300b may be changed, and such a change in path may cause the movement paths of the first robot 300a and the second robot 300b to overlap in region A1. As a result, the first determination unit 210 can combine the movement paths of the first robot 300a and the second robot 300b in real time and determine region A1 as an overlapping region.

[0042] Next, according to one embodiment of the present invention, the second determination unit 220 can perform the function of determining which robot 300 has the right of passage to the superimposed area.

[0043] According to one embodiment of the present invention, if multiple robots 300 are located in the overlapping area, a stalemate may occur. Therefore, in such cases, it is preferable that only one robot 300 has the right to pass through the overlapping area. Taking this into consideration, when the overlapping area is determined by the first determination unit 210, the second determination unit 220 can determine that only one robot 300 has the right to pass through the relevant overlapping area.

[0044] Specifically, according to one embodiment of the present invention, the second determination unit 220 can determine that, in response to all of the multiple robots 300 being located outside the superimposed area, only one of the multiple robots 300 will have the right of passage to the superimposed area. Here, only the robots 300 located within a predetermined distance from the superimposed area may be subject to having the right of passage. That is, even if a robot 300 is located outside the superimposed area, if it is located outside the predetermined distance from the superimposed area, that robot 300 may not be subject to having the right of passage.

[0045] For example, referring to Figure 6, the second determination unit 220 can determine that, although the third robot 300c and the fourth robot 300d are located outside the superposition area A2, they are located within a predetermined distance d from the superposition area A2, and that only one of the third robot 300c and the fourth robot 300d will have the right of passage to the superposition area A2. Here, which of the third robot 300c and the fourth robot 300d has the right of passage to the superposition area A2 can be determined by considering the distance each robot is from the superposition area A2, the speed of each robot, the importance of each robot's task, and so on.

[0046] Furthermore, according to one embodiment of the present invention, the second determination unit 220 can determine that, in response to any one of the multiple robots 300 being located within the superimposed area, only the robot 300 located within the superimposed area will have the right of passage to that superimposed area. Here, the second determination unit 220 can determine that the other robots 300, other than the robot 300 located within the superimposed area, will have the right of passage to that superimposed area after the robot 300 located within the superimposed area has left the superimposed area.

[0047] For example, referring to Figure 7, the second decision unit 220 can determine that, in correspondence with the fact that the fifth robot 300e is located within the superposition area A3, only the fifth robot 300e, which is located within the superposition area A3, will have the right of passage to the superposition area A3. Here, the second decision unit 220 can determine that the sixth robot 300f, which is not located within the superposition area A3, will have the right of passage to the superposition area A3 after the fifth robot 300e, which is located within the superposition area A3, leaves the superposition area A3.

[0048] Furthermore, according to one embodiment of the present invention, the second determination unit 220 can determine that, in response to the fact that at least two of the multiple robots 300 are located within the superimposed area, only one of those at least two robots 300 will have the right of passage to the superimposed area. Here, the second determination unit 220 can determine that a robot 300 that has left the superimposed area because it does not have the right of passage will acquire the right of passage to that superimposed area after the robot 300 that does have the right of passage has left the superimposed area.

[0049] For example, referring to Figure 8, the second decision unit 220 can determine that, in response to the seventh robot 300g and the eighth robot 300h being located within the superposition area A4, only one of the two robots will have the right of passage to the superposition area A4 (see Figure 8(a)). Here, which of the seventh robot 300g and the eighth robot 300h will have the right of passage may be determined by considering the speed of each robot, the importance of each robot's task, etc. If it is determined that the seventh robot 300g has the right of passage and the eighth robot 300h does not, the second decision unit 220 can cause the eighth robot 300h to leave the superposition area A4 (see Figure 8(b) and (c)). Here, the second decision unit 220 can determine that the eighth robot 300h will leave the superimposed area A4, so that the eighth robot 300h is located outside the superimposed area A4 but moves to the point closest to the superimposed area A4. This point may not overlap with the movement path of the seventh robot 300g. Subsequently, the second decision unit 220 can determine that the eighth robot 300h will retain the right of passage after the seventh robot 300g, which has the right of passage, leaves the superimposed area A4.

[0050] As described above, the present invention allows the robot 300 to explore available paths on its own, without being forced to follow a specific path. Furthermore, it can prevent stalemates from occurring between multiple robots 300 through the determination of overlapping areas. As a result, according to the present invention, the robot 300 can respond flexibly to changes in the travel environment.

[0051] Next, the communication unit 230 according to one embodiment of the present invention can perform the function of enabling the transmission and reception of data to and from the first decision unit 210 and the second decision unit 220.

[0052] Finally, the control unit 240 according to one embodiment of the present invention can perform the function of controlling the flow of data between the first decision unit 210, the second decision unit 220, and the communication unit 230. That is, the control unit 240 according to one embodiment of the present invention can control the first decision unit 210, the second decision unit 220, and the communication unit 230 to perform their respective functions by controlling the flow of data to and from the outside of the robot control system 200 or the flow of data between each component of the robot control system 200.

[0053] The embodiments of the present invention described above can be embodied in the form of program instructions that can be executed through a variety of computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., individually or in combination. The program instructions recorded on the computer-readable recording medium may be specifically designed and configured for the present invention or may be available and known to those skilled in the field of computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and hardware devices specifically configured to store and execute program instructions, such as ROM, RAM, and flash memory. Examples of program instructions include not only machine code, such as that produced by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. Hardware devices may be modified into one or more software modules to perform the processing according to the present invention, and vice versa.

[0054] Although the present invention has been described above with specific details such as concrete components and limited embodiments and drawings, these are provided only to aid in a more general understanding of the invention, and the invention is not limited to the above embodiments. A person with ordinary skill in the art to which the invention belongs can make various modifications and changes from this description.

[0055] Therefore, the concept of the present invention should not be limited to the embodiments described above, and it can be said that not only the claims described below, but also all scopes equivalent to or equivalently modified from these claims, fall within the scope of the concept of the present invention.

Claims

1. A method for controlling a robot, (a) A step of determining an overlapping region where the movement paths of multiple robots overlap by aggregating the movement paths of multiple robots, and (b) A method comprising the step of determining which robot has the right of way to the superimposed area.

2. The method according to claim 1, wherein in step (a) above, the movement paths of the plurality of robots are compiled in real time to determine the superposition area.

3. The method according to claim 1, wherein, in step (b), it is determined that, corresponding to all of the plurality of robots being located outside the superimposed area, only one of the plurality of robots will have the right of passage.

4. The method according to claim 1, wherein, in step (b), it is determined that only the robots located within the superimposed area have the right of passage, corresponding to the position of one of the plurality of robots within the superimposed area.

5. The method according to claim 4, wherein, in step (b), other robots other than the robot located within the superimposed area decide to retain the right of passage after the robot located within the superimposed area leaves the superimposed area.

6. The method according to claim 1, wherein, in step (b), it is determined that, corresponding to the fact that at least two of the plurality of robots are located within the superimposed area, only one of the at least two robots has the right of passage.

7. The method according to claim 6, wherein, in step (b), a robot that would leave the superimposed area because it does not possess the right of passage decides to possess the right of passage after the robot possessing the right of passage has left the superimposed area.

8. A non-temporary computer-readable recording medium for recording a computer program for performing the method described in claim 1.

9. A system for controlling robots, A first determination unit that aggregates the movement paths of multiple robots and determines the overlapping region where the movement paths of the multiple robots overlap, and A system including a second determination unit that determines which robot has the right of passage to the superimposed area.

10. The system according to claim 9, wherein the first determination unit aggregates the movement paths of the plurality of robots in real time and determines the superposition area.

11. The system according to claim 9, wherein the second decision unit determines, in response to all of the multiple robots being located outside the superimposed area, that only one of the multiple robots possesses the right of passage.

12. The system according to claim 9, wherein the second determination unit determines, in response to any one of the plurality of robots being located within the superimposed area, that only the robot located within the superimposed area possesses the right of passage.

13. The system according to claim 12, wherein the second decision unit determines that robots other than the robot located within the superimposed area will retain the right of passage after the robot located within the superimposed area leaves the superimposed area.

14. The system according to claim 9, wherein the second determination unit determines, in response to at least two of the plurality of robots being located within the superimposed area, that only one of the at least two robots possesses the right of passage.

15. The system according to claim 14, wherein the second decision unit determines that a robot that has to leave the superimposed area because it does not possess the right of passage will acquire the right of passage after the robot that possesses the right of passage has left the superimposed area.

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