Method and system for generating robot path reflecting spatial policy

Abstract

Disclosed are a method and a system for generating a robot path reflecting a spatial policy. A system for controlling a robot path according to an embodiment may comprise: a service server for providing guidance for one or more robots; and the one or more robots. The service server may comprise: a guide map setting unit for setting a guide map for restricting a movement path of the one or more robots in a guide map area that is set in at least a partial area of the entire area in which the one or more robots are movable; and a guidance provision unit for, when a first robot, among the one or more robots, autonomously driving in the entire area approaches the guide map area, providing guidance for the movement of the first robot in the guide map area on the basis of the set guide map.

Description

Robot path generation method and system reflecting spatial policy

[0001] The following description concerns a robot path generation method and system that incorporates spatial policies.

[0002] Conventional autonomous robot technology primarily utilizes a method of movement based on specific nodes. In node-based driving systems, the robot determines its driving path based on predefined nodes (locations) and performs autonomous driving by moving between these nodes. This approach generally restricts the robot's movement path to specific predictable points, limiting flexible driving in complex environments. Furthermore, driving without nodes makes it difficult to incorporate spatial policies and fails to fully satisfy the administrator's spatial design requirements. For example, since conventional technology only considers movement between nodes, there are limitations in the robot's ability to perform precise driving at specific locations between nodes or adjust its path according to specific environmental requirements. Due to these limitations, problems may arise where the robot struggles to navigate effectively in complex environments or follow specific paths. Additionally, because movement is limited to nodes and specified edges, there is a problem of high manpower and time costs for mapping and maintenance in large-scale spaces.

[0003] A method and system for generating robot paths that reflect spatial policies are provided.

[0004] A robot path generation system comprises: a service server that provides a guide for at least one robot; and said at least one robot, wherein the service server includes: a guide map setting unit that sets a guide map for restricting the movement path of said at least one robot in a guide map area set in at least a portion of an entire area in which said at least one robot can move; and a guide providing unit that guides the movement of said first robot in the guide map area based on said guide map when said first robot, which autonomously moves in the entire area among said at least one robot, approaches said guide map area.

[0005] According to one aspect, the first robot may be characterized by autonomously driving the entire area according to a preset purpose, and in the guide map area, moving the guide map area according to a driving method guided by the guide providing unit.

[0006] According to another aspect, the guide map includes information regarding at least one node among an entry node indicating an entry position into the guide map area and an exit node indicating an exit position in the guide map area, and the guide providing unit may be characterized by providing a guide for the first robot approaching the guide map area to enter the guide map area through the entry node, or providing a guide for the first robot located inside the guide map area to exit the guide map area through the exit node.

[0007] According to another aspect, the guide map includes information on a plurality of nodes and at least one edge for restricting the movement of a robot within the guide map area, and the guide providing unit may be characterized by guiding the movement of the first robot by considering a path connected according to the plurality of nodes and the at least one edge.

[0008] According to another aspect, each of the at least one edge includes information regarding a direction in which a robot can pass, and the guide providing unit may be characterized by guiding the movement of the first robot by further considering the information regarding the direction in which the robot can pass included in the at least one edge.

[0009] According to another aspect, each of the above-mentioned at least one edge includes information regarding the number of robots that can pass through simultaneously, and the guide providing unit may be characterized by guiding the movement of the first robot by further considering information regarding the number of robots that can pass through the edge that the first robot intends to pass through and information regarding the position of each of the above-mentioned at least one robot.

[0010] According to another aspect, the guide map includes information regarding a restricted area within the guide map area where the movement of the robot is restricted, and the guide providing unit may be characterized by guiding the movement of the first robot so as not to include a path to the restricted area by taking into account the restricted area.

[0011] The above guide map includes information regarding a fire area from which the robot must move when a fire occurs, and the guide providing unit may be characterized by guiding the movement of the first robot so that the first robot moves out of the fire area when it receives a fire occurrence signal.

[0012] A service server implemented by at least one computer device, wherein the at least one computer device includes at least one processor, and the at least one processor sets a guide map for restricting the movement path of the at least one robot in the guide map area for at least a portion of the entire area in which the at least one robot can move, and when a first robot among the at least one robots autonomously driving in the entire area approaches the guide map area, the service server is characterized by guiding the movement of the first robot in the guide map area based on the set guide map.

[0013] A method for generating a robot path for a service server implemented by at least one computer device, wherein the at least one computer device includes at least one processor, and the robot includes the computer device including at least one processor; wherein the at least one processor sets a guide map for restricting the movement path of the at least one robot in the guide map area for at least a portion of the entire area in which the at least one robot can move; and wherein the at least one processor guides the movement of the first robot in the guide map area based on the set guide map when the first robot among the at least one robots autonomously driving in the entire area approaches the guide map area.

[0014] A computer program stored on a computer-readable recording medium is provided to be combined with a computer device to execute the above method on the computer device.

[0015] A computer-readable recording medium is provided on which a program for executing the above method is recorded on a computer device.

[0016] The present invention provides a robot comprising a computer device including at least one processor, wherein, by means of an application, at least one robot autonomously navigates an entire movable area according to a preset purpose by means of the at least one processor, and in a guide map area set in at least a part of the entire area, moves in the guide map area according to a guide provided by a service server based on a guide map for restricting the movement path of the at least one robot in the guide map area.

[0017] A method and system for generating robot paths that reflect spatial policies can be provided.

[0018] FIG. 1 is a diagram illustrating an example of the operating environment of a robot path generation system in one embodiment of the present invention.

[0019] FIG. 2 is a drawing illustrating an example of a map of a part of the entire area in an embodiment of the present invention.

[0020] FIGS. 3 and 4 are drawings illustrating examples of guide maps set in a guide map area in an embodiment of the present invention.

[0021] FIG. 5 is a block diagram illustrating an example of a computer device illustrating an example of the internal configuration of a service server according to an embodiment of the present invention.

[0022] FIG. 6 is a flowchart illustrating an example of a robot path generation method of a service server according to an embodiment of the present invention.

[0023] FIG. 7 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention.

[0024] Hereinafter, embodiments will be described in detail with reference to the attached drawings.

[0025] FIG. 1 is a diagram illustrating an example of the operating environment of a robot path generation system in an embodiment of the present invention. A robot path generation system (100) according to the present embodiment may include a service server (110) and a plurality of robots (120).

[0026] The service server (110) is a system implemented in a cloud environment and can transmit commands to each of the multiple robots (120). For example, the service server (110) can transmit commands to each of the multiple robots (120) using the MQTT (Message Queuing Telemetry Transport) method, but the communication method between the service server (110) and each of the multiple robots (120) is not limited to this.

[0027] Each of the plurality of robots (120) can basically be implemented to autonomously drive over the entire area where the robot can move according to a preset purpose. At this time, the autonomous driving of the robot may include not only the robot directly generating an autonomous driving path and moving along the generated autonomous driving path, but also receiving an optimized path generated by the service server (110) and moving along the optimized path.

[0028] As such, each of the multiple robots (120) can autonomously drive across the entire area, but for specific areas where a spatial policy is set, they can move within that area according to a driving method guided by the service server (110). In these specific areas, known as 'guide map areas,' a 'guide map' may be set to restrict the movement of the robots. The guide map may be information combined with information regarding driving methods for each location on a map. For example, the guide map may be composed of nodes, which are points on the map, and edges connecting the nodes, and may be configured to include various information that the robot must follow within the guide map area. Such a guide map will be explained in more detail later.

[0029] The service server (110) can set a guide map for a guide map area set in at least a portion of the entire area where the robot can move. For example, the service server (110) can set a guide map on a map using pre-set information to restrict the robot's movement path within the guide map area. Basically, the guide map can restrict the robot's movement path by the location of nodes and the edges connecting the nodes. For example, the service server (110) can restrict the robot's movement path by guiding the robot's movement within the guide map area along paths corresponding to these nodes and edges. As a more specific example, the service server (110) can restrict the entry location into the guide map area to a specific entry node or restrict the exit location from the guide map area to a specific exit node. As another example, the service server (110) can include information about the direction in which the robot can pass through the edge. For example, the edge can be set to allow passage in only one direction, such as a unidirectional edge. In this case, a single unidirectional edge can be set to have one of two directions. Additionally, the edge may be configured to allow passage in both directions, such as a bidirectional edge. As another example, the service server (110) may limit the number of robots that can pass through a single edge simultaneously, or may further restrict the movement of robots in the guide map area by setting a restricted area where robot movement is restricted, such as a virtual wall on the map. As another example, the service server (110) may restrict the movement of robots by setting an escape area where the robot must exit in a specific situation, and guiding the robot's movement to exit the escape area when such a situation occurs. Such a guide map will be explained in more detail later.

[0030] FIG. 2 is a drawing illustrating an example of a map of a portion of a whole area in an embodiment of the present invention. FIG. 2 shows a map (210) of a portion of a whole area and a portion of a guide map area (220) set on the map (210). For example, a service server (110) may provide a user interface that allows a user to set a guide map area (220) on the map (210), and may register the area set by the user as a guide map area (220).

[0031] FIGS. 3 and 4 are drawings illustrating examples of guide maps set in a guide map area in an embodiment of the present invention.

[0032] In the embodiment of FIG. 3, the service server (110) may provide a user interface that allows a user to set a guide map in a guide map area (220) on a map (210), and may register the guide map set by the user. The guide map may be formed by nodes and edges connecting the nodes. In addition to general nodes used for robot path generation (e.g., node (310)), the nodes may include an entry node (e.g., node (320)) indicating an entry position into the guide map area (220), and / or an exit node (e.g., node (330)) indicating an exit position from the guide map area (220). An edge connecting the nodes (e.g., edge (340)) may be configured to point in a specific direction. According to the embodiment, the edge may be configured to point in both directions. Additionally, the entry node and the exit node may be set as the same node.

[0033] The embodiment of FIG. 4 illustrates an example in which a virtual wall (410) or an escape area (420) is set through a user interface for setting a guide map. The virtual wall (410) may be a restricted area where the movement of a robot is restricted. For example, the guide map may include information about a restricted area within the guide map area (220) where the movement of a robot is restricted. In this case, the service server (110) may guide the movement of the first robot by taking into account the restricted area and ensuring that the path does not include the restricted area. For example, if the service server (110) has a restricted area set in a part of the guide map area (220) where a node exists, it may restrict the robot from including the node in the path. Such restrictions may be set differently for each robot. Additionally, the escape area may be an area for controlling the robot to move out of the escape area when a preset condition is satisfied. For example, when a fire zone is set, the service server (110) can guide the movement of robots located in the fire zone to move out of the fire zone upon receiving a fire occurrence signal.

[0034] The service server (110) registers a guide map and can guide the movement of a robot approaching the guide map area (220) by having it enter the guide map area (220) and move according to the nodes and edges set in the guide map within the guide map area (220). Additionally, it can guide a robot that needs to exit the guide map area (220) to an exit node. Guiding the movement of the robot can be done by transmitting commands to the robot.

[0035] In addition, the information regarding the guide map described above is a setting for restricting the movement of the robot in the guide map area (220), and more diverse restriction information may be predefined for the guide map according to the requirements of users. In this case, more diverse restriction information may be included in the guide map, and the service server (110) may restrict the movement of the robot in the guide map area (220) in various ways according to the set information.

[0036] As such, according to the embodiments of the present invention, by restricting a robot that basically autonomously navigates the entire area to move according to various restrictions set by the user within a specific area (guide map area), the robot can achieve precise movement at important points on the map, going beyond node-based navigation. Furthermore, this method enables flexible navigation of the robot even in complex environments, thereby improving the robot's overall navigation performance along with the application of spatial policies. In addition, since spatial policies can be configured by adding nodes and edges only to the areas where policies must be applied to the map, the manpower and time costs for map creation and maintenance can be reduced.

[0037] FIG. 5 is a block diagram illustrating an example of a computer device illustrating an example of the internal configuration of a service server according to an embodiment of the present invention, and FIG. 6 is a flowchart illustrating an example of a robot path generation method of a service server according to an embodiment of the present invention.

[0038] The service server (110) according to the present embodiment may be implemented by at least one computer device included in a cloud environment. For example, the processor of the computer device may be implemented to execute a control instruction according to the code of an operating system or the code of at least one computer program included in the memory of the computer device. Here, the processor may control the computer device and / or service server (110) so that the computer device and / or service server (110) perform steps (610 and 620) included in the method of FIG. 6 according to the control instruction provided by the code stored in the computer device.

[0039] First, as illustrated in FIG. 5, the service server (110) may include a guide map setting unit (510) and a guide providing unit (520). Here, each of the guide map setting unit (510) and the guide providing unit (520) may be a functional expression of at least one processor for controlling the service server (110) to perform steps (610 and 620) of a robot path generation method.

[0040] In step (610), the guide map setting unit (510) may set a guide map for restricting the movement path of at least one robot in a guide map area set in at least a part of the entire area where at least one robot can move. As previously described, setting the guide map may include registering the set guide map to the service server (110) through a user interface provided to the user by the service server (110) or a system separate from the service server (110). This user interface may include a function for setting the guide map area in the entire area and a function for setting information for the guide map in the guide map area.

[0041] In step (620), the guide providing unit (520) can guide the movement of the first robot in the guide map area based on the set guide map when the first robot, which autonomously drives the entire area among at least one robot, approaches the guide map area.

[0042] For example, the first robot may be implemented to autonomously drive the entire area according to a preset purpose, and in the guide map area, to move within the guide map area according to a driving method guided by the guide providing unit (520). In one embodiment, each of at least one robot may include a computer device including at least one processor. Such a robot may be operated by at least one processor using an application. For example, the robot may autonomously drive the entire area where at least one robot can move according to a preset purpose. Additionally, in the guide map area set in at least a part of the entire area, the robot may move within the guide map area according to a guide provided by the service server (110) based on a guide map for restricting the movement path of at least one robot in the guide map area.

[0043] Meanwhile, the guide map set in step (610) may include information on at least one node among an entry node indicating an entry position into the guide map area and an exit node indicating an exit position in the guide map area. In this case, the guide providing unit (520) may provide a guide for the first robot approaching the guide map area in step (620) to enter the guide map area through the entry node, or provide a guide for the first robot located inside the guide map area to exit the guide map area through the exit node.

[0044] Additionally, the guide map set in step (610) may include information on a plurality of nodes and at least one edge to restrict the movement of the robot within the guide map area. In this case, the guide providing unit (520) may guide the movement of the first robot by considering a path connected according to the plurality of nodes and at least one edge in step (620).

[0045] Additionally, each of at least one edge of the guide map set in step (610) may include information about the direction in which the robot can pass. In this case, the guide providing unit (520) may guide the movement of the first robot by further considering the information about the direction in which the robot can pass included in at least one edge in step (620).

[0046] Additionally, each of at least one edge of the guide map set in step (610) may include information regarding the number of robots that can pass through simultaneously. In this case, the guide providing unit (520) may guide the movement of the first robot by further considering the information regarding the number of robots that can pass through the edge that the first robot intends to pass through in step (620) and the information regarding the position of each of at least one robot. For example, if the number of robots intending to pass through a specific edge is greater than the number of robots that can pass through the edge based on the information regarding the position of each robot, the first robot or another robot may be controlled to pass through a different path other than that edge, or the first robot or another robot may be controlled to pass through that edge after the other robot has passed through that edge.

[0047] Additionally, the guide map set in step (610) may include information about a restricted area within the guide map area where the robot's movement is restricted. In this case, the guide providing unit (520) may guide the movement of the first robot in step (620) by considering the restricted area so as not to include a path to the restricted area.

[0048] Additionally, the guide map set in step (610) may include information about the escape area from which the robot must exit according to preset conditions. In this case, when the guide providing unit (520) receives a signal indicating that the preset conditions in step (620) are satisfied, it may guide the movement of the first robot so that the first robot exits the escape area. Previously, an example was described in which a fire area is set as the escape area, and the movement of the robot is guided to exit the escape area upon receiving a fire occurrence signal.

[0049] In this way, not only can the robot's movement be controlled by separating the driving method for the entire area from the driving method for a specific area (guide map area), but when multiple guide map areas are set, the robot's movement can also be controlled using different driving methods for the same robot in each guide map area.

[0050] FIG. 7 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention. As shown in FIG. 7, the computer device (700) may include memory (710), a processor (720), a communication interface (730), and an input / output interface (740). The memory (710) is a computer-readable recording medium and may include a non-perishable mass storage device such as RAM (random access memory), ROM (read-only memory), and a disk drive. Here, the non-perishable mass storage device such as ROM and the disk drive may be included in the computer device (700) as a separate permanent storage device distinct from the memory (710). Additionally, an operating system and at least one program code may be stored in the memory (710). These software components may be loaded into memory (710) from a computer-readable recording medium separate from memory (710). This separate computer-readable recording medium may include computer-readable recording media such as floppy drives, disks, tapes, DVD / CD-ROM drives, and memory cards. In another embodiment, software components may be loaded into memory (710) via a communication interface (730) rather than a computer-readable recording medium. For example, software components may be loaded into memory (710) of a computer device (700) based on a computer program installed by files received through a network (Network, 760).

[0051] The processor (720) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Instructions may be provided to the processor (720) via memory (710) or a communication interface (730). For example, the processor (720) may be configured to execute instructions received according to program code stored in a recording device such as memory (710).

[0052] The communication interface (730) may provide a function for the computer device (700) to communicate with other devices through the network (760). For example, requests, commands, data, files, etc. generated by the processor (720) of the computer device (700) according to program code stored in a recording device such as memory (710) may be transmitted to other devices through the network (760) under the control of the communication interface (730). Conversely, signals, commands, data, files, etc. from other devices may be received by the computer device (700) through the communication interface (730) of the computer device (700) via the network (760). Signals, commands, data, etc. received through the communication interface (730) may be transmitted to the processor (720) or memory (710), and files, etc. may be stored in a storage medium (the permanent storage device described above) that the computer device (700) may further include.

[0053] The communication method is not limited and may include not only communication methods utilizing communication networks (e.g., mobile communication networks, wired internet, wireless internet, broadcasting networks) that the network (760) may include, but also short-range wireless communication between devices. For example, the network (760) may include any one or more networks such as a PAN (personal area network), LAN (local area network), CAN (campus area network), MAN (metropolitan area network), WAN (wide area network), BBN (broadband network), and the Internet. Additionally, the network (760) may include any one or more network topologies such as a bus network, star network, ring network, mesh network, star-bus network, tree or hierarchical network, but is not limited thereto.

[0054] The input / output interface (740) may be a means for interfacing with an input / output device (I / O device, 750). For example, the input device may include a device such as a microphone, keyboard, or mouse, and the output device may include a device such as a display or speaker. As another example, the input / output interface (740) may be a means for interfacing with a device in which the functions for input and output are integrated into one, such as a touchscreen. The input / output device (750) may be composed of a computer device (700) and a single device.

[0055] Additionally, in other embodiments, the computer device (700) may include fewer or more components than those of FIG. 7. However, it is not necessary to clearly illustrate most of the prior art components. For example, the computer device (700) may be implemented to include at least some of the input / output devices (750) described above, or may include other components such as a transceiver, a database, etc.

[0056] The system or device described above may be implemented as a hardware component, or a combination of a hardware component and a software component. For example, the device and component described in the embodiments may be implemented using one or more general-purpose or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing unit may execute an operating system (OS) and one or more software applications executed on said operating system. Additionally, the processing unit may access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing unit may be described as being used as a single unit, but those skilled in the art will understand that the processing unit may include multiple processing elements and / or multiple types of processing elements. For example, the processing unit may include multiple processors or one processor and one controller. In addition, other processing configurations, such as parallel processors, are also possible.

[0057] Software may include computer programs, code, instructions, or a combination of one or more of these, and may configure a processing unit to operate as desired or instruct the processing unit independently or collectively. Software and / or data may be embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device so as to be interpreted by the processing unit or to provide instructions or data to the processing unit. Software may be distributed over networked computer systems and may be stored or executed in a distributed manner. Software and data may be stored on one or more computer-readable recording media.

[0058] The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc., either individually or in combination. The medium may continuously store a program executable by a computer, or temporarily store it for execution or download. Furthermore, the medium may be various recording or storage means in the form of a single or multiple hardware components, and is not limited to a medium directly connected to a computer system, but may exist distributed over a network. Examples of media include magnetic media such as hard disks, floppy disks, and magnetic tapes; optical recording media such as CD-ROMs and DVDs; magneto-optical media such as floptical disks; and media configured to store program instructions, including ROM, RAM, and flash memory. Additionally, other examples of media may include recording or storage media managed by app stores that distribute applications or sites and servers that supply or distribute various other software. Examples of program instructions include machine code, such as that generated by a compiler, as well as high-level language code that can be executed by a computer using an interpreter, etc.

[0059] Although the embodiments have been described above with reference to limited examples and drawings, those skilled in the art can make various modifications and variations from the description above. For example, suitable results can be achieved even if the described techniques are performed in a different order than described, and / or the components of the described system, structure, device, circuit, etc. are combined or assembled in a form different from described, or replaced or substituted by other components or equivalents.

[0060] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims set forth below.

Claims

1. In a robot path generation system, A service server that provides a guide for at least one robot; and The above at least one robot Includes, The above service server is, A guide map setting unit for setting a guide map to restrict the movement path of the at least one robot in the guide map area, for a guide map area set in at least a part of the entire area where the at least one robot can move; and A guide providing unit that guides the movement of the first robot in the guide map area based on the set guide map when the first robot, which autonomously drives the entire area among the at least one robot, approaches the guide map area. including A robot path generation system characterized by 2. In Paragraph 1, A robot path generation system characterized in that the first robot above autonomously drives the entire area according to a preset purpose, and in the guide map area, moves the guide map area according to a driving method guided by the guide providing unit.

3. In Paragraph 1, The above guide map includes information on at least one node among an entry node indicating an entry position into the guide map area and an exit node indicating an exit position in the guide map area. The above guide providing unit is, Providing guidance for the first robot approaching the guide map area to enter the guide map area through the entry node, or providing guidance for the first robot located inside the guide map area to exit the guide map area through the exit node. A robot path generation system characterized by 4. In Paragraph 1, The above guide map includes information on a plurality of nodes and at least one edge for restricting the movement of a robot within the guide map area, and The above guide providing unit is, Guiding the movement of the first robot by considering the path connected according to the plurality of nodes and the at least one edge. A robot path generation system characterized by 5. In Paragraph 4, Each of the above at least one edge includes information about the direction in which the robot can pass, and The above guide providing unit is, Guiding the movement of the first robot by further considering information regarding the passable direction included in the at least one edge. A robot path generation system characterized by 6. In Paragraph 4, Each of the above at least one edge includes information about the number of robots that can pass through simultaneously, and The above guide providing unit is, Guide the movement of the first robot by further considering information regarding the number of robots that can pass through the edge that the first robot intends to pass through, and information regarding the position of each of the at least one robot. A robot path generation system characterized by 7. In Paragraph 1, The above guide map includes information about restricted areas within the guide map area where the robot's movement is restricted, and The above guide providing unit is, Guide the movement of the first robot by taking into account the above-mentioned restriction area and ensuring that the path does not include the above-mentioned restriction area. A robot path generation system characterized by 8. In Paragraph 1, The above guide map includes information on fire zones that the robot must escape from in the event of a fire, and The above guide providing unit is, When a fire occurrence signal is received, guiding the movement of the first robot so that the first robot moves out of the fire area. A robot path generation system characterized by 9. In a service server implemented by at least one computer device, The above at least one computer device includes at least one processor, and By the above at least one processor, For a guide map area set in at least a part of the entire area where the at least one robot can move, a guide map is set to restrict the movement path of the at least one robot in the guide map area. When a first robot among the at least one robot that autonomously drives the entire area approaches the guide map area, guiding the movement of the first robot in the guide map area based on the set guide map. A service server characterized by 10. In Paragraph 9, The above guide map includes information on at least one node among an entry node indicating an entry position into the guide map area and an exit node indicating an exit position in the guide map area. To guide the movement of the first robot, by the at least one processor, Providing guidance for the first robot approaching the guide map area to enter the guide map area through the entry node, or providing guidance for the first robot located inside the guide map area to exit the guide map area through the exit node. A service server characterized by 11. In Paragraph 9, The above guide map includes information on a plurality of nodes and at least one edge for restricting the movement of a robot within the guide map area, and To guide the movement of the first robot, by the at least one processor, Guiding the movement of the first robot by considering the path connected according to the plurality of nodes and the at least one edge. A service server characterized by 12. In Paragraph 9, The above guide map includes information about restricted areas within the guide map area where the robot's movement is restricted, and To guide the movement of the first robot, by the at least one processor, Guide the movement of the first robot by taking into account the above-mentioned restriction area and ensuring that the path does not include the above-mentioned restriction area. A service server characterized by 13. In Paragraph 9, The above guide map includes information on fire zones that the robot must escape from in the event of a fire, and To guide the movement of the first robot, by the at least one processor, When a fire occurrence signal is received, guiding the movement of the first robot so that the first robot moves out of the fire area. A service server characterized by 14. A method for generating a robot path for a service server implemented by at least one computer device, The above at least one computer device includes at least one processor, and The above robot includes a computer device comprising at least one processor, and A step of setting a guide map for restricting the movement path of the at least one robot in a guide map area, wherein the at least one robot is set in at least a portion of the entire area in which the at least one robot can move by the at least one processor; and A step of guiding the movement of the first robot in the guide map area based on the set guide map when the first robot among the at least one robot autonomously driving in the entire area approaches the guide map area by the at least one processor. A robot path generation method including 15. In Paragraph 14, The above guide map includes information on at least one node among an entry node indicating an entry position into the guide map area and an exit node indicating an exit position in the guide map area. The step of guiding the movement of the first robot is, Providing guidance for the first robot approaching the guide map area to enter the guide map area through the entry node, or providing guidance for the first robot located inside the guide map area to exit the guide map area through the exit node. A robot path generation method characterized by 16. In Paragraph 14, The above guide map includes information on a plurality of nodes and at least one edge for restricting the movement of a robot within the guide map area, and The step of guiding the movement of the first robot is, Guiding the movement of the first robot by considering the path connected according to the plurality of nodes and the at least one edge. A robot path generation method characterized by 17. In Paragraph 14, The above guide map includes information about restricted areas within the guide map area where the robot's movement is restricted, and The step of guiding the movement of the first robot is, Guide the movement of the first robot by taking into account the above-mentioned restriction area and ensuring that the path does not include the above-mentioned restriction area. A robot path generation method characterized by 18. In Paragraph 14, The above guide map includes information on fire zones that the robot must escape from in the event of a fire, and The step of guiding the movement of the first robot is, When a fire occurrence signal is received, guiding the movement of the first robot so that the first robot moves out of the fire area. A robot path generation method characterized by 19. A computer program stored on a computer-readable recording medium in combination with a computer device to execute the method of any one of claims 14 to 18 on said computer device.

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