Method for scheduling collaboration of mobile robots in multi-floor environment

Abstract

The present disclosure relates to a method for scheduling mobile robot collaboration in a multi-story construction site, and may include the steps of: an elevator control robot receiving operational status data from a plurality of mobile robots within the site, each including at least one of a current location, a workload, and a remaining battery level; creating or updating an operational status table that manages the availability of the plurality of mobile robots based on the operational status data; the elevator control robot identifying the assigned workload of a first mobile robot that is performing or scheduled to perform work on a first floor; the elevator control robot determining the need for collaboration based on the operational status table; if the need for collaboration is recognized, the elevator control robot determining at least one of the plurality of mobile robots as an auxiliary mobile robot based on the operational status table; and the elevator control robot transmitting a collaboration request message to the auxiliary mobile robot to instruct the first mobile robot to share the work.

Description

Technology Field

[0001] The present disclosure relates to an elevator-linked mobile robot logistics automation system and a control method thereof in environments with communication constraints and multi-story structures. More specifically, it relates to a system and a control method thereof that autonomously optimizes logistics flow through collaboration with a mobile robot centered on an elevator control robot in construction sites where communication infrastructure is weak and inter-floor movement is essential. Background Technology

[0003] Recently, the adoption of Autonomous Mobile Robots (AMRs) is gradually expanding in the construction industry to address labor shortages and improve productivity. These robot systems are primarily operated in structured logistics warehouse environments where flat movement paths are established, and they demonstrate high efficiency in environments where seamless wireless communication infrastructure (Wi-Fi, 5G, etc.) is established. In particular, these systems contribute to increasing work speed and reducing reliance on human labor by automating the transportation and unloading of materials.

[0004] However, construction sites differ from logistics warehouses due to their multi-story structures and thick concrete walls. These structural characteristics result in numerous communication dead zones, which frequently cause disconnections between robots and servers. Consequently, real-time location tracking and control become difficult, leading to a significant decrease in robot operational efficiency. Furthermore, physical constraints on movement between floors hinder the smooth flow of materials, causing work processes to be interrupted.

[0005] Furthermore, construction sites are environments where variable factors, such as material stacking, obstacle locations, and changes in the working environment, frequently occur. However, current autonomous robots lack the ability to independently perceive these environmental changes and respond flexibly. Consequently, robots are limited to simple, repetitive tasks, which poses a high risk of causing process bottlenecks or safety accidents. As a result, existing autonomous robot systems are revealing limitations that make them unsuitable for the complex and dynamic environment of construction sites. The problem to be solved

[0007] The object of the present disclosure is to provide an elevator-linked mobile robot logistics automation system and a control method thereof in a communication constraint and multi-layered environment, which autonomously optimizes logistics flow in a communication infrastructure-constrained and multi-layered environment. means of solving the problem

[0009] In one embodiment of the present disclosure, a mobile robot collaboration scheduling method may be provided. The mobile robot collaboration scheduling method may include: receiving operational status data from a plurality of mobile robots in a site, each including at least one of a current location, a workload, and a remaining battery level; creating or updating an operational status table that manages the availability of the plurality of mobile robots based on the operational status data; identifying the assigned workload of a first mobile robot that is performing or scheduled to perform work on a first floor; determining the need for collaboration based on the operational status table; if the need for collaboration is recognized, determining at least one of the plurality of mobile robots as an auxiliary mobile robot based on the operational status table; and transmitting a collaboration request message to the auxiliary mobile robot to instruct the first mobile robot to share the work.

[0010] In one embodiment of the present disclosure, the step of receiving operational status data is performed via short-range wireless communication when a plurality of mobile robots enter a contact point, and the contact point is an area including an elevator landing, and can be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot is in a state where the door is open or closed.

[0011] In one embodiment of the present disclosure, the assigned workload may be determined based on the analysis of a work information message transmitted from a first mobile robot by an elevator control robot and at least one of the number of materials being transported by the first mobile robot or the weight of the load, and the number of materials and the weight of the load may be measured based on a sensor placed inside the elevator.

[0012] In one embodiment of the present disclosure, the step of determining the need for collaboration may determine that collaboration is necessary when the estimated processing time of the allocated workload exceeds a preset target time or the load state of the first mobile robot exceeds a threshold, and the estimated processing time may be determined by considering the current location, movement speed, and remaining battery level of the first mobile robot.

[0013] In one embodiment of the present disclosure, a mobile robot collaboration scheduling method may be provided. The mobile robot collaboration scheduling method may determine that immediate collaboration is required when the assigned workload of the first mobile robot exceeds a standard number that the first mobile robot can carry alone in one go.

[0014] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the step of calculating a collaboration suitability score for each of the remaining mobile robots recorded in an operation status table, using the distance from the first mobile robot, whether a current task is being performed, and the remaining battery level as variables, and the step of selecting the robot with the highest score as the auxiliary mobile robot.

[0015] In one embodiment of the present disclosure, in the step of determining an auxiliary mobile robot, the estimated energy consumption required to perform a collaborative task is calculated, and a mobile robot whose current battery level is less than the sum of the estimated energy consumption and the minimum power required for return may be excluded from the auxiliary mobile robot candidates.

[0016] In one embodiment of the present disclosure, the collaboration request message may include information about a first floor, identification information of a first mobile robot, and information about the quantity of materials to be collaborated on or the work area to be divided.

[0017] In one embodiment of the present disclosure, the operating status table may be configured to include at least one of the ID of each of a plurality of mobile robots, current floor information, progress rate of a task being performed, remaining battery level, and time when the next task can be performed.

[0018] In one embodiment of the present disclosure, the step of directing work distribution may be directed by designating either a joint transport mode in which a first mobile robot and an auxiliary mobile robot physically transport a single heavy object together, or a divided transport mode in which multiple materials are divided and transported separately, depending on the characteristics of the allocated workload.

[0019] In one embodiment of the present disclosure, the elevator control robot can transmit a generated operation status table to a manager terminal and receive a collaboration approval message from the manager terminal.

[0020] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot can support an elevator control robot moving to the second floor, boarding the auxiliary mobile robot in the elevator, and transporting it to the first floor to perform collaboration with the first mobile robot when the mobile robot located on the second floor is determined to be the auxiliary mobile robot.

[0021] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may perform a hierarchical robot selection method, which primarily searches for available robots within a first floor, and secondarily determines a robot located on another floor as an auxiliary mobile robot only if there are no suitable robots within the first floor or if the remaining battery level or workload of available robots does not satisfy a reference value.

[0022] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include, when evaluating a robot located on the second floor as a candidate, a step of calculating a vertical movement time including at least one of the travel time from the current position of the elevator to the second floor, the travel time from the second floor to the first floor, and the elevator door opening and closing time, and a step of deducting or correcting the collaboration suitability score by reflecting the vertical movement time as a work delay factor.

[0023] In one embodiment of the present disclosure, a mobile robot collaborative scheduling method may be provided. The mobile robot collaborative scheduling method may sequentially perform the steps of: an elevator control robot arriving at a second floor and transmitting an arrival notification signal; an auxiliary mobile robot responding to the arrival notification signal and entering the elevator and transmitting a boarding completion signal; and after receiving the boarding completion signal, the elevator control robot controlling the elevator to move to a first floor and transmitting a disembarking command to the auxiliary mobile robot. Effects of the invention

[0025] According to one embodiment of the present disclosure, by utilizing an elevator control robot as a mobile data hub to relay location and status data of a mobile robot in a communication dead zone, the problem of communication disconnection can be resolved and real-time location tracking and control can be enabled.

[0026] According to one embodiment of the present disclosure, an elevator control robot can prevent interruption of logistics flow between floors and maximize work efficiency by analyzing the workload and calling a robot on another floor to schedule collaboration.

[0027] Furthermore, mobile robots can reduce operational bottlenecks and prevent safety accidents by recognizing on-site loads and congestion levels to update process plans in real time and determine optimal unloading locations. Moreover, by managing the circulation paths for material ascent and waste descent to enhance elevator operational efficiency, the logistics flow at the construction site can be autonomously optimized. Brief explanation of the drawing

[0029] FIG. 1 is a drawing for explaining a construction site logistics automation integrated system according to one embodiment. FIG. 2 is a drawing for explaining a construction site logistics automation integrated system according to one embodiment. FIG. 3 is a flowchart showing the main control flow and process steps performed in a logistics automation system according to one embodiment. FIG. 4 is a conceptual diagram illustrating the process of relaying mobile robot position data in a communication constraint environment according to one embodiment. FIG. 5 is a conceptual diagram illustrating a method for transmitting location data of a mobile robot located in a first area and a second area to a server in a relay manner according to one embodiment. FIG. 6 is a flowchart illustrating a mobile robot position data relay transmission method according to one embodiment. FIG. 7 is a flowchart illustrating a mobile robot position data relay transmission method according to another embodiment. FIG. 8 is a conceptual diagram of a mobile robot monitoring system based on an elevator control robot in a communication constraint environment according to one embodiment. FIG. 9 is a diagram illustrating the process of detecting a return abnormal robot and cooperative inspection led by an elevator control robot according to one embodiment. FIG. 10 is a diagram showing the detailed execution process for the return abnormality judgment, inspection robot determination, and status check steps of FIG. 9. FIG. 11 is an example of a plurality of mobile robot operation history and status management tables managed by an elevator control robot according to an embodiment of the present invention. FIG. 12 is a signal flow diagram illustrating the process of mobile robot-led operation status data generation and elevator control robot-based integrated monitoring according to another embodiment. FIG. 13 is a conceptual diagram of work load distribution and mobile robot collaboration scheduling based on an elevator control robot according to one embodiment. FIG. 14 is a signal flow diagram illustrating a mobile robot collaboration scheduling process based on an elevator control robot according to one embodiment. FIG. 15 is a signal flow diagram illustrating a mobile robot collaboration scheduling process based on a state information request of an elevator control robot according to another embodiment. FIG. 16 is a signal flow diagram illustrating the process of determining the necessity of mobile robot collaboration and giving work instructions led by an administrator terminal according to another embodiment. FIG. 17 is a conceptual diagram for managing the cyclic movement path of upward material movement and downward waste collection according to one embodiment of the present invention. FIG. 18 is a signal flow diagram showing the operation mode determination and multi-story sequential unloading process of an elevator control robot according to one embodiment. FIG. 19 is an illustrative diagram for explaining the one-way processing principle of an elevator control robot according to one embodiment. FIG. 20 is an illustrative diagram for explaining an exceptional movement path operation case considering elevator capacity and waste location according to an embodiment of the present invention. FIG. 21 is an exemplary diagram showing time parameters and spatial definitions considered for determining the operating mode of an elevator control robot according to one embodiment of the present invention. FIG. 22 is a conceptual diagram showing a field state recognition and feedback-based task control loop of a mobile robot according to one embodiment. FIG. 23 is a signal flow diagram illustrating the field status collection and feedback-based task control process of a mobile robot according to one embodiment of the present invention. FIG. 24 is a detailed flowchart illustrating the process of comparing performance against plans of an administrator terminal and generating insights therefrom, according to one embodiment. FIG. 25 is a block diagram showing a detailed function module that performs task updates within a processor of an administrator terminal according to one embodiment. FIG. 26 is a conceptual diagram illustrating the process of determining the optimal disembarkation location based on autonomous driving and spatial analysis of a mobile robot according to one embodiment. FIG. 27 is a flowchart illustrating the process of determining the optimal unloading area and elevator boarding / alighting of a mobile robot according to one embodiment. FIG. 28 is a conceptual diagram showing guidelines and buffer areas for elevator boarding and alighting of a mobile robot according to one embodiment. FIG. 29 is a detailed flowchart illustrating the process of determining the optimal unloading zone based on spatial analysis of a mobile robot according to one embodiment. FIG. 30 is an example diagram showing the floor plan area of ​​the unloading / unloading area and the available area with a safety buffer distance applied according to one embodiment. FIG. 31 is an example diagram showing how an available area according to one embodiment is divided into segments of material size to set up unloading candidate areas. FIG. 32 is an illustrative diagram for explaining an interference area within an unloading / unloading area according to one embodiment. FIG. 33 is an example of a result in which valid candidate regions excluding interference regions are selected and the optimal unloading area is finally determined according to one embodiment. Specific details for implementing the invention

[0030] The aforementioned objectives, features, and advantages of the present application will become more apparent from the following detailed description in conjunction with the accompanying drawings. However, as the present application is subject to various modifications and may have various embodiments, specific embodiments are illustrated in the drawings and described in detail below.

[0031] Throughout the specification, identical reference numbers generally represent identical components. Additionally, components with identical functions within the same scope of concept appearing in the drawings of each embodiment are described using the same reference numeral, and redundant descriptions thereof are omitted.

[0032] If it is determined that a detailed description of known functions or configurations related to this application could unnecessarily obscure the essence of this application, such detailed description is omitted. Furthermore, numbers used in the description of this specification (e.g., First, Second, etc.) are merely identifiers to distinguish one component from another.

[0033] Furthermore, the suffixes "module" and "part" for components used in the following embodiments are assigned or used interchangeably solely for the ease of drafting the specification, and do not inherently possess distinct meanings or roles.

[0034] In the following examples, singular expressions include plural expressions unless the context clearly indicates otherwise.

[0035] In the following embodiments, terms such as "include" or "have" mean that the features or components described in the specification are present, and do not preclude the possibility that one or more other features or components may be added.

[0036] In the drawings, the size of components may be exaggerated or reduced for convenience of explanation. For example, the size and thickness of each component shown in the drawings are arbitrarily depicted for convenience of explanation, and the present invention is not necessarily limited to what is illustrated.

[0037] Where an embodiment can be implemented differently, the order of a particular process may be performed differently from the order described. For example, two processes described consecutively may be performed substantially simultaneously or proceed in the reverse order of the description.

[0038] In the following embodiments, when components are described as being connected, the case includes not only instances where the components are directly connected but also instances where components are indirectly connected by interposing them in between.

[0039] For example, when it is stated in this specification that components, etc. are electrically connected, it includes not only cases where the components, etc. are directly electrically connected, but also cases where components, etc. are interposed in between and are indirectly electrically connected.

[0041] FIG. 1 is a drawing for explaining a construction site logistics automation integrated system according to one embodiment.

[0042] Referring to FIG. 1, a construction site logistics automation integrated system according to one embodiment of the present disclosure may include a server (100), an administrator terminal (200), an elevator control robot (300), and a plurality of mobile robots (400).

[0043] The server (100) may be a central control system that oversees the entire logistics process of a construction site. The server (100) can generate a task package containing information on the timing, quantity, and destination of material delivery according to the overall process plan. The server (100) can transmit the generated task package to a manager terminal (200) or an elevator control robot (300). Additionally, the server (100) can receive data asynchronously through the elevator control robot (300) in consideration of the site environment with communication constraints. The server (100) can analyze work logs and feedback data collected by mobile robots (400). Based on the analysis results, the server (100) can identify process bottlenecks and derive insights for work efficiency.

[0044] The manager terminal (200) may be a device carried by a field manager or placed at a home station. The manager terminal (200) can serve as an interface between the mobile robot (400) and the manager. The manager terminal (200) can receive location data or abnormal status notifications collected from the mobile robots (400) via a local network, even in an environment where the external communication network is blocked.

[0045] The administrator terminal (200) can visualize the received data and provide it to the administrator. The administrator can make decisions through the administrator terminal (200), such as checking the location of a non-returning robot or modifying work instructions in emergency situations requiring collaboration. The administrator terminal (200) can be based on timestamps included in the location data received from the mobile robot (400). The administrator terminal (200) can reconstruct and store the movement path and work history of the mobile robot (400) during the time communication was disconnected.

[0046] The manager terminal (200) can receive an integrated status message from the elevator control robot (300). Based on the integrated status message, the manager terminal (200) can generate insights such as process deviations and space shortages. Based on the generated insights, the manager terminal (200) can update tasks. The manager terminal (200) can control operations by sending the updated tasks to multiple mobile robots (400).

[0048] The elevator control robot (300) can serve as a mobile hub and a field leader. The elevator control robot (300) can call an elevator on its own and move between floors. The elevator control robot (300) can circulate through each floor where communication is disconnected and collect data collected by mobile robots (400).

[0049] The elevator control robot (300) can perform a data relay function to transmit collected data to a server (100) or an administrator terminal (200). For example, the elevator control robot (300) can move to a second area where access to an external communication network is restricted. The elevator control robot (300) can transmit work messages to a second mobile robot located in the second area.

[0050] The elevator control robot (300) can receive location data from the second mobile robot. The elevator control robot (300) can move to a first area where external communication network access is possible. The elevator control robot (300) can transmit the location data of the second mobile robot to the first mobile robot located in the first area.

[0051] The elevator control robot (300) can distribute task packages received from the central system according to the status of the mobile robots (400) on each floor. The elevator control robot (300) can detect mobile robots (400) that do not return to the contact point. If a mobile robot (400) in a return abnormal state is detected, the elevator control robot (300) can lead autonomous on-site control and monitoring, such as issuing inspection commands to other mobile robots (400). Specifically, the elevator control robot (300) can update operation history information based on adjacent events of mobile robots (400) detected within the contact point. Based on the operation history information, the elevator control robot (300) can determine that a target mobile robot is in a return abnormal state if it does not return for a reference time. The elevator control robot (300) can determine one of the multiple mobile robots (400) as an inspection mobile robot and transmit a status inspection command.

[0052] The elevator control robot (300) can schedule the collaboration of mobile robots (400). The elevator control robot (300) can receive operational status data from multiple mobile robots (400). The elevator control robot (300) can create or update an operational status table based on the operational status data. The elevator control robot (300) can identify the assigned workload of a specific mobile robot (400) and determine the need for collaboration. If the need for collaboration is recognized, the elevator control robot (300) can determine an auxiliary mobile robot based on the operational status table. The elevator control robot (300) can instruct the division of work by sending a collaboration request message to the determined auxiliary mobile robot.

[0053] The elevator control robot (300) can optimize the operation of the elevator. The elevator control robot (300) can calculate the wait cost incurred while the elevator waits while the mobile robot (400) transports materials and returns from the first destination floor. The elevator control robot (300) can calculate the round-trip cost incurred to go to another destination floor without waiting. The elevator control robot (300) can determine one of the operation modes, either a wait mode or a round-trip mode, by comparing the wait cost and the round-trip cost. The elevator control robot (300) can control the opening and closing of the elevator doors or movement between floors according to the determined operation mode.

[0055] A plurality of mobile robots (400) may be deployed on each floor and may be the entities performing actual material transport and unloading operations. The plurality of mobile robots (400) may include a first mobile robot (410), a second mobile robot (420), a third mobile robot (430), and a fourth mobile robot (440).

[0056] Multiple mobile robots (400) can estimate their location even in a communication dead zone. For example, a mobile robot (400) can generate location data including coordinate information and timestamps by recognizing a marker or line placed within a work area. Alternatively, a mobile robot (400) can generate location data including coordinate information and timestamps by performing Simultaneous Localization and Mapping (SLAM) using a LiDAR sensor. However, the present disclosure is not limited thereto. Multiple mobile robots (400) can share data with other mobile robots (400) in the vicinity through Peer-to-Peer (P2P) communication.

[0057] The mobile robot (400) can sense the loading status of the destination or the presence of obstacles when performing a task. The mobile robot (400) can autonomously determine the optimal unloading location based on the sensing results. Specifically, the mobile robot (400) can collect spatial information of the unloading area using a mounted sensor. The mobile robot (400) can set multiple candidate unloading areas based on the spatial information. The mobile robot (400) can identify interference areas such as the opening and closing trajectory of a door or existing stacked materials. The mobile robot (400) can select valid candidate areas that do not overlap with interference areas. The mobile robot (400) can calculate an unloading suitability score by evaluating accessibility, spatial efficiency, stability, etc., for each valid candidate area. The mobile robot (400) can determine the area with the highest score as the optimal unloading area and unload the materials.

[0058] The mobile robot (400) can generate field situation information collected during operation as feedback data. For example, the field situation information may include load capacity, available space, whether there is a work delay, battery status, task execution information, whether an error has occurred, the presence of obstacles, etc. However, the present disclosure is not limited thereto. The mobile robot (400) can transmit the generated feedback data to the elevator control robot (300).

[0059] A mobile robot (400) can perform tasks in collaboration with another mobile robot (400) when it is difficult to perform tasks alone, such as transporting heavy materials. In one embodiment of the present disclosure, the mobile robot (400) can move to a contact point even without additional work instructions once the performance of the assigned task is completed. The mobile robot (400) can attempt to communicate with the elevator control robot (300) at the contact point. At this time, data transmission between the mobile robot (400), the elevator control robot (300), and the administrator terminal (200) may utilize a local wireless communication protocol isolated from an external network. The transmitted location data and work messages may be encrypted and relayed.

[0061] FIG. 2 is a drawing for explaining a construction site logistics automation integrated system according to one embodiment. Referring to FIG. 2 following FIG. 1, an operating environment of a construction site logistics automation integrated system according to one embodiment of the present disclosure may be illustrated.

[0062] The integrated construction site logistics automation system can operate in a space divided into an external environment (OE) and an internal environment (IE). The external environment (OE) may be an area with smooth communication, while the internal environment (IE) may be a multi-layered workspace where communication is restricted. The administrator terminal is located in the external environment (OE) to monitor and control the entire system.

[0063] The server (100) can be located in the external environment (OE) of the construction site or at the site office to control the entire logistics process. The server (100) can receive input from a manager terminal and generate a task package containing work information. Considering the communication constraints within the site (IE), the server (100) can generate a task package containing a list of all tasks instead of transmitting commands to individual robots in real time. The server (100) can perform the role of delivering the generated task package to a first mobile robot (410) or gateway located at a home station capable of connecting to an external communication network.

[0064] The internal environment (IE) may refer to a multi-layered construction site consisting of concrete walls and steel structures. The internal environment (IE) may include multiple communication dead zones where access to the external communication network is not smooth. Therefore, mobile robots (400) located in the internal environment (IE) can perform tasks through independent autonomous driving capabilities and local network-based collaboration capabilities.

[0065] In one embodiment of the present disclosure, data transmission between the first mobile robot (410), the elevator control robot (300), and the second mobile robot (420) may utilize a local wireless communication protocol isolated from an external network. The transmitted location data and work messages may be encrypted and relayed.

[0066] The present disclosure allows for the transmission of location data of a mobile robot in a relay manner in a communication-constrained environment. A first mobile robot (410) located in a first area of ​​an industrial site can acquire a first work message regarding a work object. The first mobile robot (410) can generate first location data while moving the work object to an elevator (EV). The first mobile robot (410) can transmit the first work message to an elevator control robot (300). The elevator control robot (300) can move to a second area where access to an external communication network is restricted. The first area and the second area may be different floors within the industrial site. The elevator control robot (300) can transmit the first work message to a second mobile robot (420) located in the second area. The second mobile robot (420) can generate second location data while transporting the work object to a target point based on the first work message. After completing the task, the second mobile robot (420) can return to a contact point where it can communicate with the elevator control robot (300). The second mobile robot (420) can transmit second location data from a contact point to the elevator control robot (300). The elevator control robot (300) can move to a first area and transmit second location data to the first mobile robot (410). The first mobile robot (410) can return to a home station capable of connecting to an external communication network. The first mobile robot (410) can transmit the first location data and second location data from the home station to an administrator terminal. The administrator terminal can update the locations of the first mobile robot (410) and the second mobile robot (420) in a relay manner.

[0067] In one embodiment of the present disclosure, the administrator terminal may reconstruct and store the movement path and work history of the second mobile robot (420) during the time communication was interrupted based on the timestamp included in the second location data. Additionally, the elevator control robot (300) may receive the second status data along with the second location data from the second mobile robot (420). The elevator control robot (300) may transmit the second status data to the first mobile robot (410). The first mobile robot (410) may transmit the second status data to the administrator terminal. For example, the second status data may be the battery status of the second mobile robot (420), task execution information, and whether an error occurred. However, the present disclosure is not limited thereto.

[0068] In one embodiment of the present disclosure, obtaining the first work message can be done in various ways. For example, an administrator terminal may generate an image containing work information, and a first mobile robot (410) may recognize an image attached to or displayed on a work object based on a sensor and extract a first work message mapped to the image. As another example, an administrator terminal may generate a first work message containing work information and transmit it directly to a first mobile robot (410) located at a home station.

[0069] In one embodiment of the present disclosure, the second location data may be generated based on various sensor information. For example, the second location data may include coordinate information and a time stamp generated by the second mobile robot (420) recognizing a marker or line placed within the second area. As another example, the second location data may include coordinate information and a time stamp generated by the second mobile robot (420) performing Simultaneous Localization and Mapping (SLAM) using a LiDAR sensor.

[0070] The elevator control robot (300) can function as a mobile hub. The elevator control robot (300) can control the elevator (EV) to secure a vertical passageway. The elevator control robot (300) can take over work materials or data from the first mobile robot (410) on the first floor and move them to the upper floor. The elevator control robot (300) can perform a data relay function to resolve the information disconnection between the server (100) and the mobile robots (420, 440) isolated on each floor. The elevator control robot (300) can serve as a leader to collect and report the situation of each floor.

[0071] In one embodiment of the present disclosure, the contact point may be an area including the landing of an elevator (EV) within a second area. The contact point may be set within a range where short-range wireless communication is possible when the elevator (EV) equipped with the elevator control robot (300) arrives at the corresponding floor and the door is open or closed. The second mobile robot (420) may be set to move to the contact point and attempt to communicate with the elevator control robot (300) even without additional work instructions when the performance of the assigned task is completed.

[0072] In one embodiment of the present disclosure, an elevator control robot (300) can control the elevator (EV) so that it moves back and forth between a first area and a second area according to a predetermined period. The predetermined period may be variably set according to a request from an administrator terminal or the urgency of the work of the second mobile robot (420). The period may be controlled to be shorter as real-time performance is required. Additionally, the second area may include a plurality of sub-areas located on different floors. The elevator control robot (300) can move sequentially through the plurality of sub-areas and collect individual location data from mobile robots located in each sub-area. The elevator control robot (300) can accumulate the collected location data to generate a single integrated data packet and then transmit it to the first mobile robot (410) in the first area.

[0073] The elevator control robot (300) can schedule mobile robot collaboration at a multi-story construction site. The elevator control robot (300) can receive operational status data from each of the multiple mobile robots (400) at the site. For example, the operational status data may include the current location, workload, remaining battery level, time when the next task can be performed, the progress of the task currently being performed, and the ID of the mobile robot. However, the present disclosure is not limited thereto.

[0074] The elevator control robot (300) can create or update an operation status table that manages the availability of multiple mobile robots (400) based on operation status data. The elevator control robot (300) can identify the assigned workload of the first mobile robot (410) that is performing or scheduled to perform work on the first floor.

[0075] The elevator control robot (300) can determine the need for collaboration based on an operation status table. If the need for collaboration is recognized, the elevator control robot (300) can determine at least one of the multiple mobile robots (400) as an auxiliary mobile robot based on the operation status table. The elevator control robot (300) can instruct the first mobile robot (410) to divide the work by sending a collaboration request message to the auxiliary mobile robot.

[0076] In one embodiment of the present disclosure, the elevator control robot (300) may determine that collaboration is required when the estimated processing time of the assigned workload exceeds a preset target time or when the load status of the first mobile robot (410) exceeds a threshold. In the step of determining the auxiliary mobile robot, the elevator control robot (300) may calculate a collaboration suitability score for each of the remaining mobile robots using the distance from the first mobile robot (410), whether the current task is being performed, and the remaining battery level as variables. The elevator control robot (300) may select the robot with the highest score as the auxiliary mobile robot. Additionally, if a mobile robot located on the second floor is determined to be the auxiliary mobile robot, the elevator control robot (300) may move to the second floor and have the auxiliary mobile robot board the elevator (EV). The elevator control robot (300) may transport the auxiliary mobile robot to the first floor to support collaboration with the first mobile robot (410).

[0077] The elevator control robot (300) can monitor mobile robots returning to a restricted communication environment. The elevator control robot (300) can move to a work area where external communication network access is restricted and wait at a contact point. The elevator control robot (300) can update the operation history information of each mobile robot based on adjacent events of multiple mobile robots (400) detected within the contact point. The operation history information may include the departure time and the return time.

[0078] The elevator control robot (300) can determine the target mobile robot to be in a return abnormal state if, based on operation history information, the target mobile robot has not returned to the contact point even after exceeding a preset standard time after the start of the operation. If the target mobile robot is determined to be in a return abnormal state, the elevator control robot (300) can determine one of the multiple mobile robots (400) as an inspection mobile robot and transmit a status inspection command. The inspection mobile robot can generate inspection data for the target mobile robot and report it to the elevator control robot (300).

[0079] Multiple mobile robots (400) are distributed on each floor to perform actual material transport and unloading. The multiple mobile robots (400) may include a first mobile robot (410), a second mobile robot (420), a third mobile robot (430), and a fourth mobile robot (440). The first mobile robot (410) receives materials brought in from the outside and can hand them over to the elevator control robot (300) or directly board the elevator (EV) to prepare for transport. The second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) can wait on the upper floors. When the elevator control robot (300) arrives, the upper floor robots (420, 430, 440) can receive the materials and transport them to the destination on the corresponding floor. The upper robots (420, 430, 440) can synchronize their status information and receive new work commands at the contact point, which is the time when the elevator control robot (300) arrives in an environment where communication is limited.

[0080] In one embodiment of the present disclosure, the mobile robot (400) can autonomously determine the optimal unloading location. The mobile robot (400) can collect spatial information of the unloading area using a mounted sensor. Based on the spatial information, the mobile robot (400) can divide the floor plan area into multiple segments to set multiple candidate unloading areas. Based on the spatial information, the mobile robot (400) can identify interference areas where physical collisions or movement path interference are expected. The mobile robot (400) can select at least one valid candidate area from the multiple candidate unloading areas, excluding areas that overlap with the interference area. The mobile robot (400) can calculate an unloading suitability score for each of the at least one valid candidate area. Based on the unloading suitability score, the mobile robot (400) can determine the optimal unloading area and move to that location to unload materials.

[0081] An elevator (EV) may be a means of transport for vertical movement of materials or a mobile robot (400). The operation of the elevator (EV) may be controlled by a control device such as an elevator control robot (300). The control device may control the elevator (EV) to move to a first destination floor to unload a first material among a plurality of materials loaded on the first floor. Upon arrival at the first destination floor, the control device may hand over the first material to a first mobile robot located on the first destination floor.

[0082] The present disclosure can control a feedback loop system based on work site conditions. A plurality of mobile robots (400) can collect work site condition information while performing their respective assigned tasks. For example, the work site condition information may be the material load of the work area, space availability, whether there is a work delay, the identification ID of the mobile robot, and current location coordinates. However, the present disclosure is not limited thereto.

[0083] Multiple mobile robots (400) can generate a status report message containing collected work site status information and transmit it to the elevator control robot (300). The elevator control robot (300) can aggregate the status report messages to generate an integrated status message that reflects the overall situation of the site. The elevator control robot (300) can transmit the integrated status message to a manager terminal.

[0084] The administrator terminal can generate insights based on integrated status messages. Based on the insights, the administrator terminal can perform task updates and control operations by sending the updated tasks to multiple mobile robots (400).

[0086] FIG. 3 is a flowchart showing the main control flow and process steps performed in a logistics automation system according to one embodiment.

[0087] Referring to FIG. 3, control flow and process steps performed in a logistics automation system according to one embodiment of the present disclosure may be illustrated. The logistics automation system may operate through a cyclic process. The cyclic process of the logistics automation system may include a work command generation step (P1), an autonomous driving and vertical transfer step (P2), a collaboration-based material handling step (P3), and a data-based feedback and process optimization step (P4). In one embodiment of the present disclosure, a first area within an industrial site and a second area where access to an external communication network is restricted may be different layers.

[0088] The work command generation step (P1) may be a step responsible for the start of the logistics process. The work command generation step (P1) may be performed on the first floor or in the material receiving area where communication is smooth. The first mobile robot (410) may obtain a first work message for a work object.

[0089] For example, the first mobile robot (410) can recognize an identifier attached to an incoming material using a mounted sensor. The identifier may be a QR code, a barcode, a Radio Frequency Identification (RFID) tag, a Near Field Communication (NFC) tag, a beacon, an image marker, or a text label. However, the present disclosure is not limited thereto. Based on the recognized identifier information, the first mobile robot (410) may autonomously generate a work order to transport the material to a specific area on a specific floor. Alternatively, the first mobile robot (410) may receive a work order from a manager terminal (200) or a server (100).

[0090] In one embodiment of the present disclosure, the administrator terminal (200) may generate a first work message including work information. The administrator terminal (200) may transmit the first work message to a first mobile robot (410) located at a home station.

[0091] In one embodiment of the present disclosure, the administrator terminal (200) may generate an image containing work information. The first mobile robot (410) may recognize an image attached to or displayed on a work object based on a sensor. The first mobile robot (410) may extract a first work message mapped to the image and initiate a work.

[0092] The autonomous driving and vertical transfer step (P2) may include the process of a mobile robot (400) assigned a work command moving to a destination. The mobile robot (400) may move to an elevator (EV) using autonomous driving technology. Afterward, the mobile robot (400) may board the elevator (EV) and be vertically transferred to a destination floor through communication with the elevator control robot (300).

[0093] In the autonomous driving and vertical transfer stage (P2), the elevator control robot (300) can serve as a medium to safely transfer the mobile robot (400) to the destination floor. The first mobile robot (410) can move the work object to the elevator (EV) and generate first position data. The first mobile robot (410) can transmit the generated first work message to the elevator control robot (300).

[0094] In one embodiment of the present disclosure, data transmission between the first mobile robot (410), the elevator control robot (300), and the second mobile robot (420) may utilize a local wireless communication protocol isolated from an external network. The transmitted location data and work messages may be encrypted and relayed.

[0095] The collaborative material handling step (P3) can be performed after the mobile robot (400) arrives at the destination floor. The collaborative material handling step (P3) can be performed based on direct communication and collaboration between robots to ensure logistics flow even in communication blind spots. The elevator control robot (300) can move to a second area where access to an external communication network is restricted. The elevator control robot (300) can deliver a first work message to a second mobile robot (420) located on that floor.

[0096] The data-based feedback and process optimization step (P4) may be a step of analyzing field data collected in previous steps and optimizing the entire logistics process based on this. After completing the task, the second mobile robot (420) can return to a contact point capable of communicating with the elevator control robot (300).

[0098] FIG. 4 is a conceptual diagram illustrating the process of relaying mobile robot position data in a communication constraint environment according to one embodiment.

[0099] Referring to FIG. 4, the mobile robot position data relay transmission process according to one embodiment of the present invention can be performed under a communication constraint environment in which the second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) distributed on each floor cannot directly communicate with the server (100). At this time, the elevator control robot (300) can circulate through each floor and collect individual position data generated by the mobile robots. The elevator control robot (300) can use a 'relay method' in which it moves to the lower floors and sequentially accumulates and transmits the collected data.

[0100] Specifically, the fourth mobile robot (440) located on the top floor (e.g., the 4th floor) can generate first individual location data (LD1) including its location and status data and transmit it to the elevator control robot (300). The elevator control robot (300) can store the received first individual location data (LD1) and form a flow of first relay data (LD2) during the process of moving vertically to the next floor (e.g., the 3rd floor).

[0101] A third mobile robot (430) located on an intermediate floor (e.g., the third floor) can generate second individual location data (LD3) and transmit it to an elevator control robot (300). The elevator control robot (300) can generate first accumulated location data (LD4) by internally aggregating the first individual location data (LD1) obtained from the upper floor and the second individual location data (LD3) received from the current floor, and transmit it to the lower floor.

[0102] A second mobile robot (420) located on a lower floor (e.g., 2nd floor) can generate third individual location data (LD5) and transmit it to an elevator control robot (300). The elevator control robot (300) can generate final accumulated location data (LD6) by combining mobile robot data (LD1, LD3, LD5) from all floors.

[0103] When it finally reaches a first floor (or gateway area) where communication is possible, the elevator control robot (300) can transmit the final accumulated location data (LD6) to the first mobile robot (410). The first mobile robot (410) can transmit the received data in the form of server transmission data (LD7) to the management server (100) via an external network. Through this, the server can identify the status of robots located in network dead zones.

[0105] FIG. 5 is a conceptual diagram illustrating a method for transmitting location data of a mobile robot located in a first area and a second area to a server in a relay manner according to one embodiment.

[0106] Referring to FIG. 5, a mobile robot position data relay system according to one embodiment of the present invention can be constructed across multiple spaces with different communication environments. The first area (AR1) is a space where external communication network access is possible, such as a first-floor receiving area or a lobby, where a home station (HS) for data uploading is placed and the first mobile robot (410) mainly operates. On the other hand, the second area (AR2) is a communication dead zone where external communication network access is restricted, such as a basement or an upper-floor workspace, where the second mobile robot (420) is placed and performs work autonomously.

[0107] The elevator control robot (300) acts as a 'mobile hub' that controls the elevator to move vertically back and forth between the first area (AR1) and the second area (AR2). A virtual contact area, called a contact point (CP), is set up near the elevator landing on each floor, and when the elevator control robot (300) arrives at the floor, it exchanges data with mobile robots via short-range wireless communication.

[0108] The second mobile robot (420) transmits its movement path and work history data generated in the second area (AR2), where communication is disconnected, to the elevator control robot (300) at the contact point (CP). The elevator control robot (300) transports the collected data to the first area (AR1) and hands it over to the first mobile robot (410). The first mobile robot (410), acting as a 'data messenger,' moves the received location data to the home station (HS) to upload it, or conversely, transmits the work message received from the server (100) to the elevator control robot (300).

[0109] The administrator terminal or server (100) is a data hub connected to the home station (HS) via wired or wireless connection, and collects received relay data to indirectly monitor the current location and status of the second mobile robot (420) in the communication blind spot and controls the entire system.

[0111] FIG. 6 is a flowchart illustrating a mobile robot position data relay transmission method according to one embodiment.

[0112] Referring to FIGS. 5 and 6, the mobile robot position data relay transmission method can be performed by a manager terminal (200), a first mobile robot (410), an elevator control robot (300), and a second mobile robot (420).

[0113] In step S101, the administrator terminal (200) can generate a code containing work information. The administrator can input work information, such as destination information. The administrator terminal (200) can generate a code based on the input work information and attach it to the work object.

[0114] In one embodiment of the present disclosure, the administrator terminal (200) may generate an image containing work information. For example, the image may be a Quick Response (QR) code, a barcode, a data matrix, a MaxiCode, an Aztec Code, a PDF417, or a DotCode. However, the present disclosure is not limited thereto.

[0115] In step S102, the first mobile robot (410) can acquire a first work message. The first mobile robot (410) can recognize a code attached to a work object using a mounted sensor. The first mobile robot (410) can extract a first work message mapped to the recognized code.

[0116] In one embodiment of the present disclosure, the first mobile robot (410) can recognize an image attached to or displayed on a work object based on a sensor. The first mobile robot (410) can extract a first work message mapped to the image.

[0117] In one embodiment of the present disclosure, the step of obtaining a first work message may include the step of the administrator terminal (200) generating a first work message containing work information. Additionally, the administrator terminal (200) may include the step of transmitting the first work message to a first mobile robot (410) located at a home station (HS).

[0118] In step S103, the first mobile robot (410) can move the work object to the elevator based on the first work message and generate first position data. The first mobile robot (410) can move using autonomous driving or line tracing methods. The first mobile robot (410) can acquire position data based on markers placed at key points in the site, or generate position data through an RGB sensor or a LiDAR sensor.

[0119] In step S104, the first mobile robot (410) can place a work object inside the elevator. After placing the work object inside the elevator, the first mobile robot (410) can hand over the work to the second mobile robot (420) at the destination floor to transport the work object. In one embodiment of the present disclosure, the first mobile robot (410) may move directly to the destination floor to perform the work object transport operation.

[0120] The first mobile robot (410) can transmit a first work message to the elevator control robot (300). The elevator control robot (300) can move to a second area (AR2) where access to an external communication network is restricted. The elevator control robot (300) can transmit the first work message to the second mobile robot (420) located in the second area (AR2). In one embodiment of the present disclosure, the first area (AR1) and the second area (AR2) may be different floors within an industrial site.

[0121] In step S108, the second mobile robot (420) can move the work object to a target point based on the first work message and generate second location data. The second mobile robot (420) can receive the first work message from the elevator control robot (300). The second mobile robot (420) can move to the target point using autonomous driving or line tracing and generate second location data.

[0122] In one embodiment of the present disclosure, the second position data may include coordinate information and a time stamp generated by the second mobile robot (420) recognizing a marker or line placed within the second area (AR2).

[0123] In one embodiment of the present disclosure, the second location data may include coordinate information and a time stamp generated by the second mobile robot (420) performing Simultaneous Localization and Mapping (SLAM) using a LiDAR sensor.

[0124] In steps S109 and S107, the second mobile robot (420) can return to the contact point (CP) after completing deployment at the target point. The second mobile robot (420) can be configured to return to the contact point (CP) when it completes the assigned task.

[0125] In one embodiment of the present disclosure, the contact point (CP) may be an area including an elevator landing within the second area (AR2). The contact point (CP) may be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot (300) arrives at the corresponding floor and the door is open or closed.

[0126] In one embodiment of the present disclosure, the second mobile robot (420) may be configured to move to a contact point (CP) and attempt to communicate with the elevator control robot (300) even when there are no additional work instructions, once the performance of the assigned task is completed.

[0127] In one embodiment of the present disclosure, the elevator control robot (300) can control the elevator so that the elevator moves back and forth between the first area (AR1) and the second area (AR2) according to a predetermined period.

[0128] In one embodiment of the present disclosure, a predetermined period may be variably set according to a request from the administrator terminal (200) or the work urgency of the second mobile robot (420). The period may be controlled to become shorter as real-time performance is required.

[0129] In step S110, the second mobile robot (420) can transmit the second location data to the elevator control robot (300). The elevator control robot (300) can receive the second location data by communicating with the second mobile robot (420) that has returned to the contact point (CP).

[0130] In one embodiment of the present disclosure, the elevator control robot (300) may receive second status data along with second position data from the second mobile robot (420). The second status data may include the battery status of the second mobile robot (420), task execution information, and whether an error has occurred.

[0131] The elevator control robot (300) can move to a first area (AR1) and transmit second position data to the first mobile robot (410). In one embodiment of the present disclosure, the elevator control robot (300) can transmit second state data received from the second mobile robot (420) along with the second position data to the first mobile robot (410).

[0132] In step S105, the first mobile robot (410) can return to a home station (HS) capable of connecting to an external communication network. The first mobile robot (410) can transmit the first location data, the second location data received from the elevator control robot (300), and the second status data from the home station (HS) to the manager terminal (200).

[0133] In step S114, the administrator terminal (200) can update the locations of the first mobile robot (410) and the second mobile robot (420) in a relay manner. The administrator terminal (200) can record the locations of the first mobile robot (410) and the second mobile robot (420) through Delay-Tolerant Networking (DTN).

[0134] In one embodiment of the present disclosure, the administrator terminal (200) can reconstruct and store the movement path and work history of the second mobile robot (420) during the time communication was disconnected, based on the timestamp included in the second location data.

[0135] In one embodiment of the present disclosure, the second area (AR2) may include a plurality of sub-areas located on different floors. The elevator control robot (300) may move sequentially through the plurality of sub-areas and collect individual location data from mobile robots located in each sub-area. The elevator control robot (300) may accumulate the collected location data to generate a single integrated data packet and then transmit it to the first mobile robot (410) in the first area (AR1).

[0136] In one embodiment of the present disclosure, data transmission between the first mobile robot (410), the elevator control robot (300), and the second mobile robot (420) may utilize a local wireless communication protocol isolated from an external network. The transmitted location data and work messages may be encrypted and relayed. For example, the local wireless communication protocol may be Bluetooth, Zigbee, Wi-Fi Direct, Ultra-Wideband (UWB), Near Field Communication (NFC), LoRa, or Z-Wave. However, the present disclosure is not limited thereto.

[0138] FIG. 7 is a flowchart illustrating a mobile robot position data relay transmission method according to another embodiment.

[0139] A method for relaying mobile robot location data in a communication-constrained environment can be performed by a first mobile robot (410), an elevator control robot (300), a second mobile robot (420), and a manager terminal (200). The first mobile robot (410) can be located in a first area (AR1) of an industrial site. The first mobile robot (410) can acquire a first work message regarding a work object. The first mobile robot (410) can move the work object to an elevator. The first mobile robot (410) can generate first location data while moving. The first mobile robot (410) can transmit the first work message to the elevator control robot (300).

[0140] The elevator control robot (300) can move to a second area (AR2) where access to an external communication network is restricted. The elevator control robot (300) can deliver a first work message to a second mobile robot (420) located in the second area (AR2).

[0141] The second mobile robot (420) can transport a work object to a target point based on the first work message. The second mobile robot (420) can generate second location data during transport. After completing the task, the second mobile robot (420) can return to a contact point where it can communicate with the elevator control robot (300). The second mobile robot (420) can transmit the second location data to the elevator control robot (300).

[0142] In one embodiment of the present disclosure, the step of acquiring a first work message may include the step of the administrator terminal (200) generating an image containing work information. The first mobile robot (410) may recognize an image attached to or displayed on a work object based on a sensor. The first mobile robot (410) may extract a first work message mapped to the image.

[0143] In one embodiment of the present disclosure, the step of obtaining a first work message may include the step of the administrator terminal (200) generating a first work message containing work information. The administrator terminal (200) may transmit the first work message to a first mobile robot (410) located at a home station.

[0145] Referring to FIGS. 6 and 7, the mobile robot position data relay transmission method can be performed by an elevator control robot (300) and a second mobile robot (420).

[0146] In step S115, the elevator control robot (300) can periodically move between floors to obtain location data of the mobile robot (400). The mobile robot location data relay transmission method can determine the location of the mobile robot (400) even in an environment where communication is impossible.

[0147] The mobile robot location data relay transmission method may have a limitation in that it is not possible to determine the location in real time. The shorter the period of transmitting the location data of the mobile robot (400) to the administrator terminal (200), the closer the robot's location can be determined in real time. Accordingly, the elevator control robot (300) can periodically move between floors to obtain location data of multiple mobile robots (400) located on different floors.

[0148] Even when there is no work instruction requiring movement between floors, movement between floors can be performed periodically. Through this, the elevator control robot (300) can periodically acquire location data of each mobile robot (400) located on different floors. The elevator control robot (300) can transmit the acquired location data to the manager terminal (200).

[0149] In one embodiment of the present disclosure, the elevator control robot (300) can control the elevator so that the elevator moves back and forth between the first area (AR1) and the second area (AR2) according to a predetermined period.

[0150] In one embodiment of the present disclosure, a predetermined period may be variably set according to a request from the administrator terminal (200) or the work urgency of the second mobile robot (420). The period may be controlled to become shorter as real-time performance is required.

[0151] In one embodiment of the present disclosure, the second area (AR2) may include a plurality of sub-areas located on different floors. The elevator control robot (300) may move sequentially through the plurality of sub-areas and collect individual location data from mobile robots (400) located in each sub-area. The elevator control robot (300) may accumulate the collected location data to generate a single integrated data packet and then transmit it to the first mobile robot (410) in the first area (AR1).

[0152] In step S116, the second mobile robot (420) can move to the contact point after completing the task. The mobile robot (400) on each floor can automatically move to the contact point without separate instructions once it has completed the task. Through this, the mobile robot (400) can share location data with the elevator control robot (300).

[0153] In one embodiment of the present disclosure, the second mobile robot (420) may move to a contact point even without additional work instructions when the performance of an assigned task is completed. The second mobile robot (420) may be configured to attempt communication with the elevator control robot (300).

[0154] In step S117, the elevator control robot (300) can periodically share location data. The elevator control robot (300) and the second mobile robot (420) can periodically come into contact at a contact point. Through this, the elevator control robot (300) can obtain location information of the mobile robot (400) on another floor at a faster rate.

[0155] The elevator control robot (300) can move to the first area (AR1) and transmit the second location data to the first mobile robot (410). The first mobile robot (410) can return to a home station capable of connecting to an external communication network and transmit the first location data and the second location data to the administrator terminal (200). The administrator terminal (200) can update the locations of the first mobile robot (410) and the second mobile robot (420) in a relay manner.

[0157] FIG. 8 is a conceptual diagram of a mobile robot monitoring system based on an elevator control robot in a communication constraint environment according to one embodiment.

[0158] Referring to FIG. 8, the concept of a system for monitoring a mobile robot that has returned to normal based on an elevator control robot (300) in a communication constraint environment can be explained.

[0159] The elevator control robot (300) can serve as a distributed monitoring hub. The elevator control robot (300) can sequentially visit multiple sub-areas according to a pre-set circulating schedule. The elevator control robot (300) can move to a work area where external communication network access is restricted and wait at a contact point (CP). The elevator control robot (300) can arrive at the contact point (CP) on each floor and check for the presence of a mobile robot through short-range wireless communication.

[0160] The elevator control robot (300) can update operation history information based on adjacent events of multiple mobile robots detected within a contact point (CP). The operation history information may include the departure time and return time of each mobile robot. Based on the operation history information, the elevator control robot (300) may determine that the target mobile robot is in a return abnormal state if the target mobile robot has not returned to the contact point (CP) even after exceeding a preset reference time after the start of the operation. The reference time may be dynamically calculated based on at least one of the standard travel time of the target mobile robot, a delay weighting based on the current work congestion level of the work area, and the average waiting time of the elevator.

[0161] In one embodiment of the present disclosure, the elevator control robot (300) may create and manage an operation history management table. The operation history management table may include at least one of a work classification, departure time, return time, and current status for each of a plurality of mobile robots. The elevator control robot (300) may update the table when an adjacent event occurs.

[0162] The elevator control robot (300) can lead subsequent response procedures when a mobile robot in a return abnormal state is determined. For example, the elevator control robot (300) can determine one of the multiple mobile robots as an inspection mobile robot and transmit a status inspection command. Additionally, the elevator control robot (300) can instruct the first mobile robot (410) adjacent to a home station (HS) capable of connecting to an external communication network to relay the generated inspection data or abnormal notification message.

[0163] In one embodiment of the present disclosure, the elevator control robot (300) may select an inspection mobile robot based on a score. The score may be calculated for each of the remaining robots among the plurality of mobile robots, excluding the target mobile robot. The score may be calculated by weighting the average of variables including at least one of the current distance from the target mobile robot, the remaining battery level, the importance of the task being performed, and the type of mounted sensor. Additionally, the elevator control robot (300) may calculate an opportunity cost. The opportunity cost may be the delay time in the existing process caused by any one of the plurality of mobile robots moving to perform an inspection mission. The elevator control robot (300) may assign a higher score to the robot with a lower opportunity cost.

[0164] In one embodiment of the present disclosure, there may be cases where there is no available robot on the floor where the target mobile robot is located. In this case, the elevator control robot (300) may determine a mobile robot located on another floor as the inspection mobile robot. The inspection mobile robot may move to the floor where the target mobile robot is located and generate inspection data.

[0165] A contact point (CP) can be defined as an area including the elevator landing. Additionally, the contact point (CP) can be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot (300) is open or closed. The mobile robot can be configured to return to the contact point (CP) after completing its assigned task. Therefore, whether a specific mobile robot is present at the contact point (CP) can serve as a criterion for determining whether the robot has returned normally or if there is an abnormal return.

[0166] The first area (AR1), the second area (AR2), and the third area (AR3) may be workspaces located on different floors within an industrial site. The workspaces may include multiple sub-areas located on different floors. The first area (AR1) may be an area including a home station (HS) capable of accessing an external communication network. On the other hand, the second area (AR2) and the third area (AR3) may be communication dead zones where access to an external communication network is restricted due to weak communication infrastructure.

[0167] The second mobile robot (420) may represent a mobile robot that has experienced an abnormality while performing work in the second area (AR2), which is a communication dead zone. For example, the second mobile robot (420) may be in a state where it cannot return to the contact point (CP) due to reasons such as mechanical failure, path blockage caused by an obstacle, or battery discharge. The elevator control robot (300) can detect the non-return state of the second mobile robot (420) and determine it as a return abnormality state.

[0168] The third mobile robot (430) may be a mobile robot that has performed normal work in the third area (AR3) and returned to the contact point (CP). If the elevator control robot (300) determines an abnormal condition of the second mobile robot (420), the third mobile robot (430) may be utilized as an inspection mobile robot. The third mobile robot (430), designated as an inspection mobile robot, may move to the second area (AR2) according to the instructions of the elevator control robot (300). The third mobile robot (430) may check the status of the second mobile robot (420), generate inspection data, and report it to the elevator control robot (300).

[0169] In one embodiment of the present disclosure, the inspection data may include external image information captured by an inspection mobile robot approaching a target mobile robot. Additionally, the inspection data may include information on the presence or absence of obstacles around the target mobile robot. Additionally, the inspection data may include information on the loading status of materials being transported by the target mobile robot.

[0170] In one embodiment of the present disclosure, the inspection mobile robot may perform a task succession step. After the inspection mobile robot generates inspection data, it may be confirmed that the material being transported by the target mobile robot remains. In this case, the inspection mobile robot may transport the material to the destination instead.

[0171] The first mobile robot (410) can be located at the home station (HS) of the first area (AR1) where external communication is possible and can serve as a gateway. The elevator control robot (300) can transmit inspection data or abnormality notification messages collected from the communication dead zone of the upper floor to the first mobile robot (410). The first mobile robot (410) can finally upload the received data to the server (100).

[0172] Regarding the server (100), details that overlap with those described in FIGS. 1 to 5 are omitted. The server (100) may be a central control system that remotely controls the entire system. Due to communication constraints, the server (100) cannot directly identify the situation in a communication blind spot, such as the second area (AR2). Therefore, the server (100) can receive an abnormality notification message transmitted via a relay method through the first mobile robot (410). The server (100) can transmit the received abnormality notification message or inspection data to an administrator terminal to display a warning to the administrator.

[0174] FIG. 9 is a diagram illustrating the process of detecting a return abnormal robot and cooperative inspection led by an elevator control robot according to one embodiment.

[0175] Referring to FIGS. 8 and 9, a return abnormal robot detection and cooperative inspection process led by the elevator control robot (300) can be performed. The elevator control robot (300) can move to a work area where external communication network access is restricted. The elevator control robot (300) can wait at a contact point (CP).

[0176] In steps S201 and S203, the administrator terminal (200) can transmit the first task and the second task. The administrator terminal (200) can assign the respective tasks to the first mobile robot (410) and the second mobile robot (420). Task transmission can be performed via a QR code recognition method or a wireless communication method.

[0177] In steps S202 and S204, the first mobile robot (410) and the second mobile robot (420) can return to the contact point (CP) after performing their respective tasks. The first mobile robot (410) can successfully complete the task and return to the contact point (CP) where it can communicate with the elevator control robot (300). The second mobile robot (420) may not be able to reach the contact point (CP) due to reasons such as a breakdown or delay at the time it is supposed to return after performing the task.

[0178] In step S205, the elevator control robot (300) can detect an adjacent event of the mobile robot. The elevator control robot (300) can detect the adjacent event through a wireless communication connection with the first mobile robot (410) that has entered the contact point (CP).

[0179] In one embodiment of the present disclosure, the contact point (CP) may be an area including an elevator landing within a work area. The contact point (CP) may be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot (300) is in a state where the doors are open or closed.

[0180] In step S206, the elevator control robot (300) can update the operation history of multiple mobile robots (400) and perform monitoring based on adjacent events. The elevator control robot (300) can update the operation history of each robot based on detected adjacent events and information collected through P2P communication with the mobile robots.

[0181] In one embodiment of the present disclosure, the elevator control robot (300) may create and manage an operation history management table for each of the plurality of mobile robots (400). The operation history management table may include at least one of a work classification, a departure time, a return time, and a current status. The elevator control robot (300) may update the table when an adjacent event occurs.

[0182] In one embodiment of the present disclosure, the elevator control robot (300) can sequentially visit a plurality of sub-regions according to a preset circulating schedule. The elevator control robot (300) can detect adjacent events of mobile robots at contact points (CPs) on each floor and update operation history information.

[0183] In step S207, the elevator control robot (300) may determine that the operation history of the second mobile robot (420) has not been updated for a predetermined period of time. If the elevator control robot (300) determines that the operation history of the second mobile robot (420) has not been updated or has not been detected at a contact point (CP) even after the reference time has elapsed, the second mobile robot (420) may be determined to be in a return abnormal state.

[0184] In one embodiment of the present disclosure, the reference time may be calculated dynamically. The reference time may be calculated based on at least one of the standard travel time of a target mobile robot, a delay weight according to the current work congestion of the work area, and the average waiting time of an elevator.

[0185] In step S208, the elevator control robot (300) may determine the third mobile robot (430) as an inspection robot according to predetermined criteria among the plurality of mobile robots (400). The elevator control robot (300) may determine the third mobile robot (430) as an inspection robot among the plurality of currently available mobile robots (400), which is on a floor adjacent to the second mobile robot (420) or has a low workload.

[0186] In one embodiment of the present disclosure, the step of determining the inspection mobile robot may be performed based on a score. The score may be calculated for each of the remaining robots among the plurality of mobile robots (400), excluding the target mobile robot. The score may be calculated by weighting the average of variables including at least one of the current distance from the target mobile robot, the remaining battery level, the importance of the task being performed, and the type of mounted sensor.

[0187] In one embodiment of the present disclosure, the step of determining an inspection mobile robot may calculate an opportunity cost. The opportunity cost may be the delay time of an existing process caused by any one of the plurality of mobile robots (400) moving to perform an inspection task. The elevator control robot (300) may assign a higher score to the robot with the lower opportunity cost.

[0188] In one embodiment of the present disclosure, the work area may include a plurality of sub-areas located on different floors. If there is no available robot on the floor where the target mobile robot is located, the elevator control robot (300) may determine a mobile robot located on another floor as an inspection mobile robot. The inspection mobile robot may move to the floor where the target mobile robot is located and generate inspection data.

[0189] In step S209, the elevator control robot (300) can transmit a status check command. The elevator control robot (300) can transmit a status check command to the selected third mobile robot (430) to check the location and status of the second mobile robot (420).

[0190] In step S210, the elevator control robot (300) can transmit an abnormality notification. The elevator control robot (300) can transmit an abnormality notification message in a relay manner to the administrator terminal (200) via the first mobile robot (410) in the communication area, notifying the administrator terminal (200) of the occurrence of an abnormality in the second mobile robot (420).

[0191] In one embodiment of the present disclosure, when a target mobile robot is determined to be in a return abnormal state, the elevator control robot (300) can relay an abnormality notification message. The elevator control robot (300) can transmit inspection data or an abnormality notification message to a first mobile robot (410) adjacent to a home station (HS) capable of connecting to an external communication network.

[0192] In one embodiment of the present disclosure, the first mobile robot (410) may further include the step of transmitting inspection data or an abnormality notification message to an administrator terminal (200).

[0193] In step S211, the third mobile robot (430) can generate inspection data in which the status of the second mobile robot (420) is updated. Upon receiving the command, the third mobile robot (430) can move to the location where the second mobile robot (420) is located and attempt to capture video or communicate the status. The third mobile robot (430) can generate inspection data that reflects the confirmed status of the second mobile robot (420).

[0194] In one embodiment of the present disclosure, the inspection data may include a plurality of pieces of information. For example, the inspection data may include at least one of external image information captured by an inspection mobile robot approaching a target mobile robot, information on the presence or absence of obstacles around the target mobile robot, information on the loading status of materials being transported by the target mobile robot, battery status information, error code information, temperature and humidity information of the surrounding environment, and tilt information of the robot. However, the present disclosure is not limited thereto.

[0195] In one embodiment of the present disclosure, the inspection mobile robot may further include a task succession step after the step of generating inspection data. If it is confirmed that the material being transported by the target mobile robot remains, the inspection mobile robot may transport the material to the destination instead.

[0196] In step S212, the third mobile robot (430) can transmit inspection data. The third mobile robot (430) can transmit the generated inspection data to the elevator control robot (300). The inspection data can be finally reported to the manager terminal (200) via a relay method.

[0198] FIG. 10 is a diagram showing the detailed execution process for the return abnormality judgment, inspection robot determination, and status check steps of FIG. 9.

[0199] Referring to FIG. 10, FIG. 10 may be a diagram illustrating the detailed execution process for the return abnormality determination, inspection robot determination, and status check steps of FIG. 9. The return abnormality mobile robot monitoring method may include a detailed method for determining the return abnormality (A), a detailed method for optimizing the inspection robot determination (B), and a detailed method for inspection and action (C).

[0200] The detailed method for determining a return abnormality (A) may be a method for precisely determining the return abnormality state of a target mobile robot. The detailed method for determining a return abnormality (A) may include a dynamic time calculation step (S207a) and a stepwise judgment step (S207b).

[0201] In the dynamic time calculation step (S207a), the elevator control robot (300) may not use a fixed threshold time. The elevator control robot (300) may dynamically calculate the return time limit by reflecting the field conditions. For example, the return time limit may be set as a dynamic reference time by summing the standard travel time of the target mobile robot, a delay weight based on the work congestion of the current work area, and the average elevator waiting time for that time period.

[0202] In the stepwise judgment step (S207b), the elevator control robot (300) may not immediately conclude that it is a failure when the calculated time is exceeded. The elevator control robot (300) may perform stepwise verification. First, the elevator control robot (300) may classify the target mobile robot into the 'Warning' stage. The elevator control robot (300) may send a response request signal via P2P (Peer-to-Peer) communication. Only if there is no response, the elevator control robot (300) may secondarily finalize it into the 'Anomaly' stage. Through this, the probability of false detection can be minimized.

[0204] The detailed method for optimizing the inspection robot selection (B) may be a method for selecting the optimal inspection mobile robot among a plurality of mobile robots (400). The detailed method for optimizing the inspection robot selection (B) may include a multivariable scoring step (S208a).

[0205] In the multivariable scoring step (S208a), the elevator control robot (300) may not select an inspection robot based solely on physical distance. The elevator control robot (300) may apply a scoring algorithm by combining multiple variables.

[0206] For example, the scoring algorithm may use variables such as the current distance to the target mobile robot, battery level, importance of the task being performed, type of mounted sensor, opportunity cost, communication signal strength, and complexity of the expected movement path. However, the present disclosure is not limited thereto.

[0207] The elevator control robot (300) can award a higher score as the distance to the target mobile robot increases. The elevator control robot (300) can award a higher score as the remaining battery level is sufficient for performing inspections and returning. The elevator control robot (300) can award a higher score as the time it is not transporting urgent materials increases. Additionally, the elevator control robot (300) can award bonus points to mobile robots equipped with sensors capable of video recording or precise diagnosis.

[0208] The elevator control robot (300) can analyze the opportunity cost, which is the delay impact on the entire process when a specific robot is assigned to an inspection mission. The elevator control robot (300) can assign a higher score to a robot with a lower opportunity cost. The elevator control robot (300) can determine the mobile robot with the highest score, calculated by weighting the average of these factors, as the optimal inspection mobile robot.

[0210] The detailed inspection and action method (C) may be a method in which an inspection mobile robot actively inspects and performs follow-up actions at the site. The detailed inspection and action method (C) may include an inspection data generation step (S211a) and a task succession step (S211b).

[0211] In the inspection data generation step (S211a), the inspection mobile robot that has arrived at the site may use a camera, etc. The inspection mobile robot may generate inspection data by photographing the exterior, loading status, and presence or absence of surrounding obstacles of the target mobile robot. The inspection data may include at least one of exterior image information captured by the inspection mobile robot approaching the target mobile robot, information on the presence or absence of obstacles around the target mobile robot, and information on the loading status of the material being transported by the target mobile robot.

[0212] In the task takeover phase (S211b), the inspection mobile robot may not be limited to simple status reporting. If there is remaining material that the target mobile robot was transporting, the inspection mobile robot can take over the remaining material. The inspection mobile robot can perform a task takeover to transport the material to its original destination. This task takeover can prevent a failure of a specific robot from leading to a disruption of the entire logistics flow.

[0213] In one embodiment of the present disclosure, a target mobile robot may be determined to be in a return abnormal state. The elevator control robot (300) may relay inspection data or an abnormality notification message to a first mobile robot located adjacent to a home station capable of connecting to an external communication network. The first mobile robot may transmit the inspection data or the abnormality notification message to an administrator terminal.

[0214] In one embodiment of the present disclosure, the work area may include a plurality of sub-areas located on different floors. The elevator control robot (300) may sequentially visit the plurality of sub-areas according to a preset circulating schedule. The elevator control robot (300) may detect adjacent events of mobile robots at contact points on each floor and update operation history information. If there is no available robot on the floor where the target mobile robot is located, the elevator control robot (300) may determine a mobile robot located on another floor as the inspection mobile robot. The inspection mobile robot may move to the floor where the target mobile robot is located and generate inspection data.

[0216] FIG. 11 is an example of a plurality of mobile robot operation history and status management tables managed by an elevator control robot according to an embodiment of the present invention.

[0217] Referring to FIG. 11, the elevator control robot (300) can create and update a driving history management table to manage the driving history and status of a plurality of mobile robots (400). The driving history management table may include information including at least one of the identifier, job classification, departure time, return time, and current status of each mobile robot (400).

[0218] The elevator control robot (300) can update the operation history management table in real time based on adjacent events of the mobile robot (400) detected within the contact point (CP).

[0219] The operation history management table can record the history of mobile robots (400) that have successfully completed their work. For example, the first mobile robot (AMR1) may start work at 12:00 and return at 12:05. The time taken is 5 minutes, which may not exceed the preset standard time of 10 minutes. Therefore, the elevator control robot (300) can determine the status of the first mobile robot (AMR1) as 'work completed'. Similarly, since the second mobile robot (AMR2) also completed its work within the standard time, its status can be recorded as 'work completed'.

[0220] The operation history management table can be used to determine a return abnormal state for a mobile robot (400) that does not return after exceeding a reference time following the start of work. For example, the third mobile robot (AMR3) may start work at 12:07, but return time data may not be received until the reference time of 10 minutes has elapsed. In this case, the elevator control robot (300) may determine that the third mobile robot (AMR3) has not returned to the contact point (CP). The elevator control robot (300) may determine the status of the third mobile robot (AMR3) as 'not returned'.

[0221] When the elevator control robot (300) determines that the target mobile robot is in a return abnormal state, it can determine one of the multiple mobile robots (400) as an inspection mobile robot. The elevator control robot (300) can transmit a status inspection command to the determined inspection mobile robot. Upon receiving the status inspection command, the inspection mobile robot can generate inspection data for the target mobile robot. The inspection mobile robot can report the generated inspection data to the elevator control robot (300).

[0222] In one embodiment of the present disclosure, the elevator control robot (300) can determine an inspection mobile robot. The elevator control robot (300) can calculate a score for each of the remaining robots, excluding the target mobile robot, among a plurality of mobile robots (400).

[0223] The score can be calculated by taking a weighted average of variables including at least one of the current distance to the target mobile robot, the remaining battery level, the importance of the task being performed, and the type of mounted sensor.

[0224] The elevator control robot (300) can select an inspection mobile robot based on a calculated score. Additionally, the elevator control robot (300) can calculate the opportunity cost, which is the delay time of the existing process caused by any one of the multiple mobile robots (400) moving to perform an inspection task. The elevator control robot (300) can assign a higher score to the robot with the lower opportunity cost.

[0225] For example, inspection data may include external image information captured by an inspection mobile robot approaching a target mobile robot, information on the presence or absence of obstacles around the target mobile robot, information on the loading status of materials being transported by the target mobile robot, internal error code information of the target mobile robot, location coordinate information of the target mobile robot, battery status information of the target mobile robot, and temperature and humidity information of the surrounding environment. However, the present disclosure is not limited thereto.

[0226] In one embodiment of the present disclosure, the elevator control robot (300) may be restricted from connecting to an external communication network. When the target mobile robot is determined to be in a return abnormal state, the elevator control robot (300) may use a first mobile robot located adjacent to a home station capable of connecting to an external communication network. The elevator control robot (300) may command the first mobile robot to relay inspection data or an abnormality notification message. The first mobile robot may receive the inspection data or the abnormality notification message. The first mobile robot may transmit the received inspection data or the abnormality notification message to an administrator terminal.

[0227] Additionally, the operation history management table can track the status of the mobile robot (400) currently performing a task. For example, the fourth mobile robot (AMR4) may have started a task at 12:15 and, as of the current time, the reference time of 10 minutes has not yet elapsed. Therefore, even if the return time has not been recorded, since the reference time has not been exceeded, the elevator control robot (300) can classify the status of the fourth mobile robot (AMR4) as 'in operation' and wait for its return. Meanwhile, the status of robots that have not yet been assigned a task, such as the fifth mobile robot (AMR5) and the sixth mobile robot (AMR6), may be displayed as 'waiting for work'.

[0228] In one embodiment of the present disclosure, the reference time for determining a return abnormality may not be a fixed value. The reference time may be dynamically calculated based on at least one of the standard travel time of the target mobile robot, a delay weighting based on the current work congestion of the work area, and the average waiting time of the elevator. Through this, the return abnormality state can be determined more accurately by reflecting the variability of the field conditions.

[0230] FIG. 12 is a signal flow diagram illustrating the process of mobile robot-led operation status data generation and elevator control robot-based integrated monitoring according to another embodiment.

[0231] With reference to FIG. 12 in conjunction with FIG. 9 to 11, a signal flow diagram illustrating a mobile robot-led operation status data generation and elevator control robot-based integrated monitoring process according to another embodiment can be performed by an administrator terminal (200), a first mobile robot (410), a second mobile robot (420), a third mobile robot, and an elevator control robot (300).

[0232] In step S221, the administrator terminal (200) can transmit a first task. The administrator terminal (200) can transmit a first task, including the work details to be performed, to the first mobile robot (410) via wireless communication.

[0233] In step S222, the first mobile robot (410) can generate first operational state data while performing the first task. The first mobile robot (410) can generate first operational state data itself, including specific details such as its current location, task completion rate, battery level, and whether an obstacle has been detected, in addition to simply moving. The first operational state data may include qualitative state information beyond simple location tracking information.

[0234] In step S223, the first mobile robot (410) can return to the contact point (CP). The first mobile robot (410) can move to the contact point (CP) to complete the execution of the assigned first task or to communicate with the elevator control robot (300) when data transmission is required.

[0235] In step S224, the first mobile robot (410) can transmit first operational status data. After returning to the contact point (CP), the first mobile robot (410) can transmit the generated detailed first operational status data to the elevator control robot (300).

[0236] In step S225, the administrator terminal (200) can transmit a second task. The administrator terminal (200) can transmit a second task, including the work details to be performed, to the second mobile robot (420) via wireless communication.

[0237] In step S226, the second mobile robot (420) can generate second operational state data while performing the second task. The second mobile robot (420) can generate second operational state data in real time, including its current location, work progress, battery level, and surrounding environment information.

[0238] In step S227, the second mobile robot (420) can return to the contact point (CP). After completing the execution of the assigned second task, the second mobile robot (420) can move to the contact point (CP) for data transmission.

[0239] In step S228, the second mobile robot (420) can transmit the second operational status data. The second mobile robot (420) can transmit the generated second operational status data to the elevator control robot (300) waiting at the contact point (CP).

[0240] In step S229, the elevator control robot (300) can update an operation status table and perform monitoring based on multiple operation status data. The elevator control robot (300) can move to a work area where external communication network access is restricted and wait at a contact point (CP). The elevator control robot (300) can collect operation status data received from each mobile robot and create or update an operation status table that comprehensively manages the status of all robots in the field. The operation status table can serve as a comprehensive status board for the field, rather than a simple movement log.

[0241] In one embodiment of the present disclosure, the elevator control robot (300) may create and manage an operation history management table for each of a plurality of mobile robots, including at least one of a work classification, a departure time, a return time, and a current status. The elevator control robot (300) may update the table when an adjacent event of a plurality of mobile robots detected within a contact point (CP) occurs.

[0242] In one embodiment of the present disclosure, the elevator control robot (300) can sequentially visit a plurality of sub-regions according to a preset circulating schedule. The elevator control robot (300) can detect adjacent events of mobile robots at contact points (CPs) on each floor and update operation history information.

[0243] In step S230, the elevator control robot (300) may determine that the second operating status table has not been updated for a predetermined period of time. The elevator control robot (300) may detect a data stagnation phenomenon in which the data of a specific robot, for example, the second mobile robot (420), within the operating status table is not updated for a certain period of time. Based on the data stagnation phenomenon, the elevator control robot (300) may precisely determine that the second mobile robot (420) is in a return abnormality or communication disconnection state.

[0244] In one embodiment of the present disclosure, the elevator control robot (300) may determine the target mobile robot to be in a return abnormal state if, based on operation history information, the target mobile robot has not returned to the contact point (CP) even though a preset reference time has been exceeded after the start of the operation. The reference time may be dynamically calculated based on at least one of the standard travel time of the target mobile robot, a delay weighting based on the current work congestion of the work area, and the average waiting time of the elevator.

[0245] In step S231, the elevator control robot (300) may determine the third mobile robot as the inspection robot according to a predetermined criterion among the plurality of mobile robots. If the second mobile robot (420) is determined to be in a return abnormal state, the elevator control robot (300) may determine any one of the plurality of mobile robots as the inspection mobile robot.

[0246] In one embodiment of the present disclosure, the elevator control robot (300) can calculate a score for each of the remaining robots among a plurality of mobile robots, excluding the target mobile robot. The score can be calculated by weighting the average of variables including at least one of the current distance from the target mobile robot, the remaining battery level, the importance of the task being performed, and the type of mounted sensor. The elevator control robot (300) can select an inspection mobile robot based on the calculated score.

[0247] In one embodiment of the present disclosure, the elevator control robot (300) can calculate the opportunity cost. The opportunity cost may be the delay time of an existing process caused by any one of the plurality of mobile robots moving to perform an inspection task. The elevator control robot (300) may assign a higher score to the robot with the lower opportunity cost.

[0248] In one embodiment of the present disclosure, the work area may include a plurality of sub-areas located on different floors. If there is no available robot on the floor where the target mobile robot is located, the elevator control robot (300) may determine a mobile robot located on another floor as an inspection mobile robot.

[0249] In step S232, the elevator control robot (300) can transmit a status check command. The elevator control robot (300) can transmit a command to the third mobile robot, which is determined to be the inspection mobile robot, to check the status of the second mobile robot (420).

[0250] In step S233, the elevator control robot (300) can transmit an abnormality notification. The elevator control robot (300) can generate and transmit an abnormality notification message to report the return abnormality status of the second mobile robot (420) to the administrator terminal (200).

[0251] In one embodiment of the present disclosure, the elevator control robot (300) can relay inspection data or an abnormality notification message to a first mobile robot (410) located adjacent to a home station (HS) capable of connecting to an external communication network. The first mobile robot (410) can finally transmit the received inspection data or abnormality notification message to an administrator terminal (200).

[0252] In step S234, the third mobile robot can generate inspection data by updating the status of the second mobile robot (420). After the third mobile robot arrives at the site and checks the status of the second mobile robot (420), it can generate inspection data in a form that can update the information of the existing operating status table.

[0253] In one embodiment of the present disclosure, the inspection data may include at least one of external image information captured by an inspection mobile robot approaching a target mobile robot, information on the presence or absence of obstacles around the target mobile robot, and information on the loading status of materials being transported by the target mobile robot.

[0254] In one embodiment of the present disclosure, the inspection mobile robot can move to the floor where the target mobile robot is located and generate inspection data.

[0255] In step S235, the third mobile robot can transmit inspection data. The third mobile robot can report the generated inspection data to the elevator control robot (300). The elevator control robot (300) can update the operation status table based on the received inspection data and determine follow-up actions.

[0256] In one embodiment of the present disclosure, after the step of the inspection mobile robot generating inspection data, a task succession step may be further included. If it is confirmed that the material being transported by the target mobile robot remains, the inspection mobile robot may transport the material to the destination instead.

[0258] FIG. 13 is a conceptual diagram of work load distribution and mobile robot collaboration scheduling based on an elevator control robot according to one embodiment.

[0259] Referring to FIG. 13, an elevator control robot (300) according to one embodiment of the present invention can perform the role of a Central Scheduler that monitors the workload in real time at a construction site (AR1 to AR3) with communication constraints and a multi-story structure, and mediates to have a robot on another floor or area cooperate when an overload occurs to a specific robot or when a task that cannot be performed alone is detected.

[0260] Specifically, the second mobile robot (420) located in the second area (AR2) is in an overloaded state where the workload exceeds a threshold due to a large amount of assigned materials (loads) (see the bold loading mark in the drawing). At this time, the elevator control robot (300) detects the overloaded state of the second mobile robot (420) and can determine the working status of robots (430, 440) located on other floors to find a collaborative auxiliary robot.

[0261] The third mobile robot (430) located in the third area (AR3) may be classified as a 'collaboration-unsuitable robot' that is currently unable to participate in collaboration due to its high workload (high load). On the other hand, the fourth mobile robot (440) located in the same third area (AR3) may be selected by the elevator control robot (300) as a 'collaboration-suitable robot (assistant robot)' to assist the second mobile robot (420) because it is currently on standby or has a relatively low workload.

[0262] Accordingly, the elevator control robot (300) can schedule the fourth mobile robot (440) to move to the second area (AR2) and share the work of the second mobile robot (420) by issuing a collaboration command to the fourth mobile robot (440) and controlling the elevator to support movement between floors. The Loading Mark on the drawing is a circular gauge icon displayed above each robot, which visually indicates the current workload of the corresponding robot (420, 430 is high / 440 is low).

[0263] Below, the mobile robot collaboration scheduling method is explained in more detail with reference to the drawings.

[0265] FIG. 14 is a signal flow diagram illustrating a mobile robot collaboration scheduling process based on an elevator control robot according to one embodiment.

[0266] Referring to FIGS. 13 and 14, a plurality of mobile robots (400) in the field can each generate their own operational status data. For example, a first mobile robot (410) can generate first operational status data (S301), a second mobile robot (420) can generate second operational status data (S302), a third mobile robot (430) can generate third operational status data (S303), and a fourth mobile robot (440) can generate fourth operational status data (S304). The operational status data may include the robot's current location, workload, remaining battery level, work schedule, and availability for operation.

[0267] In step S305, the first mobile robot (410), the second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) can transmit operational status data. Each mobile robot (400) can reach a contact point. Alternatively, each mobile robot (400) can transmit the operational status data it has generated to the elevator control robot (300) via wireless communication.

[0268] In one embodiment of the present disclosure, the step of receiving operational status data may be performed when a plurality of mobile robots (400) enter a contact point. Data transmission may be performed via short-range wireless communication. The contact point may be an area including an elevator landing. Additionally, the contact point may be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot (300) is in a state where the doors are open or closed.

[0269] In step S306, the elevator control robot (300) can receive multiple operational status data and generate an operational status table based thereon. The elevator control robot (300) can aggregate the received multiple operational status data. The elevator control robot (300) can generate or update an operational status table that comprehensively manages the availability and load status of all robots at the site.

[0270] In one embodiment of the present disclosure, the operating status table may be configured to include at least one of the ID of each of the plurality of mobile robots (400), current floor information, progress rate of a task being performed, remaining battery level, and time when the next task can be performed.

[0271] In step S307, the first mobile robot (410) can move multiple roll containers to the elevator based on work information. The first mobile robot (410) can move multiple materials into the elevator according to the assigned work information.

[0272] In step S308, the first mobile robot (410) can transmit work information. The first mobile robot (410) can transmit work information, including the destination floor and quantity of the material it is transporting, to the elevator control robot (300).

[0273] In step S309, the elevator control robot (300) can determine the workload based on the number of roll containers or work information. The elevator control robot (300) can directly determine the number of materials loaded inside the elevator using a sensor. Alternatively, the elevator control robot (300) can determine the total workload to be processed on the corresponding floor based on work information received from the first mobile robot (410).

[0274] In one embodiment of the present disclosure, the assigned workload may be determined by the elevator control robot (300) based on an analysis of a work information message transmitted from the first mobile robot (410). Additionally, the assigned workload may be determined based on at least one of the number of materials being transported by the first mobile robot (410) or the weight of the load. The number of materials and the weight of the load may be measured based on sensors placed inside the elevator.

[0275] In step S310, the elevator control robot (300) can determine the need for collaboration based on the status of the second mobile robot (420). The elevator control robot (300) can check the current status of the second mobile robot (420) located at the destination floor by querying the operation status table. If it is determined that the processing capacity of the second mobile robot (420) is unable to handle the transferred workload, the need for collaboration can be acknowledged.

[0276] In one embodiment of the present disclosure, the step of determining the need for collaboration may determine that collaboration is necessary if the estimated processing time of the allocated workload exceeds a preset target time. Alternatively, collaboration may be determined if the load status of the first mobile robot (410) exceeds a threshold. The estimated processing time may be determined by considering the current location, movement speed, and remaining battery level of the first mobile robot (410).

[0277] In one embodiment of the present disclosure, the step of determining the need for collaboration may be performed when the number of materials exceeds a standard number that the first mobile robot (410) can transport alone in one go. In this case, the elevator control robot (300) may determine that collaboration is required immediately.

[0278] In step S311, if the elevator control robot (300) recognizes the need for collaboration, it may determine at least one auxiliary robot among a plurality of mobile robots (400) according to predetermined criteria. The elevator control robot (300) may determine the auxiliary mobile robot most suitable for collaboration on an operation status table. For example, at least one of the third mobile robot (430) and the fourth mobile robot (440) may be selected as the auxiliary mobile robot.

[0279] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the step of calculating a collaboration suitability score for each of the remaining mobile robots recorded in the operation status table. The collaboration suitability score may be calculated using the distance from the first mobile robot (410), whether a task is currently being performed, and the remaining battery level as variables. The elevator control robot (300) may select the robot with the highest score as the auxiliary mobile robot.

[0280] In one embodiment of the present disclosure, in the step of determining an auxiliary mobile robot, the elevator control robot (300) can calculate the estimated energy consumption required to perform the collaborative work. A mobile robot whose current battery level is less than the sum of the estimated energy consumption and the minimum power required for return may be excluded from the auxiliary mobile robot candidates.

[0281] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the case where a mobile robot located on the second floor is determined to be an auxiliary mobile robot. The elevator control robot (300) may move to the second floor and allow the auxiliary mobile robot to board the elevator. Afterward, the elevator control robot (300) may transfer the robot to the first floor to support collaboration with the first mobile robot (410). The first floor and the second floor may be different floors.

[0282] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may perform a hierarchical robot selection method. The elevator control robot (300) may primarily search for available robots within the first floor. If there are no suitable robots within the first floor, or if the remaining battery level or workload of the available robots does not meet the criteria, the elevator control robot (300) may secondarily determine a robot located on another floor as an auxiliary mobile robot.

[0283] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the step of calculating the vertical travel time when evaluating a robot located on the second floor as a candidate. The vertical travel time may include at least one of the travel time from the current position of the elevator to the second floor, the travel time from the second floor to the first floor, and the elevator door opening and closing time. The elevator control robot (300) may deduct or correct the collaboration suitability score by reflecting the vertical travel time as a work delay factor.

[0284] In step S312, the elevator control robot (300) can issue work instructions. The elevator control robot (300) can inform the second mobile robot (420) that collaboration is scheduled. Additionally, the elevator control robot (300) can instruct the second mobile robot (420) to prepare for material acquisition.

[0285] In step S313, the elevator control robot (300) can send a collaboration request message and an auxiliary work instruction. The elevator control robot (300) can send a collaboration request message to a selected auxiliary robot. The collaboration request message may include specific auxiliary work instructions, such as the floor to be moved to, the collaboration target, and the amount of work to be shared.

[0286] In one embodiment of the present disclosure, the collaboration request message may include information about the first floor, identification information of the first mobile robot (410), and information about the quantity of materials to be collaborated on or the work area to be divided.

[0287] In one embodiment of the present disclosure, the step of directing work distribution may be directed by specifying a transport mode according to the characteristics of the allocated workload. For example, a joint transport mode may be specified in which a single heavy object is physically transported together by the first mobile robot (410) and the auxiliary mobile robot. Alternatively, a split transport mode may be specified in which a plurality of materials are divided and transported separately.

[0288] In one embodiment of the present disclosure, the elevator control robot (300) can transmit the generated operation status table to the administrator terminal (200). The elevator control robot (300) can receive a collaboration approval message from the administrator terminal (200) and perform collaboration scheduling.

[0289] In one embodiment of the present disclosure, the inter-floor movement support step may be performed sequentially. The elevator control robot (300) may arrive at the second floor and transmit an arrival notification signal. The auxiliary mobile robot may respond to the arrival notification signal, enter the elevator, and transmit a boarding completion signal. After receiving the boarding completion signal, the elevator control robot (300) may control the elevator to move to the first floor and transmit a disembarking command to the auxiliary mobile robot.

[0291] FIG. 15 is a signal flow diagram illustrating a mobile robot collaboration scheduling process based on a state information request of an elevator control robot according to another embodiment.

[0292] With reference to FIG. 15 in conjunction with FIG. 1 to 14, a mobile robot collaboration scheduling method based on a state information request of an elevator control robot (300) according to another embodiment can be performed on-demand at a multi-layered construction site.

[0293] In step S321, the first mobile robot (410) can move multiple rotants to an elevator based on work information. The first mobile robot (410) can pick up a rotant loaded with materials at a designated location according to a work instruction assigned from the administrator terminal (200) or server (100). The first mobile robot (410) can transport the rotant to a contact point where an elevator landing is located using an autonomous driving function.

[0294] In step S322, the second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) can update status information at a predetermined interval. Each mobile robot (400) can periodically update operational status data, such as its current location, battery level, and task execution status, in its internal memory. This status information is not immediately transmitted externally and can remain in a waiting state until a request is made by the elevator control robot (300).

[0295] In step S323, the first mobile robot (410) can transmit work information to the elevator control robot (300). When the first mobile robot (410) arrives near the elevator landing, it can transmit information about the work it will perform to the elevator control robot (300) via short-range wireless communication. The work information may include the type and quantity of materials to be transported, destination floor information, etc.

[0296] In step S324, the elevator control robot (300) can determine the workload based on the number of rotators or work information. The elevator control robot (300) can determine the scale of the work by analyzing the work information received from the first mobile robot (410). Additionally, the elevator control robot (300) can quantitatively determine the workload by measuring the number of rotators actually transported or the total weight using a vision sensor or a weight sensor mounted inside the elevator.

[0297] In one embodiment of the present disclosure, the assigned workload may be determined by the elevator control robot (300) based on an analysis of a work information message transmitted from the first mobile robot (410) and at least one of the number of materials being transported by the first mobile robot (410) or the weight of the load. The number of materials and the weight of the load may be measured based on sensors placed inside the elevator.

[0298] In step S325, the elevator control robot (300) may request status information from the second mobile robot (420) if the workload exceeds a predetermined threshold. When the elevator control robot (300) determines that the determined workload is difficult to handle by the first mobile robot (410) alone, it may transmit a status information request signal to explore the possibility of collaboration. The status information request may be transmitted preferentially to the second mobile robot (420) located on the same floor as the first mobile robot (410).

[0299] In step S326, the second mobile robot (420) can transmit status information to the elevator control robot (300). When the second mobile robot (420) receives a status information request signal from the elevator control robot (300), it can transmit its latest status information stored in its internal memory in response. The status information may include the current location, remaining battery level, the presence and importance of a currently performing task, etc.

[0300] In one embodiment of the present disclosure, the step of receiving operational status data may be performed via short-range wireless communication when a plurality of mobile robots (400) enter a contact point. The contact point may be an area including an elevator landing. An elevator equipped with an elevator control robot (300) may be set within a range where short-range wireless communication is possible when the doors are open or closed.

[0301] In step S327, the elevator control robot (300) can determine the need for collaboration based on the state of the second mobile robot (420). The elevator control robot (300) can determine whether there is capacity to support the work of the first mobile robot (410) by analyzing the received state information of the second mobile robot (420). For example, it can determine that collaboration is possible if the second mobile robot (420) is idle or performing a low-importance task.

[0302] In one embodiment of the present disclosure, the step of determining the need for collaboration may determine that collaboration is necessary when the estimated processing time of the allocated workload exceeds a preset target time or when the load state of the first mobile robot (410) exceeds a threshold. The estimated processing time may be determined by considering the current location, movement speed, and remaining battery level of the first mobile robot (410).

[0303] In one embodiment of the present disclosure, the step of determining the need for collaboration may determine that collaboration is required immediately when the number of materials exceeds the standard number that the first mobile robot (410) can transport alone in one go.

[0304] In step S328, if the elevator control robot (300) recognizes the need for collaboration, it may request status information from other mobile robots (400). If it is determined that the second mobile robot (420) alone is insufficient or that robot support from other floors is needed, the elevator control robot (300) may broadcast or individually transmit a status information request signal to the third mobile robot (430) and the fourth mobile robot (440), which are potential auxiliary robot candidates.

[0305] In step S329, the third mobile robot (430) can transmit status information to the elevator control robot (300). Upon receiving the status information request, the third mobile robot (430) and the fourth mobile robot (440) can each transmit their latest status information to the elevator control robot (300) as a response.

[0306] In step S330, the elevator control robot (300) can determine at least one auxiliary mobile robot based on the status information of a plurality of mobile robots (400). The elevator control robot (300) can comprehensively compare and analyze the status information of all collected candidate robots. Based on the analysis results, the elevator control robot (300) can finally select the optimal auxiliary mobile robot most suitable for collaboration.

[0307] In one embodiment of the present disclosure, a mobile robot collaboration scheduling method may include: receiving operational status data from a plurality of mobile robots (400) in the site, each including at least one of a current location, a workload, and a remaining battery level; creating or updating an operational status table that manages the availability of the plurality of mobile robots (400) based on the operational status data; identifying the assigned workload of a first mobile robot (410) that is performing or scheduled to perform work on a first floor; determining the need for collaboration based on the operational status table by the elevator control robot (300); determining, when the need for collaboration is recognized, that at least one of the plurality of mobile robots (400) is designated as an auxiliary mobile robot based on the operational status table by the elevator control robot (300); and sending a collaboration request message to the auxiliary mobile robot to instruct the first mobile robot (410) to share the work.

[0308] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the step of calculating a collaboration suitability score for each of the remaining mobile robots recorded in an operation status table. The collaboration suitability score may be calculated using the distance from the first mobile robot (410), whether a task is currently being performed, and the remaining battery level as variables. The robot with the highest score may be selected as the auxiliary mobile robot.

[0309] In one embodiment of the present disclosure, in the step of determining an auxiliary mobile robot, the estimated energy consumption required to perform a collaborative task can be calculated. A mobile robot whose current battery level is less than the sum of the estimated energy consumption and the minimum power required for return can be excluded from the auxiliary mobile robot candidates.

[0310] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the case where a mobile robot located on the second floor is determined to be an auxiliary mobile robot. In this case, the first floor and the second floor may be different floors. The elevator control robot (300) may move to the second floor and allow the auxiliary mobile robot to board the elevator. The elevator control robot (300) may transfer the auxiliary mobile robot to the first floor to support collaboration with the first mobile robot (410).

[0311] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may perform a hierarchical robot selection method. First, available robots within a first floor may be searched. Only if there are no suitable robots within the first floor or if the remaining battery level or workload of the available robots does not meet a threshold, a robot located on another floor may be secondarily determined as an auxiliary mobile robot.

[0312] In one embodiment of the present disclosure, the step of determining an auxiliary mobile robot may include the step of calculating the vertical movement time when evaluating a robot located on the second floor as a candidate. The vertical movement time may include at least one of the travel time from the current position of the elevator to the second floor, the travel time from the second floor to the first floor, and the elevator door opening and closing time. The calculated vertical movement time may be reflected as a work delay factor to deduct or correct the collaboration suitability score.

[0313] In steps S331 and S332, the elevator control robot (300) can send work instructions and collaboration request messages to the selected auxiliary mobile robot. The elevator control robot (300) can send a collaboration request message to the selected auxiliary mobile robot instructing it to share the work of the first mobile robot (410). The auxiliary mobile robot can receive the message and perform the collaboration task.

[0314] In one embodiment of the present disclosure, the collaboration request message may include information about the first floor, identification information of the first mobile robot (410), and information about the quantity of materials to be collaborated on or the work area to be divided.

[0315] In one embodiment of the present disclosure, the operating status table may be configured to include at least one of an identifier (ID) of each of a plurality of mobile robots (400), current floor information, progress rate of a task being performed, remaining battery level, and time when the next task can be performed.

[0316] In one embodiment of the present disclosure, the step of directing work distribution may be directed by specifying a transport mode according to the characteristics of the allocated workload. For example, a joint transport mode may be specified in which a single heavy object is physically transported together by the first mobile robot (410) and the auxiliary mobile robot. Alternatively, a split transport mode may be specified in which multiple materials are divided and transported separately.

[0317] In one embodiment of the present disclosure, the elevator control robot (300) can transmit the generated operation status table to the administrator terminal (200). The elevator control robot (300) can perform collaboration by receiving a collaboration approval message from the administrator terminal (200).

[0318] In one embodiment of the present disclosure, the inter-floor movement support step may be performed sequentially. An elevator control robot (300) may arrive at the second floor and transmit an arrival notification signal. An auxiliary mobile robot may respond to the arrival notification signal, enter the elevator, and transmit a boarding completion signal. After receiving the boarding completion signal, the elevator control robot (300) may control the elevator to move to the first floor and transmit a disembarking command to the auxiliary mobile robot.

[0320] FIG. 16 is a signal flow diagram illustrating the process of determining the necessity of mobile robot collaboration and giving work instructions led by an administrator terminal according to another embodiment.

[0321] Referring to FIG. 16, the process of determining the necessity of collaboration and giving work instructions to mobile robots (400) led by an elevator control robot (300) according to another embodiment can be performed by a first mobile robot (410), a second mobile robot (420), a third mobile robot (430), and an elevator control robot (300). FIG. 16 may illustrate an example of a distributed autonomous method in which the elevator control robot (300) determines and directs collaboration.

[0322] In step S341, the first mobile robot (410), the second mobile robot (420), and the third mobile robot (430) can generate operational status data. The multiple mobile robots (400) can generate data indicating their operational status periodically or upon the occurrence of an event while performing their respective assigned tasks. The operational status data may include the current location, battery level, current workload, movement speed, and sensor status information of the mobile robot (400).

[0323] In step S342, the first mobile robot (410), the second mobile robot (420), and the third mobile robot (430) can transmit operational status data. Each mobile robot (400) can transmit the generated operational status data to the elevator control robot (300). Data transmission can be performed via short-range wireless communication at specific points, such as elevator landings, taking into account communication blind spots.

[0324] In one embodiment of the present disclosure, the step of receiving operational status data may be performed via short-range wireless communication when a plurality of mobile robots (400) enter a contact point. The contact point may be an area including an elevator landing. The contact point may be set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot (300) is in a state where the doors are open or closed.

[0325] In step S343, the elevator control robot (300) can receive multiple operational status data and create an operational status table based thereon. The elevator control robot (300) can circulate through each floor and collect operational status data from multiple mobile robots (400). The elevator control robot (300) can aggregate the collected data to create or update an integrated operational status table that manages the availability of all mobile robots (400) at the site.

[0326] In one embodiment of the present disclosure, the operating status table may be configured to include at least one of the ID of each of the plurality of mobile robots (400), current floor information, progress rate of a task being performed, remaining battery level, and time when the next task can be performed.

[0327] The elevator control robot (300) can identify the assigned workload of the first mobile robot (410) that is performing or is scheduled to perform work on the first floor.

[0328] In one embodiment of the present disclosure, the assigned workload may be determined by the elevator control robot (300) based on an analysis of a work information message transmitted from the first mobile robot (410). Additionally, the assigned workload may be determined based on at least one of the number of materials being transported by the first mobile robot (410) or the weight of the load. The number of materials and the weight of the load may be measured based on sensors placed inside the elevator.

[0329] The elevator control robot (300) can determine the need for collaboration based on an operation status table. For example, if the volume of work assigned to a specific floor exceeds the processing capacity of the currently deployed robot or if an urgent process delay is expected, the elevator control robot (300) can determine that collaboration is necessary.

[0330] In one embodiment of the present disclosure, the elevator control robot (300) may determine that collaboration is required when the estimated processing time of the assigned workload exceeds a preset target time or when the load status of the first mobile robot (410) exceeds a threshold. The estimated processing time may be determined by considering the current location, movement speed, and remaining battery level of the first mobile robot (410).

[0331] In one embodiment of the present disclosure, the elevator control robot (300) may determine that immediate collaboration is required when the number of materials exceeds the standard number that the first mobile robot (410) can transport alone in one go.

[0332] In one embodiment of the present disclosure, the elevator control robot (300) can transmit the generated operation status table to the administrator terminal (200). The elevator control robot (300) can receive a collaboration approval message from the administrator terminal (200) and perform collaboration scheduling.

[0333] In step S347, the first mobile robot (410) can move the roll container into the elevator. The first mobile robot (410) can move the roll container containing the material being transported to a designated location inside the elevator and load it.

[0334] In step S348, the elevator control robot (300) can move to the destination floor based on work information. The elevator control robot (300) can control the elevator according to the work information received from the first mobile robot (410) to move to the destination floor where the material will be unloaded.

[0335] In step S350, if the need for collaboration is recognized, the elevator control robot (300) may determine at least one auxiliary robot among a plurality of mobile robots (400) based on an operating status table. The elevator control robot (300) may finally select the most suitable auxiliary mobile robot (400) by referring to the operating status table.

[0336] In one embodiment of the present disclosure, the step of determining the auxiliary mobile robot (400) may include the step of calculating a collaboration suitability score for each of the remaining mobile robots (400) recorded in the operation status table. The collaboration suitability score may be calculated using the distance from the first mobile robot (410), whether a task is currently being performed, and the remaining battery level as variables. The robot with the highest score may be selected as the auxiliary mobile robot (400).

[0337] In one embodiment of the present disclosure, in the step of determining an auxiliary mobile robot (400), the estimated energy consumption required to perform a collaborative task can be calculated. A mobile robot (400) with a current battery level less than the sum of the estimated energy consumption and the minimum power required for return can be excluded from the candidates for the auxiliary mobile robot (400).

[0338] In one embodiment of the present disclosure, when a mobile robot (400) located on the second floor is determined to be an auxiliary mobile robot (400), an elevator control robot (300) may move to the second floor. The elevator control robot (300) may support the auxiliary mobile robot (400) in boarding the elevator and transporting it to the first floor to perform collaboration with the first mobile robot (410). The first floor and the second floor may be different floors.

[0339] In one embodiment of the present disclosure, the step of determining the auxiliary mobile robot (400) may perform a hierarchical robot selection method. First, available robots within the first floor may be searched. Only if there are no suitable robots within the first floor or if the remaining battery level or workload of the available robots does not meet the criteria, a robot located on another floor may be secondarily determined as the auxiliary mobile robot (400).

[0340] In one embodiment of the present disclosure, when evaluating a robot located on the second floor as a candidate, the method may include the step of calculating the time required for vertical movement. The time required for vertical movement may include at least one of the time taken to travel from the current position of the elevator to the second floor, the time taken to travel from the second floor to the first floor, and the time taken to open and close the elevator door. The calculated time required for vertical movement may be reflected as a work delay factor to deduct or correct the collaboration suitability score.

[0341] In one embodiment of the present disclosure, the steps of inter-floor movement support may be performed sequentially. The step may include an elevator control robot (300) arriving at a second floor and transmitting an arrival notification signal. The step may include an auxiliary mobile robot (400) entering the elevator in response to the arrival notification signal and transmitting a boarding completion signal. The step may include an elevator control robot (300) controlling the elevator to move to a first floor after receiving the boarding completion signal and transmitting a disembarking command to the auxiliary mobile robot (400).

[0342] In step S351, the elevator control robot (300) can instruct the first mobile robot (410) to divide the work by sending a collaboration request message to the determined auxiliary mobile robot (400).

[0343] In one embodiment of the present disclosure, the collaboration request message may include information about the first floor, identification information of the first mobile robot (410), and information about the quantity of materials to be collaborated on or the work area to be divided.

[0344] In one embodiment of the present disclosure, the step of directing work distribution may be directed by specifying a transport mode according to the characteristics of the assigned workload. For example, a joint transport mode may be specified in which a single heavy object is physically transported together by the first mobile robot (410) and the auxiliary mobile robot (400). Alternatively, a split transport mode may be specified in which multiple materials are divided and transported separately.

[0346] FIG. 17 is a conceptual diagram for managing the cyclic movement path of upward material movement and downward waste collection according to one embodiment of the present invention.

[0347] Referring to FIG. 17, the present disclosure can explain a concept for managing the cyclical movement of upward material movement and downward waste collection at a multi-layered construction site.

[0348] Regarding the server (100), details that overlap with those described in Fig. 1 may be omitted.

[0349] The elevator control robot (300) can act as a leader to centrally coordinate the flow of logistics at a multi-story construction site. The elevator control robot (300) can optimize logistics processing efficiency by managing the circulation path of upward material movement and downward waste collection. The elevator control robot (300) can minimize empty elevator operation and adjust the timing of work for each floor robot so that the flow of logistics does not overlap.

[0350] The elevator control robot (300) can operate as a control device to manage work distribution and movement paths. The elevator control robot (300) can control the elevator to move to the first destination floor to unload the first material among multiple materials loaded on the first floor. When the elevator arrives at the first destination floor, the elevator control robot (300) can hand over the first material to the first mobile robot located at the first destination floor. The elevator control robot (300) can calculate the wait cost incurred by the elevator waiting at the first destination floor while the first mobile robot transports the first material and returns. Additionally, the elevator control robot (300) can calculate the round-trip cost incurred by the elevator going to the second destination floor to unload the second material without waiting. The elevator control robot (300) can compare the calculated wait cost and the round-trip cost. The elevator control robot (300) can determine one of two operating modes based on the cost comparison result: a waiting mode where it waits at the first destination floor or a round-trip mode where it moves to the second destination floor. The elevator control robot (300) can control the opening and closing of the elevator doors or movement between floors according to the determined operating mode to maximize the operating efficiency of the elevator and shorten the overall process time.

[0351] In one embodiment of the present disclosure, the waiting cost may be calculated based on at least one of the unloading time of the first material, the expected return time of the first mobile robot, and the elevator door waiting time. The round-trip cost may be calculated based on at least one of the round-trip travel time from the first destination floor to the second destination floor, the door opening and closing time at the second destination floor, and the unloading time of the second material. In this case, the expected return time may be calculated differently for each floor based on the path distance from the elevator landing of the first destination floor to the final unloading location where the first material is to be placed and the movement speed information of the first mobile robot.

[0352] In one embodiment of the present disclosure, the elevator control robot (300) may select a standby mode when the standby cost is less than the round-trip cost. The elevator control robot (300) may select a round-trip mode when the standby cost is greater than or equal to the round-trip cost to control the entire process time to be shortened.

[0353] In one embodiment of the present disclosure, when determining the round-trip mode, there may be multiple candidates for the second destination floor. The elevator control robot (300) can calculate the round-trip cost for each candidate floor. The elevator control robot (300) can select the floor that is lower than the waiting cost and is the most efficient as the second destination floor. For example, the elevator control robot (300) can define the difference between the round-trip cost and the waiting cost calculated for the multiple candidate floors as the time saved. Among the candidate floors where the time saved has a positive value, the elevator control robot (300) can finally determine the floor with the largest time saved as the second destination floor. If the round-trip costs calculated for the multiple candidate floors are all greater than the waiting cost, the elevator control robot (300) can determine that the round-trip mode is inefficient. The elevator control robot (300) can determine the operation mode as a waiting mode and control the elevator to wait at the first destination floor until the first mobile robot returns.

[0354] In one embodiment of the present disclosure, the elevator control robot (300) may receive current status information of a second mobile robot located at a second destination floor in the step of calculating the round-trip cost. If the second mobile robot is working or moving and therefore cannot immediately receive the material, the elevator control robot (300) may calculate the round-trip cost by adding the waiting time required for the robot to move to the elevator landing.

[0355] In one embodiment of the present disclosure, when the operating mode is determined to be a round-trip mode, the elevator control robot (300) may transmit a signal to the first mobile robot indicating that the elevator is leaving. The elevator control robot (300) may control the elevator to move to a second destination floor after closing the elevator door. When the elevator control robot (300) finishes its work at the second destination floor and returns to the first destination floor, it may control the elevator to open the door by checking whether the first mobile robot has arrived.

[0356] In one embodiment of the present disclosure, the expected return time of the first mobile robot may vary in real time. For example, the expected return time may change as the first mobile robot detects an obstacle or passes through a congested section while moving within the work area of ​​the first target floor. The elevator control robot (300) may receive the varied expected return time and recalculate the waiting cost. The elevator control robot (300) may change the operating mode in real time according to the recalculated result.

[0357] In one embodiment of the present disclosure, if the second material to be transported to the second destination floor has an urgent attribute, the elevator control robot (300) may perform exception handling. The elevator control robot (300) may preferentially select a round-trip mode regardless of the result of comparing the waiting cost and the round-trip cost.

[0358] In one embodiment of the present disclosure, when the elevator control robot (300) is determined to move to a second destination floor in a round-trip mode, it may perform a secondary decision. The elevator control robot (300) may determine whether a series of round-trip operations is possible to additionally visit a third destination floor for unloading third materials, taking into account the estimated work time and return time at the second destination floor. To this end, the elevator control robot (300) may calculate the extended round-trip cost required to move from the first destination floor through the second destination floor to the third destination floor, and then return to the first destination floor. The elevator control robot (300) may approve the series of round-trip operations only if the extended round-trip cost is less than or equal to the waiting cost. At this time, the elevator control robot (300) may compare by adding a pre-set safety margin to the extended round-trip cost so that the elevator can arrive first, open the door, and wait before the first mobile robot returns.

[0359] In one embodiment of the present disclosure, the elevator control robot (300) can dynamically control a series of reciprocating movements. For example, a delay may occur while moving to a second destination floor to perform a task. If this causes a situation where the first mobile robot is expected to wait when visiting a third destination floor, the elevator control robot (300) can dynamically cancel the plan to visit the third destination floor. The elevator control robot (300) can modify the path so that the elevator immediately returns to the first destination floor.

[0360] In one embodiment of the present disclosure, there may be multiple candidates for a third target floor during a series of reciprocating movements. The elevator control robot (300) can increase movement efficiency by prioritizing a floor as the third target floor that has the shortest inter-floor distance from the second target floor or is located on the path returning from the second target floor to the first target floor.

[0361] The elevator control robot (300) can receive waste generation amount and location information in real time from mobile robots on each floor. Based on the received information, the elevator control robot (300) can dynamically plan the most efficient waste collection sequence on the downward path. The elevator control robot (300) can instruct the mobile robots on each floor to prepare for waste handover.

[0362] The material (M1) may be construction material or roll container that must be transported from the first area (AR1) to the upper work areas, the second area (AR2), the third area (AR3), and the fourth area (AR4). The first waste (W1), the second waste (W2), the third waste (W3), and the fourth waste (W4) may be by-products generated during the work process of each floor and discharged to the first area (AR1). The present disclosure can increase logistics efficiency by processing the upward flow of the material (M1) and the downward flow of the waste (W1, W2, W3, W4) in conjunction.

[0363] Regarding the first mobile robot (410), details that overlap with those described in FIG. 1 may be omitted. The first mobile robot (410) is located in the first area (AR1) and can perform the role of loading materials (M1) brought in from the outside into the elevator. In addition, the first mobile robot (410) can be responsible for the task of receiving the first waste (W1) collected and brought down from the upper floor and transporting it to a designated location.

[0364] The second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) can be deployed in upper floors such as the second area (AR2), the third area (AR3), and the fourth area (AR4), respectively. The mobile robots in the upper floors can perform the task of receiving materials (M1) from the elevator control robot (300) and transporting them to the destination on each floor. The second mobile robot (420), the third mobile robot (430), and the fourth mobile robot (440) can perform a two-way operation of collecting the second waste (W2), the third waste (W3), and the fourth waste (W4) generated on each floor on the return path after transporting the materials, and handing them over to the elevator control robot (300).

[0365] The first area (AR1), the second area (AR2), the third area (AR3), and the fourth area (AR4) may represent physically separated workspaces or floors within a multi-story construction site. The first area (AR1) may be the first floor where material entry and waste exit take place. The second area (AR2), the third area (AR3), and the fourth area (AR4) may be the upper floors where actual work is performed.

[0367] FIG. 18 is a signal flow diagram showing the operation mode determination and multi-story sequential unloading process of an elevator control robot according to one embodiment.

[0368] Referring to FIGS. 17 and 18, the operation mode determination and multi-story sequential unloading process of the elevator control robot (300) can be performed by a control device.

[0369] In step S401, the first mobile robot (410) can move multiple roll containers to the elevator. The first mobile robot (410) can sequentially move roll containers loaded with multiple materials (M1) from the first area (AR1) into the elevator. Each roll container may have an identifier mapped to destination floor information attached to it.

[0370] In step S402, the elevator control robot (300) may receive work information and determine a first destination floor based thereon. The elevator control robot (300) may receive a work information message from the first mobile robot (410). Alternatively, the elevator control robot (300) may use a sensor mounted inside the elevator to recognize the identifier of the loaded roll container and determine a first destination floor to be visited first. For example, the first destination floor may be the floor closest to the current floor or the destination floor of the emergency material (M1). However, the present disclosure is not limited thereto.

[0371] In step S403, the elevator control robot (300) can move to the first destination floor. The elevator control robot (300) can move the elevator to the determined first destination floor by controlling the drive unit of the elevator.

[0372] In step S404, the second mobile robot (420) can move to a destination after unloading the first roll container inside the elevator. When the elevator arrives at the first destination floor, the elevator control robot (300) can transmit work information to the second mobile robot (420) located on that floor to hand over the first material (M1). The second mobile robot (420) can enter the elevator, unload the first roll container, and transport it to the final unloading location.

[0373] In step S405, the elevator control robot (300) can determine an operating mode based on a plurality of parameters. The elevator control robot (300) can determine whether the elevator will wait or move to another floor while the second mobile robot (420) transports the first material (M1) and returns. To do this, the elevator control robot (300) can calculate and compare the wait cost and the round-trip cost. Based on the result of comparing the wait cost and the round-trip cost, the elevator control robot (300) can determine either a wait mode, where the elevator waits at the first destination floor, or a round-trip mode, where the elevator moves to the second destination floor. The elevator control robot (300) can control the opening and closing of the elevator doors or the movement between floors according to the determined operating mode.

[0374] In one embodiment of the present disclosure, the waiting cost may be calculated based on at least one of the unloading time of the first material (M1), the expected return time of the second mobile robot (420), and the elevator door waiting time. The round-trip cost may be calculated based on at least one of the round-trip travel time from the first destination floor to the second destination floor, the door opening and closing time at the second destination floor, and the unloading time of the second material (M1).

[0375] In one embodiment of the present disclosure, the expected return time may be calculated differently for each floor based on the path distance from the elevator landing of the first target floor to the final unloading location where the first material (M1) is to be placed and the movement speed information of the second mobile robot (420).

[0376] In one embodiment of the present disclosure, the expected return time may vary in real time as the second mobile robot (420) detects an obstacle or passes through a congestion section while moving within the work area of ​​the first target layer. The control device may receive the varied expected return time and recalculate the waiting cost. The control device may change the operating mode in real time according to the recalculated result.

[0377] In one embodiment of the present disclosure, the step of determining the operating mode may select a standby mode when the standby cost is less than the round-trip cost. When the standby cost is greater than or equal to the round-trip cost, a round-trip mode may be selected to control the overall process time to be shortened.

[0378] In one embodiment of the present disclosure, when determining the round-trip mode, if there are multiple candidates for the second target layer, the control device may calculate the round-trip cost for each candidate layer. The control device may select the layer that is most efficient and lower than the waiting cost as the second target layer.

[0379] In one embodiment of the present disclosure, the control device may define the difference between the round-trip cost and the standby cost calculated for a plurality of candidate layers as the saving time. The control device may finally determine the layer with the largest saving time among the candidate layers having a positive saving time as the second target layer.

[0380] In one embodiment of the present disclosure, the control device may determine that the round-trip mode is inefficient if the round-trip cost calculated for a plurality of candidate layers is greater than the waiting cost. The control device may determine the operating mode to be a waiting mode and wait at the first target layer until the second mobile robot (420) returns.

[0381] In one embodiment of the present disclosure, the step of calculating the round-trip cost may include receiving current status information of a third mobile robot (430) located on a second destination floor. If the third mobile robot (430) is working or moving and therefore cannot immediately receive the material, the waiting time required for the robot to move to the elevator landing may be added to the round-trip cost to calculate the cost.

[0382] In one embodiment of the present disclosure, the step of determining the operation mode may perform exception handling when the second material (M1) to be transported to the second destination layer has an urgent attribute. The control device may perform exception handling to preferentially select the round-trip mode regardless of the result of comparing the waiting cost and the round-trip cost.

[0383] In step S406, if the elevator control robot (300) is determined to be in reciprocal mode, it can move to the second destination floor. The elevator control robot (300) can control the elevator without waiting for the second mobile robot (420) and move it immediately to the second destination floor.

[0384] In one embodiment of the present disclosure, when the operating mode is determined to be a round-trip mode, the control device may transmit a signal to the second mobile robot (420) indicating that the elevator is leaving. The control device may move to the second destination floor after closing the elevator door. When the control device returns to the first destination floor after completing work at the second destination floor, it may open the door by checking whether the second mobile robot (420) has arrived.

[0385] In step S407, the third mobile robot (430) can move to the destination after unloading the second roll container. When the elevator arrives at the second destination floor, the elevator control robot (300) can instruct the third mobile robot (430) to unload the second roll container.

[0386] In step S408, the elevator control robot (300) can move to the third destination floor if additional round trips are possible. The elevator control robot (300) can perform additional round trips if there is sufficient time before the return of the second mobile robot (420) even after the second unloading.

[0387] In one embodiment of the present disclosure, the control device may further include a step of making a secondary determination when it is determined to move to a second destination floor in a reciprocal mode. The control device may determine whether a chain reciprocal operation to additionally go to a third destination floor for unloading the third material (M1) is possible by considering the estimated time of work and return time at the second destination floor.

[0388] In one embodiment of the present disclosure, the control device may calculate an extended round-trip cost. The extended round-trip cost may be the cost incurred to move from a first destination layer through a second destination layer to a third destination layer and then return to the first destination layer. The control device may approve a chained round-trip operation only if the extended round-trip cost is less than or equal to the waiting cost.

[0389] In one embodiment of the present disclosure, when calculating the extended round-trip cost, a pre-set safety margin time may be additionally added and compared. This may be to allow the elevator to arrive first, open the door, and wait before the second mobile robot (420) returns.

[0390] In one embodiment of the present disclosure, the control device may experience a delay while moving to a second target floor to perform a task. If the situation changes to one where the second mobile robot (420) is expected to wait when visiting a third target floor, the control device may modify the path. The control device may modify the path to dynamically cancel the plan to visit the third target floor and immediately return to the first target floor.

[0391] In one embodiment of the present disclosure, when there are multiple candidates for a third target layer, the control device can increase movement efficiency. The control device may prioritize selecting a layer as the third target layer that has the shortest interlayer distance from the second target layer or is located on the path returning from the second target layer to the first target layer.

[0392] In step S409, the fourth mobile robot (440) can move to the destination after unloading the third roll container. When the elevator arrives at the third destination floor, the elevator control robot (300) can instruct the fourth mobile robot (440) to unload the third roll container.

[0393] In step S410, the elevator control robot (300) can move to the first destination floor. After completing the round-trip schedule, the elevator control robot (300) can return to the first destination floor. The elevator control robot (300) can board the second mobile robot (420), which is waiting after completing the task, into the elevator or instruct it to perform the next task.

[0394] In step S411, the second mobile robot (420) can move to the destination after unloading the fourth roll container. The elevator control robot (300) can be controlled to circulate through all destination floors and complete unloading up to the last roll container.

[0396] FIG. 19 is an illustrative diagram for explaining the one-way processing principle of an elevator control robot according to one embodiment.

[0397] Referring to FIG. 19, an elevator control robot (300) according to one embodiment of the present invention can operate according to a one-way processing principle in which it first completes upward material delivery and then performs downward waste collection in batches. The 'M (Material)' column shown on the left side of the drawing indicates that there are materials to be delivered to each floor, and the 'W (Waste)' column indicates that there are waste to be collected on the corresponding floor.

[0398] Figure 19 (a) illustrates a situation where material delivery is required to the 2nd, 4th, and 5th floors, and waste exists on the 6th floor.

[0399] At point T1, the elevator control robot (300) can move to the lowest destination floor, the 2nd floor, and unload the first material. At the subsequent point T2, the elevator control robot (300) can move upward to the 4th floor and unload the second material, and at point T3, it can continue moving upward to the 5th floor and unload the last material. At point T4, after all material delivery is completed, the elevator control robot (300) can move to the 6th floor, the top floor waste generation point, collect the waste, and then switch to the downward direction to return to the 1st floor. As such, this embodiment can increase movement efficiency by completing the upward movement and then performing the downward movement without changing the direction of movement in the middle.

[0400] Figure 19 (b) illustrates a situation similar to (a) where material delivery is required to the 2nd, 4th, and 6th floors, and waste is present on the 4th floor.

[0401] At time points T1 to T3, the elevator control robot (300) can sequentially visit the 2nd, 4th, and 6th floors and perform material delivery solely through upward movement. At this time, even though waste exists on the 4th floor at time T2, according to the principle of prioritizing upward movement, it may only perform material unloading during the upward movement and not wait for waste collection or change direction. At time T4, after all upward delivery is completed, the elevator control robot (300) can revisit the 4th floor on the downward path to finally collect waste and return to the 1st floor. Consequently, the present invention can prevent the inefficiency of the elevator stopping or going down to collect waste while carrying materials up. The elevator control robot (300) can be controlled to shorten the overall process time through a simplified loop of 'Upward (Delivery) - Peak (Peak) - Downward (Collection)'.

[0403] FIG. 20 is an illustrative diagram for explaining an exceptional movement path operation case considering elevator capacity and waste location according to an embodiment of the present invention.

[0404] Referring to FIG. 20, an elevator control robot (300) according to one embodiment of the present invention can perform an exceptional movement path operation logic to maximize the elevator's loading capacity and efficiency by supplementing the above-mentioned principle of prioritizing upward material movement. The elevator control robot (300) basically prioritizes upward material movement, but can control the collection of waste flexibly by taking into account the elevator's loading limit (e.g., up to 3) or internal spare space in real time.

[0405] Figure 20 (a) shows the immediate collection logic (first exception case) at the point of return for reloading.

[0406] For example, it can be assumed that the maximum capacity of the elevator is 3, and that materials to be sent to floors 2 through 6 are waiting on the 1st floor. At time T1 to T3, the elevator control robot (300) can fill the capacity and ascend, and sequentially unload materials on the 2nd, 3rd, and 4th floors. At time T4, when unloading on the 4th floor is completed, the elevator interior is empty, but since there are still remaining materials (to be sent to floors 5 and 6) on the 1st floor, a situation arises where it must descend to the 1st floor for reloading. At this time, the elevator control robot (300) can recognize that there is waste (W) to be collected on the current floor, the 4th floor. Even though the ascending process is not entirely completed (floors 5 and 6 are not completed), the elevator control robot (300) can load the waste on the 4th floor and descend (T4) to return to the 1st floor to prevent the inefficiency of going down empty. This is a method of immediately collecting waste located on the 1st floor return path by seizing the opportunity.

[0407] Figure 20 (b) shows a preemptive collection logic (second exception case) utilizing spare space during upward movement.

[0408] For example, it can be assumed that there are only two materials to be transported in this turn, one for the 2nd floor and one for the 6th floor, so there is available space inside the elevator (capable of loading one). When the materials are unloaded on the 2nd floor at T1, only one material for the 6th floor remains in the elevator, increasing the available space. At T2, the elevator control robot (300) can confirm that there is waste on the 4th floor, which is located on the path to the next destination, the 6th floor. Since there is sufficient available space inside, the elevator control robot (300) can stop briefly at the 4th floor to load the waste, even though it is moving upward. At the subsequent T3, the elevator control robot (300) can perform an upward transport (Carry-up) to briefly carry the waste loaded from the 4th floor up to the 6th floor, and then unload the materials on the 6th floor. Afterward, it can move directly downward from the 6th floor to transport the waste to the 1st floor. This is a method that reduces the number of times one has to visit the 4th floor separately for waste collection later by loading waste in advance if there is space left even while going up.

[0410] FIG. 21 is an exemplary diagram showing time parameters and spatial definitions considered for determining the operating mode of an elevator control robot according to one embodiment of the present invention.

[0411] Referring to FIG. 21, an elevator control robot (300) according to one embodiment of the present invention can perform an operation mode determination algorithm to determine whether to wait at the current floor (waiting mode) or to go to another floor (round trip mode).

[0412] FIG. 21 (a) defines key parameters that are collected or calculated in real time to determine these operating modes. Specifically, 'material unloading time (T1, T_load)' refers to the physical time required for the mobile robot (400) to exit from inside the elevator to the landing (Hall), and this may vary depending on the robot's movement speed and the level of congestion inside the elevator.

[0413] 'Robot return time (T2, T_return_est)' refers to the estimated time required for a mobile robot (400) to depart from a contact point (CP) near the platform, unload materials at a final unloading location (UN), and return to the contact point (CP). Since this value is variable depending on the floor structure and the distance to the unloading location, it becomes an important variable in the judgment logic of the present invention.

[0414] 'Inter-floor travel time (T3, T_move)' refers to the mechanical driving time required for the elevator to move from the current floor (fc) to the next destination floor (fn) and back to the current floor (fc), and can be calculated in proportion to the inter-floor distance.

[0415] 'Door opening / closing time (T4, T_door)' may be a fixed value including the time for the elevator door to open and close and the sensor safety waiting time, and since the number of door openings and closings increases when performing round-trip mode, this value may be added as a cost.

[0416] Figure 21 (b) visualizes how the above parameters are applied in an actual multi-story building.

[0417] Referring to the drawing, the distance to the unloading location on the 2nd floor (2F) (length of the arrow) is short, whereas the distance to the unloading location on the 6th floor (6F) is shown as very long. This means that the robot on the 2nd floor returns quickly (small T2 value), but the robot on the 6th floor takes a long time to return (large T2 value). Here, the contact point (CP) serves as a reference point where the elevator control robot (300) waits or calls the robot, and the robot return time (T2) can be defined as the time from when the robot leaves the CP until it is detected by the CP again.

[0418] The elevator control robot (300) can predict and compare the time required for two scenarios using the above parameters.

[0419] Scenario A, 'Wait Mode,' is a method in which materials are unloaded at the current floor (fc), and the elevator doors are opened (or closed) and the system waits until the robot returns. The total waiting cost (TW) can be calculated as 'T1 (Unloading) + T2 (Return) + T4 (Door Waiting),' and it is advantageous when the robot's return time (T2) is short.

[0420] Scenario B, 'Round-Trip Mode,' is a method in which the robot does not wait for the robot on the current floor (fc), but instead moves to the floor with the next highest priority during that time to unload other materials and return. The total round-trip cost (TR) can be calculated as 'T3 (movement from fc to fn) + T4 (opening / closing fn door) + T1 (unloading fn) + T3 (return from fn to fc),' and this method is advantageous when the return time (T2) of the current floor robot is very long or the travel time (T3) to the next floor (fn) is short.

[0421] The elevator control robot (300) can determine the operating mode by comparing the waiting cost (TW) and the round-trip cost (TR). If 'TW < TR' (i.e., the waiting time is shorter than the time taken to go and come), the elevator control robot (300) can select the waiting mode to reduce unnecessary movement. Conversely, if 'TW ≥ TR' (i.e., it takes a long time for the robot to return), the elevator control robot (300) can select the round-trip mode. Through this, the overall logistics efficiency (Throughput) can be improved by utilizing the elevator that is idle while the robot is working to process tasks on other floors in parallel.

[0423] The elevator control robot (300) can perform a decision logic to calculate the waiting cost (TW) and round-trip cost (TR) in real time using the collected time parameters and determine the optimal operating mode by comparing them.

[0424] Specifically, the waiting cost (TW) refers to the total time spent waiting while occupying the elevator until the mobile robot on that floor finishes its work and returns after unloading materials at the current floor (fc), and can be calculated as the sum of ‘T1 (material unloading time) + T2 (robot return time) + T4 (door waiting time)’. On the other hand, the round-trip cost (TR) refers to the total time spent not waiting at the current floor (fc), but moving to the floor (fn) where the next work is scheduled, performing the work, and returning, and can be calculated as the sum of ‘T3 (movement time from the current floor to the next floor) + T4 (door opening / closing time at the next floor) + T1 (material unloading time at the next floor) + T3 (return time from the next floor to the current floor)’.

[0425] The elevator control robot (300) makes a decision based on the calculated cost. If the waiting cost (TW) is smaller than the round-trip cost (TR) (TW < TR), the 'Wait Strategy' is selected to prevent unnecessary movement because the waiting time is shorter than the round-trip time. Conversely, if the waiting cost (TW) is greater than or equal to the round-trip cost (TR) (TW >= TR), the 'Round-trip Strategy' is selected to process tasks on other floors in parallel by utilizing the elevator's idle time.

[0426] The following are specific scenarios where this logic is applied in the field.

[0427] As a first scenario, it is assumed that unloading is currently taking place on the 2nd floor (fc) and the next work candidate site is the 3rd floor (fn), and the mobile robot on the 2nd floor returns very quickly because the work area is close. In this case, if the parameters are T1=10 seconds, T2=30 seconds, T4=5 seconds, and T3=20 seconds, the waiting cost (TW) is calculated as 45 seconds (10+30+5) and the round-trip cost (TR) as 55 seconds (20+5+10+20). Consequently, since TW (45 seconds) is smaller than TR (55 seconds), the elevator control robot (300) can save the total process time by selecting 'waiting mode' and waiting until the robot returns from the 2nd floor.

[0428] As a second scenario, assume a case where the mobile robot on the second floor is delayed in returning because the work area is far away (T2=145 seconds). In this case, the waiting cost (TW) increases sharply to 160 seconds (10+145+5), while the round-trip cost (TR) remains 55 seconds. Consequently, since TW (160 seconds) is much greater than TR (55 seconds), the elevator control robot (300) selects the overwhelmingly advantageous 'round-trip mode'. That is, by moving immediately to the third floor to perform the work and returning without waiting for the robot on the second floor, it can efficiently utilize approximately 105 seconds of idle time.

[0429] Furthermore, as a third scenario, a multi-story round-trip comparison situation can be assumed where the next work candidate site exists not only on the 3rd floor but also on the 4th and 6th floors. The system calculates the round-trip cost (TR) for each candidate floor and compares it with the current waiting cost (TW, e.g., 160 seconds). For example, if the TR for a round trip to the 3rd floor is 55 seconds and the TR for a round trip to the 4th floor is 95 seconds, this is a favorable choice because it is smaller than the TW (160 seconds). However, if the TR for a round trip to the 6th floor is 170 seconds, this is larger than the TW (160 seconds), so it is actually a disadvantage. Therefore, the elevator control robot (300) selects the 'round-trip mode', but can achieve optimal process efficiency by scheduling the round-trip target sites limited to the 3rd or 4th floors where efficiency is ensured.

[0431] FIG. 22 is a conceptual diagram showing a field state recognition and feedback-based task control loop of a mobile robot according to one embodiment.

[0432] FIG. 22 may be a conceptual diagram illustrating a field status recognition and feedback-based work control loop of a mobile robot according to one embodiment. The system of the present disclosure allows the mobile robot to recognize the real-time status of the work site. The system of the present disclosure can actively control the entire logistics process by providing feedback on the relevant information.

[0433] Regarding the server (100), details that overlap with those described in FIG. 1 may be omitted. The server (100) can perform the role of an administrator terminal. The server (100) can receive integrated status messages regarding the site status through the elevator control robot (300) or the first mobile robot (410). The server (100) can analyze the collected feedback data to generate insights, such as bottleneck diagnosis. The server (100) can perform task updates based on the generated insights. The server (100) can control the operation by sending the updated tasks to the mobile robots that will perform subsequent tasks.

[0434] Regarding the elevator control robot (300), details that overlap with those described in FIG. 1 may be omitted. The elevator control robot (300) can move between floors and perform the role of a data relay. For example, the elevator control robot (300) can collect status report messages containing on-site status information from the second mobile robot (420) in the second area (AR2), which is a communication dead zone, or the third mobile robot (430) in the third area (AR3). The elevator control robot (300) can aggregate the collected status report messages to generate an integrated status message that reflects the overall situation of the site. The elevator control robot (300) can move to the first area (AR1), where communication is possible, and deliver the integrated status message to the server (100).

[0435] The first mobile robot (410) may be located in the first area (AR1) to wait for or perform work. The first mobile robot (410) may modify the originally planned work according to control commands from the server (100). For example, the first mobile robot (410) may reduce the quantity of materials to be transported according to control commands from the server (100) that reflect feedback on the overloaded state of the second area (AR2). Alternatively, the first mobile robot (410) may temporarily wait to move to the work area. Alternatively, the first mobile robot (410) may change the destination to transport materials to a different work area. By doing so, the first mobile robot (410) can prevent inefficient material input and increase the efficiency of the entire process.

[0436] The second mobile robot (420) can perform assigned tasks in the second area (AR2). In addition to the role of transporting materials, the second mobile robot (420) can simultaneously perform the role of a site monitor. The second mobile robot (420) can collect work site status information, including at least one of the material load in the work area, space availability, and whether there is a work delay, using mounted sensors. For example, the second mobile robot (420) can recognize that the second area (AR2) is in an overloaded state or a bottleneck state where a large amount of materials are already loaded, making it difficult to bring in additional materials.

[0437] The third mobile robot (430) can perform work in the third area (AR3). The third mobile robot (430), like the second mobile robot (420), can perform the role of monitoring the status of the site and providing feedback. For example, the third mobile robot (430) can determine a situation where access is difficult due to the presence of obstacles within the work area, or where unexpected obstacles occur on the movement path. The third mobile robot (430) can generate a status report message containing collected work site status information. The third mobile robot (430) can transmit the generated status report message to the elevator control robot (300).

[0439] FIG. 23 is a signal flow diagram illustrating the field status collection and feedback-based task control process of a mobile robot according to one embodiment of the present invention.

[0440] Referring to FIG. 23 together with FIG. 22, a control method for a work site state-based feedback loop system can be performed by a second mobile robot, a third mobile robot, an elevator control robot (300), a manager terminal (200), and a first mobile robot (410). A control method for a work site state-based feedback loop system using multiple mobile robots in a multi-layered construction site may include the steps of: collecting the state of a work area while the multiple mobile robots each perform assigned tasks; the multiple mobile robots generating a state report message and transmitting it to the elevator control robot (300); the elevator control robot (300) collecting the state report messages to generate an integrated state message and transmitting it to the manager terminal (200); the manager terminal (200) generating an insight based on the integrated state message; and the manager terminal (200) performing a task update based on the insight and issuing the updated task to the multiple mobile robots to control their operation.

[0441] In step S501, the second mobile robot can perform a task. The second mobile robot can perform tasks such as transporting specific materials or moving to a designated location according to a work command assigned from the manager terminal (200).

[0442] In step S502, the second mobile robot can collect the status of the work area while performing the task. The second mobile robot can collect work area status information in real time, including the material loading amount, number of remaining materials, space availability, and whether there is a work delay, using mounted sensors.

[0443] In one embodiment of the present disclosure, the work site status information may include at least one of the identification ID (ID) of the mobile robot, current location coordinates, volume or number data of a load scanned through a vision sensor or LiDAR, the presence or absence of obstacles on the movement path, and the estimated time of completion of the work.

[0444] In step S503, the second mobile robot can transmit a status message. The second mobile robot can generate a status report message containing collected work site status information. The generated status report message can be transmitted to the elevator control robot (300).

[0445] In one embodiment of the present disclosure, the step of transmitting a status report message by a plurality of mobile robots (400) may be performed when the plurality of mobile robots (400) have completed a task and returned to a contact point. The plurality of mobile robots (400) may transmit a status report message by performing short-range wireless communication with an elevator control robot (300) that has arrived at the contact point.

[0446] In one embodiment of the present disclosure, the contact point may be an area including an elevator landing within a work area. The contact point may be set within a physical range where short-range wireless communication with a plurality of mobile robots (400) is possible when the elevator equipped with the elevator control robot (300) arrives at the corresponding floor and the door is open or closed.

[0447] In step S504, the third mobile robot can perform a task. The third mobile robot can perform its own assigned task independently of the second mobile robot.

[0448] In step S505, the third mobile robot can collect the state of the work area while performing the task. The third mobile robot can generate work area state information by collecting work environment data from its own perspective.

[0449] In step S506, the third mobile robot can transmit a status message. The third mobile robot can transmit the generated status report message to the elevator control robot (300).

[0450] In step S507, the elevator control robot (300) can acquire and integrate multiple status messages. The elevator control robot (300) can collect status report messages received from multiple mobile robots (400), including the second mobile robot and the third mobile robot. Based on the collected messages, the elevator control robot (300) can generate a single integrated status message that reflects the overall situation of the site.

[0451] In one embodiment of the present disclosure, data transmission and reception between a plurality of mobile robots (400), an elevator control robot (300), and a manager terminal (200) can be performed via a local wireless network in an environment where access to an external internet network is blocked. The elevator control robot (300) can generate an integrated status message by circulating through each floor and sorting the collected status report messages based on timestamps. Through this, time-series synchronization of data occurring in a communication dead zone can be performed.

[0452] In step S508, the elevator control robot (300) can transmit an integrated status message. The elevator control robot (300) can transmit the generated integrated status message to the manager terminal (200).

[0453] In one embodiment of the present disclosure, the step of the elevator control robot (300) transmitting an integrated status message to the administrator terminal (200) may utilize a relay method. The elevator control robot (300) may transmit the integrated status message to the first mobile robot (410) at a contact point in an area near the elevator landing. The first mobile robot (410) may move to a home station capable of connecting to an external communication network and finally transmit the integrated status message to the administrator terminal (200).

[0454] In step S509, the manager terminal (200) can generate insights based on integrated status messages. The manager terminal (200) can analyze the received integrated status messages. Through the analysis results, the manager terminal (200) can derive insights to diagnose whether there is a delay in the current process, bottlenecks, excess or shortage of materials, etc.

[0455] In one embodiment of the present disclosure, the step of generating insights may include the step of the administrator terminal (200) loading the target remaining material quantity for the corresponding time point and zone from a previously stored process planning database. The administrator terminal (200) may calculate a process deviation, which is the difference between the actual remaining material quantity extracted from the integrated status message and the target remaining material quantity. If the process deviation exceeds a preset allowable threshold, the administrator terminal (200) may determine an abnormal state and generate a warning insight.

[0456] In one embodiment of the present disclosure, when the actual remaining material quantity is greater than the target remaining material quantity by more than an allowable threshold, the manager terminal (200) may determine that there is a decrease in work speed or an over-input of materials. The manager terminal (200) may generate insights regarding process delays and material excess.

[0457] In one embodiment of the present disclosure, if the actual remaining material quantity is less than the target remaining material quantity by more than an allowable threshold, the manager terminal (200) may determine that the material depletion rate is fast or that there is a shortage of inventory. The manager terminal (200) may generate insights regarding the material shortage and the possibility of early achievement.

[0458] In one embodiment of the present disclosure, the step of generating an insight may include the step of calculating the space occupancy rate within a work area by analyzing space availability data included in the work site status information. The administrator terminal (200) may generate an insight regarding a space shortage if it is determined that additional unloading is impossible because the space occupancy rate exceeds a threshold value.

[0459] In step S510, the administrator terminal (200) can perform updates to existing tasks based on insights. The administrator terminal (200) can perform updates to modify previously planned tasks or create new tasks based on the derived insights.

[0460] In one embodiment of the present disclosure, the step of performing a task update may generate a quantity control command based on insights regarding material excess. The administrator terminal (200) may generate a command to a mobile robot responsible for material delivery to temporarily suspend the delivery operation or reduce the quantity of materials to be delivered in the next batch.

[0461] In one embodiment of the present disclosure, the step of performing a task update may perform dynamic routing based on insights regarding space shortage. The administrator terminal (200) may change the destination coordinates of a mobile robot that is moving to or waiting in the corresponding work area. The destination coordinates may be changed in real time to another area or a reserve unloading area where there is space for material loading.

[0462] In one embodiment of the present disclosure, the step of performing a task update may perform a task switch when the cause of the space shortage is determined to be waste accumulation. The administrator terminal (200) may change the task attributes to switch the operating mode of the mobile robot performing the material transport task to a waste collection mode.

[0463] In one embodiment of the present disclosure, the step of performing a task update may be performed when bottleneck insight is generated. When a number of mobile robots (400) are densely packed in a specific movement path and the movement speed is reduced, the administrator terminal (200) may adjust the movement speed of the mobile robots passing through the path. The administrator terminal (200) may widen the entry interval or create a detour path and reflect this in the task.

[0464] In step S511, the administrator terminal (200) can transmit the updated task. The administrator terminal (200) can transmit the modified task to the first mobile robot (410).

[0465] In step S512, the first mobile robot (410) can perform an updated task-based operation. The first mobile robot (410) can adjust and perform the operation according to the new task received.

[0466] In step S513, the administrator terminal (200) can transmit the updated task. The administrator terminal (200) can sequentially propagate the updated task to the elevator control robot (300) via the first mobile robot (410), and to the second and third mobile robots via the elevator control robot (300).

[0467] In step S514, the second mobile robot can perform an updated task-based action. The second mobile robot can modify its action, such as interrupting an existing task or changing its path, in accordance with the new instructions.

[0468] In step S515, the third mobile robot can perform an updated task-based action. The third mobile robot can also receive the updated task and adjust its actions in real time. This prevents inefficient work that is detached from the actual situation on site and optimizes the overall logistics flow.

[0470] FIG. 24 is a detailed flowchart illustrating the process of comparing performance against plans of an administrator terminal and generating insights therefrom, according to one embodiment.

[0471] Referring to FIGS. 23 and 24, a detailed flowchart of how the administrator terminal (200) generates insights based on an integrated status message can be performed by the administrator terminal (200).

[0472] A method for controlling a feedback loop system based on work site conditions using multiple mobile robots (400) at a multi-layered construction site may be disclosed. The multiple mobile robots (400) may collect work site condition information of a work area while performing their respective assigned tasks. The work site condition information may include at least one of material loading volume, space availability, and whether there is a work delay. In one embodiment of the present disclosure, the work site condition information may include at least one of the identification ID (ID) of the mobile robot (400), current location coordinates, volume or number data of the load scanned through a vision sensor or LiDAR (Light Detection and Ranging), the presence or absence of obstacles on the movement path, and the estimated time of work completion.

[0473] A plurality of mobile robots (400) can generate a status report message containing collected work site status information. A plurality of mobile robots (400) can transmit the generated status report message to an elevator control robot (300). In one embodiment of the present disclosure, when a plurality of mobile robots (400) complete a task and return to a contact point, they can transmit a status report message by performing short-range wireless communication with an elevator control robot (300) that has arrived at the contact point.

[0474] The elevator control robot (300) can collect status report messages. The elevator control robot (300) can generate an integrated status message that reflects the overall situation of the site. In one embodiment of the present disclosure, the elevator control robot (300) can sort the status report messages collected by circulating through each floor based on timestamps. The elevator control robot (300) can generate an integrated status message through the sorted messages. Through this, time-series synchronization of data occurring in a communication dead zone can be performed. The elevator control robot (300) can transmit the generated integrated status message to the administrator terminal (200).

[0475] The administrator terminal (200) can generate insights based on integrated status messages. The administrator terminal (200) can perform task updates based on the generated insights. The administrator terminal (200) can control operations by sending the updated tasks to multiple mobile robots (400).

[0476] In step S509-1, the administrator terminal (200) can receive an integrated status message. The integrated status message can be transmitted via a relay method. For example, the elevator control robot (300) can transmit the integrated status message to the first mobile robot (410) at a contact point, which is an area near the elevator landing. The first mobile robot (410) can move to a home station capable of connecting to an external communication network. The first mobile robot (410) can finally transmit the integrated status message to the administrator terminal (200). The integrated status message may include information on the actual remaining material quantity of a specific work area.

[0477] In step S509-2, the manager terminal (200) can load process planning data. The manager terminal (200) can access an internal database. The manager terminal (200) can load data on the target remaining material quantity planned for a specific time and a specific area. For example, the database may be a process schedule or a Building Information Modeling (BIM) database. However, the present disclosure is not limited thereto.

[0478] In step S509-3, the manager terminal (200) can extract and compare performance data. The manager terminal (200) can extract the actual remaining amount from the received integrated status message. The manager terminal (200) can calculate the process deviation by comparing the extracted actual remaining amount with the target remaining amount.

[0479] In step S509-4, the administrator terminal (200) can determine whether the process deviation is within an allowable error range. The calculated process deviation can be determined to be within a preset threshold. The threshold can serve as a criterion for filtering out sensor errors or minor operational variations. For example, the allowable error range can be set to ±5%. However, the present disclosure is not limited thereto.

[0480] In step S509-5, the administrator terminal (200) may determine that the process is in a normal state. If the process deviation is within the allowable error range, the current process may be determined to be in a normal state where it proceeds smoothly as planned. If the process is determined to be in a normal state, the administrator terminal (200) may not generate a separate warning insight.

[0481] In step S509-6, the manager terminal (200) can determine whether the remaining amount is greater than planned. If the process deviation is outside the allowable error range, the manager terminal (200) can determine whether the actual remaining amount is greater than the planned target remaining amount. This determination can be performed to identify the cause of the deviation.

[0482] In step S509-7, the manager terminal (200) can generate insights regarding process delays and material excess. If the actual remaining quantity is significantly higher than planned, it may be determined that the work speed has slowed down and the materials have not been used up or that the materials have been over-inputted. Based on this determination, the manager terminal (200) can generate insights regarding process delays and material excess. The generated insights can be used as grounds for a subsequent order to stop material delivery.

[0483] In step S509-8, the manager terminal (200) can generate insights regarding early achievement or material shortages. If the actual remaining quantity is significantly less than the plan, it may be determined that the work speed is faster than expected or that there is a shortage of material inventory. Based on this determination, the manager terminal (200) can generate insights regarding early achievement or material shortages. The generated insights can be used as the basis for an emergency material input order.

[0484] In step S509-9, the administrator terminal (200) can output and transmit insights. The generated insights may include any one of normal, delayed or excessive, early attainment or insufficient. The administrator terminal (200) can transmit the generated insights to the task update module to generate actual robot control commands.

[0486] FIG. 25 is a block diagram showing a detailed function module that performs task updates within a processor of an administrator terminal according to one embodiment.

[0487] Referring to FIG. 25, the administrator terminal (200) can perform task updates based on generated insights. The administrator terminal (200) can control the operation by issuing the updated tasks to multiple mobile robots (400). The processor (210) can receive various insights generated as a result of field situation analysis. The processor (210) can perform functions such as generating specific control commands to be issued to multiple mobile robots (400) or modifying existing tasks in response to the input insights.

[0488] The processor (210) may include a volume control module (211), a destination reassignment module (212), a task mode conversion module (213), and a traffic control module (214).

[0489] The volume control module (211) can perform the function of dynamically controlling the flow of materials at the site. For example, if an insight is received regarding material excess or process delay in a specific work area, the volume control module (211) can be activated. The volume control module (211) can generate a command to temporarily suspend the material receiving operation to the mobile robot responsible for material receiving. Additionally, the volume control module (211) can generate a command to reduce the quantity of materials to be transported in the next batch, thereby preventing material overflow at the site and maintaining the efficiency of the workspace.

[0490] In one embodiment of the present disclosure, the volume control module (211) may include control logic that proportionally reduces the transport quantity according to the degree of material oversupply. The volume control module (211) may continuously monitor the current material depletion rate and the inflow rate. Through this, the volume control module (211) may predict a material oversupply state that may occur in the future and perform prediction-based control to adjust the material supply schedule in advance.

[0491] The destination reassignment module (212) can perform the function of changing the movement path of a mobile robot in real time. When a shortage of space or congestion is detected in a specific work area, the destination reassignment module (212) can be activated. The destination reassignment module (212) can change the existing destination of a mobile robot that is transporting materials or waiting. The destination reassignment module (212) can efficiently redistribute materials by performing dynamic routing that changes the destination coordinates in real time to another area or reserve unloading area where there is space for material loading.

[0492] In one embodiment of the present disclosure, the destination reassignment module (212) may maintain a map that manages space occupancy data of all work zones within the site in real time. When selecting a new destination, the destination reassignment module (212) may comprehensively consider the distance from the current location, the estimated travel time, and the work priority of the corresponding zone. The destination reassignment module (212) may perform an algorithm to determine an optimal alternative destination.

[0493] The task mode conversion module (213) can perform the function of dynamically changing the role of the mobile robot according to changes in the field situation. For example, if an insight is generated that securing workspace is urgent due to excessive accumulation of waste, the task mode conversion module (213) may be activated. This situation may be one in which the cause of the lack of space is determined to be the accumulation of waste. The task mode conversion module (213) can perform a task conversion by changing the task attributes to immediately switch the operating mode of the mobile robot, which was previously performing a material transport task, to a waste collection mode. Through this, urgent problems can be solved by flexibly utilizing available resources without waiting for an idle robot.

[0494] In one embodiment of the present disclosure, the task switching by the task mode switching module (213) may be performed temporarily. The mobile robot may be configured to automatically return to the originally assigned material transport task after completing an urgent task, such as waste collection. The task mode switching module (213) may manage a list of task priorities for the entire site. The task mode switching module (213) may maximize the processing efficiency of the entire system by redistributing the roles of the robots according to priority.

[0495] The traffic control module (214) can perform the function of resolving bottlenecks by managing the movement flow of mobile robots. When an insight into a bottleneck is generated where multiple mobile robots are densely packed in a specific movement path and movement speed is reduced, the traffic control module (214) can be activated. The traffic control module (214) can widen the entry interval between robots by adjusting the movement speed of mobile robots passing through the path. Additionally, the traffic control module (214) can create a detour path to avoid congested sections and reflect this in the task to resolve the congestion of the entire logistics flow.

[0497] FIG. 26 is a conceptual diagram illustrating the process of determining the optimal disembarkation location based on autonomous driving and spatial analysis of a mobile robot according to one embodiment.

[0498] Referring to FIG. 26, the process of determining the optimal unloading location based on autonomous driving and spatial analysis of a mobile robot (400) according to one embodiment is illustrated. The present invention provides an intelligent system in which the mobile robot (400) independently finds the safest and most efficient unloading location by comprehensively considering various structural characteristics of a multi-unit dwelling or construction site (e.g., front door opening radius, passageway width, location of existing stored goods, etc.).

[0499] Specifically, FIG. 26 illustrates an overall flow in which an autonomous driving process for transporting materials and a process for determining the optimal unloading area at the destination are organically combined. First, the first mobile robot (400) starts from a load zone (LZ) where materials are loaded and moves to the front of an elevator (EV) landing using an autonomous driving method such as line tracing. At this time, the mobile robot (400) recognizes a buffer zone, which is a safety zone set in front of the elevator (EV), and performs alignment and waiting operations within that zone to safely board.

[0500] After arriving at the target floor, the mobile robot (400) enters the unloading zone (UZ, Unload Zone) where materials must be unloaded and scans the space using the mounted sensor. The grid and dotted lines shown at the bottom of the drawing visualize the process of the mobile robot (400) dividing the recognized space into multiple 'segments' for analysis. The mobile robot (400) analyzes the divided segments to identify interference factors such as the radius of door opening or obstacles, determines the most suitable 'optimal unloading zone' to avoid them, and then unloads the materials at that location.

[0502] FIG. 27 is a flowchart illustrating the process of determining the optimal unloading area and elevator boarding / alighting of a mobile robot according to one embodiment.

[0503] Referring to FIG. 27, the process of determining the optimal unloading area and elevator boarding / alighting of the mobile robot (400) can be performed by a manager terminal (200), a mobile robot (400), and an elevator control robot (300).

[0504] In step S610, the manager terminal (200) can generate a work command and transmit it to the mobile robot (400). The manager terminal (200) or the server (100) can generate a work command for material transport. The work command may include information on the type and quantity of the material and the destination floor. The generated work command can be transmitted via a communication network to the mobile robot (400) waiting on the first floor or at a specific location.

[0505] In step S620, the mobile robot (400) can move the material to the elevator using a line tracing method. Upon receiving a work command, the mobile robot (400) can follow a guide line marked on the floor or a virtual path. The mobile robot (400) can move to a buffer zone provided in front of the elevator landing while loaded with the material. The buffer zone may be a safety zone where the mobile robot (400) aligns and waits to enter the elevator.

[0506] In step S630, the mobile robot (400) can board the elevator based on the guidelines. When the elevator arrives and the doors open, the mobile robot (400) can recognize the boarding guidelines provided by the elevator control robot (300) or the elevator system. The mobile robot (400) can precisely enter the elevator according to the recognized guidelines and complete the boarding. For example, the boarding guidelines may be provided via laser projection, a Light Emitting Diode (LED) display, a Near Field Communication (NFC) signal, a Bluetooth beacon signal, a physical marker attached to the floor, an Augmented Reality (AR) overlay, or voice guidance. However, the present disclosure is not limited thereto.

[0507] In step S640, when the elevator control robot (300) confirms that the mobile robot (400) has boarded, it can control the elevator to transport the material to the target floor. The elevator control robot (300) can check through sensors or communication signals whether the mobile robot (400) has safely landed at a designated location inside the elevator. Once the confirmation is complete, the elevator control robot (300) can close the elevator doors and move the material to the target floor where it needs to be unloaded.

[0508] In step S650, the elevator control robot (300) can generate and provide a guideline for the mobile robot (400) to disembark. When the elevator arrives at the target floor and the door opens, the elevator control robot (300) can provide an Alighting Guideline so that the mobile robot (400) can safely disembark. The Alighting Guideline can serve to guide the mobile robot (400) so that it does not collide with the elevator door or wall during the disembarking process.

[0509] In step S660, the mobile robot (400) can determine the final unloading zone based on spatial information regarding the unloading zone of the destination floor. The mobile robot (400) that has disembarked from the elevator can collect spatial information of the floor it arrived at using a mounted sensor. The mobile robot (400) can analyze the collected spatial information to autonomously determine the Optimal Unloading Zone, which is most suitable for unloading materials.

[0511] FIG. 28 is a conceptual diagram showing guidelines and buffer areas for elevator boarding and alighting of a mobile robot according to one embodiment.

[0512] Referring to FIG. 28, the mobile robot (400) can enter a buffer area (BZ) to safely board an elevator (EV). The mobile robot (400) can perform a process of alignment according to a guideline (LI). This process can serve as a basis for the mobile robot (400) to move smoothly in a multi-layered work environment.

[0513] Regarding the mobile robot (400), details that overlap with those described in FIG. 1, etc. may be omitted. The mobile robot (400) may be the entity that transports materials and boards the elevator (EV). The mobile robot (400) can recognize the forward guideline (LI) using its own sensor. The mobile robot (400) can control its posture so that the second axis (a2), which indicates its direction of movement, aligns with the first axis (a1) of the guideline (LI).

[0514] Regarding the elevator (EV), details that overlap with those described in FIG. 2, etc. may be omitted. The elevator (EV) may be a vertical transport means that supports inter-floor movement of the mobile robot (400). A sensor (SE) may be installed at the top or inside the entrance of the elevator (EV). The sensor (SE) may perform the role of guiding the safe entry of the mobile robot (400).

[0515] The buffer area (BZ) may be a specific zone set in front of the elevator (EV) door. The mobile robot (400) may first enter the buffer area (BZ) and wait before boarding the elevator (EV). The mobile robot (400) may stop or perform fine position adjustments within the buffer area (BZ) to make final preparations for boarding. For example, the mobile robot (400) may move to the buffer area (BZ) via a line tracing method that follows a separate line marked on the floor.

[0516] The sensor (SE) may be installed on the top of the elevator (EV) door or on the interior ceiling. The sensor (SE) may perform the function of projecting or transmitting a guideline (LI) toward the floor where the buffer area (BZ) is located. The elevator control robot (300) may control the operation of the sensor (SE) in conjunction with the door opening and closing state of the elevator (EV). For example, the elevator control robot (300) may activate the sensor (SE) to generate a guideline (LI) when the door opens. Additionally, the elevator control robot (300) may deactivate the sensor (SE) to eliminate the guideline (LI) when the door closes.

[0517] In one embodiment of the present disclosure, the sensor (SE) may be implemented in various ways. For example, the sensor (SE) may be a laser projector, an infrared transmitter, a light-emitting diode (LED) light, an ultrasonic sensor, a wireless signal beacon, a LiDAR scanner, or a vision camera. However, the present disclosure is not limited thereto.

[0518] The guideline (LI) may be a guide line generated by a sensor (SE) and displayed on the floor. The guideline (LI) may provide a path so that the mobile robot (400) can enter the elevator (EV) accurately and safely. The mobile robot (400) may recognize the guideline (LI) using a mounted camera or a light receiving sensor. The mobile robot (400) may control its movement to follow the guideline (LI). The guideline (LI) may be not only a physical line but also virtual path information generated via wireless signals.

[0519] The first axis (a1) may represent a reference axis passing through the center of the elevator (EV) entrance. A guideline (LI) may be created to coincide with the first axis (a1). The second axis (a2) may be a central axis representing the forward direction of the mobile robot (400). The mobile robot (400) may perform the process of aligning its second axis (a2) parallel to the first axis (a1) within the buffer area (BZ). Through this, the mobile robot (400) can enter the center without colliding with the door frame of the elevator (EV).

[0520] The mobile robot (400) can board the elevator (EV) after aligning based on the boarding guidelines provided by the elevator control robot (300). The elevator control robot (300) can control the elevator (EV). Through this, the elevator control robot (300) can transport the mobile robot (400) to the target floor where material unloading is required.

[0522] FIG. 29 is a detailed flowchart illustrating the process of determining the optimal unloading zone based on spatial analysis of a mobile robot according to one embodiment.

[0523] Referring to FIGS. 27 to 29, the process of determining the optimal unloading area and elevator boarding / alighting of the mobile robot (400) (S660) can be performed by the mobile robot (400).

[0524] In step S661, the mobile robot (400) can collect spatial information about the unloading area. The mobile robot (400) can arrive at the target floor and disembark from the elevator. The mobile robot (400) can move to the area where unloading will take place. The mobile robot (400) can acquire three-dimensional spatial information about the surrounding environment using mounted sensors. For example, the sensors may be LiDAR, a depth camera, an ultrasonic sensor, an infrared sensor, a vision sensor, a radar, or a 3D scanner. However, the present disclosure is not limited thereto. The collected spatial information may include the location of walls, the shape and opening / closing direction of doors, the flatness of the floor, and the location and size information of previously stacked materials or obstacles.

[0525] In one embodiment of the present disclosure, prior to the step of collecting spatial information, the step of the mobile robot (400) moving from inside the elevator to the entry point of the unloading area based on the unloading guideline provided by the elevator control robot (300) may be further included.

[0526] In one embodiment of the present disclosure, prior to the step of recognizing disembarking guidelines, the step of the mobile robot (400) moving to a buffer area in front of the elevator landing via a line tracing method may be included. Additionally, the step of the mobile robot (400) aligning based on boarding guidelines provided by the elevator control robot (300) and then boarding the elevator may be included. The step of the elevator control robot (300) controlling the elevator to transport the mobile robot (400) to a target floor where material unloading is required may be further included.

[0527] In step S662, the mobile robot (400) can set multiple unloading candidate areas by dividing the floor plane of the unloading area into multiple segments based on spatial information. The mobile robot (400) can identify floor plane areas where unloading is possible from the collected spatial information. The mobile robot (400) can divide the identified floor plane areas into grid-shaped segments. Each segment can be set as a potential unloading candidate area where materials can be unloaded.

[0528] In one embodiment of the present disclosure, the step of setting a plurality of unloading candidate areas may include calculating an internal area separated from a wall or fixed structure by a safety buffer distance for preventing collision of the robot from the collected spatial information as an available area. Additionally, the step of performing segment division within the available area may be included.

[0529] In one embodiment of the present disclosure, the segment division can divide the available area using a unit grid with a size that adds a margin width to the dimensions of the material being transported by the mobile robot (400). This allows for the generation of candidate unloading areas optimized for the size of the material.

[0530] In step S663, the mobile robot (400) can determine from spatial information at least one interference area where material unloading is impossible. The interference area may be an area unsuitable for unloading materials due to anticipated physical collision or movement path interference. For example, the interference area may be a door opening radius, a space occupied by existing stacked materials, an essential passageway, a temporary obstacle-occupied area, an emergency facility access area such as in front of a fire hydrant or emergency exit, a construction area on the floor surface, or an area with a low ceiling height. However, the present disclosure is not limited thereto.

[0531] In one embodiment of the present disclosure, the step of identifying an interference region may include identifying the hinge position and width of the door from spatial information. Additionally, it may include the step of modeling the radius of rotation according to the opening and closing trajectory of the door and setting it as a first interference region.

[0532] In one embodiment of the present disclosure, the step of identifying the hinge position and width may include the step of object-recognizing at least one of the door frame and the handle based on data acquired through a sensor. Additionally, it may include the step of specifying the vertical frame on the side of the frame opposite to where the handle is located as the hinge axis. It may include the step of calculating the width of the door based on the hinge axis. Additionally, it may include the step of determining the opening and closing direction of the door.

[0533] In one embodiment of the present disclosure, the width of the door may be determined based on the distance between a first vertical frame on the side where the handle is located and a second vertical frame on the opposite side where the handle is located.

[0534] In one embodiment of the present disclosure, the opening and closing direction of the door may be determined based on the shape of the handle or the position of the door stopper.

[0535] In one embodiment of the present disclosure, the step of setting a first interference area may include setting the hinge position as the origin and setting the radius to a value obtained by adding a margin for collision prevention to the width of the door. Additionally, the step may include creating an area having an arc equal to the maximum opening angle according to the opening and closing direction of the door and setting it as the first interference area.

[0536] In one embodiment of the present disclosure, the step of identifying an interference area may include the step of setting a second interference area by adding a safety margin for collision avoidance of the robot to the space occupied by an existing pile or obstacle recognized through a sensor.

[0537] In one embodiment of the present disclosure, the step of identifying an interference area may include setting a turning radius area required for the mobile robot (400) to exit after unloading materials as a third interference area. Alternatively, it may include setting an essential passageway area that must be secured for the movement of a person or another robot as a third interference area.

[0538] In step S664, the mobile robot (400) may exclude areas that overlap with or are adjacent to interference areas among a plurality of unloading candidate areas. The mobile robot (400) may select valid candidate areas where safe unloading is possible. The mobile robot (400) may compare the unloading candidate areas set in step S662 with the interference areas identified in step S663. The mobile robot (400) may determine unloading candidate areas that overlap with interference areas as unloading areas. The mobile robot (400) may remove the determined unloading areas from the candidate list. Only the safe segments remaining after the interference areas are excluded may be determined as the final valid candidate areas.

[0539] In one embodiment of the present disclosure, it may be determined that no valid candidate area exists because all unloading candidate areas overlap with interference areas. If it is determined that no valid candidate area exists, the mobile robot (400) may include the step of transmitting a signal that unloading is impossible to the elevator control robot (300). Additionally, it may further include an exception handling step of waiting with the materials loaded or returning.

[0540] In step S665, the mobile robot (400) can calculate a loading suitability score for each valid candidate region. The mobile robot (400) may apply multiple evaluation criteria to quantitatively evaluate the selected valid candidate regions. For example, the evaluation criteria may be accessibility, spatial efficiency, stability, work convenience, path efficiency, energy consumption, and harmony with the surrounding environment. However, the present disclosure is not limited thereto. The mobile robot (400) can calculate an overall loading suitability score by assigning weights to each evaluation criterion.

[0541] In one embodiment of the present disclosure, the step of calculating the unloading suitability score may include the step of calculating the travel distance from the current position of the mobile robot (400) to the center point of a valid candidate area. Additionally, it may include the step of calculating the rotation angle of the robot required for unloading. It may include the step of performing an accessibility evaluation in which a higher score is assigned as the travel distance is shorter and the rotation angle is smaller.

[0542] In one embodiment of the present disclosure, the step of calculating a loading suitability score may include a step of determining whether a valid candidate area is adjacent to a wall or existing stacked materials. Additionally, it may include a step of performing a space efficiency evaluation to induce dense placement of materials by assigning a higher score the closer it is to a wall or existing stacked materials.

[0543] In one embodiment of the present disclosure, the step of calculating a loading / unloading suitability score may include determining floor flatness and slope information of the corresponding valid candidate area collected through a sensor. Additionally, it may include a step of performing a stability evaluation in which a higher score is assigned as the floor has fewer irregularities and is closer to horizontal.

[0544] In step S666, the mobile robot (400) can finally determine the area with the highest calculated score as the optimal unloading area. The mobile robot (400) can move to the determined optimal unloading area and unload materials. The mobile robot (400) can compare the unloading suitability scores calculated in step S665. The mobile robot (400) can confirm the valid candidate area that obtained the highest score as the final optimal unloading area. The mobile robot (400) can set the coordinates of the determined optimal unloading area as a target point. The mobile robot (400) can move to the set target point by autonomous driving. After moving to the target point, the mobile robot (400) can perform the material unloading operation.

[0546] FIG. 30 is an example diagram showing the floor plan area of ​​the unloading / unloading area and the available area with a safety buffer distance applied according to one embodiment.

[0547] Referring to FIG. 30, a step of analyzing space to determine the optimal location for a mobile robot (400) to unload materials in an unloading area (UZ) can be described.

[0548] The Floor Plane Area (FPA) may be the total physical floor area of ​​the unloading area (UZ) recognized by the mobile robot (400) using a sensor mounted thereon. For example, the mobile robot (400) may generate a Floor Plane Area (FPA) that includes the boundaries and structure of the unloading area (UZ) based on spatial information obtained through LiDAR, a 3D camera, or an ultrasonic sensor. The generated Floor Plane Area (FPA) may be used as basic data to calculate the Available Area (AVA) and set up candidate unloading areas in subsequent steps.

[0549] The buffer distance (BD) may be a safe separation distance set to prevent the mobile robot (400) from colliding with a wall or a fixed structure. The mobile robot (400) must prevent damage that may occur from contacting structures such as walls or pillars while driving or during the process of unloading materials. Therefore, the buffer distance (BD) can be set considering the size of the mobile robot (400), the specifications of the materials being transported, and the driving speed, and is used to apply an offset of a certain distance inward from the edge of the floor plan area (FPA). The buffer distance (BD) can be used to define the available area (AVA) by applying an offset of a certain distance inward from the edge of the floor plan area (FPA).

[0550] The Available Area (AVA) may be the remaining inner area (the dotted pattern area of ​​the drawing) excluding the border area equal to the buffer distance (BD) from the entire Floor Plan Area (FPA). The Available Area (AVA) may refer to a practical working space where the mobile robot (400) can actually drive or unload materials. By performing the subsequent steps of segment division and unloading location search only within this Available Area (AVA), the mobile robot (400) can fundamentally eliminate the risk of collision with the structure and ensure safe unloading operations.

[0551] Subsequently, the mobile robot (400) can divide the calculated available area (AVA) into multiple segments according to the specifications of the material being transported. Through this, multiple candidate unloading areas can be established. In one embodiment of the present disclosure, the segment division may use a unit grid size that is the size of the specifications of the material being transported by the mobile robot (400) plus a margin width. The mobile robot (400) can establish multiple candidate unloading areas by dividing the available area (AVA) into unit grids.

[0553] FIG. 31 is an example diagram showing how an available area according to one embodiment is divided into segments of material size to set up unloading candidate areas.

[0554] Referring to FIG. 31, the mobile robot (400) can analyze the previously calculated available area (AVA) by dividing it into sections optimized for the specifications of the material being transported. The material size (d1) shown in the drawing refers to the width and length of the roll container or material being transported by the mobile robot (400), and this can serve as a standard unit for dividing the available area (AVA). In one embodiment of the present disclosure, the material size (d1) can be set by adding the robot's handling error or safety margin required during unloading operations to the physical size of the material.

[0555] Candidate Areas (CA) can refer to individual unit zones in which the Available Area (AVA) is divided into grids of material size (d1). The drawing illustrates a state in which the Available Area (AVA) is divided into a total of 21 segments from Z1 to Z21.

[0556] Each unloading candidate area (CA, Z1 to Z21) becomes a potential location candidate where the mobile robot (400) can unload materials, and is subject to individual evaluation for determining interference and scoring suitability in subsequent steps. Through this, the mobile robot (400) can increase computational speed and efficiency by selecting the optimal location from a discrete group of candidates (Z1 to Z21) instead of searching the entire continuous space.

[0558] FIG. 32 is an illustrative diagram for explaining an interference area within an unloading / unloading area according to one embodiment.

[0559] Referring to FIG. 32, the second interference area (IZ1) may be a space occupied by existing stacked materials or fixed obstacles. The mobile robot (400) can collect information about the space using a mounted sensor (SE). For example, the mobile robot (400) can determine the location and range of the second interference area (IZ1) through object detection technology.

[0560] In one embodiment of the present disclosure, the mobile robot (400) can identify the space occupied by existing stacked materials or obstacles recognized through the sensor (SE). The mobile robot (400) can add a safety margin for its collision avoidance to the identified space. The mobile robot (400) can set the area with the added safety margin as a second interference area (IZ1) and decide not to unload materials in that area.

[0561] The first interference area (IZ2) may be a space corresponding to the radius of rotation when the door is opened or closed. If materials are placed in the first interference area (IZ2), there is a risk that the door may become unusable or be damaged. Therefore, the mobile robot (400) can set the first interference area (IZ2) as a no-disembarkation zone.

[0562] The mobile robot (400) can first identify the hinge position and width of the door from spatial information to determine the first interference area (IZ2). The mobile robot (400) can identify the door through a deep learning-based object recognition model. The mobile robot (400) can recognize at least one of the door frame and handle based on data acquired through a sensor (SE). The mobile robot (400) can identify the vertical frame on the side opposite to where the handle is located as the hinge axis. Based on the identified hinge axis, the mobile robot (400) can calculate the width of the door and determine the opening and closing direction of the door.

[0563] In one embodiment of the present disclosure, the width of the door may be determined based on the distance between a first vertical frame on the side where the handle is located and a second vertical frame on the opposite side where the handle is located. In one embodiment of the present disclosure, the opening and closing direction of the door may be determined based on the shape of the handle or the position of the door stopper.

[0564] The mobile robot (400) can set the identified hinge position as the origin. The mobile robot (400) can set the radius to a value obtained by adding a margin for collision prevention to the width of the door. The mobile robot (400) can create an area having an arc equal to the maximum opening angle according to the opening and closing direction of the door and set it as the first interference area (IZ2).

[0565] In one embodiment of the present disclosure, the mobile robot (400) may expand the area by adding a margin for safety to the calculated radius of rotation area. The mobile robot (400) may project the expanded sector area onto a floor plane grid. The mobile robot (400) may determine the segments included in the projected area as a first interference area (IZ2) that is a no-disembarkation zone.

[0566] In one embodiment of the present disclosure, the interference area may include a third interference area. The third interference area may include a turning radius area required for the mobile robot (400) to exit the workspace after unloading materials. Additionally, the third interference area may be configured to include an essential passageway area that must be secured for the smooth movement of a person or other robot. Through this, the mobile robot (400) can determine the optimal unloading location by comprehensively considering the efficiency and safety of the operation.

[0568] FIG. 33 is an example of a result in which valid candidate regions excluding interference regions are selected and the optimal unloading area is finally determined according to one embodiment.

[0569] Referring to FIG. 33, the mobile robot (400) can determine a Valid Candidate Area (VCA) by excluding areas with a risk of physical collision or movement path interference from the entire Candidate Area (CA).

[0570] Specifically, the mobile robot (400) can determine the segment (Z1) overlapping with the first interference area (IZ1, e.g., existing stacked objects) identified in the preceding step and the segment (Z16, Z17) overlapping with the second interference area (IZ2, e.g., door opening radius) as unloadable areas and remove them from the candidate group. Accordingly, only the remaining safe segments (e.g., Z2Z15, Z18Z21) can be set as valid candidate areas (VCA).

[0571] The mobile robot (400) can calculate an unloading suitability score for each selected valid candidate area (VCA) and determine the location with the highest score as the Optimal Unloading Zone (OUZ). FIG. 33 illustrates a state in which segment Z10 is selected as the Optimal Unloading Zone (OUZ). This decision can be made by comprehensively evaluating the following three score determination indicators.

[0572] First, the Accessibility Score is calculated based on the travel distance from the robot's current location (or elevator disembarkation point) to the center point of the corresponding segment and the turning angle required for disembarkation. A higher score is assigned for shorter travel distances and fewer turning movements (closer to straight-line travel), thereby encouraging the robot to reduce unloading time and minimize battery consumption.

[0573] Second, the Spatial Efficiency Score indicator is intended to prevent spatial fragmentation. A higher score is assigned the closer the segment is to a wall or existing storage. In the drawing, Z10 was selected as OUZ because it is located right next to the existing storage, IZ1 (Z1), which effectively concentrates materials into the corner. This allows for maximizing the central passageway space for future movement of other materials or people.

[0574] Third, the Stability Score is calculated based on flatness and slope data of the segment's floor. A higher score is assigned when the floor detected by sensors has fewer irregularities and is closer to horizontal, thereby preventing the risk of materials tipping over or slipping during unloading.

[0575] The mobile robot (400) sets the segment (Z10) with the highest total score calculated by applying weights to the above indicators as the final target point, moves to that location, and unloads the material.

[0576] In one embodiment of the present disclosure, all unloading candidate regions (CA) may overlap with interference regions, so there may be no valid candidate regions (VCA). In this case, the mobile robot (400) may determine that unloading is impossible. The mobile robot (400) may transmit a signal indicating that unloading is impossible to the elevator control robot (300). The mobile robot (400) may perform exception handling operations, such as waiting at the site with the materials loaded or returning to the home station (HS).

[0578] The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment of the present invention and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment may be combined or modified and implemented in other embodiments by a person skilled in the art to which the embodiments belong. Accordingly, details regarding such combinations and modifications should be interpreted as being included within the scope of the present invention.

[0579] Furthermore, although the embodiments have been described above, this is merely illustrative and does not limit the invention. Those skilled in the art will understand that various modifications and applications not exemplified above are possible within the scope of the essential characteristics of the embodiments. In other words, each component specifically shown in the embodiments may be modified and implemented. Differences related to such modifications and applications should be interpreted as being included within the scope of the invention as defined in the appended claims.

[0580] delete Explanation of the symbols delete

Claims

Claim 1 A method for scheduling mobile robot collaboration in a multi-story construction site comprises: a step in which an elevator control robot receives operational status data from a plurality of mobile robots within the site, each including at least one of a current location, workload, and remaining battery level; a step in which an operational status table is created or updated to manage the availability of the plurality of mobile robots based on the operational status data; a step in which the elevator control robot identifies the assigned workload of a first mobile robot that is performing or is scheduled to perform work on a first floor; a step in which the elevator control robot determines the need for collaboration based on the operational status table; and a step in which, if the need for collaboration is recognized, the elevator control robot determines at least one of the plurality of mobile robots as an auxiliary mobile robot based on the operational status table. A mobile robot collaboration scheduling method comprising: a step in which the elevator control robot transmits a collaboration request message to the auxiliary mobile robot to instruct the first mobile robot to share the work; wherein the elevator control robot is mounted inside an elevator and moves vertically back and forth within a communication dead zone, and operates as a mobile data hub that performs short-range wireless communication with the plurality of mobile robots at contact points on each floor and relays collected data to an area where external communication network access is possible, wherein the contact point is an area including the elevator landing and is physically set within a range where short-range wireless communication is possible when the elevator equipped with the elevator control robot arrives at the corresponding floor and the door is open or closed, and the plurality of mobile robots are configured to return to the contact point after completing their assigned tasks and perform short-range wireless communication with the elevator control robot to transmit the operation status data. Claim 2 delete Claim 3 A mobile robot collaboration scheduling method according to claim 1, wherein the assigned workload is determined by the elevator control robot based on the analysis of a work information message transmitted from the first mobile robot and at least one of the number of materials being transported by the first mobile robot or the weight of the load, and the number of materials and the weight of the load are measured based on sensors placed inside the elevator. Claim 4 A mobile robot collaboration scheduling method according to claim 1, wherein the step of determining the necessity of collaboration is determined when the estimated processing time of the allocated workload exceeds a preset target time or the load state of the first mobile robot exceeds a threshold, and the estimated processing time is determined by considering the current position, movement speed, and remaining battery level of the first mobile robot. Claim 5 A mobile robot collaboration scheduling method according to claim 3, wherein the step of determining the necessity of collaboration is characterized by determining that immediate collaboration is necessary when the number of materials exceeds the standard number that the first mobile robot can transport alone in one go. Claim 6 A mobile robot collaboration scheduling method according to claim 1, wherein the step of determining the auxiliary mobile robot comprises: a step of calculating a collaboration suitability score for each of the remaining mobile robots recorded in the operation status table, using the distance from the first mobile robot, whether a current task is being performed, and the remaining battery level as variables; and a step of selecting the robot with the highest score as the auxiliary mobile robot. Claim 7 A mobile robot collaboration scheduling method according to claim 1, characterized in that, in the step of determining the auxiliary mobile robot, the estimated energy consumption required to perform the collaborative task is calculated, and a mobile robot whose current battery level is less than the sum of the estimated energy consumption and the minimum power required for return is excluded from the auxiliary mobile robot candidates. Claim 8 A mobile robot collaboration scheduling method according to claim 1, wherein the collaboration request message includes information about the first floor, identification information of the first mobile robot, and information about the quantity of materials to be collaborated on or the work area to be divided. Claim 9 A mobile robot collaboration scheduling method according to claim 8, wherein the operating status table comprises at least one of the ID of each of the plurality of mobile robots, current floor information, progress rate of a task being performed, remaining battery level, and time when the next task can be performed. Claim 10 A mobile robot collaboration scheduling method according to claim 1, wherein the step of instructing the work division is characterized by designating and instructing either a joint transport mode in which a single heavy object is physically transported together by the first mobile robot and the auxiliary mobile robot, or a split transport mode in which multiple materials are divided and transported separately, depending on the characteristics of the assigned workload. Claim 11 A mobile robot collaboration scheduling method according to claim 1, characterized in that the elevator control robot transmits the generated operation status table to a manager terminal and receives a collaboration approval message from the manager terminal and performs the operation. Claim 12 A mobile robot collaboration scheduling method according to claim 1, wherein the step of determining the auxiliary mobile robot further includes an inter-floor movement support step in which, when a mobile robot located on the second floor is determined to be the auxiliary mobile robot, the elevator control robot moves to the second floor to board the auxiliary mobile robot in the elevator and transfers it to the first floor to support collaboration with the first mobile robot, wherein the first floor and the second floor are different floors. Claim 13 A mobile robot collaboration scheduling method according to claim 12, wherein the step of determining the auxiliary mobile robot comprises: a step of first searching for available robots within the first layer; and a step of secondarily determining a robot located in another layer as the auxiliary mobile robot only if there are no suitable robots within the first layer or if the remaining battery level or workload of the available robots does not satisfy a reference value. Claim 14 In claim 12, the step of determining the auxiliary mobile robot comprises: a step of calculating a vertical movement time including at least one of the travel time from the current position of the elevator to the second floor, the travel time from the second floor to the first floor, and the elevator door opening and closing time when evaluating a robot located on the second floor as a candidate; and a step of deducting or correcting the collaboration suitability score by reflecting the vertical movement time as a work delay factor; a mobile robot collaboration scheduling method. Claim 15 In claim 12, the inter-floor movement support step sequentially performs the steps of: the elevator control robot arriving at the second floor and transmitting an arrival notification signal; the auxiliary mobile robot responding to the arrival notification signal and entering the elevator and transmitting a boarding completion signal; and the elevator control robot controlling the elevator to move to the first floor after receiving the boarding completion signal and transmitting a disembarking command to the auxiliary mobile robot.

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