KR102699336B1 - Method and system for controling driving of robot - Google Patents

Abstract

The present invention relates to robot driving control, and is a robot driving control method and system capable of setting a movement path of a robot by considering the degree of congestion in a space. The method for controlling the driving of a robot driving in a space according to the present invention may include a step of specifying a destination of a specific robot to be controlled, a step of specifying a congestion expected area in which congestion is expected in the space by using a movement path of at least one other robot, a step of generating a movement path of the specific robot to the destination by considering the congestion expected area, and a step of transmitting driving information according to the movement path of the specific robot so that the specific robot drives in the space along the movement path of the specific robot.

Description

{METHOD AND SYSTEM FOR CONTROLING DRIVING OF ROBOT}

The present invention relates to robot driving control, and is a robot driving control method and system capable of setting a robot's movement path by taking into account the degree of congestion in a space.

As technology advances, various service devices are appearing, and in particular, technology development for robots that perform various tasks or services is actively underway recently.

Furthermore, with the recent development of artificial intelligence technology, cloud technology, etc., the utilization of robots is gradually increasing, and robot services that move freely within buildings are emerging.

At this time, the congestion of a space has a significant impact on the movement performance of a robot, so technology for generating an avoidance path for a robot based on the degree of congestion caused by people is being actively developed.

Accordingly, in Korean Patent Publication No. 10-2019-0096857 (Artificial Intelligence Server for Determining a Robot's Path and Its Method), a method is disclosed in which an artificial intelligence server determines a robot's path by predicting the density of a control space. However, since the conventional technology considers the robot's movement path mainly based on whether there is congestion at the present time, there is still a need for a method for setting a robot's movement path that takes into account future congestion.

The present invention provides a driving control method and system for a robot. More specifically, the present invention provides a robot driving control method and system capable of setting a moving path of a robot by considering future congestion in a space.

Furthermore, the present invention provides a robot driving control method and system capable of predicting future congestion in a space by considering the movement path of another robot and reflecting the predicted congestion in the movement path of a specific robot to be controlled.

In addition, the present invention provides a robot driving control method and system that can provide an optimal movement path to the robot by reflecting the congestion in a space that changes over time.

A method for controlling the driving of a robot driving through a space according to the present invention may include a step of specifying a destination of a specific robot to be controlled, a step of specifying a congestion-predicted area in which congestion is expected in the space by using a movement path of at least one other robot, a step of generating a movement path of the specific robot to the destination by considering the congestion-predicted area, and a step of transmitting driving information along a movement path of the specific robot so that the specific robot drives through the space along the movement path of the specific robot.

Furthermore, the robot driving control system may include a communication unit for communicating with robots driving in a space, and a control unit for specifying a destination of a specific robot to be controlled and, using a movement path of at least one other robot, specifying a congestion prediction area in which congestion is expected in the space, wherein the control unit generates a movement path of the specific robot to the destination by considering the congestion prediction area, and transmits driving information according to the movement path of the specific robot through the communication unit so that the specific robot drives in the space along the movement path of the specific robot.

Furthermore, a program that is executed by one or more processes in an electronic device and that can be stored in a computer-readable medium may include instructions that cause the program to perform a step of specifying a destination of a specific robot to be controlled, a step of specifying a congestion-predicted area in which congestion is expected in a space by using a movement path of at least one other robot, a step of generating a movement path of the specific robot to the destination by considering the congestion-predicted area, and a step of transmitting driving information along the movement path of the specific robot so that the specific robot drives through the space along the movement path of the specific robot.

As described above, the robot driving control method and system according to the present invention can predict a future congestion expected area in a space using the movement path of another robot, and set the movement path of the robot by considering the predicted congestion expected area.

Accordingly, the robot driving control method and system according to the present invention can not only specify an area where congestion is expected in a space, but also predict when the area where congestion is expected to occur, thereby providing an optimal movement path for the robot in response to the congestion in the space that changes over time.

Furthermore, since the robot driving control method and system according to the present invention determines whether to avoid an expected congestion area based on the time when the expected congestion area arrives, it is possible to minimize inefficiency in a robot movement path caused by uncertainty about the future.

Meanwhile, the robot driving control method and system according to the present invention periodically updates the predicted congestion area and reflects the update result in the robot's movement path, thereby providing an optimal movement path according to changes in the situation within the space.

Figures 1 and 2 are conceptual diagrams for explaining a robot driving control method and system according to the present invention.
Figure 3 is a conceptual diagram explaining a node map used to set the robot's movement path.
Figure 4 is a flowchart for explaining a robot driving control method according to the present invention.
Figures 5a and 5b are conceptual diagrams showing a robot driving control method according to the present invention.
Figures 6a and 6b are conceptual diagrams illustrating a method for specifying an expected congestion area by utilizing another robot.
Figures 7a and 7b are conceptual diagrams for explaining a method of specifying an expected crowded area using an environment within a space.
FIG. 8a and FIG. 8b are conceptual diagrams illustrating one embodiment of generating avoidance paths for multiple expected congestion areas.
Figures 9a and 9b are conceptual diagrams illustrating an embodiment of updating an expected congestion area and reflecting it in the movement path of a robot.

Hereinafter, embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing symbols, identical or similar components will be given the same reference numerals 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 have distinct meanings or roles in themselves. In addition, when describing 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, the 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.

Terms that include ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The terms are used only to distinguish one component from another.

When it is said that a component is "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 in between. On the other hand, when it is said that a component is "directly connected" or "directly connected" to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

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

The present invention provides a driving control method and system for a robot, and more specifically, provides a robot driving control method and system capable of setting a moving path of a robot by considering future congestion in a space. Hereinafter, a robot driving control system will be examined with reference to the attached drawings. FIG. 1 and FIG. 2 are conceptual diagrams for explaining a robot driving control method and system according to the present invention.

For example, as shown in Fig. 1, as technology advances, the utilization of robots is gradually increasing. Previously, robots were utilized in special industrial fields (e.g., industrial automation-related fields), but they are gradually transforming into service robots that can perform useful tasks for humans or facilities.

A robot capable of providing such various services can be configured to drive in a space (10) such as that illustrated in Fig. 1 in order to perform an assigned task. There is no limitation on the type of space in which the robot drives, and the robot can be configured to drive in at least one of an indoor space and an outdoor space as needed. For example, the indoor space can be a variety of spaces such as a department store, an airport, a hotel, a school, a building, a subway station, a train station, a bookstore, etc. The robot can be configured to be placed in such various spaces and provide useful services to humans.

Meanwhile, in order to provide various services using robots, accurately controlling the robot is a very important factor. Accordingly, the present invention proposes a method for remotely controlling the robot more accurately by using cameras placed in space.

As shown in Fig. 1, a camera (20) may be placed in a space (10) where a robot is located. As in a city, there is no limitation on the number of cameras (20) placed in a space (10). As in a city, a plurality of cameras (20a, 20b, 20c) may be placed in a space (10). The types of cameras (20) placed in a space (10) may vary, and in the present invention, a closed circuit television (CCTV) placed in a space may be utilized in particular.

As illustrated in FIG. 2, according to the present invention, in the robot driving control system (300), the robot (100) can be remotely managed and controlled.

The robot driving control system (300) according to the present invention can control the driving of the robot or perform appropriate control of the robot by utilizing at least one of an image received from a camera (20, for example, CCTV) placed in a space (10), an image received from a robot, information received from a sensor equipped in the robot, and information received from various sensors equipped in the space.

As illustrated in FIG. 2, the robot driving control system (300) according to the present invention may include at least one of a communication unit (310), a storage unit (320), a display unit (330), an input unit (340), and a control unit (350).

The communication unit (310) can be configured to communicate with various devices placed in the space (10) via wires or wirelessly. The communication unit (310) can communicate with the robot (100) as in the example. The communication unit (310) can be configured to receive images captured by a camera equipped in the robot (100) through communication with the robot (100).

In addition, the communication unit (310) may be configured to communicate with at least one external server (or external storage, 200). Here, the external server (200) may be configured to include at least one of a cloud server (210) or a database (220), as illustrated. Meanwhile, the external server (200) may be configured to perform at least a part of the role of the control unit (350). That is, data processing or data operation, etc. may be performed in the external server (200), and the present invention does not place any special restrictions on this method.

Meanwhile, the communication unit (310) can support various communication methods according to the communication standards of the communicating device.

For example, the communication unit (310) may be configured to communicate with a device (including a cloud server) located inside or outside the space (20) by 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 (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).

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 driving control system (300) itself. Alternatively, at least a part of the storage unit (320) may mean at least one of the cloud server (210) and the database (220). That is, the storage unit (320) may be a space in which information necessary for robot control according to the present invention is stored, and it may be understood that there are no restrictions on the physical space. Accordingly, in the following, the storage unit (320), the cloud server (210), and the database (220) will not be separately distinguished, and will all be referred to as the storage unit (320). At this time, the cloud server (210) may mean a “cloud storage.”

First, information about the robot (100) can be stored in the storage unit (320).

Information about the robot (100) may be very diverse, and information about the robot (100) may include, for example, i) identification information for identifying the robot (100) placed in a space (10) (e.g., serial number, TAG information, QR code information, etc.), ii) mission information assigned to the robot (100), iii) movement path (or driving path) information set for the robot (100), iv) location information of the robot (100), v) status information of the robot (100) (e.g., power status, failure status, battery status, etc.), vi) image information received from a camera equipped in the robot (100), etc.

Next, a map (or map information) for the space (10) can be stored in the storage unit (320). Here, the map can be made of at least one of a two-dimensional or three-dimensional map. The map for the space (10) can mean a map that can be used to identify the current location of the robot (100) or to set the movement path of the robot.

In particular, in the robot driving control system (300) according to the present invention, the location of the robot (100) can be identified based on an image received from the robot (100) or information received from the robot (100). To this end, a map of the space (10) stored in the storage unit (320) can be composed of data that allows the location to be estimated based on the image or sensing information.

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 through the space (10) in advance.

Next, information about the camera (20) can be stored in the storage unit (320).

Information about the camera (20) can be very diverse, and the information about the camera (20) includes: i) identification information of each camera (20a, 20b, 20c, 20d…) (e.g., serial number, TAG information, QR code information, etc.), ii) arrangement location information of each camera (20a, 20b, 20c, 20d…) (e.g., information about where each camera (20a, 20b, 20c, 20d…) is arranged in space), iii) angle of view information of each camera (20a, 20b, 20c, 20d…) (e.g., information about which view of the space each camera (20a, 20b, 20c, 20d…) is capturing), iv) status information of each camera (20a, 20b, 20c, 20d…) (e.g., There may be information such as power status, failure status, battery status, etc.), vi) image information received from each camera (20a, 20b, 20c, 20d…).

Meanwhile, the information on the cameras (20) listed above may exist in a manner that matches each camera (20a, 20b, 20c, 20d…).

For example, in the storage unit (320), at least one of the identification information, location information, angle of view information, status information, and image information of a specific camera (20a) may be matched and exist as matching information. Such matching information may be usefully utilized to specify the camera of a specific location when a location where an image is to be viewed is specified in the future.

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

Next, the display unit (330) may be configured to output an image received from at least one of the cameras equipped in the robot (100) and the cameras (20) arranged in the space (10). The display unit (330) is equipped in a device of an administrator who remotely manages the robot (100), and may be equipped in a remote control room (300a), as shown in FIG. 2. Furthermore, differently, the display unit (330) may be a display equipped in a mobile device. In this way, the present invention does not place any restrictions on the type of the display unit.

Next, the input unit (340) is for inputting information input from a user (or administrator), and the input unit (340) can be an intermediary between the user (or administrator) and the robot driving control system (300). More specifically, the input unit (340) can mean an input means for receiving a control command for controlling the robot (100) from the user.

At this time, there is no particular limitation on the type of the input unit (340), and the input unit (340) may include at least one of a mechanical input means (or a mechanical key, for example, a mouse, a joy stick, a physical button, a dome switch, a jog wheel, a jog switch, etc.) and a touch input means. As an example, the touch input means may be formed of a virtual key, a soft key, or a visual key displayed on a touch screen through software processing, or a touch key arranged on a part other than the touch screen. Meanwhile, the virtual key or visual key may have various forms and be displayed on the touch screen, and may be formed of, for example, a graphic, a text, an icon, a video, or a combination thereof. At this time, when the input unit (340) includes a touch screen, the display unit (330) may be formed of a touch screen. In this case, the display unit (330) can perform both the role of outputting information and the role of receiving information.

Next, the control unit (350) can be configured to control the overall operation of the robot driving control system (300) related to the present invention. The control unit (350) can process signals, data, information, etc. input or output through the components discussed above, or provide or process appropriate information or functions to the user.

In particular, the control unit (350) can perform the control necessary to set the movement path of the robot using previously stored map information.

Meanwhile, as examined above, the present invention can set a movement path of a robot within a space by using map information previously stored in a storage unit (320).

Figure 3 is a conceptual diagram explaining a node map used to set the robot's movement path.

The control unit (350) can control the robot (100) to move from the current location to a specific destination. Specifically, the present invention specifies the current location information and the destination location information of the robot, sets a path to reach the destination, and controls the robot to move along the set path to reach the destination.

Accordingly, the present invention proposes map information for efficiently setting the movement path of a robot. However, the map information described below only describes an example of map information utilized for setting the movement path of a robot, and the robot driving control method according to the present invention is not performed solely by the map information described below.

As described above, a map (or map information) for a space (10) can be stored in the storage unit (320). Referring to FIG. 3, the map for a space (10) stored in the storage unit (320) can be in the form of a two-dimensional planar map, but is not limited thereto.

Meanwhile, as shown in Fig. 3, map information may include multiple nodes. In this specification, a ‘node’ means a point or area that serves as a unit target for the movement of a robot. A node may include two pieces of information.

First, a node contains coordinate information. A single node specifies a specific coordinate or coordinate range on a map. For example, a node may be configured to specify a circular area having a certain area on a map. To this end, the coordinate information contained in the node may consist of a specific coordinate or coordinate range.

Second, nodes contain connection information. A single node contains information defining other nodes to which the robot can move from that node. Connection information may include a unique number of another node to which the robot can move from that node, or coordinate information specified by said other node.

The control unit (350) controls the robot to move from one node to another node, and repeats this process so that the robot can reach the target point. In this specification, the robot moving to a specific node means that the robot moves within coordinate information or a coordinate range specified by a specific node.

The present invention uses the above-described location information estimation method and map information to set a movement path for moving a robot from a current location (S) to a destination (A), and then transmits the same to the robot. However, the method using a node map corresponds to one embodiment of controlling the driving of the robot, and the present invention can set the movement path of the robot using a method other than the above-described node map. In other words, the implementation method of the map (map) for setting the movement path of the robot can be very diverse.

The present invention proposes a robot driving control method and system capable of setting a robot's movement path by considering the degree of congestion in a space.

The present invention provides a method and system for predicting future congestion in a space when establishing a path plan for moving to a destination and controlling the driving of a robot by generating a moving path reflecting the future congestion. Hereinafter, this will be examined in more detail with reference to the attached drawings. FIG. 4 is a flowchart for explaining a robot driving control method according to the present invention, and FIGS. 5a and 5b are conceptual diagrams illustrating a robot driving control method according to the present invention.

First, in the robot driving control method according to the present invention, a step of specifying a destination for a specific robot to be controlled is performed (S110).

The robot driving control system (300, hereinafter referred to as a server) can assign a task to the robot (100) and specify the destination of the robot according to the assigned task. However, the present invention is not limited thereto, and the destination can be specified by the robot (100). The robot (100) can receive the task directly from the user and specify the destination according to the task. In this specification, there is no separate limitation on the method of specifying the destination of the robot (100).

Next, a step is performed to identify a congestion-predicted area in the space (10) where congestion is expected by using the movement path of at least one other robot (S120).

The server extracts an expected driving time for the other robot to drive in the congested area based on the driving plan of the other robot for the space, and calculates an expected congestion time for the congested area based on the expected driving time.

The driving plan of the robot may include at least one of information about a set moving path for the robot, information about a driving speed, information about an expected time to reach a destination, information about a driving departure time, information about a plurality of transit points included in the moving path, and information about an expected arrival time for each transit point. However, the driving plan of the robot is not limited thereto, and may include all information related to the robot driving to the destination.

The server uses the movement paths of the other robots to identify an overlapping area where the movement paths overlap. Thereafter, the server calculates the estimated travel time for each of the other robots to reach the overlapping area.

At this time, the driving plan of another robot may be utilized. Specifically, the server may use the location information, movement path, and driving speed of the other robot to calculate the expected time for the other robot to reach the overlapping point. However, the server is not limited thereto, and may extract the expected driving time for the overlapping area from the driving plan of the other robot.

If the expected driving times for each of the above different robots are different, the overlapping point is not specified as a congestion expected area. If the expected driving times for each of the above different robots are within a preset time range, the server specifies the area corresponding to the overlapping point as a congestion expected area.

In one embodiment, the congestion prediction area can be set on a node basis as described in FIG. 3. The server can assign a weight according to the congestion degree to each node using the movement path of another robot. If the weight assigned to each node exceeds a reference value, the server can designate the node as a congestion prediction area. If a specific node is designated as a congestion prediction area, the weight for the node adjacent to the node designated as the congestion prediction area can be increased. Through this, the robot can minimize approaching the congestion node and the surrounding area of the congestion node. However, setting the movement path using the node is one embodiment, and the present invention can set the movement path of the robot in various ways.

Meanwhile, the server calculates the expected congestion time for the congestion prediction area based on the expected driving time of each other robot. The expected congestion time can be set to a specific point in time or a time range.

In one embodiment, the server may set the minimum and maximum values of the expected travel times of the other robots passing through the expected congestion area as the expected congestion time for the expected congestion area as a time range.

In another embodiment, the server may set the average value of the expected driving times of the other robots passing through the expected congestion area as the expected congestion time.

Next, a step of generating a movement path of the specific robot to the destination is performed, taking into account the above-mentioned expected congestion area (S130).

The server can generate a driving plan including a movement path of the specific robot for the specific robot.

The driving plan of the specific robot may include at least one of information about a movement path set for the robot, information about a driving speed, information about an expected time to reach a destination, information about a driving departure time, information about a plurality of transit points included in the movement path, and information about an expected arrival time for each transit point.

Specifically, the server can generate at least one of a movement path that allows the specific robot to reach the destination in the shortest time, a movement path that allows the specific robot to reach the destination by the shortest distance, and a movement path that takes into account a task assigned to the specific robot, set at least one of a driving speed and a driving start time for the movement path, and calculate an expected arrival time to the destination corresponding to the movement path.

At this time, the movement path for the specific robot may include the congestion expected area. If the congestion expected area is included in the movement path of the specific robot, the server calculates the expected time for the specific robot to pass through the congestion expected area using the driving plan for the specific robot.

If the specific robot is expected to pass through the congestion expected area during the congestion expected time, the server may generate the avoidance route. In this case, the server may generate an avoidance route that avoids the congestion expected area, and change the driving plan of the specific robot based on the avoidance route.

Meanwhile, if the specific robot is not expected to pass through the congestion expected area during the congestion expected time, the server maintains the movement path.

The server may transmit driving information according to the movement path of the specific robot so that the specific robot may drive through the space along the movement path of the specific robot. At this time, the movement path may be a movement path that includes the above-described avoidance path.

In one embodiment, referring to FIG. 5A, when the destination of the first robot (R1) is specified as N12, the server specifies an overlapping area (520) using the preset movement paths (512 and 513) for the second and third robots (R2 and R3).

The server calculates the expected driving times of each of the second and third robots (R2 and R3) for the overlapping area (520) using the driving plans for each of the second and third robots (R2 and R3). If the expected driving times of each of the second and third robots (R2 and R3) are within a preset time range, the overlapping area is set as a congestion expected area.

Meanwhile, the server generates a driving plan to move the first robot (R1) to N12. At this time, the driving plan may include a movement path (511) to N12.

Next, referring to Fig. 5b, the server calculates an expected time for the first robot (R1) to pass through the congestion-predicted area using the driving plan of the first robot (R1). If the server predicts that the first robot (R1) will pass through the congestion-predicted area (520) at the expected congestion time for the congestion-predicted area (520), the server generates an avoidance path (511’) for the congestion-predicted area (520) and then transmits the generated avoidance path to the first robot (R1).

Meanwhile, the server can determine whether a path passing through the congested predicted area is a required path by considering at least one of the mission of the specific robot, the current location of the specific robot, and the destination for the specific robot.

For example, if the server cannot reach the destination without passing through the congestion predicted area, the server may determine the congestion predicted area as a required path.

For another example, if the task assigned to the robot is a task that requires passing through the expected congestion area, the server may determine the expected congestion area as a required path.

If, as a result of the judgment, the path passing through the congestion expected area is not a required path, the server can generate an avoidance path for the congestion expected area.

In contrast, if the path passing through the congestion expected area is a required path, the server may transmit the driving information including a control command related to the driving of the specific robot so that the specific robot does not pass through the congestion expected area during the congestion expected time.

Here, the control command related to the driving of the specific robot may be related to at least one of the driving start time and driving speed of the specific robot.

In one embodiment, the server may change the driving start time of the specific robot to a later time than the preset time in the driving plan for the specific robot, so that the specific robot passes through the expected congestion area at a later time than the expected congestion time.

In another embodiment, the server may change the driving speed of the specific robot in the driving plan for the specific robot so that the specific robot passes through the expected congestion area faster or slower than the expected congestion time.

As described above, the robot driving control method and system according to the invention predicts a future expected congestion area in a space using the movement path of another robot, and sets the movement path of the robot by considering the predicted expected congestion area.

Meanwhile, the server can not only identify the expected congestion area by using the movement path of other robots, but also identify the expected congestion area by considering people and the environment within the space. Below, the method by which the server identifies the expected congestion area is described in more detail.

FIGS. 6a and 6b are conceptual diagrams for explaining a method for specifying an expected crowded area by utilizing another robot, and FIGS. 7a and 7b are conceptual diagrams for explaining a method for specifying an expected crowded area by utilizing an environment within a space.

The server can estimate the congestion level for a specific area within a space based on the robot's current location information, if there are multiple areas located in adjacent locations within the space.

In one embodiment, the server can set the influence area of the robot based on the current location information of the robot. The influence area can be set for each robot, and the size and shape of the influence area can vary depending on the moving speed and moving direction of the robot.

In one embodiment, the server may set a specific area as a congestion expected area if the influence area is formed in the specific area exceeding a preset ratio.

For example, referring to FIG. 6a, the server sets an area of influence for the first robot (R1) by considering the moving direction (611) of the first robot (R1). At this time, the server can set an area of influence (621a) of the first size or an area of influence (621b) of the second size depending on the moving speed of the first robot (R1). The server sets an area of influence for the second robot (R2) by considering the moving direction (612) of the second robot (R2). At this time, the server sets an area of influence (622a) of the first size or an area of influence (622b) of the second size depending on the moving speed of the second robot (R2). When the areas of influence for each of the first and second robots (R1 and R2) are both set to the second size, other robots cannot pass through the areas where the first and second robots are located for a certain period of time. In this case, the server sets the area where the first and second robots are located as an area expected to be congested.

In this case, the server can set the expected congestion time for the expected congestion area to the current time or within a predetermined time from the current time.

Meanwhile, the server can apply a probability distribution based on the robot's current location when setting an expected congestion area using the movement path of another robot.

Specifically, the server specifies an overlapping area using the movement path of another robot. At this time, the server assigns different weights according to the distance between the overlapping area and the other robot, and sets the overlapping area as an expected congestion area only when the sum of the weights for a specific overlapping area exceeds a preset value.

For example, referring to Fig. 6b, the server can assign different weights depending on the distance between the current position of the robot and the waypoint on the robot's movement path. Referring to graph (a), at t0, the weight (congestion weight) can decrease as the distance between the position of the robot and the waypoint increases (630a). As the robot moves, the weight for the waypoint is updated (630a).

Meanwhile, the server calculates the sum of weights of the area where the movement paths of the first robot and the second robot overlap. Specifically, referring to graph (b), the server calculates the sum of weights per point for the area (640b) where the movement paths of the first robot and the second robot overlap, excluding the area (640a) where the movement paths of the first robot and the second robot do not overlap. The server sets a set of points where the sum of weights exceeds a preset value as an expected congestion area.

Meanwhile, the server can periodically update the above weights based on the current locations of other robots, and use the updated weights to set a new area as a congestion prediction area, or release a preset congestion prediction area.

Meanwhile, the present invention can set an expected crowded area by considering the environment within the space.

The server can calculate the congestion level for a specific area of the space by using at least one of information received from a robot driving within the space, information received from a camera placed within the space, and a wireless communication connection status of a terminal located within the space. For example, if a preset number of people or more are detected in a specific area of the space, the server can set the specific area as an expected congestion area.

In this case, the server can periodically monitor the specific area and update the congestion level. The server can set the specific area as a congestion expected area until the congestion level for the specific area becomes less than a preset value.

For example, referring to FIG. 7a, if a preset number of people (711) or more are detected in a specific area (720) within a space, the server may set the specific area (720) as an expected crowded area. In this case, the server may set a movement path of a robot moving through the space by considering the specific area (720).

Meanwhile, the server can set a specific area within the space as a congestion-predicted area during a preset time period. Specifically, the server can periodically monitor the distribution of people within the space to generate a movement pattern of people by time period. Based on the movement pattern, the server can set a specific area as a congestion-predicted area during a specific time period.

For example, referring to FIG. 7b, if a preset number of people are detected in a specific area (730) within a space at a specific time period and the number of times the preset number of people are detected exceeds a reference value, the server may set the specific area (730) as a congestion expected area. In this case, the congestion expected time for the specific area (730) may be set to the specific time period.

As described above, the present invention can specify a congestion prediction area in various ways. The server sets a movement path of the robot by considering the congestion prediction area specified in the above-described method.

Meanwhile, the present invention provides a method and system for generating an avoidance path for a plurality of expected congestion areas existing on a moving path of a robot.

FIG. 8a and FIG. 8b are conceptual diagrams illustrating one embodiment of generating avoidance paths for multiple expected congestion areas.

If there are multiple areas where the movement paths of different robots overlap, the server can calculate an estimated travel time for each of the multiple overlapping areas and determine whether to set a congestion expected area for each of the multiple overlapping areas based on the estimated travel time. Accordingly, multiple congestion expected areas can be set.

When multiple congestion prediction areas are set, the movement path of the specific robot can be generated to pass through multiple congestion prediction areas. In this case, the server can selectively generate an avoidance path for only some of the multiple congestion prediction areas.

Specifically, when the movement path of the specific robot includes multiple expected congestion areas, an avoidance path can be generated to give priority to avoiding the expected congestion area with the highest priority among the multiple expected congestion areas based on preset priority criteria.

Here, the preset priority criterion may be related to the order in which the expected congestion time for each of the plurality of expected congestion areas arrives based on the preset reference time.

In one embodiment, the server may set a relatively lower priority for each congestion expected area the further away the congestion expected time is from the current time, and may set a relatively higher priority for each congestion expected area the closer the congestion expected time is from the current time.

In one embodiment, the server may generate an avoidance route only for the first congestion expected area whose congestion time is expected to arrive the fastest among the plurality of congestion expected areas, and may not generate an avoidance route for the second congestion expected area whose congestion time is expected to arrive the second time. Thereafter, the server may determine whether to generate an avoidance route for the second congestion expected area if the expected time at which the specific robot arrives at the second congestion expected area is within a preset time.

In one embodiment, referring to FIG. 8a, if the destination of the first robot (R1) is specified as N12, the server sets a movement path (811) for moving the first robot (R1) to N12. Meanwhile, the server specifies a plurality of expected congestion areas (820a and 820b) using the movement paths (812, 813, 814) of the second to fourth robots (R2 to R4).

Referring to FIG. 8b, the server determines whether to generate an avoidance route for each of the plurality of congestion expected areas (820a and 820b) based on the time at which the congestion expected time for each of the plurality of congestion expected areas (820a and 820b) arrives. The server generates an avoidance route (811’) for the first congestion expected area (820a) in which the congestion expected time arrives the fastest. In contrast, the server does not generate an avoidance route for the second congestion expected area (820b) in which the congestion expected time arrives relatively slowly, and maintains an existing movement route for the second congestion expected area (820b).

Meanwhile, the server periodically updates the expected congestion area.

Figures 9a and 9b are conceptual diagrams illustrating an embodiment of updating an expected congestion area and reflecting it in the movement path of a robot.

The server can update an expected congestion area in which congestion is expected in the space while the specific robot is moving through the space along the movement path of the specific robot.

The above updates may be based on at least one of a preset time interval, information received from the robot, information received from cameras positioned within the space, and changes in the driving plan of another robot.

In one embodiment, the server may update the predicted congestion area at preset intervals.

In another embodiment, the server can update the predicted congestion area when the driving plan of at least one of the controlled robots changes.

As a result of the update to the congestion prediction area, two different situations can occur. First, a previously specified congestion prediction area can be excluded through the update. Second, an area that was not specified as a congestion prediction area can be specified as a congestion prediction area. In each of the two cases described above, the robot's movement path can be modified. If at least one of the two situations occurs, the server determines whether a change to the movement path of a specific robot is required.

If, as a result of the judgment, a change in the movement path of the specific robot is required, the server can modify the movement path of the specific robot based on the expected congestion area according to the update.

In one embodiment, if the update result excludes the congestion expected area specified above from the congestion expected area according to the update, the movement path of the specific robot can be modified.

In another embodiment, when determining whether a change is required in the movement path of the specific robot, the server may determine, based on the location information of the specific robot, whether the specific robot has passed through the expected congestion area according to the update. If the determination result shows that the specific robot has not passed through the expected congestion area according to the update, the server may modify the movement path of the specific robot.

In another embodiment, referring to FIG. 9a, the server sets a movement path of the first robot (R1) to reach the destination (N12) while avoiding a pre-specified expected congestion area (920).

The server sets the specific area (920) as an expected crowded area based on the number of people (921) detected within the specific area (920) and the movement path (912) of the second robot (R2).

Referring to Fig. 9b, the server updates the congestion prediction area over time. As a result of the update, the pre-specified congestion prediction area (920) is excluded from the congestion prediction area. At this time, the server determines whether a change is required for the movement path of the specific robot. Specifically, the server modifies the preset movement path (911) considering that the specific robot has not passed through the pre-specified congestion prediction area (920). The server transmits the modified movement path (911’) passing through the pre-specified congestion prediction area (920) to the robot.

As described above, on the other hand, the robot driving control method and system according to the present invention periodically updates the predicted congestion area and reflects the update result in the robot's movement path, thereby providing an optimal movement path according to changes in the situation within the space.

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.

Furthermore, the present invention discussed above can be implemented as a computer-readable code or command on a medium in which a program is recorded. That is, the present invention can be provided in the form of a program.

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 disks (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, and optical data storage devices.

Furthermore, the computer-readable medium may be a server or cloud storage that includes storage and that the electronic device can access through communication. In this case, the computer can download the program according to the present invention from the server or cloud storage through wired or wireless communication.

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.

Meanwhile, the above detailed description should not be construed as restrictive in all respects but should be considered as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (15)

In a method for controlling the movement of a robot moving through space,
A step for specifying the destination of a specific robot to be controlled;
A step of identifying a congestion-predicted area in the space where congestion is expected by using the movement path of at least one other robot;
A step of generating a movement path of the specific robot to the destination, taking into account the above expected congestion area; and
Including a step of transmitting driving information according to the movement path of the specific robot so that the specific robot drives through the space along the movement path of the specific robot,
The step of specifying the above expected congestion area is:
Based on the driving plan of at least one other robot, the expected congestion time for the expected congestion area is calculated,
The step of generating the movement path of the above specific robot is:
A step of changing the driving start time of the specific robot so that the specific robot passes through the congestion expected area at a time different from the congestion expected time,
A robot driving control method, characterized in that the driving information includes a control command for controlling the driving of the specific robot according to the movement path of the specific robot based on the driving start time. In the first paragraph,
In the step of generating the movement path of the above specific robot,
A robot driving control method characterized by generating an avoidance path for the congestion expected area so that the congestion expected area is not included in the movement path of the specific robot. In the second paragraph,
In the step of specifying the above expected congestion area,
Based on the driving plan of the other robot for the above space, the expected driving time for the other robot to drive in the expected congested area is extracted,
A robot driving control method characterized by calculating the congestion expected time for the congestion expected area based on the above driving expected time. In the third paragraph,
In the step of generating the movement path of the above specific robot,
A robot driving control method characterized in that, based on the driving plan of the specific robot, if the specific robot is expected to pass through the expected congestion area at the expected congestion time, the avoidance path is generated. In the first paragraph,
In the step of generating the movement path of the above specific robot,
A robot driving control method characterized in that, when there are multiple expected congestion areas, the avoidance path is generated to give priority to avoiding the congestion area with the highest priority among the multiple expected congestion areas based on preset priority criteria. In paragraph 5,
The above-mentioned priority criteria are:
A robot driving control method characterized by relating to the order in which congestion prediction times for each of the plurality of congestion prediction areas arrive based on a preset reference time point. In paragraph 4,
In the step of generating the movement path of the above specific robot,
The step of determining whether the path passing through the congested expected area is a necessary path for the specific robot to reach the destination is further included.
A robot driving control method characterized in that, if a path passing through the congestion expected area is not a required path as a result of the judgment, an avoidance path for the congestion expected area is generated. In Article 7,
In the step of transmitting the above driving information,
A robot driving control method characterized in that, if the path passing through the congestion expected area is a required path as a result of the above judgment, the driving information including a control command related to the driving of the specific robot is transmitted so that the specific robot does not pass through the congestion expected area during the congestion expected time. In Article 8,
The above control commands related to the driving of the above specific robot are:
A robot driving control method characterized by being related to the driving speed of the specific robot. In the third paragraph,
Further comprising a step of updating a congestion prediction area in which congestion is expected in the space while the specific robot is driving in the space along the movement path of the specific robot;
A robot driving control method, characterized in that the above update is performed based on a change in the driving plan of the other robot. In Article 10,
As a result of the above update, if a change occurs in a previously specified expected congestion area, a step of determining whether a change is required in the movement path of the specific robot is further included.
A robot driving control method characterized by further comprising a step of modifying the movement path of the specific robot based on the expected congestion area according to the update, if a change in the movement path of the specific robot is required as a result of the judgment. In Article 11,
In the step of determining whether a change is required in the movement path of the above specific robot,
Based on the location information of the specific robot, it is determined whether the specific robot has passed through the expected congestion area according to the update,
A robot driving control method characterized in that, if the judgment result shows that the specific robot has not passed through the expected congestion area according to the update, the movement path of the specific robot is modified. In Article 11,
In the step of modifying the movement path of the above specific robot,
A robot driving control method characterized in that, as a result of the above update, if the above-specified congestion expected area is excluded from the congestion expected area according to the above update, the movement path of the specific robot is modified. A communication unit that communicates with robots moving through space; and
A control unit is included that specifies a destination of a specific robot to be controlled and specifies a congestion-predicted area in which congestion is expected in the space by using the movement path of at least one other robot.
The above control unit,
Considering the above expected congestion area, a movement path of the specific robot to the destination is generated,
The specific robot is transmitted, through the communication unit, driving information according to the movement path of the specific robot so that the specific robot drives through the space along the movement path of the specific robot.
Based on the driving plan of at least one other robot, the congestion expected time for the congestion expected area is calculated, and the driving start time of the specific robot is changed so that the specific robot passes through the congestion expected area at a time different from the congestion expected time.
A robot driving control system, characterized in that the driving information includes a control command for controlling the driving of the specific robot according to the movement path of the specific robot based on the driving start time. A program that is executed by one or more processes on an electronic device and can be stored on a computer-readable medium,
The above program is,
A step for specifying the destination of a specific robot to be controlled;
A step of identifying a congestion-predicted area in space where congestion is expected by using the movement path of at least one other robot;
A step of generating a movement path of the specific robot to the destination, taking into account the above expected congestion area; and
Includes commands for causing the specific robot to perform a step of transmitting driving information according to the movement path of the specific robot, so that the specific robot drives through the space along the movement path of the specific robot.
The step of specifying the above expected congestion area is:
Based on the driving plan of at least one other robot, the expected congestion time for the expected congestion area is calculated,
The step of generating the movement path of the above specific robot is:
A step of changing the driving start time of the specific robot so that the specific robot passes through the congestion expected area at a time different from the congestion expected time,
A program that can be stored in a computer-readable medium, characterized in that the driving information includes a control command that controls the driving of the specific robot according to the movement path of the specific robot based on the driving start time.

Images