Method, system and computer readable storage media for a plurality of muti-mission robots

Abstract

An embodiment of the present invention provides a control method for a plurality of multi-mission robots, comprising: (A) preparing a plurality of multi-mission robots; and (B) assigning at least one of a plurality of missions that the multi-mission robots can perform to each of the multi-mission robots; wherein step (B) comprises: (B-1) calculating a robot supply rate for each mission assigned to the multi-mission robots; and (B-2) assigning the mission to each of the multi-mission robots based on the robot supply rate; wherein the robot supply rate for each mission is (log x of the multi-mission robots assigned the mission) / (log y of the multi-mission robots required for the mission).

Description

Technology Field

[0001] The present invention relates to a control method, system, and computer-readable storage medium for a plurality of multi-mission robots, and more specifically, to a method, system, and computer-readable storage medium for optimizing the mission execution scheduling of a plurality of multi-mission robots that perform multiple missions such as patrolling, docenting, and delivery. Background Technology

[0002] There are various control methods for operating robots, including proximity control, remote control, and autonomous operation. Recently, autonomous robots are being widely applied in unmanned disinfection systems, autonomous security systems equipped with patrol functions, robots for scientific and research purposes, exploration robots, logistics transport, and other fields. To autonomously control unmanned robots, it is required that they continuously perform their tasks while minimizing operator intervention.

[0003] Autonomous robots are equipped with various sensors and can perform tasks by communicating with a control system in real time. For example, by utilizing sensors such as LiDAR, cameras, IMUs (internal measurement units), GPS, and encoders, along with artificial intelligence technology, they can measure their current location on a map, follow an optimal path, and detect and avoid obstacles.

[0004] However, conventionally, each robot was limited to a single mission, which posed a limitation in performing various tasks with a limited number of robots. For example, when the number of robots performing each task is limited, a problem arose where, if there was high demand for a specific service, the service had to be performed restrictively within the fixed number of robots. The problem to be solved

[0005] One aspect of the present invention is to optimize the task execution scheduling of a plurality of multi-task performing robots to maximize the utilization of a service-providing robot. means of solving the problem

[0006] An embodiment of the present invention provides a control method for a plurality of multi-mission robots, comprising: (A) preparing a plurality of multi-mission robots; and (B) assigning at least one of a plurality of missions that the multi-mission robots can perform to each of the multi-mission robots; wherein step (B) comprises: (B-1) calculating a robot supply rate for each mission assigned to the multi-mission robots; and (B-2) assigning the mission to each of the multi-mission robots based on the robot supply rate; wherein the robot supply rate for each mission is (log x of the multi-mission robots assigned the mission) / (log y of the multi-mission robots required for the mission).

[0007] An embodiment of the present invention provides a method for controlling a plurality of multi-mission robots, wherein step (B-2) includes: (B-3) identifying a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-4) selecting at least one multi-mission robot among the multi-mission robots assigned the first mission; and (B-5) changing the mission of the selected multi-mission robot to the second mission.

[0008] An embodiment of the present invention provides a control method for a plurality of multi-mission robots, wherein steps (B-1) to (B-3) are repeated when the x value is smaller than the y value for all of the plurality of robot supply rates.

[0009] An embodiment of the present invention provides a control method for a plurality of multi-mission performing robots, wherein, when the first mission or the second mission is a plurality of times, one mission is arbitrarily selected from the plurality of first missions or the plurality of second missions.

[0010] An embodiment of the present invention provides a control method for a plurality of multi-mission performing robots, wherein, when there are multiple first missions, the mission with the largest x value is selected among the plurality of first missions.

[0011] An embodiment of the present invention provides a control method for a plurality of multi-mission performing robots, wherein, when there are multiple second missions, the mission with the largest y value is selected among the plurality of second missions.

[0012] An embodiment of the present invention provides a control method for a plurality of multi-mission robots, further comprising, after step (B), (C) a step of the multi-mission robot performing an assigned mission; (D) a step of checking whether an error occurs in the multi-mission robot performing the mission; and (E) a step of performing step (B) if an error occurs in the multi-mission robot.

[0013] An embodiment of the present invention provides a control system for a plurality of multi-mission robots, wherein the control system comprises: a memory; and a processor connected to the memory and configured to execute computer-readable commands included in the memory, wherein the processor performs: (A) an operation of calculating a robot supply rate for each of the multiple tasks that the plurality of multi-mission robots can perform; and (B) an operation of assigning the task to each of the multiple-mission robots based on the robot supply rate; and wherein the robot supply rate for each of the multiple tasks is (the number of multiple-mission robots to which the task is assigned x) / (the number of multiple-mission robots required for the task y).

[0014] An embodiment of the present invention provides a control system for a plurality of multi-mission robots, wherein the operation (B) comprises: (B-1) identifying a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-2) selecting at least one multi-mission robot among the multi-mission robots assigned the first mission; and (B-3) changing the mission of the selected multi-mission robot to the second mission.

[0015] An embodiment of the present invention provides a control system for a plurality of multi-mission robots that repeats the operations (B-1) to (B-3) when the x value is smaller than the y value for all of the plurality of robot supply rates.

[0016] An embodiment of the present invention provides a control system for a plurality of multi-mission performing robots, wherein, when the first mission or the second mission is a plurality of times, one mission is arbitrarily selected from the plurality of first missions or the plurality of second missions.

[0017] An embodiment of the present invention provides a control system for a plurality of multi-mission performing robots, wherein, when there are multiple first missions, the mission with the largest x value is selected among the plurality of first missions.

[0018] An embodiment of the present invention provides a control system for a plurality of multi-mission performing robots, wherein, when there are multiple second missions, the mission with the largest y value is selected among the plurality of second missions.

[0019] An embodiment of the present invention provides a control system for a plurality of multi-mission robots, the processor further comprising: an operation after the operation (B) in which the multi-mission robot performs an assigned mission; an operation to check whether an error occurs in the multi-mission robot performing the mission; and an operation to perform the step (B) if an error occurs in the multi-mission robot.

[0020] An embodiment of the present invention provides a non-transient computer-readable storage medium having a program recorded thereon for executing: (A) an operation of calculating a robot supply rate for each of the multiple missions that can be performed by a plurality of multiple mission performing robots, wherein the robot supply rate is (x, the number of multiple mission performing robots to which the mission is assigned) / (y, the number of multiple mission performing robots required for the mission) for each of the multiple mission performing robots.

[0021] An embodiment of the present invention provides a non-transient computer-readable storage medium, wherein the operation (B) comprises: (B-1) identifying a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-2) selecting at least one multi-mission performing robot among the multi-mission performing robots assigned the first mission; and (B-3) changing the mission of the selected multi-mission performing robot to the second mission.

[0022] An embodiment of the present invention provides a non-transient computer-readable storage medium that repeats the operations (B-1) to (B-3) when the x value is smaller than the y value for all of the plurality of robot supply rates.

[0023] An embodiment of the present invention provides a non-transient computer-readable storage medium that selects the task with the largest x value among the plurality of first tasks when the first tasks are plurality.

[0024] An embodiment of the present invention provides a non-transient computer-readable storage medium that selects the task with the largest y value among the plurality of second tasks when the second tasks are plurality.

[0025] An embodiment of the present invention provides a non-transient computer-readable storage medium further comprising: an operation in which the multi-mission robot performs a task assigned thereto after the operation (B); an operation to check whether an error occurs in the multi-mission robot performing the task; and an operation to perform the step (B) if an error occurs in the multi-mission robot. Effects of the invention

[0026] According to an embodiment of the present invention, the task execution scheduling of a plurality of multi-task performing robots is optimized to maximize the utilization of the robots providing the service. Brief explanation of the drawing

[0027] FIG. 1 is a diagram showing the types of autonomous driving services according to an embodiment of the present invention. FIG. 2 is a diagram showing the order of information requests and responses between an autonomous driving robot, a control server, and a user according to an embodiment of the present invention. FIG. 3 is a block diagram showing the configuration and operation of an autonomous driving robot according to an embodiment of the present invention. FIG. 4 is a block diagram showing the configuration and operation of a basic driving module of an autonomous driving robot according to an embodiment of the present invention. FIG. 5 is a block diagram showing the configuration and operation of a driving mode selection module of an autonomous driving robot according to an embodiment of the present invention. FIG. 6 is a block diagram showing the configuration and operation of a service execution module of an autonomous driving robot according to an embodiment of the present invention. FIG. 7 is a diagram showing the state prior to service demand management and optimization scheduling according to an embodiment of the present invention. FIG. 8 is a diagram showing the state after service demand management and optimization scheduling according to an embodiment of the present invention. FIG. 9 is a flowchart showing the sequence of service mission execution by a robot based on a user request according to an embodiment of the present invention. FIG. 10 is a block diagram showing a control system according to an embodiment of the present invention. Specific details for implementing the invention

[0028] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Identical or similar components are assigned the same reference number regardless of drawing symbols, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably solely for the ease of drafting the specification and do not inherently possess distinct meanings or roles. In the drawings, the thickness or size of each layer may be exaggerated, omitted, or schematically depicted for the convenience and clarity of explanation. Furthermore, the size of each component does not entirely reflect its actual size.

[0029] In this description, expressions such as “include,” “equip,” or “compose” are intended to refer to certain characteristics, numbers, steps, actions, elements, parts or combinations thereof, and should not be interpreted to exclude the existence or possibility of one or more other characteristics, numbers, steps, actions, elements, parts or combinations thereof other than those described.

[0030] Additionally, terms such as first, second, etc., may be used to describe various components, but said components are not limited by said terms, and said terms are used only for the purpose of distinguishing one component from another.

[0031] In addition, when describing the embodiments disclosed in this specification, if it is determined that a detailed description of related prior art could obscure the essence of the embodiments disclosed in this specification, such detailed description is omitted.

[0032] The attached drawings are intended only to facilitate understanding of the embodiments disclosed in this specification, and the technical concept disclosed in this specification is not limited by the attached drawings; it should be understood that all modifications, equivalents, and substitutions included within the concept and technical scope of the present invention are included.

[0033] Below, embodiments of the present invention will be described in detail with reference to the drawings.

[0034] FIG. 1 is a diagram showing the types of autonomous driving services according to an embodiment of the present invention.

[0035] The service (100) provided by the robot (e.g., autonomous robot) can be configured in various forms. Robots operated by methods such as autonomous driving are applied in many fields such as patrolling, docenting, logistics delivery, education, medical care, and cleaning, and are operated in close connection with real life. In the embodiments of the present invention, three services—patrol, docenting, and delivery—are described as examples, but the scope of the present invention is not limited thereto.

[0036] The patrol service (101) can be introduced to enhance crime prevention effects within a specific area. The autonomous robot can be equipped with equipment necessary for crime prevention, such as cameras, speakers, and microphones, and can be operated systematically in conjunction with agencies such as police stations and fire departments that can respond to emergency situations by repeatedly driving through the service area. The autonomous driving function has the advantage of allowing intensive monitoring of areas with weak security, such as CCTV blind spots or alleys, and if a thermal imaging camera is installed, it can monitor the surroundings in dark places even at night and perform missions in various unexpected situations.

[0037] The docent (cultural commentary) service (102) is a service in which an autonomous robot takes the place of a tourist guide and explains cultural sites in museums, art galleries, outdoor parks, etc. When a specific point requiring voice commentary is determined, the autonomous robot performs guidance and commentary on the cultural sites in a predetermined order or in the order entered by the user. By equipping the autonomous robot with a speaker to implement the docent function, it is possible to provide an autonomous tourist commentary tour of cultural sites within a specific region based on a cloud service. Recently, as the level of culture has risen, the demand for tourist attractions has increased, and the demand for docent services has also increased.

[0038] Delivery service (103) is a service that has recently seen increasing demand due to the development of the logistics industry and the increase in orders for delivery food. It is a method in which goods loaded with items are delivered to a location when the starting point and destination are entered into an autonomous robot. Additionally, if a cargo box for delivery functions is equipped, it can also perform the task of transporting goods to an optimized destination.

[0039] The services (robot missions) (100) provided by autonomous robots are divided into several fields, but all services have the common great advantage of being able to overcome resource limitations and operate efficiently. When a control system is established to control autonomous robots equipped with various service performance capabilities in real time, it is possible to identify status information regarding the robot's current location, speed, remaining battery level, sensor operation status, driving course, etc., for multiple multi-mission robots, and to control the entire robot system, such as autonomous driving on / off, driving course setting, warning lights, and voice transmission control. In addition, it is possible to efficiently operate multiple multi-mission robots through scheduling that identifies service demand and optimizes the missions of autonomous robots.

[0040] In other words, in the case of a multi-mission robot capable of performing multiple tasks, a robot assigned to service A can be deployed to service B, where demand has temporarily increased, thereby enabling the efficient operation of the autonomous robot service. In this case, the control system performs the role of managing and controlling functions such as robot task scheduling, demand aggregation and forecasting for each service, and identification of optimal movement paths. In an embodiment of the present invention, the control system may include a control server.

[0041] A multi-mission robot according to an embodiment of the present invention is a robot capable of performing two or more missions, such as patrolling, docenting, logistics delivery, education, medical care, and cleaning. Although the embodiments of the present invention describe a multi-mission robot capable of performing patrolling, docenting, and delivery missions, the missions that a multi-mission robot can perform are not limited thereto.

[0042] FIG. 2 is a diagram showing the order of information requests and responses between an autonomous driving robot, a control server, and a user according to an embodiment of the present invention.

[0043] In order to stably operate an autonomous driving service according to an embodiment of the present invention, a plurality of robots (201) capable of performing multiple tasks and a control server (202) that enables a user (203) to monitor and control the robots (201) are required. When a user (203) requests an operation (204) from the control server (202) for a specific service, the control server (202) preprocesses the user's request (204) into a command that the robot can interpret and sends a request (205) to the robot. In an embodiment of the present invention, the control server (202) may be used in combination with a control system.

[0044] The robot performs an operation according to a scenario corresponding to the requested service (mission) (205) and provides feedback (206) regarding the state of the operation to the control system. The control server (202) transmits the feedback (206) information received from the robot (201) to the user in response (207). Through continuous interaction between the user (203) and the robot (201) via the control server (202) in this order, an autonomous driving service can be implemented.

[0045] Table 1 shows the types of messages between the user and the control system, and Table 2 shows the types of messages between the control server and the robot.

[0054] request(204) response(207) message explanation message explanation / robot_req Robot selection / robot_res Robot status / service_req Service Selection / service_res Service status / loc_req Robot location selection / loc_res Set robot location / des_req Select destination / des_res Set destination / nav_req Autonomous driving on / off / nav_res autonomous driving status / light_req Searchlight control / light_res Searchlight status / pat_req Warning light control / pat_res Warning light status / docent_play_req Audio playback control / docent_play_res Audio playback status / docent_stop_req Audio stop control / docent_stop_res Audio paused / tts_req Sound generation / tts_res Audio creation complete / course_req Select driving course / course_res Set driving course / emg_req Emergency stop / emg_res Emergency stop state / rb_bat Robot battery / rb_vel Robot speed / rb_dis Robot travel distance / rb_cur Robot's current location / rb_sensor Checking whether the sensor is functioning normally / rb_nav Whether driving operation / rb_mode Current operating mode / rb_error Whether an error occurred

[0055] request(205) response(206) message explanation message explanation / ServiceMode Assignment of service duties / ServiceModeStatus Service status / LocSelect Robot position setting / LocStatus Set robot location / DesSelect Set destination / DesStatus Set destination / NavMode Autonomous driving mode control / NavModeStatus Autonomous driving mode status / LightMode Searchlight control / LightModeStatus Searchlight status / PatMode Warning light control / PatModeStatus Warning light status / DocentPlay Audio playback control / DocentPlayStatus Audio playback status / DocentStop Audio stop control / DocentStopStatus Audio paused / TtsSave Creating and saving audio files / TtsStatus generated audio status / CourseSelect Driving Course Setting / CourseStatus Set driving course / EmgMode Emergency stop order / EmgModeStatus Emergency stop state / RobotBat Check battery / BatStatus Battery status / RobotVel Check speed / VelStatus Speed ​​status / RobotDis Check travel distance / DisStatus Travel distance / RobotCurrentPos Check current location / CurrentPosStatus Current location / SensorCheck Check sensor status / SensorStatus Sensor operating status / Driving Check driving operation status / DrivingStatus Driving operation status / RobotTaskMode Check operating mode / TaskModeStatus Current operating mode / RobotError Check for error occurrence / ErrorStatus Error status

[0056] FIG. 3 is a block diagram showing the configuration and operation of an autonomous driving robot according to an embodiment of the present invention.

[0057] The autonomous driving robot (201) is composed of a basic driving module (301), a driving mode selection module (305), and a service execution module (308). The basic driving module (301) is composed of a sensor driving module (302) that drives sensors mounted on the robot (201) and a coordinate transformation module (303) for integrated management of the sensors.

[0058] A server communication module (304) that receives and manages requests from a control system or control server (202) determines the current mission status of the robot based on information received from the basic driving module (301) and transmits the request from the control server (202) to the driving mode selection module (305). When the map creation module (306) of the driving mode selection module (305) operates and the map creation mode is activated, the robot (201) is set to a state for drawing a map. When the autonomous driving module (307) of the driving mode selection module (305) operates and the autonomous driving mode is activated, the robot (201) is set to a state for autonomous driving and prepares for service execution.

[0059] When a service mission is assigned from the control server (202), the service execution module (308) performs the mission (309) according to the service scenario. The sensor driving module (302), the driving mode selection module (305), and the service execution module (308) feed back the current status of each module to the server communication module (304), and the server communication module (304) transmits the current overall status of the robot (201) to the control server (202). The user (203) can manage the robot (201) based on the current status information of the robot (201) transmitted to the control server (202).

[0060] FIG. 4 is a block diagram showing the configuration and operation of a basic driving module of an autonomous driving robot according to an embodiment of the present invention.

[0061] The basic driving module (301) of the autonomous driving robot (201) performs the role of driving and integrated management of sensors. The sensor driving module (302) sequentially drives sensors such as LiDAR (401), camera (402), IMU (internal measurement unit) (403), GPS (404), encoder (405), and ultrasonic sensor, and provides feedback on whether each sensor is operating normally. Afterwards, to ensure the accuracy of the sensor data, the error correction module (406) applies a sensor fusion technique (407) to detect and correct sensor errors in real time (408) and transmits the data to the coordinate conversion module (303). The coordinate conversion module (303) retrieves hardware information of the sensors, converts each local coordinate, and integrates them into the robot's body coordinate, i.e., a single global coordinate, thereby managing the information of the sensors in an integrated manner.

[0062] FIG. 5 is a block diagram showing the configuration and operation of a driving mode selection module of an autonomous driving robot according to an embodiment of the present invention.

[0063] The driving mode selection module (305) of the autonomous driving robot (201) receives a driving mode setting command from the control server (202), switches to a map creation mode or an autonomous driving mode, and prepares the robot (201) to perform the corresponding mission.

[0064] In map creation mode, a map can be created based on a Simultaneous Localization and Mapping (SLAM) algorithm module (501). The SLAM algorithm module (501) can create areas on the map where driving is not possible by recognizing obstacles in the surrounding environment from object detection sensors such as LiDAR (401) and a camera (402). Additionally, it can receive data from motion state measurement sensors such as an IMU (403) and an encoder (405) to accurately determine the distances of obstacles detected during movement and display feature points of the measured space on the map. The map created in this way is managed by a map server management module (502) and provides information for determining the current location during autonomous driving.

[0065] In autonomous driving mode, map information (503) is received from the map server management module (502), and position estimation is performed by the position estimation module (504) based on sensor data such as LiDAR (4001), camera (402), IMU (403), GPS (404), and encoder (405). When a destination is assigned from the control server (202), the driving control module (505) performs control to generate and follow a path from the current location to the destination. Path generation is performed by the path generation module (505), and path following is performed by the path following module (507).

[0066] At this time, a driving state management module (508) that manages the accuracy of the current position, the validity of the generated path, and constraints between path following determines whether the robot (201) can drive, and feeds back the current state to the control server (202) so that the user (203) can check it.

[0067] FIG. 6 is a block diagram showing the configuration and operation of a service execution module of a robot according to an embodiment of the present invention.

[0068] The service request receiving module (601) of the service execution module (308) receives a service request command from the control server (202) and assigns a task to one of the patrol module (602), docent module (605), or delivery module (608). The patrol module (602), docent module (605), and delivery module (608) of the service execution module (308) systematically process the assigned service task according to the scenario and monitor the status of the robot so that it can operate accordingly.

[0069] In the patrol mission state, a route is planned (603) to repeatedly drive along a designated patrol section, and video and information are continuously transmitted (604) to a connected control center while moving. This patrol service eliminates the limit on the number of CCTV installations through a mobile CCTV system that overcomes the limitations of fixed CCTVs, and allows for the efficient deployment of police personnel by considering the patrol robot operation route, thereby overcoming the limitations of limited human and material resources and maximizing crime prevention efficiency by patrolling blind spots.

[0070] In the state of a docent (cultural commentary) mission, an optimal route plan (606) is made considering the given docent location, and a service is provided by moving sequentially and stopping at each docent location to provide audio commentary (607). This allows for the reduction of human resources required in large tourist areas and the efficient operation of services by incorporating tourist information, wayfinding, and AI services according to user demand.

[0071] In the delivery mission state, when a destination for logistics transfer is given, a route (609) is planned based on optimal scheduling that considers the shortest distance and minimum time required to the destination based on the current position of the robot (201). For dynamic obstacles that appear during driving, the distance to the obstacle is determined using obstacle detection sensors such as LiDAR (401), camera (402), and ultrasonic sensor, and a path is generated to avoid the obstacle in real time. By controlling the robot to follow these wide-area and local paths, it is possible to drive (610) toward the destination along the optimal path. Additionally, since the robot performs logistics services, it is possible to operate with minimal impact from external environmental factors such as weather and time.

[0072] FIG. 7 is a diagram showing the state prior to service demand management and optimization scheduling according to an embodiment of the present invention, and FIG. 8 is a diagram showing the state after service demand management and optimization scheduling according to an embodiment of the present invention.

[0073] To help understand the service mission optimization scheduling according to an embodiment of the present invention, the following situation is assumed for any service area (700).

[0074] First, a plurality of multi-mission performing robots (201) are prepared, and at least one of the plurality of missions that the multi-mission performing robots (201) can perform is assigned to each multi-mission performing robot (201). In an embodiment of the present invention, three robots (701) that perform patrol services, one robot (702) that performs docent services, and two robots (703) that perform delivery services are deployed in a service area (700) managed by a control server (202).

[0075] At this time, if the number of robots (703) performing delivery services increases due to an increase in delivery requests, a situation occurs where the supply of delivery services becomes unstable.

[0076] In order to ensure a smooth supply of services, a robot supply rate is calculated for each task assigned to a multi-task performing robot (201), and based on the robot supply rate, a task is assigned to each multi-task performing robot (201) or an already assigned task is changed. That is, the control server (202) identifies the robot for the service with the highest supply relative to the required robot for each service through optimal service task scheduling. The robot identified in this way (the robot for the service with the highest supply relative to the required robot) has its task changed to a delivery service where the current supply of robots is insufficient. Of course, it is also possible to identify the robot for the service with the lowest demand relative to the supplied (deployed) robot for each service. In this case, the identified robot (the robot for the service with the lowest demand relative to the deployed robot) has its task changed to a delivery service where the current supply is insufficient.

[0077] To explain in detail, it is as follows.

[0078] Referring to FIG. 7, the robots (201) currently supplied for each service are three robots (701) for performing patrol services, one robot (702) for performing docent services, and two robots (703) for performing delivery services. It is assumed that the demand for robots required for each service mission has changed, so that the demand for robots (701) for performing patrol services has changed to two, the demand for robots (702) for performing docent services has changed to one, and the demand for robots (703) for performing delivery services has changed to three.

[0079] In this case, the supply rate of the robot (201) for each service mission is as follows. At this time, the supply rate for each mission is calculated as (number of multi-mission performing robots x) / (number of multi-mission performing robots y required for the mission) as follows.

[0080] Robot supply rate for patrol service = 3 / 2 = 1.5

[0081] Robot supply rate of docent service = 1 / 1 = 1.0

[0082] Robot supply rate for delivery services = 2 / 3 = 0.7

[0083] The step of assigning a mission to each multi-mission robot (201) or changing an already assigned mission based on the robot supply rate can be performed as follows.

[0084] That is, the process may be performed by: a step of identifying the first mission with the largest robot supply rate and the second mission with the smallest robot supply rate; a step of selecting at least one multi-mission robot among the multi-mission robots assigned the first mission; and a step of changing the mission of the selected multi-mission robot to the second mission.

[0085] Specifically, among the patrol service, docent service, and delivery service described above, the robot of the service with the highest supply relative to the required robot, that is, the robot of the service with the highest robot supply rate, is the robot (701) of the patrol service with a supply rate of 1.5. Therefore, the mission of one of the robots (701) of the patrol service is changed to the delivery service.

[0086] Through this scheduling, a robot (201) with a newly assigned mission is deployed to the service area, reducing the number of robots (701) performing patrol services to two and increasing the number of robots (703) performing delivery services to three, thereby resolving supply instability and enabling the provision of smooth services. The robot supply rate after service demand management and optimization scheduling, in which the mission of one of the robots (701) in the patrol service is changed, is as follows.

[0087] Robot supply rate for patrol service = 2 / 2 = 1.0

[0088] Robot supply rate of docent service = 1 / 1 = 1.0

[0089] Robot supply rate in delivery services = 3 / 3 = 1.0

[0090] At this time, the steps of: calculating the robot supply rate for each mission and, if the x value is smaller than the y value in all robot supply rates, identifying the first mission with the largest robot supply rate and the second mission with the smallest robot supply rate; selecting at least one multi-mission performing robot among the multi-mission performing robots assigned the first mission; and changing the mission of the selected multi-mission performing robot to the second mission may be repeated.

[0091] In addition, if there are multiple first or second missions, one of the multiple first missions or multiple second missions may be arbitrarily selected to assign or change the mission.

[0092] In addition, if there are multiple first missions, the mission with the largest x value among the multiple first missions can be selected to assign another mission or change to another mission. If there are multiple second missions, the mission with the largest y value among the multiple second missions can be selected to assign another mission or change to another mission.

[0093] As described above, after a mission is assigned or changed to the multi-mission robot (201), the multi-mission robot (201) performs the assigned mission. During the performance of the mission, an error may occur in the multi-mission robot (201), causing the multi-mission robot (201) to stop operating. Therefore, it is checked whether an error occurs in the multi-mission robot (201).

[0094] If an error occurs in the multi-mission performing robot (201), as described above, the robot supply rate for each mission assigned to the multi-mission performing robot can be calculated, and the task assigned or changed to each multi-mission performing robot can be performed based on the robot supply rate.

[0095] In addition, by collecting robot supply and demand data by service in the service area, aggregating service demand by time of day, and predicting time periods when demand increases, the number of robots in operation and optimal movement paths can be efficiently managed and operated.

[0096] FIG. 9 is a flowchart showing the sequence of service mission execution by a robot based on a user request according to an embodiment of the present invention.

[0097] The control server (202) receives a service request (801) from the autonomous driving robot service user (203). After the user sets the desired robot location, destination, and detailed movement path, the control server (202) is assigned a role for message communication.

[0098] The control server (202) schedules the robot (201) by considering demand, the robot's status, and the optimal path to efficiently operate the robot's service mission (802). At this time, it checks whether there is a robot (201) to perform the mission, and if there is no robot to be immediately deployed to the mission, it returns to the optimization scheduling process (802) and repeats the process so that the service can be performed through efficient mission distribution (803).

[0099] If there is a robot to perform a task, the control server (202) assigns the task to the robot (201) (804). The robot (201) assigned the task performs an action corresponding to the scenario of the requested service (805). The process of the robot (201) performing the task can be monitored by receiving information from the control server (202) (806).

[0100] Information regarding the process of the robot (201) performing a task is transmitted to the control system so that the service user (203) can verify it (807). At this time, the control server (202) repeatedly checks whether an error has occurred in the robot (201). If an error occurs, and the robot (201) is no longer able to perform the task, it returns to the optimization scheduling process (802) to seek cooperation from another robot (201) or to replace it with another robot (201) (808). If no error occurs and the task continues to be performed, the control server (202) monitors the robot until the task is completed, and terminates the service when the completed state is confirmed (809).

[0101] FIG. 10 is a block diagram showing a control system according to an embodiment of the present invention.

[0102] A control system for a plurality of multi-mission robots according to an embodiment of the present invention includes a memory (110) and a processor (130). The processor is connected to one or more memories (110) and is configured to execute computer-readable instructions contained in the memories. The memory (110) may store codes that cause the processor (130) to control the robot (201) when executed by the processor (130). The processor (130) according to an embodiment of the present invention may execute the control method for a plurality of multi-mission robots described above.

[0103] The memory (110) may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. The memory (110) may include internal memory and / or external memory, and may include volatile memory such as DRAM, SRAM, or SDRAM, non-volatile memory such as OTPROM (one time programmable ROM), PROM, EPROM, EEPROM, mask ROM, flash ROM, NAND flash memory, or NOR flash memory, SSD, CF (compact flash) card, SD card, etc.

[0104] In addition, various information necessary within the scope of achieving the purpose of the present disclosure may be stored in the memory (110), and the information stored in the memory (110) may be updated as it is received from a server or external device or input by a user.

[0105] The communication unit (120) may provide a communication interface necessary to provide transmission and reception signals between external devices (including servers) in the form of packet data in conjunction with a network. Additionally, the communication unit (120) may be a device including hardware and software necessary to transmit and receive signals, such as control signals or data signals, through wired or wireless connections with other network devices.

[0106] The processor (130) can receive various data or information from an external device connected through the communication unit (120) and can also transmit various data or information to the external device. Additionally, the communication unit (120) may include at least one of a WiFi module, a Bluetooth module, a wireless communication module, and an NFC module.

[0107] A control server (202) according to an embodiment of the present invention may include a memory (110) and a processor (130). Additionally, the control server (202) may further include a communication unit (120).

[0108] The input unit (140) is an input interface in which various data for controlling the robot (201) are collected. The data may be input by a user or obtained from a server. Additionally, the input unit (140) may receive user commands for controlling the operation of the robot (201) and may include, for example, a microphone, a touch display, etc.

[0109] The output unit (150) is an output interface through which the result performed by the robot (201) is output, and may include, for example, a display. The input unit (140) and the output unit (150) of the control system according to an embodiment of the present invention may be formed in the form of a single panel equipped with a display unit.

[0110] The processor (130) can control the overall operation of the robot (201). Specifically, the processor (130) is connected to the configuration of a control system including the memory (110) as described above, and can control the overall operation of the robot (201) by executing at least one command stored in the memory (110) as described above.

[0111] The processor (130) can be implemented in various ways. For example, the processor (130) can be implemented as at least one of an Application Specific Integrated Circuit (ASIC), an embedded processor, a microprocessor, hardware control logic, a hardware finite state machine (FSM), or a digital signal processor (DSP).

[0112] In addition, an embodiment of the present invention provides a non-transient computer-readable storage medium having a program recorded thereon for calculating a robot supply rate for each task assigned to a multi-task performing robot among a plurality of tasks that can be performed by a plurality of multi-task performing robots, and for assigning a task to each multi-task performing robot based on the robot supply rate, wherein the robot supply rate for each task is (number of multi-task performing robots assigned a task x) / (number of multi-task performing robots required for the task y).

[0113] A program recorded on a computer-readable storage medium according to an embodiment of the present invention can execute the control method of a plurality of multi-mission performing robots described above.

[0114] As described above, the present invention has been explained by specific details such as specific components, limited embodiments, and drawings; however, these are provided merely to aid in a more comprehensive understanding of the invention, and the invention is not limited to the above embodiments. A person skilled in the art to which the invention pertains will be able to make various modifications and variations within the scope of the essential characteristics of the invention. Accordingly, the concept of the present invention should not be limited to the described embodiments, and all technical concepts that are equivalent to or have equivalent variations to the claims set forth below, as well as the claims themselves, should be interpreted as being included within the scope of the rights of the present invention. Furthermore, each of the above embodiments may be combined and operated as needed. Explanation of the symbols

[0115] 201: Autonomous driving robot 202: Control Server 203: User 301: Basic drive module 305: Drive Mode Selection Module 308: Service Execution Module

Claims

Claim 1 A method for controlling a plurality of multi-mission robots, comprising: (A) a step of preparing a plurality of multi-mission robots; and (B) a step of assigning at least one of a plurality of missions that the multi-mission robots can perform to each of the multi-mission robots; wherein step (B) comprises: (B-1) a step of calculating a robot supply rate (x / y) for each mission assigned to the multi-mission robots; and (B-2) a step of assigning or changing the mission to each of the multi-mission robots based on the robot supply rate (x / y); and the step of calculating the robot supply rate (x / y) in step (B-1) comprises: a step of aggregating the number x of the multi-mission robots assigned the mission based on the current location, battery status, sensor operation status, and driving capability of the multi-mission robots; and a step of calculating the number y of the multi-mission robots required for the mission based on mission-specific demand and supply data, time-specific mission demand aggregation, and time-specific mission demand forecasting. Claim 2 A method for controlling a plurality of multi-mission robots, wherein the step (B-2) comprises: (B-3) identifying a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-4) selecting at least one multi-mission robot among the multi-mission robots assigned the first mission; and (B-5) changing the mission of the selected multi-mission robot to the second mission. Claim 3 A control method for a plurality of multi-mission robots according to paragraph 2, wherein when the x value is smaller than the y value for all of the plurality of robot supply rates, steps (B-1) to (B-3) are repeated. Claim 4 A control method for multiple multi-mission performing robots according to paragraph 2, wherein, when the first mission or the second mission is multiple, one mission is arbitrarily selected from the multiple first missions or multiple second missions. Claim 5 A control method for multiple multi-mission performing robots according to paragraph 2, wherein, when there are multiple first missions, the mission with the largest x value is selected among the multiple first missions. Claim 6 A control method for a plurality of multi-mission performing robots, wherein, in the case of the second mission being multiple, the mission with the largest y value among the plurality of second missions is selected. Claim 7 The control method of the plurality of multi-mission robots according to claim 1 further comprises, after step (B), (C) a step of the multi-mission robot performing an assigned mission; (D) a step of checking whether an error occurs in the multi-mission robot performing the mission; and (E) a step of performing step (B) if an error occurs in the multi-mission robot. Claim 8 A control system for a plurality of multi-mission robots, wherein the control system comprises: a memory; and a processor connected to the memory and configured to execute computer-readable commands included in the memory, wherein the processor performs: (A) an operation of calculating a robot supply rate (x / y) for each of the multiple tasks that the plurality of the multiple-mission robots can perform, and (B) an operation of assigning or changing the task to each of the multiple-mission robots based on the robot supply rate (x / y); wherein the operation of calculating the robot supply rate (x / y) in operation (A) comprises: an operation of aggregating the number x of the multiple-mission robots to which the task is assigned, based on the current position, battery status, sensor normal operation status, and driving capability of the multiple-mission robots; and an operation of calculating the number y of the multiple-mission robots required for the task, based on task-specific demand and supply data, time-specific task demand aggregation, and time-specific task demand forecasting. Claim 9 A control system for a plurality of multi-mission robots, wherein the above (B) operation comprises: (B-1) an operation to identify a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-2) an operation to select at least one multi-mission robot among the multi-mission robots assigned the first mission; and (B-3) an operation to change the mission of the selected multi-mission robot to the second mission. Claim 10 A control system for a plurality of multi-mission robots according to claim 9, which repeats the operations (B-1) to (B-3) when the x value is smaller than the y value for all of the plurality of robot supply rates. Claim 11 In claim 9, a control system for multiple multi-mission performing robots, wherein if the first mission or the second mission is multiple, one mission is arbitrarily selected from the multiple first missions or multiple second missions. Claim 12 A control system for multiple multi-mission performing robots according to claim 9, wherein, when there are multiple first missions, the mission with the largest x value among the multiple first missions is selected. Claim 13 A control system for multiple multi-mission performing robots according to claim 9, wherein, when there are multiple second missions, the mission with the largest y value among the multiple second missions is selected. Claim 14 In claim 8, the control system of a plurality of multi-mission robots further comprises: an action in which the processor performs a task assigned to the multi-mission robot after the action (B); an action in which an error occurs in the multi-mission robot performing the task; and an action in which, if an error occurs in the multi-mission robot, the processor performs the step (B). Claim 15 A non-transient computer-readable storage medium having a program recorded thereon for executing: (A) an operation to calculate a robot supply rate (x / y) for each of the multiple missions that can be performed by multiple multiple mission robots, and (B) an operation to assign or change the said mission to each of the multiple mission robots based on the said robot supply rate (x / y); wherein the operation to calculate the robot supply rate (x / y) of the operation (A) comprises: an operation to aggregate the number x of the multiple mission robots to which the said mission has been assigned, based on the current position, battery status, sensor normal operation status, and driving capability of the multiple mission robots; and an operation to calculate the number y of the multiple mission robots required for the said mission, based on mission-specific demand and supply data, time-specific mission demand aggregate, and time-specific mission demand forecast. Claim 16 In claim 15, the above (B) operation comprises: (B-1) an operation to identify a first mission with the largest robot supply rate and a second mission with the smallest robot supply rate; (B-2) an operation to select at least one multi-mission robot among the multi-mission robots assigned the first mission; and (B-3) an operation to change the mission of the selected multi-mission robot to the second mission; a non-transient computer-readable storage medium. Claim 17 A non-transient computer-readable storage medium that repeats the operations (B-1) to (B-3) when the x value is smaller than the y value for all of the plurality of robot supply rates in paragraph 16. Claim 18 In paragraph 16, a non-transient computer-readable storage medium that selects the mission with the largest x value among the multiple first missions when the first missions are multiple. Claim 19 A non-transient computer-readable storage medium according to claim 16, wherein, if there are multiple second tasks, the task with the largest y value among the multiple second tasks. Claim 20 A non-transient computer-readable storage medium according to claim 15, further comprising: an action in which the multi-mission robot performs an assigned mission after the above (B) action; an action in which an error occurs in the multi-mission robot performing the mission; and an action in which, if an error occurs in the multi-mission robot, the above (B) action is performed.

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