Method and system for assigning elevator in environment where human and robot coexist, and method and system for controlling robot for boarding elevator

Abstract

The present invention relates to a method and system for assigning an elevator in a building in which a human and a robot coexist. The elevator assignment method according to the present invention includes the steps of: classifying a plurality of time sections into any one of a first type time section and a second type time section on the basis of an elevator use pattern of people in a building; and specifying the number of elevators to be assigned to a robot from among a plurality of elevators provided in the building depending on which one of the first type time section and the second type time section a specific time section belongs to, wherein some of the plurality of elevators may be assigned to the robot in the first type time section and all of the plurality of elevators may be assigned to the robot in the second type time section.

Description

Elevator assignment method and system in an environment where people and robots coexist, and robot control method and system for elevator boarding

[0001] The present invention relates to a method and system for assigning elevators to people and robots in an environment where people and robots coexist. Furthermore, the present invention relates to a method and system for controlling a robot for boarding an elevator assigned to the robot.

[0002] As technology advances, various service devices are emerging, and in particular, technological development for robots that perform various tasks or services is actively underway.

[0003] Furthermore, recent advancements in artificial intelligence and cloud technologies have made it possible to control robots with greater precision and safety, leading to a gradual increase in their utility. In particular, technological advancements have enabled robots to safely coexist with humans in indoor spaces.

[0004] Accordingly, robots are recently replacing human tasks or operations, and various methods for robots to directly provide services to people, especially in indoor spaces, are being actively researched.

[0005] For example, robots provide navigation services in public spaces like airports, train stations, and department stores, and serve customers in restaurants. Furthermore, robots provide delivery services, delivering mail and packages in offices, shared living spaces, and other spaces. Furthermore, robots provide a variety of services, including cleaning, security, and logistics. The types and scope of services provided by robots are expected to grow exponentially in the future, and the level of service provided is also expected to continue to evolve.

[0006] These robots provide various services not only in outdoor spaces but also in indoor spaces of buildings (or premises) such as offices, apartments, department stores, schools, hospitals, and amusement facilities. In this case, the robots are controlled to move around the indoor spaces of the buildings and provide various services.

[0007] Meanwhile, precise robot control is crucial for providing various tasks or services. Given the practical limitations of allowing users to physically control robots from their immediate vicinity, the need for remote robot control technology is becoming increasingly crucial.

[0008] Furthermore, there should be fewer spatial restrictions on the robot's movement, and to this end, various research activities are being conducted recently to enable robots to ride on means of transportation, such as elevators, automobiles, and electric carts.

[0009] For example, Korean Patent Publication No. 2009-0057869 (Mobile robot device, elevator management device, elevator floor movement control system of mobile robot and method thereof) discloses a control method for performing central control of an elevator and a robot to allow a robot to board an elevator.

[0010] When using robots in transportation, various considerations are needed in terms of robot and robot service operation, such as how to efficiently coordinate the relationship between the robot and the person using the transportation.

[0011] The present invention relates to a method and system for assigning elevators in an environment where people and robots coexist.

[0012] Furthermore, the present invention relates to a method and system for controlling a robot for boarding an elevator.

[0013] Furthermore, the present invention relates to a method and system for controlling an elevator and a robot in conjunction to enable efficient operation of the elevator in a building where people and robots coexist.

[0014] In order to achieve the above-described object, the present invention provides a method for assigning an elevator in a building where people and robots coexist, the method including the steps of: classifying a plurality of time intervals into one of a first type of time interval and a second type of time interval based on an elevator usage pattern of people in the building; and specifying the number of elevators to be assigned to the robot among a plurality of elevators provided in the building, depending on whether a specific time interval is the first type of time interval or the second type of time interval, wherein in the first type of time interval, some of the plurality of elevators may be assigned to the robot, and in the second type of time interval, all of the plurality of elevators may be assigned to the robot.

[0015] Furthermore, a system for assigning elevators in a building where people and robots coexist according to the present invention includes a control unit that classifies a plurality of time intervals into either a first type of time interval or a second type of time interval based on elevator usage patterns of people in the building, and specifies the number of elevators to be assigned to the robots among a plurality of elevators provided in the building depending on whether a specific time interval is the first type of time interval or the second type of time interval, wherein in the first type of time interval, some of the plurality of elevators may be assigned to the robots, and in the second type of time interval, all of the plurality of elevators may be assigned to the robots.

[0016] Furthermore, a program according to the present invention is a program stored in a computer-readable recording medium, which is executed by one or more processes in an electronic device, and which includes instructions for performing a step of classifying a plurality of time intervals into one of a first type of time interval and a second type of time interval based on an elevator use pattern of people in a building, and a step of specifying a number of elevators to be assigned to a robot among a plurality of elevators provided in the building, depending on whether a specific time interval is one of the first type of time interval and the second type of time interval, wherein in the first type of time interval, some of the plurality of elevators may be assigned to the robot, and in the second type of time interval, all of the plurality of elevators may be assigned to the robot.

[0017] The elevator assignment method and system according to the present invention can classify a plurality of time intervals into either a first type of time interval or a second type of time interval based on elevator usage patterns of people in a building, and can specify the number of elevators to be assigned to the robot among a plurality of elevators provided in the building depending on whether a specific time interval is either the first type of time interval or the second type of time interval. Through this, the present invention can provide an optimal elevator assignment method that can minimize inconvenience to people in using elevators in an environment where people and robots coexist and increase the efficiency of elevator use.

[0018] Furthermore, the elevator assignment method and system according to the present invention can provide an environment in which robot services can be provided while simultaneously satisfying people's elevator usage needs for each of the plurality of time periods by assigning some of the plurality of elevators to the robot in the first type of time period and assigning all of the plurality of elevators to the robot in the second type of time period.

[0019] Furthermore, the robot-friendly building according to the present invention utilizes technological convergence, where robots, autonomous driving, AI, and cloud technologies are integrated and connected, and can provide a new space where these technologies, robots, and facility infrastructure within the building are organically combined.

[0020] Furthermore, the robot-friendly building according to the present invention utilizes a cloud server that interfaces with multiple robots, allowing for the systematic management of the robots' operations, enabling them to provide services more systematically by organically controlling multiple robots and equipment infrastructure. This allows the robot-friendly building according to the present invention to provide a variety of services to people more safely, quickly, and accurately.

[0021] Figures 1, 2 and 3 are conceptual diagrams illustrating a robot-friendly building according to the present invention.

[0022] FIGS. 4, 5 and 6 are conceptual diagrams for explaining a system for controlling a robot that drives a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention.

[0023] Figures 7 and 8 are conceptual diagrams for explaining the facility infrastructure provided in a robot-friendly building according to the present invention.

[0024] Figures 9 to 11 are conceptual diagrams for explaining a method for estimating the position of a robot driving a robot-friendly building according to the present invention.

[0025] Figure 12 is a conceptual diagram for explaining a system for assigning elevators and controlling robots for boarding the elevator in an environment where people and robots coexist.

[0026] Figure 13 is a flowchart for explaining the linkage between a robot and an elevator in the present invention.

[0027] Figure 14 is a conceptual diagram for explaining the operation mode of an elevator in an environment where people and robots coexist.

[0028] Figure 15 is a flowchart explaining a method for assigning elevators and controlling robots for boarding elevators in an environment where people and robots coexist.

[0029] Figures 16a and 16b are conceptual diagrams for explaining a method of assigning elevators in an environment where people and robots coexist.

[0030] Figures 17a, 17b, 17c and 17d are conceptual diagrams for explaining a method of assigning elevators based on robot groups and controlling robot groups for elevator boarding.

[0031] Figures 18a, 18b, 18c, 18d and 18e are conceptual diagrams for explaining a method of assigning elevators according to the direction of movement of people and controlling robots for boarding the elevator in an environment where people and robots coexist.

[0032] Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0033] Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another.

[0034] When a component is referred to as being "connected" or "connected" to another component, it should be understood that it may be directly connected or connected to that other component, but that there may be other components intervening. Conversely, when a component is referred to as being "directly connected" or "connected" to another component, it should be understood that there are no other components intervening.

[0035] Singular expressions include plural expressions unless the context clearly indicates otherwise.

[0036] In this application, terms such as “include” or “have” are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood not to exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

[0037] The present invention relates to a robot-friendly building, and proposes a robot-friendly building in which people and robots can safely coexist and, further, robots can provide useful services within the building.

[0038] More specifically, the present invention provides a method for providing useful services to people using robots, robot-friendly infrastructure, and various systems for controlling them. In a building according to the present invention, people and multiple robots can coexist, and various infrastructures (or facility infrastructures) can be provided that allow multiple robots to move freely within the building.

[0039] In the present invention, a building is a structure constructed for continuous residence, living, work, etc., and may take various forms, such as a commercial building, an industrial building, an institutional building, or a residential building. Furthermore, the building may be a multi-story building with multiple floors, or a single-story building, as opposed to a multi-story building. However, for convenience of explanation, the present invention will be described as an example of infrastructure or facility infrastructure applicable to a multi-story building.

[0040] In the present invention, infrastructure or facility infrastructure refers to facilities installed in a building for the purpose of providing services, moving robots, maintaining their functions, maintaining cleanliness, etc., and their types and forms may vary greatly. For example, infrastructure installed in a building may include various types of moving equipment (e.g., robot passageways, elevators, escalators, etc.), charging equipment, communication equipment, cleaning equipment, structures (e.g., stairs, etc.), etc. In this specification, these facilities are referred to as facilities, infrastructure, facility infrastructure, or facility infrastructure, and in some cases, the terms may be used interchangeably.

[0041] Furthermore, in a building according to the present invention, at least one of the building, various facility infrastructures provided in the building, and a robot are controlled in conjunction with each other, so that the robot can safely and accurately provide various services within the building.

[0042] The present invention proposes a building equipped with various facility infrastructures that enable multiple robots to move within the building, provide services according to their tasks (or work), and support standby or charging functions, as well as repair and cleaning functions for the robots as needed. Such a building provides an integrated solution (or system) for robots, and the building according to the present invention can be designated by various modifiers. For example, the building according to the present invention can be expressed in various ways, such as i) a building equipped with infrastructure utilized by robots, ii) a building equipped with robot-friendly infrastructure, iii) a robot-friendly building, iv) a building where robots and people live together, and v) a building that provides various services utilizing robots.

[0043] Meanwhile, the meaning of "robot-friendly" in the present invention refers to a building where robots coexist. More specifically, it can mean that the building allows robots to operate, provides services to robots, has facility infrastructure available to robots, or has facility infrastructure providing functions necessary for robots (e.g., charging, repair, cleaning, etc.). In this case, "robot-friendly" in the present invention can be used to mean that the building has an integrated solution for the coexistence of robots and humans.

[0044] Below, the present invention will be described in more detail with reference to the attached drawings.

[0045] FIGS. 1, 2, and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention, and FIGS. 4, 5, and 6 are conceptual diagrams for explaining a system for controlling a robot that moves around a robot-friendly building according to the present invention and various facilities provided in the robot-friendly building. Furthermore, FIGS. 7 and 8 are conceptual diagrams for explaining facility infrastructure provided in a robot-friendly building according to the present invention. FIGS. 9 to 11 are conceptual diagrams for explaining a method for estimating the location of a robot that moves around a robot-friendly building according to the present invention.

[0046] First, for convenience of explanation, we will define representative drawing symbols.

[0047] In the present invention, a building is given the drawing code “1000”, and a space (indoor space or indoor area) of the building (1000) is given the drawing code “10” (see Fig. 8). Furthermore, indoor spaces corresponding to a plurality of floors constituting the indoor space of the building (1000) are given drawing codes 10a, 10b, 10c, etc. (see Fig. 8). In the present invention, the indoor space or indoor area means the interior of a building protected by an exterior wall, as opposed to the exterior of the building, and is not limited to meaning a space.

[0048] Furthermore, in the present invention, the robot is given a drawing symbol “R”, and even if a drawing symbol is not indicated for the robot in the drawing or specification, it can all be understood as a robot (R).

[0049] Furthermore, in the present invention, a person or human is given the drawing symbol “U,” and a person or human can be designated as a dynamic object. In this case, the dynamic object does not necessarily mean only a person, but can be understood to include an animal such as a dog or cat, or at least one other robot (e.g., a user’s personal robot, a robot providing other services, etc.), a drone, a vacuum cleaner (e.g., a robot vacuum cleaner), or other objects capable of movement.

[0050] Meanwhile, the building (building, structure, edifice, 1000) described in the present invention is not limited to a specific type, and may mean a structure built for people to live in, work in, raise animals, or store objects.

[0051] For example, the building (1000) may be an office, an officetel, an apartment, a mixed-use apartment, a house, a school, a hospital, a restaurant, a government office, etc., and the present invention may be applied to these various types of buildings.

[0052] As illustrated in Fig. 1, in a building (1000) according to the present invention, a robot can move and provide various services.

[0053] One or more different types of multiple robots may be located within the building (1000), and these robots may, under the control of the server (20), move within the building (1000), provide services, and utilize various facility infrastructures provided in the building (1000).

[0054] In the present invention, the location of the server (20) may vary. For example, the server (20) may be located at least within the building (1000) and outside the building (1000). That is, at least a portion of the server (20) may be located within the building (1000), and the remaining portion may be located outside the building (1000). Alternatively, the server (20) may be located entirely within the building (1000), or only outside the building (1000). Accordingly, the present invention does not impose any particular limitations on the specific location of the server (20).

[0055] Furthermore, in the present invention, the server (20) may be configured to utilize at least one of a cloud computing-based server (cloud server, 21) and an edge computing-based server (edge ​​server, 22). Furthermore, in addition to the cloud computing or edge computing methods, the server (20) may be applied to the present invention as long as it is capable of controlling a robot.

[0056] Meanwhile, the server (20) according to the present invention may, in some cases, perform control of at least one of the robot and the facility infrastructure provided in the building (1000) by combining the server (21) of the cloud computing method and the edge computing method.

[0057] Meanwhile, the robot (R) can be driven according to control commands. For example, the robot (R) can move its position or change its posture by changing its movements, and can perform software updates.

[0058] In the present invention, for convenience of explanation, the server (20) is uniformly named as a “cloud server” and is assigned the drawing symbol “20.” Meanwhile, it goes without saying that the cloud server (20) can also be replaced with the term “edge server (22)” of edge computing.

[0059] Furthermore, the term “cloud server” can be variously changed to terms such as cloud robot system, cloud system, cloud robot control system, and cloud control system.

[0060] Meanwhile, the cloud server (20) according to the present invention can perform integrated control on a plurality of robots running in a building (1000). That is, the cloud server (20) can i) monitor a plurality of robots (R) located in the building (1000), ii) assign tasks (or work) to the plurality of robots, iii) directly control the facility infrastructure provided in the building (1000) so that the plurality of robots (R) successfully perform the tasks, or iv) control the facility infrastructure through communication with a control system that controls the facility infrastructure.

[0061] Furthermore, the cloud server (20) can check the status information of robots located in the building and provide (or support) various functions required by the robots. These various functions may include a charging function for the robots, a cleaning function for contaminated robots, and a standby function for robots whose missions have been completed.

[0062] The cloud server (20) can control the robots so that they can utilize various facility infrastructures provided in the building (1000) to provide various functions to the robots. Furthermore, the cloud server can directly control the facility infrastructures provided in the building (1000) or control the facility infrastructures through communication with a control system that controls the facility infrastructures to provide various functions to the robots.

[0063] In this way, robots controlled by the cloud server (20) can move around the building (1000) and provide various services.

[0064] Meanwhile, the cloud server (20) can perform various controls based on information stored in the database. The present invention does not impose any particular limitations on the type and location of the database. The term "database" may be freely modified and used to refer to any means of storing information, such as memory, storage, repository, cloud storage, external storage, or external server. The term "database" will be used hereafter for explanation.

[0065] Meanwhile, the cloud server (20) according to the present invention can perform distributed control of robots based on various criteria such as the type of service provided by the robots, the type of control for the robots, etc. In this case, the cloud server (20) may have sub-servers of lower concept.

[0066] Furthermore, the cloud server (20) according to the present invention can control a robot moving through a building (1000) based on various artificial intelligence algorithms.

[0067] Furthermore, the cloud server (20) performs artificial intelligence-based learning by utilizing data collected during the process of controlling the robot as learning data, and by utilizing this for robot control, the more control is achieved over the robot, the more accurately and efficiently the robot can be operated. In other words, the cloud server (20) can be configured to perform deep learning or machine learning. In addition, the cloud server (20) can perform deep learning or machine learning through simulations or the like, and control the robot using the artificial intelligence model constructed as a result.

[0068] Meanwhile, the building (1000) may be equipped with various facility infrastructures for robot driving, robot function provision, robot function maintenance, robot mission performance, or coexistence of robots and humans.

[0069] For example, as illustrated in (a) of FIG. 1, various facility infrastructures (1, 2) capable of supporting the driving (or movement) of a robot (R) may be provided within a building (1000). These facility infrastructures (1, 2) may support horizontal movement of the robot (R) within a floor of the building (1000), or may support vertical movement of the robot (R) between different floors of the building (1000). In this way, the facility infrastructures (1, 2) may be provided with a transportation system that supports the movement of the robot. The cloud server (20) may control the robot (R) to utilize these various facility infrastructures (1, 2), so that the robot (R) may move within the building (1000) to provide a service, as illustrated in (b) of FIG. 1.

[0070] Meanwhile, the robots according to the present invention can be controlled based on at least one of a cloud server (20) and a control unit provided in the robot itself, so as to drive within a building (1000) or provide a service corresponding to an assigned task.

[0071] Furthermore, as illustrated in (c) of FIG. 1, a building according to the present invention is a building in which robots and people coexist, and the robots are configured to avoid obstacles such as people (U), objects used by people (e.g., baby strollers, carts, etc.), and animals while driving, and in some cases, may be configured to output notification information (3) related to the driving of the robot. Such driving of the robot may be performed to avoid obstacles based on at least one of a cloud server (20) and a control unit equipped in the robot. The cloud server (20) may control the robot so that the robot avoids obstacles and moves within the building (1000) based on information received through various sensors equipped in the robot (e.g., a camera (image sensor), a proximity sensor, an infrared sensor, etc.).

[0072] In addition, a robot that moves inside a building through the processes of (a) to (c) of FIG. 1 can be configured to provide a service to a person or target object existing inside the building, as shown in (d) of FIG. 1.

[0073] The types of services provided by robots can vary from robot to robot. In other words, robots can exist in various types for different purposes, have different structures for each purpose, and can be equipped with programs appropriate for each purpose.

[0074] For example, a building (1000) may be equipped with robots that provide at least one of the following services: delivery, logistics, guidance, interpretation, parking assistance, security, crime prevention, guarding, public order, cleaning, quarantine, disinfection, laundry, beverage preparation, food preparation, serving, fire suppression, medical assistance, and entertainment. The services provided by the robots may vary in addition to the examples listed above.

[0075] Meanwhile, the cloud server (20) can assign appropriate tasks to the robots by considering the purpose of each robot and control the robots so that the assigned tasks are performed.

[0076] At least some of the robots described in the present invention can drive or perform tasks under the control of a cloud server (20). In this case, the amount of data processed by the robot itself for driving or performing tasks can be minimized. In the present invention, such robots can be referred to as brainless robots. Such brainless robots can rely on the control of the cloud server (20) for at least a portion of their control when performing actions such as driving, performing tasks, charging, waiting, and cleaning within a building (1000).

[0077] However, in this specification, brainless robots are not named separately, but are all referred to as “robots.”

[0078] Meanwhile, the present invention is intended to minimize user inconvenience in a building where people and robots coexist, and to provide an environment in which people and robots can coexist safely and efficiently, and relates to a method and system for assigning elevators to people and robots and controlling robots for boarding the elevator.

[0079] As described above, the building (1000) according to the present invention can be equipped with various facility infrastructures that can be used by the robot, and as illustrated in FIGS. 2, 3, and 4, the facility infrastructures are placed within the building (1000) and, through linkage with the building (1000) and a cloud server (20), can support movement (or driving) of the robot or provide various functions to the robot.

[0080] More specifically, the facility infrastructure may include a means of transportation, such as an elevator (204), to support the movement of the robot within the building, and the robot may use the elevator (204) to move vertically (movement between different floors).

[0081] Elevators (204) can be used by both robots and people, and people may experience inconvenience or delay in getting on and off the elevator due to the robots. Accordingly, a method and system are proposed to comprehensively manage the number of elevators assigned (or allocated) to people and robots, the elevator boarding method (e.g., robot-only boarding, human-robot-both-boarding, human-only boarding), and the number of robots boarding an elevator unit, based on the demand for elevator use by people and robots.

[0082] Below, a method and system for assigning elevators and controlling robots will be described, along with the attached drawings. Figure 12 is a conceptual diagram illustrating a system for assigning elevators and controlling robots for elevator boarding in an environment where people and robots coexist. FIG. 13 is a flowchart for explaining the linkage between a robot and an elevator in the present invention, FIG. 14 is a conceptual diagram for explaining an operation mode of an elevator in an environment where people and robots coexist, FIG. 15 is a flowchart for explaining a method for assigning an elevator in an environment where people and robots coexist and controlling a robot for boarding an elevator, FIGS. 16a and 16b are conceptual diagrams for explaining a method for assigning an elevator in an environment where people and robots coexist, FIGS. 17a, 17b, 17c, and 17d are conceptual diagrams for explaining a method for assigning an elevator based on a robot group and controlling a robot group for boarding an elevator, and FIGS. 18a, 18b, 18c, 18d, and 18e are conceptual diagrams for explaining a method for assigning an elevator based on a direction of movement of people in an environment where people and robots coexist and controlling a robot for boarding an elevator.

[0083] As illustrated in FIG. 12, the cloud server (20) of the present invention can perform integrated management of the robot (R) and the elevator in a building (1000) where people and the robot (R) coexist through communication with at least one of the robot (R), the robot control system (300), and the elevator control system (204a). Accordingly, the cloud server (20) of the present invention may also be referred to as a “robot-elevator integrated management system.”

[0084] In the present invention, the robot control system (300) and the elevator control system (204a) may be understood as systems controlled by a cloud server (20). At least a portion of the data processing of the robot control system (300) and the data processing of the elevator control system (204a) described below may be understood to be performed in the cloud server (20) or under the control of the cloud server (20).

[0085] Meanwhile, the robot control system (300) according to the present invention is a system that performs integrated control of a robot (R) that moves within a space (10) within a building. The term "robot control system" in the present invention may be variously changed to terms such as server, cloud server (20), cloud robot system, cloud system, cloud robot control system, cloud control system, robot system, etc.

[0086] The robot control system (300) according to the present invention can perform appropriate control to allow the robot (R) to use the elevator (204) through communication with the elevator control system (or elevator control system, 204a).

[0087] The elevator control system (204a) may include at least one of a sensing unit (204b) configured to sense various information related to the elevator (204) and a control unit (204c) configured to control the elevator (204). The elevator control system (204a) may control the elevator (204) so ​​that the robot (R) may use the elevator (204). For example, the elevator control system (204a) may control the elevator (204) to stop at the floor where the robot (R) is located so that the robot (R) may board the elevator (204) through communication with the robot control system (300).

[0088] At least a portion of the elevator control system (204a) may be controlled by the cloud server (20) or by the control unit (150) of the building (1000) (see reference numeral “150” in FIG. 4). In this case, the term “elevator control system (204a)” may be replaced with the term “cloud server (20)” or the control unit (150) of the building (1000).

[0089] Meanwhile, the robot control system (300) according to the present invention may be configured to include at least one of a communication unit (310), a storage unit (320), and a control unit (330).

[0090] The communication unit (310) may be configured to communicate with at least one of the robot (R) and the elevator control system (204a), such as a city. The communication unit (310) may control the robot (R) to move within a space (10) within a building (1000) using an elevator through communication with at least one of the robot (R) and the elevator control system (204a).

[0091] The communication unit (310) can support various communication methods according to the communication standards of the communicating device.

[0092] For example, the communication unit (310) may be configured to communicate with other devices (including robots and elevator control systems) located within the building (1000) using at least one of the following technologies: WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), 5G (5th Generation Mobile Telecommunication), Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra-Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus).

[0093] Next, the storage unit (320) may be configured to store various information related to the present invention. In the present invention, the storage unit (320) may be provided in the robot control system (300) itself. Alternatively, at least a portion of the storage unit (320) may be stored in a cloud server (or a database 20a of the cloud server). That is, the storage unit (320) may be sufficient as long as it stores information necessary to control the robot according to the present invention, and it may be understood that there are no restrictions on physical space. Accordingly, hereinafter, the storage unit (320) and the external database (20a) will not be separately distinguished, and will all be referred to as the storage unit (320). In this case, the cloud server (210) may mean a “cloud storage.” Furthermore, the storage unit (320) may be configured to store not only information about the robot control system (300), but also various information related to the elevator control system (204a).

[0094] First, information about the robot (R) can be stored in the storage unit (320).

[0095] Information about the robot (R) can be very diverse, and the information about the robot (R) may include, for example, i) identification information for identifying the robot (R) placed in the space (10) (e.g., serial number, TAG information, QR code information, etc.), ii) mission information assigned to the robot (R), iii) driving path information set for the robot (R), iv) location information of the robot (R), v) status information of the robot (R) (e.g., power status, breakdown status, battery status, etc.), vi) image information received from a camera equipped in the robot (R), etc.

[0096] Next, a map (or map information or node map) for the space (10) may be stored in the storage unit (320). Here, the map may be composed of at least one of a two-dimensional or three-dimensional map. The map for the space (10) may refer to a map that can be utilized to determine the current location of the robot (R) or to set the robot's driving path.

[0097] In particular, in the robot control system (300) according to the present invention, the location of the robot (R) can be determined based on images received from the robot (R) or sensing information received from the robot (R). To this end, the map of the space (10) stored in the storage unit (320) can be composed of data that enables estimation of the location based on images or sensing information.

[0098] At this time, the map for the space (10) may be a map created based on SLAM (Simultaneous Localization and Mapping) by at least one robot moving in the space (10) in advance.

[0099] The storage unit (320) can store information about a plurality of elevators (204) located within the building (1000) (e.g., elevator identification information, location information, operation information, etc.).

[0100] Meanwhile, in addition to the types of information listed above, various types of information can be stored in the storage unit (320).

[0101] Next, the control unit (330) may be configured to control the overall operation of the robot control system (300) related to the present invention. The control unit (330) may control the robot (R) by processing signals, data, information, etc. input or output through the components discussed above, or may provide or process appropriate information or functions to the user.

[0102] The control unit (330) may be configured to include a process based on artificial intelligence or deep learning algorithms. Furthermore, the control unit (330) may perform various controls for the robot (R) to board, wait, and disembark from the elevator (204). In particular, the control unit (330) may determine whether the robot (R) boards the elevator (204) based on the occupancy status of the elevator (204) receiving space (10).

[0103] In the present invention, the decision on whether the robot (R) will ride the elevator (204) can be performed by at least one of the robot (R) and the robot control system (300). When the robot control system (300) determines whether the robot (R) will ride, the robot (R) can ride the elevator (204) or give up riding the elevator (204) based on a control command received from the robot control system (300). Therefore, for the convenience of explanation, the present invention will be described with the robot control system (300) as the main component. However, the decision on whether the robot (R) will ride, which is performed by the robot control system (300), can be performed independently by the robot (or the robot's control unit).

[0104] Meanwhile, the elevator control system (204a) may include at least one of a sensing unit (204b), a control unit (204c), a communication unit (204d), and a storage unit (204e).

[0105] The sensing unit (204a) may be provided in the elevator (204) itself to sense various information related to the elevator (204). For example, the sensing unit may be provided with a camera (image sensor), a proximity sensor, an infrared sensor, a laser scanner (lidar sensor), an RGBD sensor, a geomagnetic sensor, an ultrasonic sensor, an inertial sensor, a UWB sensor, etc.

[0106] The control unit (204c) performs control for the operation of each of the plurality of elevators (204) arranged in the building (1000), and can perform appropriate control so that the robot (R) can use the equipment through communication with the cloud server (20). For example, the control system (204b) of the elevator (204) can control the elevator (204) through communication with the cloud server (20) so that the robot (R) can board the elevator (204) and so that the elevator (204) stops on the floor where the robot (R) is located.

[0107] Furthermore, the operation mode of the elevators placed in the building (1000) (human-only mode operated for people, common mode operated for both people and robots (R), robot-only mode operated for robots (R)) can be set by the control of the cloud server (20) of the control unit (204c) or the control unit (204c)'s own data processing.

[0108] The communication unit (204d) may be configured to perform communication with at least one of the cloud server (20), the robot control system (300), the robot (R), and the elevator (204). For example, the communication unit (204d) may receive an elevator boarding request (or boarding request) from the robot control system (300) for the robot (R). In addition, the communication unit (204d) may transmit a control command to the elevator (204) so ​​that the robot (R) may board (or board) the elevator (204).

[0109] The storage unit (204e) may store and exist various information related to elevator control. For example, i) identification information for identifying an elevator placed in a building (1000) (e.g., serial number, TAG information, QR code information, etc.), ii) information on the operation mode of the elevator, iii) robot information of a robot (R) boarding the elevator, iv) elevator operation information (e.g., location, operation direction, moving floor, etc.), v) elevator status information (e.g., power status, breakdown status, battery status, etc.), vi) image information received from a camera (431) equipped in the elevator, image information received from a camera equipped in the robot (R), etc. may exist.

[0110] Meanwhile, as illustrated in FIG. 13, the robot control system (300) can request the robot (R) to board the elevator (204) through the elevator control system (204a) when the robot (R) needs to board the elevator (204) (S310).

[0111] For example, let's assume that the mission of a robot (R) located on the first floor (see floor symbol "10a" in FIG. 8) is a delivery mission to deliver an object to the 20th floor (see floor symbol "10c" in FIG. 8). The robot control system (300) determines that the robot (R) needs to board the elevator (204) to move to the 20th floor to perform the delivery mission, and can request the robot (R) to board the elevator control system (204a).

[0112] The elevator control system (204a) can assign one of a plurality of elevators provided in the building (1000) to the robot (R) in response to the robot's boarding request (S320).

[0113] In the present invention, “elevator allocation” can be understood as a process of linking an elevator (204) and a robot (R) so that the robot (R) can move from the floor corresponding to the current location of the robot (R) to the floor corresponding to the destination using the elevator (204).

[0114] The robot control system (300) can perform control on the robot (R) to use the elevator (204) based on receiving allocation information from the elevator control system (204a) (S330).

[0115] The assignment information may include various information related to elevator assignment. For example, the assignment information may include at least one of identification information of the assigned elevator (204), location information, operation information (e.g., the floor at which it stops), operation mode information (robot-only mode or shared mode), and information on the time at which the assigned elevator (204) stops at the floor corresponding to the current location of the robot (R).

[0116] The robot (R) can move within a space (10) within a building (1000) under the control of a robot control system (300). The robot (R) can move from its current location to an area (or zone) where an elevator (204) is located, and then board the elevator (204) to move to another floor (S340).

[0117] The elevator control system (204a) can control the elevator (204) based on the assignment of the elevator (204) to the robot (R) (S350). Specifically, the elevator control system (204a) can control the elevator (204) to stop at the floor corresponding to the current location of the robot (R) and open the door (204d) of the elevator (204). The elevator control system (204a) can monitor the boarding or disembarking of the robot (R) when the door (204d) of the elevator (204) is opened. The elevator control system (204a) can keep the door (204d) open until the boarding or disembarking of the robot (R) is completed. In addition, the elevator control system (204a) can control the door (204d) to close and move (operate) to another floor when the boarding or disembarking of the robot (R) is completed. In this way, the elevator (204) can be operated under the control of the elevator control system (204a) (S360).

[0118] The elevator (204) system (300) can monitor the completion of boarding or disembarking of the robot (R) through communication with the robot control system (300). For example, the elevator control system (204a) can monitor the completion of boarding or disembarking of the robot (R) based on the robot (R) identification information received from the robot control system (300). As another example, the elevator control system (204a) can monitor the completion of boarding or disembarking of the robot (R) based on receiving location information indicating that the robot (R) is located inside / outside the elevator (204) from the robot control system (300).

[0119] Meanwhile, elevators are a bottleneck section of movement within a building (1000), and robots (R) using elevators can cause inconvenience to people. Therefore, the present invention proposes an elevator assignment policy that dynamically assigns at least some of a plurality of elevators to robots, in order to minimize inconvenience to people when robots (R) use elevators, and at the same time, enable efficient operation of elevator use by robots (R).

[0120] The elevator assignment policy described in the present invention can be understood as a logic, algorithm, or rule for specifying an elevator available to a robot (or person) among a plurality of elevators provided in a building.

[0121] In the present invention, the operating mode of each of the plurality of elevators installed in a building (1000) can be determined based on the elevator assignment policy. In the present invention, the operating mode may include a "person-only mode," a "public mode," and a "robot-only mode," depending on whether a robot (R) or a person (U) is restricted from boarding the elevator and whether a priority is given to boarding the elevator.

[0122] As illustrated in (a) of Fig. 14, among the multiple operating modes, the “human-only mode (400a)” can be understood as an elevator operating mode that restricts boarding of robots (R) and prioritizes boarding of humans (U). An elevator operated in the human-only mode can be described by naming it a human-only elevator.

[0123] As illustrated in (b) of FIG. 14, among the multiple operation modes, the “public mode (400b)” is a mode in which the elevator (204) is operated so that both the robot (R) and the person (U) can use it without restricting boarding of the person (U), and may be named “public mode” or “shared mode.” In addition, in the present invention, the elevator (204) operated in the public mode may be named and described as a public elevator.

[0124] As illustrated in (c) of Fig. 14, among the multiple operation modes, the “robot-only mode (400c)” is an elevator operation mode that restricts boarding by people (U) and prioritizes boarding by robots (R), and may also be referred to as a “robot mode.” In the present invention, an elevator operated in the robot-only mode may be referred to as a robot-only elevator.

[0125] In the present invention, the elevator can be assigned to a robot (R) by setting the elevator's operating mode to a robot-only mode or a shared mode. In addition, in the present invention, the elevator can be assigned to a person by setting the elevator's operating mode to a person-only mode or a shared mode.

[0126] In the present invention, based on the occurrence of an elevator boarding event for a robot (R) driving in a building (1000), an elevator assigned to the robot (R) (an elevator operated in a public mode or a robot-only mode) is assigned as the boarding target elevator for the robot (R), and control can be performed for the robot (R) so that the robot (R) uses the boarding target elevator.

[0127] In the present invention, at least one of the following can be performed by a cloud server (20) or an elevator control system (204a): i) setting an elevator assignment policy, ii) setting an elevator operation mode according to the elevator assignment policy, and iii) data processing for assigning an elevator operated in either a robot-only mode or a common mode as a boarding target elevator for a robot (R). In addition, in the present invention, robot control for using a boarding target elevator can be performed by a cloud server (20) or a robot control system (300).

[0128] Accordingly, for the convenience of explanation, in the present invention, the data processing performed in the present invention will be described based on the “cloud server” without distinguishing between the cloud server (20), the elevator control system (204a), and the robot control system (300). However, the data processing performed by the cloud server (20) may be performed by at least one of the elevator control system (204a) and the robot control system (300), and in this case, it may be understood that it is performed under the control of the cloud server (20). In addition, in the present invention, the cloud server may also be referred to as an “elevator assignment system,” and the elevator assignment system may perform data processing using each component included in the elevator control system (204a) and the robot control system (300).

[0129] Below, a method for setting the elevator operation mode based on the elevator assignment policy and controlling the elevator boarding of a robot (R) will be described in more detail.

[0130] In the present invention, a process of classifying multiple time intervals into either a first type of time interval or a second type of time interval can be performed based on elevator usage patterns of people in a building (S510, see FIG. 15).

[0131] The cloud server (20) can classify multiple time intervals into either a first type of time interval (also called a “peak time interval”) in which people use the elevator more frequently (also called a “normal time interval”) or a second type of time interval (also called a “normal time interval”) in which people use the elevator more frequently (also called a “peak time interval”) based on people’s elevator use patterns, according to an elevator allocation policy.

[0132] The cloud server (20) can collect information required for an elevator assignment policy. The information required for an elevator assignment policy may vary. For example, as illustrated in FIG. 16a, the cloud server (20) can collect at least one of: human movement demand information (611), robot movement demand information (612), the number of elevators (613) installed in a building (1000), and elevator specification information (e.g., speed, number of passengers, weight limit, operating floor, etc., 614).

[0133] The people movement demand information (611) may be diverse. For example, the people movement demand information (611) may include at least one of, and may be acquired based on, i) the number of building (1000) users (e.g., number of employees), ii) commuting time, iii) lunch time, iv) people's elevator use history information (e.g., use time, direction of operation, departure floor, arrival floor), v) elevator call count information, vi) image information of people using the elevator in the elevator accommodation space and surrounding space, and vii) people's elevator inconvenience report information.

[0134] Robot movement demand information (612) may include at least one of i) the number of robots (R) moving in the building (1000), ii) elevator use history information of the robots (e.g., use time, operation direction, departure floor, arrival floor), and iii) tasks assigned to robots using the elevator (e.g., delivery service, cleaning service, charging, etc.).

[0135] As illustrated in FIG. 16a, the cloud server (20) can use the collected information (611 to 614) to set an elevator assignment policy (logic, 620) for robot boarding. Furthermore, the cloud server (20) can specify the number of elevators to be assigned to each person and robot (R) based on the elevator assignment policy (620). For example, the cloud server (20) can specify the number of elevators to be operated in human-only mode as “l,” the number of elevators to be operated in shared mode as “m,” and the number of elevators to be operated in robot-only mode as “n.” In the present invention, the operation modes of the elevators can be set based on the number of elevators for each operation mode determined based on the elevator assignment policy. This elevator assignment policy (620) is stored in a database (20a), and the cloud server (20) can update the elevator assignment policy (620) based on the collected information (611 to 614).

[0136] Meanwhile, in the present invention, the elevator assignment policy can be set to be determined based on the elevator movement patterns of people in multiple time intervals. The multiple time intervals can be set in various ways. For example, time intervals can be set in units of "5 minutes," "10 minutes," or "30 minutes."

[0137] The cloud server (20) can analyze people's elevator usage patterns (e.g., elevator usage (average usage), elevator operation direction (e.g., average movement in the upward direction, average movement in the downward direction), departure floor, arrival floor, etc.) for multiple time intervals using the collected information according to the elevator allocation policy.

[0138] The cloud server (20) can designate a time period in which elevator usage increases based on people's elevator usage patterns (e.g., a time period in which elevator usage per time period exceeds a preset standard) as a peak time period. In addition, the cloud server (20) can designate other time periods, excluding peak times, as general time periods.

[0139] For example, as illustrated in FIG. 18a, the cloud server (20) may designate at least one of commuting hours (e.g., 9:30 AM to 10:30 AM), lunch hours (e.g., 11:30 AM to 12:30 PM), and commuting hours (e.g., 6:00 PM to 7:00 PM) as a peak time period based on the fact that elevator usage by people increases sharply (or the elevator usage per unit of time satisfies a preset standard). In addition, other time periods may be designated as general time periods.

[0140] In the present invention, a process of specifying the number of elevators to be assigned to the robot among a plurality of elevators provided in the building may be performed depending on whether the specific time interval is a first type of time interval or a second type of time interval (S520, see FIG. 15).

[0141] The cloud server (20) can assign elevators differently for peak time periods (first type of time period) and regular time periods (second type of time period) according to the elevator assignment policy.

[0142] The cloud server (20) can assign elevators to people with priority during peak hours and dynamically assign elevators to robots (R) when necessary.

[0143] The cloud server (20) can assign elevators so that, during peak time periods, the number of elevators assigned to people is greater than the number of elevators assigned to robots (R).

[0144] For example, as illustrated in (a) of FIG. 16b, the cloud server (20) may, during a peak time period, assign a specific (for example, any one) elevator (EV3) among a plurality of elevators (EV1, EV2, EV3) to a robot (R), and assign the remaining elevators (EV1, EV2) to people. More specifically, the cloud server (20) may set a specific elevator (EV3) among a plurality of elevators (EV1, EV2, EV3) to a robot-only mode (400c), and set the remaining elevators (EV1, EV2) to a people-only mode (400a).

[0145] In this case, the cloud server (20) can switch the operation mode of the specific elevator (EV3) so that the specific elevator (EV3) is alternately set to the robot-only mode and the common mode based on the real-time elevator use demand of the robot (R) during the peak time period. As illustrated in (b) of FIG. 16b, if the elevator use demand (e.g., usage) of the robot (R) is low (or below a certain standard), the cloud server (20) can set the specific elevator (EV3) to the common mode (400b) so that both people and the robot (R) can use the specific elevator (EV3). In addition, if the elevator use demand (e.g., usage) of the robot (R) is high (or above a certain standard), the cloud server (20) can set the specific elevator (EV3) back to the robot-only mode (400c) so that the robot (R) can use the specific elevator (EV3) with priority.

[0146] For another example, as illustrated in (a) of FIG. 16c, the cloud server (20) may, during peak time intervals, set all of the plurality of elevators (EV1, EV2, EV3) to all-people-only mode (400a), thereby assigning all of the plurality of elevators (EV1, EV2, EV3) to people. The cloud server (20) may monitor the occurrence of an elevator assignment event (e.g., robot grouping) for a robot (R) when all of the plurality of elevators (EV1, EV2, EV3) are set to the people-only mode (400a) (or assigned to people). As illustrated in (b) of FIG. 16c, the cloud server (20) may temporarily switch a specific elevator (EV3) from the people-only mode (400a) to the robot-only mode (400c) based on the occurrence of an elevator assignment event for the robot (R). A detailed description of the elevator assignment event for the robot (R) will be described later.

[0147] Meanwhile, the cloud server (20) can allocate all of the plurality of elevators to people and robots (R) so that people and robots (R) can use all of the plurality of elevators during general time periods.

[0148] As illustrated in (a) of Fig. 16d, the cloud server (20) can set multiple elevators (EV1, EV2, EV3) to “shared mode (400b)” during a normal time period. During a normal time period, people and robots (R) can use all elevators (EV1, EV2, EV3) together.

[0149] The cloud server (20) monitors the elevator usage demand of the robot (R) in a general time period, and as shown in (b) of FIG. 16d, some (EV1, EV2) of the plurality of elevators (EV1, EV2, EV3) can be switched to a human-only mode (400a) and operated based on the monitoring results.

[0150] That is, in a general time period, the cloud server (20) can, firstly, set multiple elevators (EV1, EV2, EV3) to a common mode (400b), and secondly, according to the real-time elevator use demand of the robot (R), switch some elevators (EV1, EV2) to a common mode (400b) or a human-only mode (400a), thereby reducing the number of elevators available to the robot (R).

[0151] Meanwhile, the cloud server (20) can control the operation of an elevator operated in robot-only mode based on a robot group consisting of multiple robots (R).

[0152] As previously explained, during peak times, a specific elevator (e.g., one elevator, EV3) among multiple elevators (EV1, EV2, EV3) can be operated in robot-only mode. The cloud server (20) controls the operation of a specific elevator (EV3) based on a robot group, thereby efficiently operating the specific elevator (EV3).

[0153] As illustrated in Fig. 17a, the cloud server (20) can collect real-time movement demand including movement paths and movement times for multiple robots (R) (S710).

[0154] The cloud server (20) can collect information on at least one of the vertical movement path of the robot (R) where an elevator boarding event occurred (currently located floor (elevator boarding floor or boarding floor), destination floor (elevator disembarkation floor)), the movement time from the current location of the robot (R) to the waiting area of ​​a specific elevator (EV3) (or the expected waiting area location time), and the expected mission completion time.

[0155] The cloud server (20) can perform robot grouping for boarding a specific elevator operated in robot-only mode based on the collected information.

[0156] The cloud server (20) can determine whether it is possible to identify a boarding group including the robots (R) if the number of robots (R) that have boarding events in the same vertical direction (upward or downward direction) is greater than or equal to a preset number (e.g., “2”) (S720, see FIG. 17a).

[0157] For example, as illustrated in FIG. 17b, let us assume that the vertical movement path of the first robot (R1) includes boarding an elevator on the first floor (710a) and getting off the elevator on the eighth floor (720a), and that the vertical movement path of the second robot (R2) includes boarding an elevator on the first floor (710b) and getting off the elevator on the third floor (720b). The cloud server (20) can specify a boarding group including the first robot (R) and the second robot (R2) based on the occurrence of a boarding event in an upward direction for “two” robots, the first robot (R1) and the second robot (R2).

[0158] Here, the “predetermined number” can be set in various ways. For example, the cloud server (20) can set the number that serves as the standard for the boarding group by considering at least one of the following: the direction of the elevator’s operation, the maximum number of robots that can board the elevator’s capacity (or the maximum number of boarding robots set for the elevator), the elevator usage demand of the robots (R), and the number of elevators assigned to the robots (R).

[0159] Furthermore, the cloud server (20) can specify a boarding group including a plurality of robots (R1, R2, R3) so that a number of robots (R) less than or equal to a preset number (ex: “2”) board a specific elevator based on the vertical movement paths of a plurality of robots (R1, R2, R3) exceeding a preset number (ex: “2”).

[0160] The cloud server (20) can specify all of the multiple robots (R1, R2, R3) as the same boarding group even if the number of overlapping vertical movement paths between the vertical movements of the multiple robots (R1, R2, R3) is less than or equal to a preset number (e.g., “2”), even if the number of multiple robots (R1, R2, R3) exceeds the preset number (e.g., “2”).

[0161] For example, as illustrated in FIG. 17b, let us assume that the vertical movement path of the third robot (R3) includes boarding the elevator on the third floor (710c) and getting off the elevator on the seventh floor (720c). If the first robot (R1) and the second robot (R) have boarded the elevator on the first floor, the second robot (R2) has gotten off the elevator on the third floor, and the third robot (R) has boarded the elevator on the fourth floor in sequence, then “2” or fewer robots will continue to board the elevator. More specifically, if the first robot (R1) and the second robot (R) have boarded the elevator on the first floor, the number of boarding robots in the elevator is “2 (731).” When the second robot (R2) gets off on the third floor, the number of robots boarding the elevator becomes “1 (732)”, and when the third robot (R3) gets on on the fourth floor, the number of robots (R) boarding the elevator can become “2 (733)” again. Afterwards, when the third robot (R3) gets off on the seventh floor and the first robot (R1) gets off on the eighth floor, the number of robots boarding changes to “1 (734)” and “0 (735)”.

[0162] In this way, the cloud server (20) can specify the multiple robots (R1, R2, R3) as the same boarding group even if the multiple robots (R1, R2, R3) exceed the preset number, as long as the number of elevator boarding robots is maintained below a preset number (e.g., “2”) based on the vertical movement paths of the multiple robots (R1, R2, R3).

[0163] Furthermore, the cloud server (20) can further consider the travel time (or estimated waiting area position time) from the current location of multiple robots (R1, R2, R3) to the elevator waiting area to determine the boarding group. The cloud server (20) can assign the robots (R) to the same group based on the fact that there are a preset number or more robots capable of moving to the elevator waiting area within a standard unit time (a certain amount of time).

[0164] For example, let's assume that the movement times of the first robot (R), the second robot (R2), and the third robot (R3) to the waiting area are "30 seconds," "1 minute," and "5 minutes." Even if the vertical movement paths of the first robot (R1), the second robot (R2), and the third robot (R) do not overlap, the cloud server (20) can group into the same boarding group only the first robot (R1) and the second robot (R2) that can move to the waiting area within a standard unit time (e.g., "1 minute").

[0165] Here, the standard unit time can be set in various ways. The cloud server (20) can set the standard unit time, which serves as the criterion for grouping boarding groups, based on at least one of the operating speed of a specific elevator operating in robot-only mode, the round-trip operation time, the elevator use demand of the robot (R) (or the elevator use pattern of the robots during peak hours), the elevator use demand of people (or the elevator use pattern of people during peak hours), and the number of elevators assigned to the robot (R).

[0166] For example, let's assume that the round trip time for an elevator to go from the lowest floor to the highest floor is "1 minute." The cloud server (20) can set the standard unit time to "1 minute." For another example, if the number of elevators assigned to a robot (R) is small and the demand for elevator use by the robot (R) is high, the cloud server (20) can extend the standard unit time to "5 minutes."

[0167] For another example, when the standard unit time is set to “15 minutes” and there is a robot (R) that waits longer than the standard unit time, the cloud server (20) can shorten the standard unit time or assign an elevator to board to the robot (R).

[0168] Furthermore, the cloud server (20) can specify a boarding group by taking into account at least one of the elevator's operating time (or operating speed) and the robot's boarding and disembarking time (boarding time and disembarking time).

[0169] The cloud server (20) may include the third robot (R3) in the same boarding group as the first robot (R1) and the second robot (R), if the third robot (R3) can board the elevator without delay even if the travel time to the waiting area of ​​the third robot (R3) exceeds the standard unit time (ex: “1 minute”) based on the operating time (operating speed) of the elevator and the boarding and disembarking time of the robots (R).

[0170] The cloud server (20) can assign a specific elevator operated in robot-only mode to a plurality of robots (R1, R2, R3) included in the boarding group based on the specificity of the boarding group. The cloud server (20) can control the movement of the plurality of robots (R1, R2, R3) to the elevator waiting area so that the plurality of robots (R1, R2, R3) board (or ride) the specific elevator.

[0171] Meanwhile, if grouping of robots (R) into boarding groups is not possible, the cloud server (20) can continuously collect the movement paths and movement times of robots (R) for which boarding events have occurred. On the other hand, if grouping of robots (R) into boarding groups is possible, the cloud server (20) can generate a boarding / alighting schedule for multiple robots for a single elevator (S730, see FIG. 17a).

[0172] The cloud server (20) can generate an elevator operation schedule (or boarding / disembarking schedule) including the elevator boarding and disembarking times of the plurality of robots (R1, R2, R3) based on the movement paths and movement times (or estimated waiting area position times) of the plurality of robots (R1, R2, R3) included in a specific boarding group. In addition, the cloud server (20) can move the plurality of robots (R1, R2, R3) to the elevator waiting area based on the operation schedule and control the operation (boarding / disembarking and stopping) of the elevator.

[0173] More specifically, the cloud server (20) can generate an elevator operation schedule so that a specific elevator is operated for a boarding group while all robots (R1, R2, R3) included in the boarding group are positioned in the waiting area. In addition, the cloud server (20) can control the operation of a specific elevator according to the operation schedule.

[0174] For example, let's assume that a boarding group includes a first robot (R1), a second robot (R2), and a third robot (R3), and that the travel times to the waiting area of ​​the first robot (R1), the second robot (R2), and the third robot (R3) are "1 minute," "2 minutes," and "10 minutes." The cloud server (20) can generate an operation schedule so that the elevator will operate after "10 minutes," when all of the multiple robots (R1, R2, R3) are positioned in the waiting area.

[0175] Furthermore, the cloud server (20) can generate an elevator operation schedule so that when the elevator stops at a floor where robots are located, robots scheduled to board the floor are located in a waiting area, taking into account the operating speed of the elevator and the time required for robots to board and disembark.

[0176] For example, let's assume that it takes "3 minutes" for the first robot (R1) and the second robot (R2) to get on and off, and for the elevator to run to the floor where the third robot (R3) is located. The cloud server (20) can generate an operation schedule so that the elevator will run after "7 minutes" even if the elevator starts running after "7 minutes", if it is determined that the third robot (R3) can be located in the waiting area when the elevator stops at the floor where the third robot (R3) is located.

[0177] The cloud server (20) can control the operation of an elevator operated in a robot-only mode based on an operation schedule.

[0178] As illustrated in (a) of FIG. 17c, the cloud server (20) can control the operation of a specific elevator (EV3) operated in a robot-only mode (400c) for the first robot (R1), the second robot (R2), and the third robot (R3) included in the same boarding group according to the operation schedule. The cloud server (20) can control the operation so that the door is opened when the elevator is located on the operation departure floor (e.g., 1st floor). The cloud server (20) can close the door of the elevator and control the operation of the elevator to the next destination floor (or stop floor) based on the completion of boarding of the first robot (R1) and the second robot (R2) scheduled to board on the operation departure floor (e.g., 1st floor).

[0179] According to the operation schedule, the cloud server (20) can control the operation of the elevator and the movement of the robots so that the second robot (R2) gets off the elevator at the next stop floor (e.g., 3rd floor) (see (b) of FIG. 17c) and the third robot (R3) gets on the elevator at the next stop floor (e.g., 4th floor) (see (c) of FIG. 17c).

[0180] Furthermore, as illustrated in (a) of FIG. 17d, the cloud server (20) can control the operation of the elevator and the movement of the robots so that the third robot (R3) gets off at another stop floor (e.g., “7th floor”) according to the operation schedule, and as illustrated in (b) of FIG. 17d, the first robot (R1) gets off at the last stop floor (e.g., “8th floor”).

[0181] In the present invention, control of the robot may be performed by at least one of a cloud server (20) and a robot control system (300), and control of the elevator may be performed by at least one of a cloud server (20) and an elevator control system (204a). Accordingly, the above-described robot control and elevator control may be performed through linkage between the robot control system (300) and the elevator control system (204a).

[0182] Furthermore, as illustrated in (c) of FIG. 17d, the cloud server (20) can specify multiple robots (R4 and R5) in which a boarding event has occurred in the descending direction as the same boarding group, and control the operation of an elevator operated in a robot-only mode (400c) for the corresponding boarding group.

[0183] Meanwhile, as described above, the cloud server (20) can allocate all of the plurality of elevators (EV1, EV2, EV3) to people by setting all of the plurality of elevators (EV1, EV2, EV3) to people only (400a) during peak time periods (see (a) of Fig. 16 c).

[0184] The cloud server (20) can monitor the occurrence of an elevator assignment event for a robot (R) when all of the plurality of elevators (EV1, EV2, EV3) are set to the human-only mode (400a) (or are assigned to humans).

[0185] In this case, the cloud server (20) can determine that an elevator assignment event for a robot (R) has occurred when a robot group including multiple robots is specified.

[0186] The cloud server (20) can switch at least one of the elevators set to the human-only mode (400a) to the robot-only mode (400c) based on the robot group being specified. That is, the cloud server (20) can assign an elevator assigned to a human to a robot (R) based on the robot group being specified (see (b) of FIG. 16c).

[0187] The cloud server (20) can control the operation of an elevator switched to robot-only mode (400c) for vertical movement of multiple robots included in a robot group within a building (1000). Elevator operation control is the same as described above, so it will be omitted.

[0188] In the present invention, an elevator can be assigned to at least one of a person and a robot (R) based on the movement direction of people during a peak time period.

[0189] The cloud server (20) can determine the main movement direction of people during peak hours based on the information collected for setting the elevator allocation policy.

[0190] Here, the main movement direction of people is the main movement direction (or average movement direction) of people using the elevator during the peak time period, and the cloud server (20) can specify the main movement direction of people during the peak time period based on which direction people mainly move in: the upward direction (or first direction, UP) moving from a lower space to an upper space, and the downward direction (or second direction, DOWN) moving from an upper space to a lower space.

[0191] For example, the cloud server (20) can specify a direction as the main movement direction of people in the peak time period if movement in a specific direction satisfies a specific criterion (e.g., movement in a specific direction is 70% or more of the total movement) during the peak time period.

[0192] As illustrated in FIG. 18A, the cloud server (20) may specify the main movement direction of people in the commuting time section as the upward direction (UP) based on whether the upward movement (UP) satisfies a specific criterion in the peak section corresponding to commuting time (9:30 AM to 10:30 AM). On the other hand, the cloud server (20) may specify the main movement direction of people in the lunch time section or the commuting time section as the downward movement (DOWN) based on whether the downward movement (DOWN) satisfies a specific criterion in the peak section corresponding to the lunch time (11:30 AM to 12:30 PM) or the commuting time (6:00 PM to 7:00 PM). Furthermore, although not illustrated, the cloud server (20) may specify that people's movement occurs in both directions (BOTH) if neither the upward movement (UP) nor the downward movement (DOWN) satisfies a specific criterion in the peak time section.

[0193] The cloud server (20) can set the number of elevators allocated to the robot (R) differently for each elevator operation direction (upward / downward direction) based on the main movement direction of people during peak hours. In other words, the cloud server (20) can set the operation mode of the elevator differently for each elevator operation direction.

[0194] First, as illustrated in (a) of Fig. 18b, in a peak time period (e.g., commuting time period) in which the main movement direction of people is upward (UP), the cloud server (20) can set the elevators (EV1, EV2, EV3) that operate in the upward direction (UP) to a people-only mode (400a).

[0195] And, as shown in (a) of Fig. 18b, the cloud server (20) can control the operation of elevators (EV1, EV2, EV3) that operate in a downward direction (DOWN) by setting them to a common mode (400b), even if they are in the same peak time period.

[0196] That is, the cloud server (20) can set the operation mode of the elevator differently depending on the direction of operation of the elevator during peak hours (e.g., commuting hours) when the direction of movement of people is upward (UP).

[0197] More specifically, the cloud server (20) can control the elevator to operate in a people-only mode (400a) when the elevator is moving in an upward direction, even if it is the same elevator, so that people can use the elevator with priority. On the other hand, the cloud server (20) can switch the operation mode from the people-only mode (400a) to the shared mode (400b) when the elevator is moving in a downward direction, so that both people and robots (R) can use the elevator.

[0198] The cloud server (20) can limit the assignment of elevators to which a robot (R) is to be boarded if a boarding event of a robot (R) in the upward direction occurs during a peak time period when the main movement direction of people is upward (UP), but the boarding group is not specified.

[0199] In this case, the cloud server (20) can control the robot (R) to wait in the elevator waiting area until a boarding group in the upward direction is specified. Alternatively, when a boarding event of the robot (R) in the downward direction occurs, the cloud server (20) can assign one of the elevators (EV1, EV2, EV3) operating in the common mode (400b) to the robot (R).

[0200] Meanwhile, the cloud server (20) can monitor the occurrence of an upward elevator assignment event for a robot (R) (i.e., robot group specific) while all upward elevators are operating in a human-only mode (400a).

[0201] As a result of monitoring, when an upward elevator assignment event for a robot (R) occurs (when a robot group is specified), the cloud server (20) can assign at least one (EV3) of the elevators (EV1, EV2, EV3) operating in the upward direction (UP) to the boarding group of the robot (R).

[0202] As illustrated in (a) of FIG. 18c, when a boarding group (810) for an upward direction (UP) is specified, the cloud server (20) can switch the operating mode of at least one (EV3) among the elevators (EV1, EV2, EV3) operating in the upward direction (UP) from a human-only mode (400a) to a robot-only mode (400c). Then, the cloud server (20) can assign the corresponding elevator (EV3) to a boarding group (810).

[0203] In this case, as illustrated in (b) of Fig. 18c, the cloud server (20) can switch the operation mode of the elevator (EV3) from the robot-only mode (400c) to the common mode (400b) based on the elevator (EV3) being operated in the robot-only mode (400c) being operated again in the downward direction (DOWN).

[0204] In this way, the present invention can provide an environment where people can use the elevator without inconvenience by giving priority to people using the elevator in an upward direction during peak hours when there is a high demand for upward movement. Furthermore, the present invention can continuously monitor situations requiring upward movement of the robot (R) in an environment where people can use the elevator preferentially, and dynamically assign the elevator to the robot (R).

[0205] On the other hand, the cloud server (20) can assign elevators moving in a downward direction to both robots and people, even if they are in the same peak time period, so that the robot (R) can move vertically within the building (1000) to provide services.

[0206] First, as illustrated in (a) of FIG. 18d, in a peak time period (e.g., lunch time or after-work time period) where the main movement direction of people is downward (DOWN), the cloud server (20) can set the elevators (EV1, EV2, EV3) that run in an upward direction (UP) to a shared mode (400b). On the other hand, as illustrated in (a) of FIG. 18b, the cloud server (20) can control the operation of elevators (EV1, EV2, EV3) that run in a downward direction (DOWN) by setting them to a people-only mode (400a), even in the same peak time period.

[0207] More specifically, the cloud server (20) can control the elevator to operate in a common mode (400b) when the elevator is moving in an upward direction, even if it is the same elevator, so that both people and robots (R) can use the elevator. On the other hand, the cloud server (20) can switch the operation mode of the elevator from a common mode (400b) to a people-only mode (400a) when the elevator is moving in a downward direction, so that people can use the elevator with priority.

[0208] Meanwhile, when a boarding event of a robot (R) in an upward direction occurs during a peak time period when the main movement direction of people is downward (DOWN), the cloud server (20) can assign one of the elevators (EV1, EV2, EV3) operated in a common mode (400b) to the robot (R).

[0209] In contrast, the cloud server (20) can limit the assignment of elevators to which a robot (R) may be boarded if a boarding event of the robot (R) in the descending direction occurs but the boarding group is not specified.

[0210] In this case, the cloud server (20) can control the robot (R) to wait in the elevator waiting area until the boarding group in the descending direction is specified.

[0211] More specifically, the cloud server (20) can monitor the occurrence of a downward elevator assignment event for a robot (R) (i.e., robot group specific) while all elevators for the downward direction are operating in a human-only mode (400a).

[0212] As a result of monitoring, when a downward elevator assignment event for a robot (R) occurs (when a robot group is specified), the cloud server (20) can assign at least one (EV3) of the elevators (EV1, EV2, EV3) operating in the downward direction to the boarding group of the robot (R).

[0213] As illustrated in (b) of FIG. 18e, when a boarding group (820) for a downward direction (DOWN) is specified, the cloud server (20) can switch the operating mode of at least one (EV3) among the elevators (EV1, EV2, EV3) operating in the downward direction (DOWN) from a human-only mode (400a) to a robot-only mode (400c). Then, the cloud server (20) can assign the corresponding elevator (EV3) to a boarding group (820).

[0214] In this case, as illustrated in (a) of Fig. 18e, the cloud server (20) can switch the operation mode of the elevator (EV3) from the robot-only mode (400c) to the common mode (400b) based on the elevator (EV3) being operated in the robot-only mode (400c) and then operating in the upward direction (UP).

[0215] In this way, the present invention can provide an environment where people can use the elevator without inconvenience by giving priority to people using the elevator in the downward direction during peak hours when there is a high demand for people moving in the downward direction. Furthermore, the present invention can continuously monitor situations requiring downward movement of the robot (R) and dynamically assign the elevator to the robot (R) in an environment where people can use the elevator preferentially.

[0216] On the other hand, the cloud server (20) can assign elevators moving in an upward direction to both robots and people, even if they are in the same peak time period, so that the robot (R) can move vertically within the building (1000) to provide services.

[0217] Meanwhile, during peak hours when people's movement is concentrated in both directions (BOTH) and not in either the upward (UP) or downward (DOWN) direction, the cloud server (20) can assign elevators to people with priority regardless of the operating direction of the elevators (EV1, EV2, EV3). That is, the cloud server (20) can set the operating mode of the elevator to be the same when the elevator is operating in the upward direction and when it is operating in the downward direction, and since this is the same as described above, detailed descriptions thereof will be omitted.

[0218] Meanwhile, in the present invention, the robot (R) moves within a building (1000) to perform a task assigned to the robot (R), and in particular, can use an elevator when movement between floors is required.

[0219] The tasks assigned to the robot (R) may be related to various services. For example, the robot (R) may be assigned to perform delivery tasks for a courier service, food and beverage delivery tasks for a cafe service, cleaning tasks, and guidance tasks.

[0220] The cloud server (20) can provide convenience for people to use the elevator by adjusting the task assignment to the robot (R) during peak time periods.

[0221] More specifically, during peak hours, such as commuting hours, when people move in an upward direction, the cloud server (20) may limit the assignment of tasks that require upward movement. For example, a food and beverage menu assignment from a cafe located on a lower floor (e.g., the first floor) to an office space located on an upper floor (e.g., a floor above the second floor) is a task that requires upward movement. During commuting hours, the cloud server (20) may limit the assignment of tasks related to cafe services to the robot (R) or limit the number of orders for cafe services.

[0222] Furthermore, the cloud server (20) can assign multiple tasks to a specific robot (R) so that only the specific robot (R) uses the elevator during peak hours. For example, the cloud server (20) can simultaneously assign a food and beverage delivery task corresponding to a first order and a food and beverage delivery task corresponding to a second order to the specific robot (R). In other words, the cloud server (20) can assign a bundled delivery task to a specific robot (R) so that even if the specific robot (R) uses the elevator, inconvenience to people can be minimized.

[0223] The elevator assignment method and system according to the present invention can classify a plurality of time intervals into either a first type of time interval or a second type of time interval based on elevator usage patterns of people in a building, and can specify the number of elevators to be assigned to the robot among a plurality of elevators provided in the building depending on whether a specific time interval is either the first type of time interval or the second type of time interval. Through this, the present invention can provide an optimal elevator assignment method that can minimize inconvenience to people in using elevators in an environment where people and robots coexist and increase the efficiency of elevator use.

[0224] Furthermore, the elevator assignment method and system according to the present invention can provide an environment in which robot services can be provided while simultaneously satisfying people's elevator usage needs for each of the plurality of time periods by assigning some of the plurality of elevators to the robot in the first type of time period and assigning all of the plurality of elevators to the robot in the second type of time period.

[0225] Meanwhile, the present invention discussed above can be implemented as a program that is executed by one or more processes on a computer and can be stored on a medium that can be read by the computer.

[0226] Furthermore, the present invention discussed above can be implemented as computer-readable code or instructions on a program-recorded medium. That is, the various control methods according to the present invention can be provided in the form of programs, either integrated or individually.

[0227] Meanwhile, computer-readable media include all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include hard disk drives (HDDs), solid-state disk drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices.

[0228] Furthermore, the computer-readable medium may include a storage device and may be a server or cloud storage device accessible via communication. In this case, the computer may download the program according to the present invention from the server or cloud storage device via wired or wireless communication.

[0229] Furthermore, in the present invention, the computer described above is an electronic device equipped with a processor, i.e., a CPU (Central Processing Unit), and there is no particular limitation on its type.

[0230] Meanwhile, the detailed description above should not be construed as limiting in any respect and should be considered illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. In a method of assigning elevators in a building where people and robots coexist, A step of classifying a plurality of time intervals into either a first type of time interval or a second type of time interval based on elevator usage patterns of people in a building; A step of specifying the number of elevators to be assigned to the robot among a plurality of elevators provided in the building, depending on whether the specific time interval is one of the first type of time interval and the second type of time interval; In the above first type of time interval, some of the plurality of elevators are assigned to the robot, An elevator assignment method, characterized in that in the second type of time interval, all of the plurality of elevators are assigned to the robot.

2. In paragraph 1, Further comprising a step of determining the operation mode of the plurality of elevators based on the number of elevators assigned to the robot; The above multiple elevators, A first mode that restricts boarding of the above robot and prioritizes boarding of the above person; A second mode that does not restrict boarding of the above robot and the above person; and An elevator assignment method characterized in that it is operated in one of the third modes that restricts boarding of the above-mentioned person and gives priority to boarding of the above-mentioned robot.

3. In paragraph 2, In the time interval of the first type, some of the plurality of elevators are operated in the first mode, and the remaining some are operated in the third mode. An elevator assignment method, characterized in that in the second type of time interval, all of the plurality of elevators are operated in the second mode.

4. In paragraph 3, An elevator assignment method, characterized in that in the time section of the first type, the number of elevators operated in the first mode is greater than the number of elevators operated in the third mode.

5. In paragraph 4, A step in which an elevator boarding event of a specific robot occurs; and Further comprising a step of assigning a boarding target elevator for the specific robot; If the above boarding event occurs in the time interval of the first type, in the step of assigning the boarding target elevator, An elevator assignment method characterized in that an elevator operating in the third mode is assigned to a boarding group based on a boarding group including the specific robot and at least one other robot.

6. In paragraph 5, The above boarding group is, In the above specific robot and at least one other robot, the boarding event occurs in the same specific driving direction among the ascending driving direction and the descending driving direction, An elevator assignment method characterized in that the number of said specific robot and said at least one other robot is specified based on a preset number.

7. In paragraph 6, The above preset number corresponds to the maximum number of boarding robots set in the elevator operated in the third mode, An elevator assignment method, characterized in that if the vertical movement paths of the specific robot and the other robot do not overlap, a plurality of robots, including the specific robot and the other robot, which are greater than or equal to the preset number, are assigned to the boarding group.

8. In paragraph 7, Multiple robots included in the above boarding group are: An elevator assignment method characterized in that each of the plurality of robots can move from its current location to the waiting area of ​​the elevator operated in the third mode within a standard unit time.

9. In paragraph 8, An elevator assignment method, characterized in that the above-mentioned standard unit time is specified based on at least one of the operating speed of the elevator operated in the third mode and the elevator use pattern of the people in the time section of the first type.

10. In paragraph 9, A step of generating an operation schedule of an elevator operated in the third mode is further included; The above operating schedule is, An elevator assignment method characterized in that it is generated by considering at least one of the expected waiting area position time of the plurality of robots, the boarding time of the plurality of robots, the disembarkation time of the plurality of robots, and the operating speed of the elevator operated in the third mode.

11. In paragraph 2, In the time interval of the first type, some of the plurality of elevators are operated in the first mode, and the remaining some are operated in one of the first mode and the third mode. An elevator assignment method characterized in that the elevator assignment event for the robot occurs while the remaining portion is operating in the first mode, and the mode is switched to the third mode.

12. In paragraph 2, The movement pattern of the above people includes an upward direction moving from low to high floors and a downward direction moving from high to low floors. If the main movement direction of the people in the above first type of time interval is the above upward direction, An elevator assignment method, characterized in that among the plurality of elevators, an elevator running in the upward direction is operated in one of the first mode and the third mode, and an elevator running in the downward direction is operated in the second mode.

13. In paragraph 12, An elevator assignment method characterized in that the elevator, which is operated in the above-mentioned upward direction, is switched to the above-mentioned third mode based on the occurrence of an elevator assignment event for the above-mentioned robot while the elevator is being operated in the above-mentioned first mode.

14. In paragraph 13, If the main movement direction of the people in the above first type of time interval is the descending direction, An elevator assignment method, characterized in that among the plurality of elevators, an elevator running in the descending direction is operated in one of the first mode and the third mode, and an elevator running in the descending direction is operated in the second mode.

15. In paragraph 14, An elevator assignment method characterized in that the elevator, which is operated in the descending direction, is switched to the third mode based on the occurrence of an elevator assignment event for the robot while the elevator is operated in the first mode.

16. In a system for assigning elevators in a building where people and robots coexist, Based on the elevator usage patterns of people in the building, multiple time intervals are classified into either type 1 time intervals or type 2 time intervals, A control unit that specifies the number of elevators to be assigned to the robot among a plurality of elevators provided in the building, depending on whether the specific time interval is one of the first type of time interval and the second type of time interval, In the above first type of time interval, some of the plurality of elevators are assigned to the robot, An elevator assignment system, characterized in that in the second type of time interval, all of the plurality of elevators are assigned to the robot.

17. A program that is executed by one or more processes in an electronic device and stored in a computer-readable recording medium, The above program is, A step of classifying a plurality of time intervals into either a first type of time interval or a second type of time interval based on elevator usage patterns of people in a building; Includes commands for performing a step of specifying the number of elevators to be assigned to the robot among a plurality of elevators provided in the building, depending on whether the specific time interval is one of the first type of time interval and the second type of time interval; In the above first type of time interval, some of the plurality of elevators are assigned to the robot, A program characterized in that in the second type of time interval, all of the plurality of elevators are assigned to the robot.

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