Robot control method and system enabling interactions between robot and various types of facilities

Abstract

Disclosed are a robot control method and system which enable interactions between a robot and various types of facilities. A robot control system according to an embodiment may comprise: a control server providing commands for at least one robot; and the at least one robot which processes the commands while moving in a service area. The control server may include a user interface providing unit for providing a user interface including a function for setting a docking station node, which corresponds to the position of a docking station including a facility capable of interacting with the at least one robot in the service area, and a docking node, which corresponds to a position where the at least one robot starts to interact with the docking station, in a map for the service area.

Description

Robot control method and system enabling interaction between a robot and various types of facilities

[0001] The following description relates to a robot control method and system that enables interaction between a robot and various types of facilities.

[0002] Existing map authoring methods for robots primarily rely on representations and functions specialized for chargers or individual facilities. Since these are designed to be suitable only for interactions between specific robots and facilities, they suffer from poor compatibility between various robots and facilities. For example, because conventional technology utilizes specialized interaction methods for each robot and facility, separate map authoring and command generation are required for each robot to interact with various facilities. Consequently, conventional technology faces problems such as increased system complexity and limited maintainability and scalability.

[0003] A robot control method and system that enable interaction between a robot and various types of facilities are provided.

[0004] A robot control system comprises: a control server that provides commands for at least one robot; and the at least one robot that moves within a service area and processes the commands. The control server comprises: a user interface providing unit that provides a user interface for setting on a map for the service area a docking station node corresponding to the location of a docking station that includes facilities capable of interacting with the at least one robot within the service area, and a docking node corresponding to the location where the at least one robot begins interacting with the docking station; a map data management unit that generates and stores map data including information about the docking station node and the docking node set through the user interface; a robot state information management unit that stores information about the state of the at least one robot; and a command generating unit that generates and provides the commands using the map data and the information about the state.

[0005] According to one aspect, the command generating unit may be characterized by generating a first command to move the first robot to a docking node for docking with the docking station for interaction between the first robot among the at least one robot and the docking station and transmitting the first robot, and in response to the first robot moving to the docking node, generating a second command for docking with the docking station and transmitting the second command to the first robot.

[0006] According to another aspect, the user interface further includes a function for setting the type of the docking station, and the second command for docking may be characterized by being generated to include information about the type set for the docking station.

[0007] According to another aspect, a docking method according to the type of docking station may be implemented in each of the at least one robot.

[0008] According to another aspect, the control server may further include a docking station management unit that receives and stores information about the status of the docking station through a robot that interacts with the docking station.

[0009] According to another aspect, the user interface further includes a function that allows the user to set whether to use the docking station, and the docking station management unit may be characterized by storing information regarding whether to use the docking station set through the user interface.

[0010] According to another aspect, the command generating unit may be characterized by generating the command by further utilizing at least one of the information regarding the status of the docking station and the information regarding whether the docking station is in use, which are stored in the docking station management unit.

[0011] A control server is provided that provides a command to at least one robot moving within a service area, the control server being 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 provides a user interface having a function to set a docking station node corresponding to the location of a docking station that includes a facility capable of interacting with the at least one robot within the service area, and a docking node corresponding to the location where the at least one robot begins to interact with the docking station, on a map for the service area; generates and stores map data including information about the docking station node and the docking node set through the user interface, stores information about the state of the at least one robot, and generates and provides the command using the map data and the information about the state.

[0012] A robot control method for a control server that provides a command to at least one robot moving in a service area, the method being implemented by at least one computer device, wherein the at least one computer device includes at least one processor, and the robot control method comprises: a step of providing a user interface by the at least one processor, the user interface having a function for setting on a map for a service area a docking station node corresponding to the location of a docking station that includes a facility capable of interacting with the at least one robot in the service area, and a docking node corresponding to the location where the at least one robot begins to interact with the docking station; a step of generating and storing map data by the at least one processor, the map data including information about the docking station node and the docking node set through the user interface; a step of storing information about the state of the at least one robot by the at least one processor; and a step of generating and providing the command by the at least one processor using the map data and the information about the state.

[0013] 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.

[0014] A computer-readable recording medium is provided on which a program for executing the above method is recorded on a computer device.

[0015] A robot control method and system that enable interaction between a robot and various types of facilities can be provided.

[0016] FIG. 1 is a diagram illustrating an example of the operating environment of a robot control system in one embodiment of the present invention.

[0017] FIG. 2 is a drawing illustrating an example of a user interface for mapmaking in one embodiment of the present invention.

[0018] FIG. 3 is a diagram illustrating an example of the process of setting the type of a node in an embodiment of the present invention.

[0019] FIG. 4 is a drawing illustrating an example of a docking zone displayed on a map according to an embodiment of the present invention.

[0020] FIG. 5 is a diagram illustrating an example of the process of finding and selecting a docking station registered in a docking zone in an embodiment of the present invention.

[0021] FIG. 6 is a drawing illustrating an example of a user interface for adding a docking station in one embodiment of the present invention.

[0022] FIG. 7 is a drawing illustrating an example of a user interface for managing a docking station in one embodiment of the present invention.

[0023] FIG. 8 is a diagram illustrating an example of changing the node order in an embodiment of the present invention.

[0024] FIG. 9 is a block diagram illustrating an example of the internal configuration of a control server according to an embodiment of the present invention.

[0025] FIG. 10 is a flowchart illustrating an example of a robot control method for a service server according to an embodiment of the present invention.

[0026] FIG. 11 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention.

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

[0028] FIG. 1 is a diagram illustrating an example of the operating environment of a robot control system in an embodiment of the present invention. A robot control system (100) according to the present embodiment may include a control server (110) and a plurality of robots (120).

[0029] The control server (110) is a system implemented in a cloud environment and can transmit commands to each of the multiple robots (120). For example, the control 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 control server (110) and each of the multiple robots (120) is not limited to this.

[0030] Each of the multiple robots (120) can process various services according to commands provided by the control server (110).

[0031] For example, the control server (110) may include map data for a specific area (hereinafter referred to as the 'service area') where multiple robots (120) provide services. In this case, the map data may include additional information related to the control of the multiple robots (120) in addition to geographical information regarding the service area. The information related to the control of the multiple robots (120) may include information regarding docking station nodes corresponding to facilities interacting with the robots in the service area, and information regarding docking nodes corresponding to the location where interaction with the facilities begins. Additionally, the control server (110) may receive and store information regarding the status of each of the multiple robots (120) from each of the multiple robots (120). In this case, the control server (110) may generate and provide commands for each of the multiple robots (120) based on the information in the map data and the information regarding the status of each of the multiple robots (120).

[0032] As previously explained, in conventional robot control technology, the creation process of a map (e.g., the map data described above) relied on expressions and functions specialized for individual facilities, such as chargers or carts (hereinafter referred to as 'Robocart') that are connected to the robot and can be used by the robot. For example, in the prior art, specialized nodes and functions for interaction with facilities were implemented on the map for each robot. For example, in the past, the control server (110) had to generate a first command for Robot 1 based on the first node and first function for Robot 1 and generate a second command for Robot 2 based on the second node and second function for Robot 2 through the map, using first nodes and first functions for a specific Robot 1 and second nodes and second functions for a specific Robot 2. In this case, the map is designed to be suitable only for interaction between a specific robot and a specific facility, resulting in poor compatibility between various robots and various facilities.

[0033] On the other hand, in this embodiment, a "docking station" node and a "docking" node can be defined and utilized. A docking node may be a node indicating the location on a map where a robot starts a "docking" operation, and a docking station node may be a node indicating the location of a facility where the "docking" takes place. For example, a docking station may refer to a facility with which a robot interacts, and various facilities such as chargers or robot carts may be included in a docking station. When a robot heads toward a specific docking station, the control server (110) may transmit information to the robot regarding the type corresponding to that docking station (e.g., charger type or robot cart type). A docking method with each type of supported docking station may be implemented in the robot, and in this case, the control server (110) may manage multiple robots (120) using the same map data and control multiple robots (120) based on the same command.

[0034] In other words, the control server (110) can generate and process commands related to movement to a docking node that can interact with a specific facility, such as a docking station, or operations at the docking node, in the same format regardless of the type of robot. Therefore, according to the present embodiment, multiple robots can interact with the facility in the same way in various environments, thereby facilitating the integration and expansion of the robot control system (100).

[0035] FIG. 2 is a diagram illustrating an example of a user interface for map creation in an embodiment of the present invention. The embodiment of FIG. 2 illustrates a docking zone including a docking station and a docking node. This docking zone may refer to an area for managing robots so that the robot can dock or undocking with a Robocart or a charger. The act of a robot loading or unloading a Robocart may also be referred to uniformly as docking or undocking. This docking zone can be used to map various facility types into a single docking zone for generalized use, without creating separate zone functions such as a charging zone or a Robocart zone. While the embodiment of FIG. 2 describes examples of some facilities such as chargers or Robocarts, facilities that the robot can interact with may vary depending on the embodiment, such as, for example, a storage box for loading / unloading items for a courier service or a storage box for loading / unloading lunch boxes for a lunch box delivery service.

[0036] In FIG. 2, the first dotted box (210) represents an example of a docking zone for a charger, and the second dotted box (220) represents an example of a docking zone for a Robocart. For example, a docking node (211) and a docking station (212) may be included in the docking zone as a pair. A docking station may be implemented with two or more nodes. Additionally, in FIG. 2, the third dotted box (230) represents an example of a user interface that can check and set information for individual nodes. A user can create map data using this user interface, and the control server (110) can control the robot based on the created map data. At this time, since there is no need to include individual nodes or functions for various robots and various facilities in the map data, the same map interface can be used for various robots and various facilities, and thus the control server (110) can provide commands for interaction between various robots and various facilities using the same command generation method.

[0037] For example, if a user wishes to create a charging docking zone, they can add multiple or single nodes at locations on a map where they want to have the robot wait to charge. Afterward, the user can select the added nodes and change the node type to a docking node. The third dotted box (230) in FIG. 2 shows an example where the node type is set to Docking. Afterward, the user can select the added docking node, enter a zone name, and then save the added node using buttons such as Add New and Save. Meanwhile, if the user wishes to include additional nodes in an existing docking zone, they can add the nodes to the corresponding docking zone by entering or selecting the name of the existing zone. Additionally, the user can select a docking node containing a charger, find the name of the charger registered in the docking station, select it, and save it.

[0038] FIG. 3 is a diagram illustrating an example of a process for setting a node type in an embodiment of the present invention. In the embodiment of FIG. 3, a list of various types that can be set for a node is provided, and an example is shown in which a user can set a desired node type by selecting a specific type from the provided list.

[0039] FIG. 4 is a diagram illustrating an example of a docking zone displayed on a map according to an embodiment of the present invention. When configuring a docking zone, two nodes (docking node and docking station) can be added in pairs. Additionally, since the location where a robot moves is determined by the order of the nodes, the order of the nodes must also be taken into account when configuring a docking zone. The control server (110) can move the robot along a path according to the order of the nodes, and after the robot arrives at the docking node, it can transmit a command to the robot for docking with the docking station. In this case, the robot can dock with the corresponding docking station according to the docking method with the docking station implemented in the robot.

[0040] FIG. 5 is a diagram illustrating an example of a process of finding and selecting a docking station registered in a docking zone in an embodiment of the present invention. In the embodiment of FIG. 5, a list of docking stations included in a docking zone identified by the name of the docking zone is provided, and an example is shown of a user selecting a specific docking station from the provided list to connect a docking node and a docking station.

[0041] FIG. 6 is a diagram illustrating an example of a user interface for adding a docking station in an embodiment of the present invention. The user interface of FIG. 6 indicates that it provides functions for inputting or selecting information regarding the ID, name, type, and location of the docking station to be added. Additionally, if there is a marker (a marker of the docking station) available for use on the robot, the marker image file can be transmitted to the robot by dragging and attaching the corresponding marker image file.

[0042] FIG. 7 is a diagram illustrating an example of a user interface for managing a docking station in an embodiment of the present invention. When a robot docks or undocking at a docking station, information regarding the status of the docking station may be transmitted to a control server (110). At this time, the first dotted box (710) of the user interface in FIG. 7 shows an example where information regarding the status of each docking station is displayed. This can be used to manage whether the docking station at the corresponding location is currently in use (for example, whether it is charging in the case of a charger, or whether a Robocart is present at the location in the case of a Robocart). If the Robocart is manually positioned in the docking zone, the user can directly change the status of the docking station to "parking," etc., to allow the robot to dock with the Robocart at that location. Additionally, the facility usage status shown in the second dotted box (720) of FIG. 7 may provide a function that allows the user to activate or deactivate the docking station using a button. For example, if a user disables the button for the use of a specific docking station, the control server (110) recognizes that the docking station is disabled and can use it when controlling the robot.

[0043] FIG. 8 is a diagram illustrating an example of changing the node order in an embodiment of the present invention. Since chargers are mostly located on walls, a single charger is mapped to the last docking node, whereas in the case of Robocarts, multiple Robocarts can be positioned in succession, and the robot can determine which Robocart to dock and move based on the node order and the docking station status (parked or empty). Since the robot's movement path is determined by the order of the docking nodes, nodes can be connected in an increasing order (e.g., 1-2-3). If the node order is set to 2-3-1, the robot may not be able to pick up the Robocart as desired. To change the node order within a docking zone, the user can select a docking zone where a change in the node order is required and receive a list of nodes through a button that may be provided in conjunction with the zone name. FIG. 8 illustrates a user interface that allows changing the order of nodes by selecting a specific node in a node list (e.g., clicking an area where the node identifier is displayed) and moving it up or down (e.g., moving the mouse up or down while clicking). The embodiment of FIG. 8 shows an example of displaying a node selected by the user through an arrow (▶).

[0044] Meanwhile, logic may be required to determine the location where the robot docks or undockers the Robocart. In the case of docking, the robot can find the node to move to by circulating through the node numbers within the docking zone in order to locate the Robocart. Subsequently, the robot searches until it finds a node where the conditions that the docking station is "mapped", the facility usage status is "on," and the docking station status is "parked" are all true. Once such a node is found, the robot can move to that node to pick up the Robocart. Conversely, in the case of undockering, since the robot must unload the Robocart at the innermost location, it can find the node by circulating through the nodes in the reverse order (e.g., 3-2-1). Afterwards, the robot searches until it finds a node where the conditions that the docking station is "mapped" to the docking node, the condition that the facility is in "On" state, and the condition that the docking station is "empty" are all true, and when it finds such a node, it moves to that node and can put down the Robocart.

[0045] FIG. 9 is a block diagram illustrating an example of the internal configuration of a control server according to an embodiment of the present invention, and FIG. 10 is a flowchart illustrating an example of a robot control method of a service server according to an embodiment of the present invention.

[0046] The control 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 the control server (110) so that the computer device and / or the control server (110) perform steps (1010 to 1050) included in the method of FIG. 10 according to the control instruction provided by the code stored in the computer device.

[0047] First, as illustrated in FIG. 9, the control server (110) may include a user interface providing unit (910), a map data management unit (920), a robot status information management unit (930), a docking station management unit (940), and a command generating unit (950). Here, each of the user interface providing unit (910), the map data management unit (920), the robot status information management unit (930), the docking station management unit (940), and the command generating unit (950) may be a functional expression of at least one processor for controlling the control server (110) to perform steps (1010 to 1050) of a robot control method.

[0048] In step (1010), the user interface providing unit (910) may provide a user interface that includes a function for setting a docking station node corresponding to the location of a docking station containing a facility capable of interacting with at least one robot in the service area, and a docking node corresponding to the location where at least one robot begins interacting with the docking station, on a map for the service area. The user interface for setting the nodes has been described in detail above. In particular, rather than generating map data for each facility capable of interacting with the robot, in this embodiment, the facilities are generalized into a docking station node corresponding to the location of the docking station corresponding to each facility and a docking node corresponding to the location for starting docking, and commands are provided. By generalizing the interaction with the facilities, a platform can be provided in which various types of robots can process various facilities through the same map interface and command structure.

[0049] In step (1020), the map data management unit (920) can generate and store map data including information about a docking station node and a docking node set through a user interface. According to an embodiment, in addition to the docking station node and the docking node, the map data may further include information about various nodes for controlling the robot in a robot control technology based on existing nodes (e.g., nodes for indicating the robot's path).

[0050] In step (1030), the robot status information management unit (930) may store information regarding the status of at least one robot. The information regarding the status of the robot may include at least information regarding the position and orientation of the robot, and may further include various information such as whether the storage compartment of the robot is open or the charging status of the robot, depending on the robot to be used or the service to be provided by the robot.

[0051] In step (1040), the docking station management unit (940) can receive and store information regarding the status of the docking station through a robot that interacts with the docking station. According to an embodiment, the docking station management unit (940) may also receive and store information regarding the status of the docking station by communicating directly with the docking station. Meanwhile, as previously described through FIG. 7, the user can set whether each docking station is in use through a user interface. In other words, the user interface may provide additional functionality that allows the user to set whether the docking station is in use. In this case, the docking station management unit (940) can store information regarding the usage of the docking station set through the user interface for each docking station.

[0052] In step (1050), the command generation unit (950) can generate and provide commands using map data and information about the status. The robot can operate according to these commands. For example, for interaction between the robot and the docking station, the command generation unit can generate a first command to move the robot to a docking node for docking with the docking station and transmit it to the robot. As the robot processes the first command, it can transmit information about the processing result of the command and its status to the control server (110). Through this, the command generation unit (950) can determine that the robot has moved to the docking node. At this time, in response to the robot moving to the docking node, the command generation unit (950) can generate a second command for docking with the docking station and transmit it to the robot. According to an embodiment, the user interface may further include a function for setting the type of the docking station. In this case, the second command for docking may be generated to include information about the type set for the corresponding docking station. Meanwhile, a docking method according to the type of docking station may be implemented in the robot. In this case, the robot may dock with the docking station according to the second command and transmit information regarding the processing result of the second command and its status to the control server (110). Through this, the control server (110) can verify the result of the robot's docking with the docking station. Additionally, according to the embodiment, the robot may transmit information regarding the status of the docking station to the control server (110). Through this, the control server (110) can identify information regarding the docking station and the docking station node corresponding to the docking station.

[0053] Meanwhile, the command generation unit (950) may generate a command by further utilizing at least one of the information regarding the status of the docking station and the information regarding whether the docking station is in use, which are stored in the docking station management unit (940). An example of further utilizing the information regarding the status of the docking station and the information regarding whether the docking station is in use for docking / undocking with the Robocart has been explained previously.

[0054] Thus, according to embodiments of the present invention, a robot control method and system that enable interaction between a robot and various types of facilities can be provided.

[0055] FIG. 11 is a block diagram illustrating an example of a computer device according to an embodiment of the present invention. As shown in FIG. 11, the computer device (1100) may include memory (1110), a processor (1120), a communication interface (1130), and an input / output interface (1140). The memory (1110) 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 (1100) as a separate permanent storage device distinct from the memory (1110). Additionally, an operating system and at least one program code may be stored in the memory (1110). These software components may be loaded into memory (1110) from a computer-readable recording medium separate from memory (1110). 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 (1110) via a communication interface (1130) rather than a computer-readable recording medium. For example, software components may be loaded into memory (1110) of a computer device (1100) based on a computer program installed by files received through a network (Network, 1160).

[0056] The processor (1120) 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 (1120) via memory (1110) or a communication interface (1130). For example, the processor (1120) may be configured to execute instructions received according to program code stored in a recording device such as memory (1110).

[0057] The communication interface (1130) may provide a function for the computer device (1100) to communicate with other devices through a network (1160). For example, requests, commands, data, files, etc. generated by the processor (1120) of the computer device (1100) according to program code stored in a recording device such as memory (1110) may be transmitted to other devices through the network (1160) under the control of the communication interface (1130). Conversely, signals, commands, data, files, etc. from other devices may be received by the computer device (1100) through the communication interface (1130) of the computer device (1100) via the network (1160). Signals, commands, data, etc. received through the communication interface (1130) may be transmitted to the processor (1120) or memory (1110), and files, etc. may be stored in a storage medium (the permanent storage device described above) that the computer device (1100) may further include.

[0058] 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 (1160) may include, but also short-range wireless communication between devices. For example, the network (1160) 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 (1160) may include any one or more network topologies such as a bus network, a star network, a ring network, a mesh network, a star-bus network, a tree or hierarchical network, but is not limited thereto.

[0059] The input / output interface (1140) may be a means for interfacing with an input / output device (I / O device, 1150). 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 (1140) 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 (1150) may be composed of a computer device (1100) and a single device.

[0060] Additionally, in other embodiments, the computer device (1100) may include fewer or more components than those of FIG. 11. However, it is not necessary to clearly illustrate most of the prior art components. For example, the computer device (1100) may be implemented to include at least some of the input / output devices (1150) described above, or may include other components such as a transceiver, a database, etc.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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 control system, A control server that provides commands for at least one robot; and The at least one robot that moves within the service area and processes the above command Includes, The above control server is, A user interface providing unit that provides a user interface including a function for setting a docking station node corresponding to the location of a docking station including a facility capable of interacting with at least one robot in the service area, and a docking node corresponding to the location where the at least one robot begins interaction with the docking station on a map for the service area; A map data management unit that generates and stores map data including information on docking station nodes and docking nodes set through the above user interface; A robot state information management unit that stores information about the state of at least one robot; and A command generation unit that generates and provides the command using the map data and information regarding the state. including A robot control system characterized by 2. In Paragraph 1, The above command generation unit is, For interaction between the first robot among the at least one robot and the docking station, a first command is generated to move the first robot to a docking node for docking with the docking station and transmitted to the first robot. In response to the first robot moving to the docking node, generating a second command for docking to the docking station and transmitting it to the first robot. A robot control system characterized by 3. In Paragraph 2, The above user interface further includes a function for setting the type of the docking station, and The second command for the above docking is generated to include information about the type set for the above docking station. A robot control system characterized by 4. In Paragraph 3, A robot control system characterized by implementing a docking method according to the type of docking station in each of the above at least one robot.

5. In Paragraph 1, The above control server is, A docking station management unit that receives and stores information regarding the status of the above docking station through a robot that interacts with the docking station. A robot control system characterized by further including 6. In Paragraph 5, The above user interface further includes a function that allows the user to set whether to use the docking station, and The above docking station management department, Storing information regarding the use of the docking station configured through the above user interface A robot control system characterized by 7. In Paragraph 6, The above command generation unit is, A robot control system characterized by generating the command by further utilizing at least one of the information regarding the status of the docking station and the information regarding whether the docking station is in use, which are stored in the docking station management unit.

8. A control server implemented by at least one computer device and providing commands to at least one robot moving in a service area, The above at least one computer device includes at least one processor, and By the above at least one processor, A user interface is provided that includes a function for setting a docking station node corresponding to the location of a docking station comprising a facility capable of interacting with at least one robot in the service area, and a docking node corresponding to the location where the at least one robot begins to interact with the docking station, on a map for the service area. Creates and stores map data including information on docking station nodes and docking nodes set through the above user interface, and Stores information about the state of at least one robot, and Generating and providing the above command using the above map data and information regarding the above state A control server featuring 9. In Paragraph 8, To generate and provide the above command, by the at least one processor, For interaction between the first robot among the at least one robot and the docking station, a first command is generated to move the first robot to a docking node for docking with the docking station and transmitted to the first robot. In response to the first robot moving to the docking node, generating a second command for docking to the docking station and transmitting it to the first robot. A control server featuring 10. In Paragraph 9, The above user interface further includes a function for setting the type of the docking station, and The second command for the above docking is generated to include information about the type set for the above docking station. A control server featuring 11. In Paragraph 8, By the above at least one processor, Receiving and storing information about the status of the above docking station through a robot that interacts with the above docking station. A control server featuring 12. In Paragraph 11, The above user interface further includes a function that allows the user to set whether to use the docking station, and By the above at least one processor, Storing information regarding the use of the docking station configured through the above user interface A control server featuring 13. In Paragraph 12, To generate and provide the above command, by the at least one processor, Generating the command by further utilizing at least one of the information regarding the status of the docking station and the information regarding whether the docking station is in use, which are stored in the docking station management unit. A control server featuring 14. A robot control method of a control server that provides commands to at least one robot moving in a service area, implemented by at least one computer device, The above at least one computer device includes at least one processor, and The above robot control method is, A step of providing a user interface comprising a function for setting on a map for a service area a docking station node corresponding to the location of a docking station including a facility capable of interacting with the at least one robot in the service area, and a docking node corresponding to the location where the at least one robot begins to interact with the docking station, by the at least one processor; A step of generating and storing map data including information about a docking station node and a docking node set through the user interface by the above at least one processor; A step of storing information about the state of the at least one robot by the at least one processor; and The step of generating and providing the command using the map data and information about the state by the at least one processor. A robot control method characterized by including 15. In Paragraph 14, The step of generating and providing the above command is, For interaction between the first robot among the at least one robot and the docking station, a first command to move the first robot to a docking node for docking with the docking station and to transmit the first robot; and In response to the first robot moving to the docking node, a second command for docking to the docking station is generated and transmitted to the first robot. A robot control method characterized by including 16. In Paragraph 15, The above user interface further includes a function for setting the type of the docking station, and The second command for the above docking is generated to include information about the type set for the above docking station. A robot control method characterized by 17. In Paragraph 14, The above robot control method is, The step of receiving and storing information about the state of the docking station through a robot that interacts with the docking station by the above-mentioned at least one processor. A robot control method characterized by further including 18. In Paragraph 17, The above user interface further includes a function that allows the user to set whether to use the docking station, and The above robot control method is, A step of storing information regarding whether the docking station is in use, which is set through the user interface by the at least one processor. A robot control method characterized by further including 19. In Paragraph 18, The step of generating and providing the above command is, A robot control method characterized by generating the command by further utilizing at least one of the information regarding the status of the docking station and the information regarding whether the docking station is in use, which are stored in the docking station management unit.

20. 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 19 on said computer device.

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