Method and system for controlling movement of a robot based on situation information geterated from environment information with respect to space acquired from the robot and sensor in the space

Abstract

A robot control method for controlling a robot within a space is provided, which is performed by a robot control system. The robot control system obtains first environmental information regarding the interior of a partitioned space from a first robot entering the partitioned space, obtains second environmental information regarding the interior of the partitioned space from a sensor provided within the partitioned space, and controls the entry and movement of the first robot into the partitioned space based on situation information which is fusion information of the first environmental information and the second environmental information.

Description

Technology Field

[0001] The following description relates to a robot control method and system for controlling the movement of a robot within a space based on situational information generated by fusing environmental information acquired from the robot regarding the space and environmental information acquired from sensors within the space. Background Technology

[0002] Autonomous robots are robots that independently survey their surroundings and detect obstacles while using wheels or legs to find the optimal path to a destination. They are being developed and utilized in various fields, such as autonomous vehicles, logistics, hotel services, and robotic vacuum cleaners.

[0003] When a robot is operated within a space such as a building to provide services, the robot may need to enter a designated space or move within that space to provide the service. For example, a robot may use an elevator (elevator car or cabin) to move between floors within a space such as a building, and may need to enter a designated space, such as the interior area of ​​the elevator car, move within that designated space, and be placed at a designated location within that designated space.

[0004] When a robot enters and moves within such a partitioned space, it is crucial to grasp situational information, such as dynamic spatial data within the space. In particular, a robot cannot acquire sufficient information about the partitioned space before entering and sensing it; consequently, it cannot be certain whether it can enter. Furthermore, it is difficult to determine in advance where the robot should be positioned within the partitioned space before entry. This can make the robot's entry into the partitioned space slow and inefficient, and can hinder the robot's operation within the space and the provision of services by the robot.

[0005] Korean Published Patent No. 10-2005-0024840 describes a technology regarding a path planning method for an autonomous mobile robot, disclosing a method for planning an optimal path that enables a mobile robot moving autonomously in a home or office to safely and quickly reach a target point while avoiding obstacles.

[0006] The information described above is for illustrative purposes only and may include content that does not constitute part of the prior art and may not include what the prior art would present to a person skilled in the art. The problem to be solved

[0007] A method can be provided to acquire environmental information regarding the interior of a partitioned space from a robot entering a partitioned space, such as the interior area of ​​an elevator car, and from a sensor provided within the partitioned space, respectively, generate situational information regarding the interior of the partitioned space as fusion information of the acquired environmental information, and control the robot's entry into and movement within the partitioned space based on the situational information.

[0008] A robot control method can be provided that, depending on the movement of the robot within the partitioned space, updates situational information regarding the interior of the partitioned space in real time, and, considering the updated situational information, dynamically updates the robot's movement plan as the robot enters the partitioned space and controls the robot accordingly.

[0009] A method can be provided to generate situation information regarding the interior of a partitioned space by fusing first environmental information obtained from a robot entering the partitioned space and second environmental information obtained from a sensor provided within the partitioned space, and to project the situation information onto a two-dimensional plane corresponding to the partitioned space. means of solving the problem

[0010] In one aspect, a robot control method for controlling a robot within a space, performed by a robot control system, is provided, comprising: a step of obtaining first environmental information regarding the interior of a partitioned space from a first robot entering the partitioned space; a step of obtaining second environmental information regarding the interior of the partitioned space from at least one sensor provided within the partitioned space; and a step of controlling the entry of the first robot into the partitioned space or the movement of the first robot within the partitioned space based on the first environmental information and the second environmental information.

[0011] The above-mentioned partitioned space is an internal area of ​​an elevator car where the first robot can board and disembark, and the controlling step can control the first robot's boarding of the elevator car or the first robot's movement within the internal area.

[0012] The above sensor includes a distance sensor and can be placed at the corner of the partitioned space.

[0013] The above first environmental information and the above second environmental information can be used complementarily to generate situation information regarding the interior of the above-mentioned partitioned space.

[0014] The robot control method further includes the step of generating the situation information as fusion information based on the first environment information and the second environment information, and the situation information may include first information regarding an area where the first robot can be deployed, second information regarding an area where the first robot cannot be deployed, and third information regarding an unknown area.

[0015] The robot control method further includes the step of obtaining third environmental information regarding the interior of the partitioned space from a second robot already placed within the partitioned space, and the generating step may generate the situation information as fusion information based on the first environmental information to the third environmental information.

[0016] The above-mentioned controlling step may include: a step of establishing a movement plan for the first robot regarding the partitioned space; and a step of controlling the first robot so that, according to the movement plan, the first robot enters the partitioned space and is placed at a predetermined first position within the partitioned space.

[0017] The generating step includes updating the situation information by updating at least one of the first information to the third information as the first robot moves toward the interior of the partitioned space, the establishing step includes updating the movement plan based on the updated situation information, and the controlling step of the first robot can control the first robot based on the updated movement plan so that the first robot enters the partitioned space and is placed at a second position different from the first position within the partitioned space.

[0018] The above movement plan is established before the first robot enters the partitioned space and can be updated as the first robot moves toward the interior of the partitioned space.

[0019] The above movement plan can be updated while the first robot enters the partitioned space and moves inside the partitioned space.

[0020] The area where the first robot can be deployed represents an area where no obstacles exist, including at least one of a robot and a person, the area where the first robot cannot be deployed represents an area where the obstacles exist, and the unknown area may represent an area outside the sensing range of the first robot and the sensing range of the sensor.

[0021] The step of generating the above situation information can be performed by representing the first information, the second information, and the third information on a two-dimensional plane corresponding to the internal area.

[0022] The sensor includes a camera positioned at the top of the partitioned space, the second environment information includes coordinate information of an obstacle including at least one of a robot and a person recognized by the camera, the first environment information includes relative position information of the obstacle recognized by the distance sensor or camera of the first robot, and the robot control method may further include the step of generating the situation information including position information of the obstacle as fusion information based on the first environment information and the second environment information by matching the coordinate information and the relative position information.

[0023] In another aspect, a computer system comprising a robot control system for controlling a robot within a space includes at least one processor implemented to execute computer-readable commands, wherein the at least one processor obtains first environmental information regarding the interior of a partitioned space from a first robot entering the partitioned space and obtains second environmental information regarding the interior of the partitioned space from at least one sensor provided within the partitioned space, and controls the entry of the first robot into the partitioned space or the movement of the first robot within the partitioned space based on the first environmental information and the second environmental information. Effects of the invention

[0024] By using information fused with first environmental information obtained from a robot entering a partitioned space and second environmental information obtained from a sensor provided within the partitioned space for movement control of a robot associated with the partitioned space, situational information (dynamic space information) inside the partitioned space can be identified before the robot enters the partitioned space, and thus, entry control of the robot into the partitioned space and movement control of the robot within the partitioned space can be made more efficient.

[0025] By updating situational information regarding the interior of the partitioned space as the robot approaches the partitioned space, a movement plan for the robot regarding the partitioned space can be established before the robot enters the partitioned space, and the established movement plan can be dynamically updated based on the actual sensing results in the partitioned space, and thus, the robot can be adaptedly controlled according to the situation of the partitioned space. Brief explanation of the drawing

[0026] FIG. 1 illustrates a method according to one embodiment of controlling the entry and movement of a robot into a partitioned space based on situation information generated from the acquired environment information, wherein environmental information regarding the interior of the partitioned space is obtained from a robot entering the partitioned space and a sensor provided within the partitioned space. FIG. 2 is a block diagram showing a robot providing services within a space according to one embodiment. FIGS. 3 and 4 are block diagrams illustrating a robot control system for controlling a robot according to one embodiment. FIG. 5 is a flowchart illustrating a method for controlling the entry and movement of a robot into a partitioned space based on situation information generated from the acquired environment information, wherein environmental information regarding the interior of the partitioned space is obtained from a robot entering the partitioned space and a sensor provided within the partitioned space. FIG. 6 illustrates a method for updating situational information regarding the interior of a space according to one example, and establishing a movement plan for a robot's segmented space based on the updated situational information. FIGS. 7 and FIGS. 8 illustrate a method of operation of a sensor provided within a partitioned space according to one example. FIG. 9 illustrates a method for acquiring first environment information and second environment information and controlling a robot according to one example as the robot enters a partitioned space. FIGS. 10 and 11 illustrate a method for updating a movement plan established for a robot upon the robot's entry into a partitioned space, according to one example. FIGS. 12 to 14 illustrate a method for generating situation information as fusion information of first environmental information and second environmental information according to one example. FIG. 15 illustrates a method of controlling a robot according to the interaction between a robot entering a partitioned space, a robot control system, and a sensor system placed in the partitioned space, according to one example. Specific details for implementing the invention

[0027] Hereinafter, embodiments will be described in detail with reference to the attached drawings.

[0029] FIG. 1 illustrates a method according to one embodiment of controlling the entry and movement of a robot into a partitioned space based on situation information generated from the acquired environment information, wherein environmental information regarding the interior of the partitioned space is obtained from a robot entering the partitioned space and a sensor provided within the partitioned space.

[0030] In FIG. 1, a robot (100) configured to provide services within a space such as a building, for example, and a partitioned space (20) within the space are shown, and a method is shown in which the robot (100) enters the partitioned space (20) and moves within the partitioned space (20) under control by a robot control system (120).

[0031] The space is an environment in which multiple robots (i.e., multi-robots) travel and provide services, and each of the multiple robots travels along a path and destination set for itself. For example, the space may consist of multiple floors and may include multiple partitioned spaces. A partitioned space (20) may refer to any area within the space, such as a room, that is separated from the outside through an entrance. A partitioned space (20) may, for example, be the interior area of ​​an elevator car in which a robot (100) can board and disembark. In other words, multiple elevator cars may be operated within the space to ascend and descend between floors, and the partitioned space (20) may represent the interior area of ​​each elevator car. Meanwhile, the space containing the partitioned space (20) may be a building, or it may be a complex space including an indoor space and an outdoor space.

[0032] As illustrated, robots including the robot (100) can be controlled by a robot control system (120). Additionally, an elevator car operating within the space can be controlled by an elevator control system (130).

[0033] The robot control system (120) may be a server as a computer system for controlling the robot (100). The robot control system (120) may be a cloud server as a server placed outside a space or building. Alternatively, depending on the embodiment, the robot control system (120) may be placed inside a space or building.

[0034] Meanwhile, if the partitioned space (20) represents the interior area of ​​the elevator car, the elevator control system for controlling the elevator car may be a server as a computer system for controlling the ascent and descent of the elevator car. The elevator control system may be a server located outside the space or building. Alternatively, depending on the embodiment, the elevator control system may be located inside the space or building.

[0035] Each of the robots, including the robot (100), may be a service robot used to provide services within the space. Although not illustrated, multiple robots may be placed within the space, and multiple robots may be boarded within the partitioned space (20). For example, as illustrated, a person and / or a robot may be located in the partitioned space (20), and other dynamic or static obstacles may be placed therein.

[0036] The services provided by each robot may include, for example, at least one of a parcel delivery service, a beverage (coffee, etc.) delivery service based on an order, a cleaning service, and other information / content provision services.

[0037] Each of the robots, including the robot (100), may be configured to provide a service to a specific user or at a specific location in space through autonomous driving, and the movement of each robot and the provision of the service may be controlled by a robot control system (120).

[0038] The structure of the robot (100), the robot control system (120), and the elevator control system will be described in more detail with reference to FIGS. 2 to 4, which will be described later.

[0039] In the case where the partition space (20) represents the interior area of ​​the elevator car, the elevator car may be a general elevator that can be boarded by a person and a robot (100). Alternatively, the elevator car may be a robot-only elevator configured to allow only the robot (100) to board. According to an embodiment, the general elevator may be configured as a robot-only elevator (e.g., by an elevator control system that receives a request from a robot control system (120)). The elevator car may include a door for a person and / or a robot (100) to board and disembark.

[0040] In some drawings to be described later, including Fig. 1, the doors of the elevator car and the doors of the partition space (20) have been omitted for convenience of explanation.

[0041] In the detailed description to be described below, including Fig. 1, the robot (100) entering the partitioned space (20) may be referred to as the first robot (100) for convenience of explanation.

[0042] In the embodiment, the robot control system (120) can control the entry of the first robot (100) into the partitioned space (20) and the movement within the partitioned space (20) after entry. Accordingly, the first robot (100) can enter the partitioned space (20) and move to a predetermined location within the partitioned space (20), or be positioned at a predetermined location and wait. The predetermined location within the partitioned space (20) where the first robot (100) is positioned may be a suitable position for the first robot (100) to wait in the interior area of ​​the elevator car.

[0043] A robot control system (120) can obtain first environmental information regarding the interior of a partitioned space (20) from a first robot (100) entering the partitioned space (20). The first environmental information may include sensing data obtained through a sensor included in the first robot (100). That is to say, the first environmental information may include sensing data obtained for the sensing range (C1) of the sensor of the first robot (100). Additionally, the robot control system (120) can obtain second environmental information regarding the interior of a partitioned space from at least one sensor (25) provided within the partitioned space (20). As illustrated, the sensor (25) may be placed at each corner of the partitioned space (20) and may be multiple. Unlike illustrated, the placement location of the sensor (25) may vary depending on the shape of the partitioned space (20) or the sensing range (C2) of the sensor (25). The second environmental information may include sensing data obtained through the sensor (25), and as illustrated, may include sensing data obtained for the sensing range (C2).

[0044] A robot control system (120) can control the entry of the first robot (100) into the partitioned space (20) or the movement of the first robot (100) within the partitioned space (20) based on situational information regarding the interior of the partitioned space (20) based on the acquired first environment information and second environment information. The situational information is fused information of the first environment information and the second environment information, and may include dynamic spatial information regarding the interior of the partitioned space (20). Based on this situational information, the robot control system (120) can identify the location of obstacles (dynamic or static), such as people and / or robots, within the partitioned space (20), or predict the movement or movement of obstacles. Accordingly, the robot control system (120) can use the above situational information to control the entry of the first robot (100) into the partitioned space (20) and the movement of the first robot (100) within the partitioned space (20) after entry.

[0045] In the embodiment, in order to control the first robot (100), the robot control system (120) can obtain richer information about the partitioned space (20) into which the first robot (100) enters, and can control the first robot (100) more efficiently in relation to the partitioned space (20). That is to say, the robot control system (120) can control the first robot (100) by obtaining environmental information regarding the sensing range (C2) of the sensor (25) in addition to the sensing range (C1) of the sensor of the first robot (100), thereby more accurately identifying the dynamic spatial information of the partitioned space (20).

[0046] A more specific method for controlling the first robot (100) controlled by the robot control system (120) and a more specific method for generating situation information for the separation space (20) as fusion information based on the first environment information and the second environment information will be explained in more detail with reference to FIGS. 5 to 15, which will be described later.

[0048] FIG. 2 is a block diagram showing a robot providing services within a space according to one embodiment.

[0049] For convenience of explanation, the first robot (100) is referred to as robot (100) below, and its components are described. Each of the robots controlled by the robot control system (120) may include a configuration identical or similar to that of the robot (100) to be described later.

[0050] As described above, the robot (100) may be a service robot used to provide services within a space. The robot (100) may provide services at a specific location in the space or to a specific user through autonomous driving.

[0051] The robot (100) may be a physical device and, as illustrated, may include a control unit (104), a driving unit (108), a sensor unit (106), and a communication unit (102).

[0052] The control unit (104) may be a physical processor embedded in the robot (100) and may include a path planning processing module, a mapping processing module, a driving control module, a localization processing module, a data processing module, and a service processing module, although not separately illustrated. In this case, the path planning processing module, the mapping processing module, and the localization processing module may be optionally included in the control unit (104) according to the embodiment to enable indoor autonomous driving of the robot (100) even when communication with the robot control system (120) is not established.

[0053] The communication unit (102) may be configured for the robot (100) to communicate with another device (another robot or a robot control system (120), etc.). That is to say, the communication unit (102) may be a hardware module such as the robot (100)’s antenna, data bus, network interface card, network interface chip, and networking interface port, or a software module such as a network device driver or a networking program, which transmits / receives data and / or information to / from another device.

[0054] The drive unit (108) is configured to control the movement of the robot (100) and enable movement, and may include equipment for performing this.

[0055] The sensor unit (106) may be configured to collect data required for autonomous driving and service provision of the robot (100). The sensor unit (106) may not include expensive sensing equipment and may only include sensors such as low-cost ultrasonic sensors and / or low-cost cameras. The sensor unit (106) may include sensors for identifying other robots or people in front and / or behind. For example, other robots, people, and other objects may be identified as obstacles through the camera of the sensor unit (106). Alternatively, the sensor unit (106) may include an infrared sensor (or infrared camera). In addition to the camera, the sensor unit (106) may further include sensors for recognizing / identifying surrounding users, other robots, or objects. Thus, the sensor unit (106) may be configured to identify obstacles. The sensors included in the sensor unit (106) may have a predetermined sensing range (C1) and may identify obstacles existing within the sensing range (C1). For example, the sensor unit (106) may include a sensor for recognizing the distance to an obstacle. Here, the recognized obstacle may include dynamic obstacles such as a person or another robot, or other static obstacles.

[0056] The robot (100) can be controlled to avoid obstacles according to control by the robot control system (120).

[0057] For example, when an algorithm for autonomous driving of the robot (100) is executed within the robot control system (120) in which the robot (100) is controlled by the robot control system (120), the data processing module of the control unit (104) can transmit sensing data including the output values ​​of the sensors of the sensor unit (106) to the robot control system (120) through the communication unit (102). The robot control system (120) can transmit path data (path) generated using an indoor map within the space to the robot (100). The path data can be transmitted to the data processing module through the communication unit (102). The data processing module can transmit the path data directly to the drive control module, and the drive control module can control the drive unit (108) according to the path data to control the indoor autonomous driving of the robot (100). Accordingly, the robot (100) can autonomously drive within the aforementioned space. When a driving algorithm is executed in a robot control system (120), the robot control system (120) can generate a control signal (e.g., speed and / or direction control signal) to control the robot (120) according to the driving algorithm based on sensing data received from the robot (100), and can control the robot (100) based on the generated control signal.

[0058] Alternatively, if the robot (100) and the robot control system (120) cannot communicate, or if an algorithm for autonomous driving is executed within the robot (100), the data processing module may transmit the sensing data to the localization processing module and generate path data through the path planning processing module and the mapping processing module to directly process the indoor autonomous driving of the robot (100).

[0059] The robot (100) may be distinct from a mapping robot used to generate an indoor map within a space. Since the robot (100) does not include expensive sensing equipment, it can perform indoor autonomous driving using the output values ​​of sensors such as low-cost ultrasonic sensors and / or low-cost cameras. Meanwhile, if the robot (100) has previously performed indoor autonomous driving through communication with the robot control system (120), it may be possible to perform more accurate indoor autonomous driving while using low-cost sensors by further utilizing mapping data, etc., included in the path data previously received from the robot control system (120).

[0060] However, depending on the embodiment, the robot (100) may also serve as the mapping robot.

[0061] The service processing module can receive commands received through the robot control system (120) via the communication unit (102) or via the communication unit (102) and the data processing module. The driving unit (108) may include not only equipment for the movement of the robot (100) but also additional equipment related to the service provided by the robot (100). For example, to perform a food / delivery delivery service, the driving unit (108) of the robot (100) may include a configuration for loading food / delivery or a configuration for delivering food / delivery to a user (e.g., a robot arm). Additionally, the robot (100) may further include a speaker and / or display, etc., for providing information / content. The service processing module can transmit a driving command for the service to be provided to the driving control module, and the driving control module can control the configuration included in the robot (100) or the driving unit (108) according to the driving command so that the service can be provided.

[0062] In an embodiment, the robot (100) may enter the partitioned space (20) to provide services or perform other tasks and may travel within the partitioned space (20). For example, the robot (100) may board an elevator car to move to a destination indicated by a set path (e.g., a destination located on a target floor), thereby entering the partitioned space (20), which is the interior area of ​​the elevator car. The robot (100) may transmit first environmental information regarding the interior of the partitioned space (20) to a robot control system (120), and entry into the partitioned space (20) and movement within the partitioned space (20) may be controlled according to control by the robot control system (120) based on the first environmental information and second environmental information from a sensor (25) within the partitioned space (20).

[0063] Meanwhile, as described above, if the robot (100) merely provides sensing data (first environmental information, etc.) for controlling the robot (100) to the robot control system (120) and the driving algorithm for controlling the robot (100) is executed in the robot control system (120), the robot (100) may be a brainless robot. However, depending on the embodiment, such a driving algorithm may be installed on the robot (100).

[0064] In addition, each of the robots (100) may have different sizes and shapes depending on the model or the service provided.

[0065] The configuration and operation of the robot control system (120) that controls the robot (100) will be described in more detail with reference to FIG. 3 and FIG. 4, which will be described later.

[0066] The description of the technical features described above with reference to FIG. 1 can be applied as is to FIG. 2, so redundant descriptions are omitted.

[0068] FIGS. 3 and 4 are block diagrams illustrating a robot control system for controlling a robot according to one embodiment.

[0069] The robot control system (120) may be a device that controls the movement (i.e., driving) of the aforementioned robot (100) within the space and the provision of services within the space by the robot (100). The robot control system (120) may control the movement of each of the plurality of robots (100) and the provision of services by each of the robots (100). The robot control system (120) may set a path for the robot (100) to provide services through communication with the robot (100) and may transmit information regarding such a path to the robot (100). The robot (100) may drive according to the received information regarding the path and may provide services at a predetermined location or to a predetermined user. The robot control system (120) may control the movement of the robot so that the robot moves (drives) according to the set path.

[0070] The robot control system (120) may include at least one computing device.

[0071] The robot control system (120) may be a device that sets a path for driving the robot (100) and controls the movement of the robot (100) as described above. The robot control system (120) may include at least one computing device and may be implemented as a server located within or outside the space.

[0072] As illustrated, the robot control system (120) may include a memory (330), a processor (320), a communication unit (310), and an input / output interface (340).

[0073] The memory (330) is a computer-readable recording medium and may include a non-perishable mass storage device such as RAM (random access memory), ROM (read only memory), and a disk drive. Here, the ROM and the non-perishable mass storage device may be included as separate permanent storage devices separated from the memory (330). Additionally, an operating system and at least one program code may be stored in the memory (330). These software components may be loaded from a computer-readable recording medium separate from the memory (330). This separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, disk, tape, DVD / CD-ROM drive, or memory card. In another embodiment, the software components may be loaded into the memory (330) through a communication unit (310) rather than a computer-readable recording medium.

[0074] The processor (320) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Instructions may be provided to the processor (320) by memory (330) or a communication unit (310). For example, the processor (320) may be configured to execute instructions received according to program code loaded into memory (330). Such a processor (320) may include configurations (410 to 440) such as those shown in FIG. 4.

[0075] Each of the components (410 to 440) of the processor (320) may be a software and / or hardware module as part of the processor (320) and may represent a function (function block) implemented by the processor. The components (410 to 440) of the processor (320) will be described later with reference to FIG. 4.

[0076] The communication unit (310) may be a configuration for the robot control system (120) to communicate with another device (robot (100) or another server, etc.). That is to say, the communication unit (310) may be a hardware module such as an antenna, data bus, network interface card, network interface chip, and networking interface port of the robot control system (120) that transmits / receives data and / or information to / from another device, or a software module such as a network device driver or a networking program.

[0077] The input / output interface (340) may be a means for interfacing with an input device such as a keyboard or mouse and an output device such as a display or speaker.

[0078] Additionally, in other embodiments, the robot control system (120) may include more components than the illustrated components.

[0079] With reference to FIG. 4, the components (410 to 440) of the processor (320) will be described in more detail. As illustrated, the processor (320) may include a map generation module (410), a localization processing module (420), a path planning processing module (430), and a service operation module (440). The components included in the processor (320) may be representations of different functions performed by at least one processor included in the processor (320) according to control instructions according to the code of an operating system or the code of at least one computer program.

[0080] The map generation module (410) may be a component for generating an indoor map of a target facility using sensing data generated about the target facility (e.g., the interior of the space) by a mapping robot (not shown) that drives autonomously within the space.

[0081] At this time, the localization processing module (420) can determine the location of the robot (100) inside the target facility using the sensing data received from the robot (100) through the network and the indoor map of the target facility generated through the map generation module (410).

[0082] The path planning processing module (430) can generate a control signal to control the indoor autonomous driving of the robot (100) using the sensing data received from the robot (100) described above and the generated indoor map. For example, the path planning processing module (430) can generate a path (i.e., path data) of the robot (100). The generated path (path data) can be set for the robot (100) for driving the robot (100) along the path. The robot control system (120) can transmit information regarding the generated path to the robot (100) via a network. For example, the information regarding the path may include information indicating the current location of the robot (100), information for mapping the current location to the indoor map, and path planning information. The information regarding the path may include information regarding the path that the robot (100) must drive to a predetermined location within the space or to provide service to a predetermined user. The path planning processing module (430) can set a path (i.e., path data) for the robot (100). The robot control system (120) can control the movement of the robot (100) so that the robot (100) moves according to this set path (i.e., along the set path).

[0083] The service operation module (440) may include a function for controlling the service provided by the robot (100) within the space. For example, the robot control system (120) or the service provider operating the space may provide an Integrated Development Environment (IDE) for the service provided by the robot control system (120) (e.g., cloud service) to the user or creator of the robot (100). At this time, the user or creator of the robot (100) may create software to control the service provided by the robot (100) within the space through the IDE and register it with the robot control system (120). In this case, the service operation module (440) may control the service provided by the robot (100) using the software registered in association with the robot (100). As a specific example, assuming that a robot (100) provides a service of delivering an item requested by a user (e.g., food or a delivery package) to the user's location, the robot control system (120) can not only control the robot (100) to move to the user's location by controlling the robot (100) to move to the user's location, but also transmit related commands to the robot (100) so that the robot (100) provides a series of services, such as delivering the item to the user and outputting a user response voice when it arrives at the destination location.

[0084] The robot control system (120) may be a server as a computer system for controlling the robot (100). The robot control system (120) may be a cloud server as a server placed outside a space or building. Alternatively, depending on the embodiment, the robot control system (120) may be placed inside a space or building.

[0085] A robot control system (120) (i.e., a processor (320)) can control each of the multiple robots (i.e., multi-robots) (100) operating within the space, and can control the entry of each robot (100) into a partitioned space (20) and movement within the partitioned space (20). For example, if the partitioned space (20) represents an interior area of ​​an elevator car, the robot control system (120) can control the robot (100) to board or disembark from the elevator car.

[0086] Additionally, the robot control system (120) can obtain first environmental information regarding the interior of the partitioned space (20) from the first robot (100) entering the partitioned space (20), such as the interior area of ​​an elevator car. Additionally, the robot control system (120) can obtain second environmental information regarding the interior of the partitioned space (20) from at least one sensor (25) provided within the partitioned space (20). Based on the obtained first environmental information and second environmental information, the robot control system (120) can generate situational information regarding the interior of the partitioned space (20), which is fused information, and based on the situational information, can control the entry of the first robot (100) into the partitioned space (20) or the movement of the first robot (100) within the partitioned space (20).

[0087] Thus, in the embodiment, the robot control system (120) can utilize both the first environmental information from the first robot (100) and the second environmental information from the sensor (25) to obtain situational information regarding the interior of the partitioned space (20), and thus can control the robot (100) more efficiently in relation to the partitioned space (20).

[0088] A more specific method of generating situation information regarding the interior of the partition space (20) by the robot control system (120) and controlling the robot (100) in relation to the partition space (20) will be explained in more detail with reference to FIGS. 5 to 15, which will be described later.

[0089] The description of the technical features described above with reference to FIGS. 1 and 2 can be applied as is to FIGS. 3 and 4, so redundant descriptions are omitted.

[0091] Meanwhile, in the embodiment, an elevator control system that controls the ascent and descent of an elevator car operating within a space may be further used, although not illustrated.

[0092] An elevator control system may be a device that controls the movement of an elevator car (or generates a signal to control the movement of the elevator car) and calls the elevator car moving (e.g., ascending or descending) within a space or building. The elevator control system may include at least one computing device and may be implemented as a computer system located inside or outside the building.

[0093] An elevator control system may be distinct from a control panel that directly controls the elevator car. The elevator control system may transmit signals required to control the elevator car to the control panel. Alternatively, the elevator control system may be configured to include a control panel.

[0094] As illustrated, the elevator control system may include memory, a processor, a communication unit, and an input / output interface. For the general description of the above components of the elevator control system, the description of the general technical features of the components (310 to 340) of the aforementioned robot control system (120) can be applied as is, so redundant descriptions are omitted.

[0095] Meanwhile, the elevator control system is operated by a separate entity from the robot control system (120) or implemented as a separate system, but depending on the method of implementation, the elevator control system and the robot control system (120) may be implemented as a single system. That is to say, the elevator control system and the robot control system (120) may be implemented as a single server or computing device located inside or outside the building.

[0096] The elevator control system can be linked with the robot control system (120). For example, the elevator control system can share schedule information including the current location and destination of the elevator car(s) and situation information including the fullness and internal occupancy status of the elevator car(s) with the robot control system (120), and can control the elevator car(s) according to a request by the robot control system (120).

[0097] The movement of the first robot (100) within the partitioned space (20) can be controlled more precisely through the interaction between the elevator control system and the robot control system (120). For example, according to the embodiment, second environmental information from the sensor (25) may be provided to the robot control system (120) through the elevator control system.

[0099] In the detailed description to be provided below, the operation performed by the components (e.g., processor, etc.) of the robot control system (120) or the first robot (100) may be described as the operation performed by the robot control system (120) or the first robot (100) for convenience of explanation.

[0101] FIG. 5 is a flowchart illustrating a method for controlling the entry and movement of a robot into a partitioned space based on situation information generated from the acquired environment information, wherein environmental information regarding the interior of the partitioned space is obtained from a robot entering the partitioned space and a sensor provided within the partitioned space.

[0102] The robot control system (120) (i.e., processor (320)) can control each of the multiple robots (i.e., multi-robots) operating within the space, including the first robot (100), and can control the entry of each robot (100) into the partitioned space (20) and movement within the partitioned space (20).

[0103] In step (510), the robot control system (120) can obtain first environmental information regarding the interior of the partitioned space (20) from the first robot (100) entering the partitioned space (20). The first environmental information may include sensing data obtained through a sensor included in the first robot (100). That is to say, the first environmental information may include sensing data obtained for the sensing range (C1) of the sensor of the first robot (100). The first environmental information may include information regarding obstacles existing within the sensing range (C1), and, for example, may include distance information to obstacles existing within the sensing range (C1).

[0104] In step (520), the robot control system (120) can obtain second environmental information regarding the interior of the partitioned space from at least one sensor (25) provided within the partitioned space (20). As illustrated, the sensor (25) may be placed at each corner of the partitioned space (20) and may be multiple, and the robot control system (120) can obtain second environmental information from each of the multiple sensors (25). The second environmental information may include sensing data obtained through the sensor (25), and as illustrated, may include sensing data obtained for the sensing range (C2). The second environmental information may include information regarding obstacles existing within the sensing range (C2), for example, may include distance information to obstacles existing within the sensing range (C2). The sensor (25) may include a distance sensor for recognizing the distance to an obstacle.

[0105] In step (530), the robot control system (120) can generate situation information regarding the interior of the partitioned space (20) based on the acquired first environment information and second environment information. The situation information may be fused information of the first environment information and the second environment information. The situation information may include dynamic spatial information regarding the interior of the partitioned space (20). The situation information may include information regarding obstacle(s) existing within the sensing range (C1) of the robot (100) and the sensing range (C2) of the sensor (25) described above.

[0106] In the embodiment, the first environmental information and the second environmental information can be used complementarily to generate situational information regarding the interior of the partitioned space (20). That is to say, the second environmental information covers the sensing range (C2) of the sensor (25), and thus can further cover the interior area of ​​the partitioned space (20) that extends beyond the sensing range (C1) of the first robot (100) covered by the first environmental information. Meanwhile, the first environmental information covers the (variable) sensing range (C1) of the first robot (100) moving toward the partitioned space (20), and thus can further cover the interior area of ​​the partitioned space (20) that extends beyond the sensing range (C2) covered by the second environmental information as the robot (100) moves. That is to say, the first environmental information and the second environmental information can complement the blind spots of the sensing ranges of the first robot (100) and the sensor (25).

[0107] For example, the situation information may include first information regarding an area where the first robot (100) can be placed (free) within the partitioned space (20), second information regarding an area where the first robot (100) cannot be placed (occupied and forbidden), and third information regarding an unknown area. The area where the first robot (100) can be placed, indicated by the first information, may represent an area where there is no obstacle (or other static obstacle, etc.) including at least one of a robot and a person. The area where the first robot (100) cannot be placed, indicated by the second information, may represent an area where the obstacle exists. The unknown area indicated by the third information may represent an area that is outside the sensing range (C1) by the first robot (100) and the sensing range (C2) by the sensor (25). In other words, the unknown area may be an area where it is not possible to determine whether the obstacle exists.

[0108] Situation information can be updated according to the movement of the first robot (100) and the movement of obstacles within the partitioned space (20), and thus can be generated in real-time or near real-time (or whenever the first environment information and / or second environment information is acquired). For example, any one of the aforementioned first to third information may be changed according to the movement of the first robot (100) and / or the movement of obstacles within the partitioned space (20), and accordingly, the situation information may be updated.

[0109] The robot control system (120) can generate situation information using these mutually complementary first and second environmental information, thereby more accurately identifying obstacles within the partitioned space (20) through the situation information. Based on the situation information, the robot control system (120) can identify the location of obstacles (dynamic or static), such as people and / or robots, within the partitioned space (20), or predict the movement or motion of obstacles.

[0110] Specific examples of situation information will be explained in more detail with reference to FIGS. 10 to 14, which will be described later.

[0111] In step (540), the robot control system (120) can control the entry of the first robot (100) into the partitioned space (20) or the movement of the first robot (100) within the partitioned space (20) based on situation information regarding the interior of the partitioned space (20) generated based on the first environment information and the second environment information. Accordingly, the robot control system (120) can control the entry of the first robot (100) into the partitioned space (20) and the movement of the first robot (100) within the partitioned space (20) after entry using the above situation information.

[0112] For example, the partitioned space (20) may be an interior area of ​​an elevator car where the first robot (100) can board and disembark. In this case, the robot control system (120) may control the boarding of the first robot (100) into the elevator car or the movement of the first robot (100) within the interior area of ​​the elevator car.

[0113] In this embodiment, in order to control the first robot (100), the robot control system (120) can obtain richer information regarding the partitioned space (20) into which the first robot (100) enters, and can control the first robot (100) more efficiently in relation to the partitioned space (20). That is to say, the robot control system (120) can control the first robot (100) by obtaining environmental information regarding the sensing range (C2) of the sensor (25) in addition to the sensing range (C1) of the sensor of the first robot (100), thereby more accurately identifying the dynamic spatial information of the partitioned space (20).

[0114] Meanwhile, as in step (525), the robot control system (120) may further obtain third environmental information regarding the interior of the partitioned space from at least one second robot already placed within the partitioned space (20). The second robot may be another robot that entered the partitioned space (20) before the first robot (100) (or boarded the elevator car before the first robot (100)). The robot control system (120) may further utilize the third environmental information in generating the aforementioned situation information. That is to say, the robot control system (120) may generate the situation information as fusion information based on the first environmental information to the third environmental information. For example, the third environmental information may cover a sensing area that the first environmental information and the second environmental information do not cover, and thus may be used complementarily to the first environmental information and the second environmental information to generate the situation information. Regarding the method of generating situation information by further utilizing third environmental information, since the method of generating situation information using the aforementioned first and second environmental information can be applied similarly, redundant explanations are omitted.

[0115] The description of the technical features described above with reference to FIGS. 1 to 4 can be applied as is to FIG. 5, so redundant descriptions are omitted.

[0117] FIG. 6 illustrates a method for updating situational information regarding the interior of a space according to one example, and establishing a movement plan for a robot's segmented space based on the updated situational information.

[0118] In step (610), the robot control system (120) can establish a movement plan for the partitioned space (200) of the first robot (100).

[0119] In step (620), the robot control system (120) can control the movement of the first robot to the partitioned space (20) according to the movement plan established in step (610).

[0120] The movement plan may include an entry plan for the partitioned space (20) of the first robot (100). This entry plan may include location information (i.e., entry point information) where the first robot (100) enters the partitioned space (20) and / or path information for the first robot (100) to enter the partitioned space (20). Additionally, the movement plan may include a driving plan for the first robot (100) within the partitioned space (20). This driving plan may include location information where the first robot (100) is to be placed within the partitioned space (20) and / or path information for the first robot (100) to move within the partitioned space (20). The movement plan may include at least one of the entry plan and the driving plan.

[0121] The robot control system (120) can control the first robot (100) so that, according to the movement plan, the first robot (100) enters the partitioned space (20) and is placed at a predetermined first position within the partitioned space (20). The first position is a position included in the area where the first robot (100) can be placed, and may be a position included in the area indicated by the first information among the aforementioned situation information.

[0122] The robot control system (120) can determine a movement plan for the first robot (100) before the first robot (100) enters the partitioned space (20).

[0123] Meanwhile, as in step (605), the robot control system (120) can update situation information as the first robot (100) moves toward the interior of the partitioned space (20). Or / additionally, as described above, the situation information can be updated as the obstacle within the partitioned space (20) moves. That is to say, the situation information can be updated in real time as the first environmental information from the first robot (100) and / or the second environmental information from the sensor (25) is updated. For example, the robot control system (120) can update the situation information by updating at least one of the first to third information described above as the first robot (100) moves toward the interior of the partitioned space (20). As the robot (100) moves toward the interior of the partitioned space (20), the unknown area may be reduced, and accordingly, the first to third information may be updated.

[0124] In step (612), the robot control system (120) can update the movement plan for the first robot (100) based on updated situational information.

[0125] The robot control system (120) can control the first robot (100) based on an updated movement plan so that the first robot (100) enters a partitioned space (20) and is placed at a second location within the partitioned space (20) that is different from the first location. The second location is a location included in the area where the first robot (100) can be placed, and may be a location included in the area indicated by the first information among the updated situational information.

[0126] Thus, in the embodiment, a movement plan for the first robot (100) is established before the first robot (100) enters the partitioned space and can be updated as the first robot (100) moves toward the interior of the partitioned space. Additionally, the movement plan for the first robot (100) can be updated while the first robot (100) moves inside the partitioned space (20) after entering the partitioned space (20) (i.e., after entering).

[0127] In this embodiment, the situation information can be updated according to the movement of the first robot (100) or the change in the position of an obstacle in the partitioned space (20), and the update of the situation information can be reflected in real-time in the movement plan for the first robot (100) so that the first robot (100) can be controlled. Accordingly, the first robot (100) can be adaptively controlled according to the change in the internal situation of the partitioned space (20).

[0128] A specific example of controlling the first robot (100) according to updates to situation information and movement plans will be described in more detail with reference to FIG. 10 and FIG. 11, which will be described later.

[0129] The description of the technical features described above with reference to FIGS. 1 to 5 can be applied as is to FIG. 6, so redundant descriptions are omitted.

[0131] The second environmental information provided from the sensor (25) may be primary information used to control the movement of the first robot (100) within the partitioned space (20). The second environmental information may be information provided based on an absolute coordinate system.

[0132] Below, another embodiment for generating situation information is described in which the sensor (25) is a camera.

[0133] According to an embodiment, the sensor (25) may include a camera positioned at the top of the partition space (20). For example, the sensor (25) may be a camera positioned at the top (ceiling) of the elevator car. The camera may be positioned at the center of the top of the partition space (20). Alternatively, multiple cameras may be positioned at the ceiling of the partition space (20).

[0134] At this time, the second environmental information obtained through the sensor (25) may include coordinate information of an obstacle, including at least one of a robot and a person recognized by the camera. This may be coordinate information based on an absolute coordinate system or a global coordinate system. That is to say, the second environmental information may include absolute position information of an obstacle within the partitioned space (20). Alternatively, the robot control system (120) that receives the second environmental information may process the second environmental information into coordinate information of an absolute coordinate system or a global coordinate system.

[0135] Meanwhile, the first environment information obtained from the first robot (100) may include relative position information regarding an obstacle recognized by the distance sensor and / or camera of the first robot (100). The relative position information may include distance information and / or direction information regarding the obstacle.

[0136] The robot control system (120) can generate situation information including location information for obstacles as fusion information based on the first environment information and the second environment information by matching the coordinate information represented by the first environment information and the relative position information represented by the second environment information. Through the generation of fusion information by the robot control system (120), the perception of obstacles by the first robot (100) can be further enhanced. That is to say, the location, direction, and movement direction of the obstacles can be identified more accurately, and the first robot (100) can be controlled to avoid obstacles more effectively.

[0138] FIGS. 7 and FIGS. 8 illustrate a method of operation of a sensor provided within a partitioned space according to one example.

[0139] In FIG. 7, a sensor (25) is placed within a partitioned space (20) represented as a three-dimensional space, and the sensing range (C2) of the sensor (25) is also represented as a three-dimensional space.

[0140] Meanwhile, in FIG. 8, a sensor (25) is placed within a partitioned space (20) represented by a two-dimensional plane corresponding to the above-mentioned three-dimensional space, and the sensing range (C2) of the sensor (25) is also indicated by a two-dimensional plane. The illustrated two-dimensional plane may be a view of the three-dimensional space of FIG. 7 from above. In other words, the two-dimensional plane may be a projection plane of the three-dimensional space. Additionally, the two-dimensional plane may be grid map information corresponding to the partitioned space (20), and may be grid map information in which the aforementioned first to third information is expressed.

[0141] The sensor (25) may include a distance sensor. The distance sensor may be, for example, a Time of Flight (ToF) sensor. The sensor (25) may be used to identify dynamic and static obstacles, such as a person (810), and to detect the distance from these obstacles. Since the sensor (25) is composed of a simple sensor such as a distance sensor, even if data about the person (810) is collected as second environmental information and this second environmental information is transmitted to the robot control system (120), the problem of leakage of personal information about the person (810) may not occur.

[0142] The sensor (25) may be placed at the corner of the partition space (20) as illustrated. For example, if the partition space (210) is the interior area of ​​an elevator car, the sensor (25) may be placed at the corner (each corner) of the elevator car. Such a sensor (25) may be used to detect obstacles, including a person (810), placed on the corner side or on the wall side corresponding to the sensor's detection range. As illustrated, the sensor (810) may include some blind spot areas (O1, O2) on the side. However, even with these blind spot areas (O1, O2), considering that a person (810) or an obstacle cannot be completely attached to the wall of the partition space (20), the sensor (810) can accurately detect obstacles located on the corner side or the wall.

[0143] As described above, the sensor (25) can be used to complement the sensor of the first robot (100) or the second robot, that is, to complement the second environment information with the first environment information.

[0144] The description of the technical features described above with reference to FIGS. 1 to 6 can be applied as is to FIGS. 7 and 8, so redundant descriptions are omitted.

[0146] FIG. 9 illustrates a method for acquiring first environment information and second environment information and controlling a robot according to one example as the robot enters a partitioned space.

[0147] In the illustrated example, the partition space (20) may be, for example, a room within a building or an interior area of ​​an elevator car.

[0148] As illustrated, each sensor (25) may be placed at a corner of the partition space (20) and may have a sensing range (C2). A first robot (100) entering the partition space (20) may have a sensing range (C1). Second environmental information from the sensor (25) may be updated as obstacles (such as a person illustrated) move within the partition space (20). The second environmental information may include distance information regarding obstacles detected by the sensor (25). As illustrated, the second environmental information may be transmitted from the sensor to the robot control system (120) via a transmitter. The transmitter may be positioned in association with the partition space (20) and may receive the second environmental information from the sensor (25) via wired or wireless means. The transmitter may be part of a sensor system including the sensor (25) or part of a communication unit of the aforementioned elevator control system. In the case where the sensor (25) is placed inside the elevator car, the sensor (25) may be configured to include a sensor or sensor module specialized for detecting a person inside the elevator car and determining whether to board.

[0149] As the first robot (100) moves and enters the partitioned space (20), the sensing range (C1) of the first robot (100) can change from C1-1 to C1-2, and accordingly, the first environmental information from the first robot (100) can also be updated. The first environmental information can be collected through the sensor unit (106) of the first robot (100) described above (i.e., the onboard sensor of the first robot (100)).

[0150] The robot control system (120) can update situation information for the partitioned space (20) based on updated environment information, and accordingly, control the movement of the first robot (100).

[0151] The robot control system (120) can identify the situation regarding the interior of the partitioned space (20) by fusing the first environmental information and the second environmental information, and can generate situation information indicating this. The robot control system (120) can transmit a movement control command to the first robot (100) to control the first robot (100) based on the situation information. This movement control command corresponds to the aforementioned movement plan and may include location information where the first robot (100) is to be placed within the partitioned space (20). For example, the robot control system (120) can determine the placement location where the first robot (100) is to be placed within the interior area of ​​the elevator car.

[0152] At this time, the first robot (100) is a brainless robot and does not directly determine the situation inside the partition space (20), and may not directly receive or process data from the sensor (25).

[0153] The description of the technical features described above with reference to FIGS. 1 to 8 can be applied as is to FIG. 9, so redundant descriptions are omitted.

[0155] FIGS. 10 and 11 illustrate a method for updating a movement plan established for a robot upon the robot's entry into a partitioned space, according to one example.

[0156] In the illustrated example, situation information of the partition space (20) is represented as a two-dimensional plane corresponding to the partition space (20).

[0157] In the situation information regarding the partitioned space (20), ① represents the first information described above as an area where the first robot (100) can be placed (free), ② represents the second information described above as an area where the first robot (100) cannot be placed (occupied and forbidden), and ③ represents the third information described above as an unknown area.

[0158] As illustrated in FIG. 10, the robot control system (120) can control the first robot (100) to move to a first position (1010) within the partition space (20) based on a movement plan established before the first robot (100) enters the partition space (20).

[0159] Meanwhile, as the first robot (100) moves to enter the partitioned space (20), an obstacle (person) in the existing unknown area may be recognized by the first robot (100), as illustrated in FIG. 11. Based on the result of this sensing by the first robot (100) (i.e., based on the updated first environment information from the first robot (100)), the robot control system (120) may update the situation information regarding the partitioned space (20) and, accordingly, modify the movement plan for the first robot (100). Based on the modified movement plan, the robot control system (120) may move the first robot (100) to a second position (1110) instead of a first position (1010).

[0160] Specifically, to describe a scenario related to boarding an elevator car, the robot control system (120) can generate situational information using environmental information (secondary environmental information from the sensor (25)) regarding the internal area (20) before the first robot (100) boards the elevator car, and can establish a movement plan for the first robot (100). The first robot (100) may be determined to board the corner area (first location (1010)) indicated by the first information of the situational information. As the robot (100) approaches to board the elevator car or approaches the first location (1010) after boarding, third information corresponding to an unknown area of ​​the situational information may be reinforced. Accordingly, the situational information is updated, and the movement plan for the first robot (100) may also be updated. As the movement plan is updated, the placement location of the first robot (100) may be changed from the first location (1010) to the second location (1110).

[0161] In this embodiment, the situation information can be updated according to the movement of the first robot (100) or the change in the position of an obstacle in the partitioned space (20), and the update of the situation information can be reflected in real-time in the movement plan for the first robot (100) so that the first robot (100) can be controlled. Accordingly, the first robot (100) can be adaptively controlled according to the change in the internal situation of the partitioned space (20).

[0162] The description of the technical features described above with reference to FIGS. 1 to 9 can be applied as is to FIGS. 10 and 11, so redundant descriptions are omitted.

[0164] FIGS. 12 to 14 illustrate a method for generating situation information as fusion information of first environmental information and second environmental information according to one example.

[0165] As illustrated, situation information (1200 to 1400) can be generated by expressing the aforementioned first information, the second information, and the third information on a two-dimensional plane corresponding to the partition space (20). The situation information illustrated in FIGS. 10 and 11 above may also be generated by expressing the first information to the third information on such a two-dimensional plane. Such a two-dimensional plane may be a planar projection of the partition space (20).

[0166] In the example illustrated in FIGS. 12 to 14, the unknown area (③, third information) and the area where the first robot (100) cannot be placed (②, second information) are not distinguished from each other, but they can be expressed so as to be distinguished.

[0167] As illustrated in FIG. 13, as the first robot (100) enters the partitioned space (20), the unknown area is reduced, and the situation information can be updated. The sensing range of the first robot (100) entering the partitioned space (20) is represented as C1-3.

[0168] Meanwhile, as illustrated in FIG. 14, in addition to the first environmental information from the first robot (100), third environmental information from the second robot (1400), which is another robot already placed in the partitioned space (20), can be further used to generate situational information. As illustrated, information about obstacles in the sensing range (C3) of the second robot (1400) can be further utilized to generate situational information for the partitioned space (20). Accordingly, the situational information can reflect the situation of the partitioned space (20) more accurately, and thus, the control associated with the partitioned space (20) of the first robot (100) can be made more efficient.

[0169] The description of the technical features described above with reference to FIGS. 1 to 11 can be applied as is to FIGS. 12 to 14, so redundant descriptions are omitted.

[0171] FIG. 15 illustrates a method of controlling a robot according to the interaction between a robot entering a partitioned space, a robot control system, and a sensor system placed in the partitioned space, according to one example.

[0172] In the illustrated example, the robot control system (120) is illustrated as a remote system (120), the first robot (100) is illustrated as a brainless robot 1 (100), and the sensor system including the sensor (25) is illustrated as an environment perception system (1500) outside the robot.

[0173] The remote system (120) can fuse the sensing results from the environmental information recognition means (onboard sensor) (14) inside the robot and the sensing results from the environmental information recognition means (1503, 1504) outside the robot, and based on the real-time dynamic environmental information based thereon, it can establish a movement plan for the brainless robot 1 (100) within the partitioned space (20) and execute control of the brainless robot 1 (100).

[0174] The remote system (120) may include static data (121), such as a map of the static environment and information on the perception system within the environment. The environmental information included in the static data (121) can be utilized in the robot positioning function (124). The receiver (125) can receive local environmental sensing information (e.g., second environmental information) regarding the separated space (20) from an environment perception system (1500) outside the robot, and can receive robot local environmental sensing information and positioning information (sensing data or preprocessed data) (e.g., first environmental information) from the brainless robot 1 (100). The receiver (125) can transmit the received first / second environmental information to the environment information fusion function (122) to process it into fusion information. Accordingly, the aforementioned situation information can be generated. The environment information fusion function (122) may further use static environment information containing static data (121) and real-time location information of Brainless Robot 1 (100) (or other robot(s)). The fusion information and the real-time location information of Brainless Robot 1 (100) may be transmitted to the robot movement planning and control unit (123), and the robot movement planning and control unit (123) may generate movement control commands for Brainless Robot 1 (100). The movement control commands may be transmitted to Brainless Robot 1 (100) through the transmitter (126). Brainless Robot 1 (100) may be controlled according to the movement control commands. The remote system (120) may similarly control each of the multiple robots (i.e., multi-robots).

[0175] The description of the technical features described above with reference to FIGS. 1 to 14 can be applied as is to FIG. 15, so redundant descriptions are omitted.

[0177] The system or device described above may be implemented as a hardware component, a software component, or a combination of a hardware component and a software component. For example, the device and component described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. Additionally, other processing configurations, such as parallel processors, are also possible.

[0178] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0179] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either alone or in combination. The program instructions recorded on the medium may be those specifically designed and configured for the embodiment, or they may be those known and available to those skilled in the art 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 machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0180] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results can be achieved even if the described techniques are performed in a different order than described, and / or the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0181] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

Claim 1 A robot control method for controlling a robot within a space, performed by a robot control system, comprises: a step of obtaining first environmental information regarding the interior of a partitioned space from a first robot entering the partitioned space; a step of obtaining second environmental information regarding the interior of the partitioned space from at least one sensor provided within the partitioned space; and a step of controlling the entry of the first robot into the partitioned space or the movement of the first robot within the partitioned space based on situation information regarding the interior of the partitioned space based on the first environmental information and the second environmental information, wherein the controlling step comprises: a step of establishing a movement plan for the first robot regarding the partitioned space; and a step of controlling the first robot according to the movement plan, wherein the robot control method comprises: a step of obtaining third environmental information regarding the interior of the partitioned space from a second robot already placed within the partitioned space; and a step of generating the situation information as fusion information based on the first environmental information to the third environmental information.The method further includes the step of updating the situation information by updating at least one of the first environmental information to the third environmental information while the first robot is moving toward the interior of the partitioned space or while moving inside the partitioned space, and the step of generating the situation information is to generate the situation information by representing the situation information, which includes first information regarding an area where the first robot can be deployed, second information regarding an area where the first robot cannot be deployed, and third information regarding an unknown area, on a grid map projected onto a two-dimensional plane of the partitioned space, wherein the area where the first robot can be deployed represents an area where no obstacles exist, including at least one of a robot and a person, and the area where the first robot cannot be deployed represents an area where the obstacles exist, and the unknown area represents an area outside the sensing range of the first robot and the second robot and the sensing range of the sensor, and the first environmental information to the third environmental information are used complementarily to generate the situation information, and the movement plan is established before the first robot enters the partitioned space and is updated as the situation information is updated, and the step of updating the situation information is A robot control method comprising: a step of updating third information regarding an unknown area with the first information or the second information as the first robot moves toward the interior of the partitioned space, thereby changing the sensing range of the first robot so that at least a portion of the unknown area is sensed; and a step of updating the movement plan so that, if the unknown area is updated to an unplaceable area represented by the second information, the first robot changes the first position planned to be placed within the partitioned space to a second position which is another position within the placeable area represented by the first information. Claim 2 A robot control method according to claim 1, wherein the partitioned space is an internal area of ​​an elevator car in which the first robot can board and disembark, and the controlling step controls the boarding of the first robot into the elevator car or the movement of the first robot within the internal area. Claim 3 A robot control method according to claim 1, wherein the sensor includes a distance sensor and is positioned at the corner of the partitioned space. Claim 4 delete Claim 5 delete Claim 6 delete Claim 7 delete Claim 8 delete Claim 9 delete Claim 10 delete Claim 11 delete Claim 12 delete Claim 13 A robot control method according to claim 1, wherein the sensor includes a camera positioned at the top of the partitioned space, the second environment information includes coordinate information of an obstacle including at least one of a robot and a person recognized by the camera, the first environment information includes relative position information of the obstacle recognized by the distance sensor or camera of the first robot, and the step of generating the situation information further includes the step of generating the situation information including position information of the obstacle as fusion information based on the first environment information and the second environment information by matching the coordinate information and the relative position information. Claim 14 A computer program stored on a non-transient computer-readable recording medium to execute the method of any one of claims 1 through 3 and 13 in the robot control system, which is a computer system. Claim 15 A computer system comprising a robot control system for controlling a robot within a space includes at least one processor implemented to execute computer-readable commands, wherein the at least one processor obtains first environmental information regarding the interior of a partitioned space from a first robot entering the partitioned space and obtains second environmental information regarding the interior of the partitioned space from at least one sensor provided within the partitioned space, and controls the entry of the first robot into the partitioned space or the movement of the first robot within the partitioned space based on the first environmental information and situational information regarding the interior of the partitioned space based on the second environmental information, wherein the at least one processor, in controlling the first robot, establishes a movement plan for the first robot regarding the partitioned space and controls the first robot according to the movement plan, wherein the at least one processor further obtains third environmental information regarding the interior of the partitioned space from a second robot already placed within the partitioned space, generates the situational information as fusion information based on the first environmental information to the third environmental information, and while the first robot moves toward the interior of the partitioned space or the interior of the partitioned space The situation information is updated by updating at least one of the first environment information to the third environment information while moving, and the at least one processor generates the situation information by representing the situation information, which includes first information regarding an area where the first robot can be deployed, second information regarding an area where the first robot cannot be deployed, and third information regarding an unknown area, on a grid map projected onto a two-dimensional plane of the segmented space, and the area where the first robot can be deployed represents an area where no obstacles exist, including at least one of a robot and a person.A computer system comprising: a first robot being unable to be deployed in an area where the obstacle exists, an unknown area being an area outside the sensing range of the first robot and the second robot and the sensing range of the sensor, the first environmental information to the third environmental information being used complementarily to generate the situation information, a movement plan being established before the first robot enters the partitioned space and being updated as the situation information is updated, and at least one processor, in updating the situation information, updates the third information regarding the unknown area to the first information or the second information as the first robot moves toward the interior of the partitioned space and the sensing range of the first robot changes so that at least a part of the unknown area is sensed, and when the unknown area is updated to the undeployable area indicated by the second information, the movement plan being updated to change the first position where the first robot is planned to be deployed within the partitioned space to a second position, which is another position within the deployable area indicated by the first information. Claim 16 delete Claim 17 delete Claim 18 delete

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