KR102768288B1 - Unmanned moving object, method, system and program for deciding to get on and off an elevator of unmanned moving object - Google Patents

Abstract

The present disclosure relates to a method for determining whether an unmanned vehicle gets on or off an elevator, the method including: receiving weight information of the elevator acquired through a weight sensor mounted on the elevator before the elevator door opens; receiving an object in an image acquired through a camera of the unmanned vehicle when the elevator door opens if the weight information of the elevator satisfies a preset level; moving to a preset target boarding point if the object in the image is not in a collision detection area for a preset first time period; notifying the object in the image to leave the collision detection area by voice through a speaker of the unmanned vehicle if the object in the image is in the collision detection area for the preset first time period; moving to the target boarding point by repeating preset stop and move operations if the voice notification is completed and the object in the image is not in the collision detection area for a preset second time period; and getting off when the elevator door opens if the movement to the target boarding point is completed and at least one of emergency get-off information and emergency work information required at another destination is received from a server that performs communication with the unmanned vehicle.

Description

{UNMANNED MOVING OBJECT, METHOD, SYSTEM AND PROGRAM FOR DECIDING TO GET ON AND OFF AN ELEVATOR OF UNMANNED MOVING OBJECT}

The present disclosure relates to an unmanned vehicle. More specifically, the present disclosure relates to an unmanned vehicle, a method for determining boarding and disembarking of an elevator for an unmanned vehicle, a system, and a program.

As we enter the era of the 4th industrial revolution, the introduction of unmanned vehicles is increasing in various industries such as distribution, hotels, and logistics.

Typically, when an unmanned vehicle attempts to board an elevator, it moves to the elevator's waiting area and attempts to board the elevator when the elevator door opens.

However, since conventional unmanned vehicles cannot quickly decide whether to board an elevator, the time required to complete movement to the target boarding point increases.

In addition, conventional unmanned vehicles would attempt to board an elevator, but if boarding was not possible, they would get off the elevator, causing inconvenience to people using the elevator.

Accordingly, research has been continuously conducted recently on unmanned vehicles that can quickly determine whether to board or disembark an elevator, complete the movement to the target boarding point without colliding with an object when the elevator can be boarded, quickly send the elevator without attempting to board the elevator when the elevator cannot be boarded, and quickly perform emergency disembarkation due to cancellation of work or disembarkation in an emergency situation.

Republic of Korea Patent Publication No. 10-2022-0009078 (2022.01.24)

The purpose of the embodiment disclosed in the present disclosure is to provide an elevator capable of completing movement to a target boarding point without colliding with an object when boarding is possible.

In addition, the embodiment disclosed in the present disclosure aims to provide a method for quickly sending an elevator without attempting to board the elevator when boarding is impossible.

In addition, the embodiment disclosed in the present disclosure aims to provide a means for quickly performing emergency disembarkation due to cancellation of work performance or disembarkation due to an emergency situation.

The problems to be solved by the present disclosure are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

According to one aspect of the present disclosure for achieving the above-described technical problem, a method for determining whether to get on or off an elevator by an unmanned vehicle comprises the steps of: receiving weight information of an elevator acquired through a weight sensor mounted on the elevator before the door of the elevator opens; receiving an object in an image acquired through a camera of the unmanned vehicle when the door of the elevator opens if the weight information of the elevator satisfies a preset level; moving to a preset target boarding point if the object in the image is not in a collision detection area for a preset first time period; notifying the object in the image to leave the collision detection area by voice through a speaker of the unmanned vehicle if the object in the image is in the collision detection area for the first time period; and moving to a preset stop operation and a movement operation by repeating preset movement operations if the voice notification is completed and the object in the image is not in the collision detection area for a preset second time period. And when movement to the target boarding point is completed, and at least one of emergency disembarkation information and emergency work information required at another destination is received from a server that performs communication with the unmanned vehicle, the step of disembarking when the elevator door opens may be included.

In addition, the moving step may be characterized by moving to the target boarding point by repeating the preset stop motion and moving motion when the object in the image is not in the collision detection area for the preset first time.

In addition, the disembarking step may be characterized by disembarking when the elevator door opens on a previous floor before reaching the floor of the preset destination, upon receiving the emergency disembarkation information and the emergency work information required at the other destination.

In addition, the disembarkation step may be characterized in that, when movement to the target boarding point is completed, voice data regarding an emergency situation is further received from at least one passenger through a voice recognition unit of the unmanned vehicle, and when reception of the voice data is completed, an image regarding the emergency situation acquired through the camera is further received, and whether it is an emergency situation is further determined based on an object in the image regarding the emergency situation, and if it is an emergency situation, disembarkation is performed when the elevator door opens.

In addition, an unmanned vehicle according to another aspect of the present disclosure includes a memory storing a movement path to an elevator and a movement path to a destination; And a processor controlling an operation for determining boarding and disembarking of the elevator, wherein the processor receives, before the door of the elevator opens, weight information of the elevator acquired through a weight sensor mounted on the elevator, and if the weight information of the elevator satisfies a preset level, when the door of the elevator opens, an object in an image acquired through a camera is received, and if the object in the image is not in a collision detection area for a preset first time, moves to a preset target boarding point, and if the object in the image is in the collision detection area for the preset first time, notifies the object in the image by voice through a speaker to leave the collision detection area, and if the voice notification is completed and the object in the image is not in the collision detection area for a preset second time, moves to a target boarding point by repeating a preset stop operation and a move operation, and if the movement to the target boarding point is completed and at least one of emergency disembarkation information and emergency work information required at another destination is received from a server, gets off when the door of the elevator opens.

In addition, the processor may be characterized in that, if an object in the image is not in the collision detection area for the preset first time, the processor moves to the target boarding point by repeating the preset stop motion and movement motion.

In addition, the processor may be characterized in that, when receiving the emergency disembarkation information and the emergency work information required at the other destination, the processor disembarks when the elevator door opens on a previous floor before reaching the floor of the preset destination.

In addition, the processor may be characterized in that, when movement to the target boarding point is completed, voice data regarding an emergency situation is further received from at least one passenger through a voice recognition unit of the unmanned vehicle, and when reception of the voice data is completed, an image regarding the emergency situation acquired through the camera is further received, and based on an object in the image regarding the emergency situation, whether it is an emergency situation is further determined, and if it is an emergency situation, the processor disembarks when the elevator door opens.

In addition, according to another aspect of the present disclosure, an elevator boarding/disembarking decision system for an unmanned vehicle comprises: an unmanned vehicle that determines boarding/disembarking of an elevator; a weight sensor mounted on one side of the elevator and communicating with the unmanned vehicle; and a server that communicates with the unmanned vehicle and provides emergency disembarkation information and emergency work information required at another destination to the unmanned vehicle; Including, the unmanned vehicle receives, before the door of the elevator opens, weight information of the elevator acquired through the weight sensor, and if the weight information of the elevator satisfies a preset level, when the door of the elevator opens, an object in an image acquired through the camera is received, and if the object in the image is not in the collision detection area for a preset first time, moves to a preset target boarding point, and if the object in the image is in the collision detection area for the first time, notifies the object in the image by voice through a speaker to leave the collision detection area, and if the voice notification is completed and the object in the image is not in the collision detection area for a preset second time, moves to a target boarding point by repeating preset stop and move operations, and if the movement to the target boarding point is completed and at least one of the emergency disembarkation information and the emergency work information required at the other destination is received from the server, gets off when the door of the elevator opens.

In addition, a computer program stored in a computer-readable recording medium for execution to implement the present disclosure may be further provided.

In addition, a computer-readable recording medium recording a computer program for executing a method for implementing the present disclosure may be further provided.

According to the above-described problem solving means of the present disclosure, when the elevator is boardable, movement to the target boarding point can be completed without collision with an object.

In addition, according to the above-described problem solving means of the present disclosure, when boarding the elevator is impossible, the elevator can be quickly sent without attempting to board the elevator.

In addition, according to the above-described problem solving means of the present disclosure, emergency disembarkation due to cancellation of work performance or disembarkation due to an emergency situation can be quickly performed.

The effects of the present disclosure are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

FIG. 1 is a drawing showing the configuration of an elevator boarding/disembarking decision system of an unmanned vehicle according to the present disclosure.
Figures 2 to 4 are flowcharts showing a method for determining boarding and disembarking of an elevator for an unmanned vehicle according to the present disclosure.
Figures 5 to 8 are drawings showing examples of a state in which an unmanned vehicle according to the present disclosure can board an elevator.
FIG. 9 is a drawing showing an example of a state in which an unmanned vehicle according to the present disclosure cannot board an elevator.
FIG. 10 and FIG. 11 are drawings showing an example of an elevator disembarkation state of an unmanned mobile vehicle according to the present disclosure.

Throughout this disclosure, the same reference numerals refer to the same components. This disclosure does not describe all elements of the embodiments, and any content that is general in the technical field to which this disclosure belongs or that overlaps between the embodiments is omitted. The terms ‘part, module, element, block’ used in the specification can be implemented in software or hardware, and according to the embodiments, a plurality of ‘parts, modules, elements, blocks’ can be implemented as a single component, or a single ‘part, module, element, block’ can include a plurality of components.

Throughout the specification, when a part is said to be "connected" to another part, this includes not only a direct connection but also an indirect connection, and an indirect connection includes a connection via a wireless communications network.

Additionally, when a part is said to "include" a component, this does not mean that it excludes other components, but rather that it may include other components, unless otherwise specifically stated.

Throughout the specification, when it is said that an element is "on" another element, this includes not only cases where the element is in contact with the other element, but also cases where there is another element between the two elements.

The terms first, second, etc. are used to distinguish one component from another, and the components are not limited by the aforementioned terms.

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

The identification codes in each step are used for convenience of explanation and do not describe the order of each step. Each step may be performed in a different order than specified unless the context clearly indicates a specific order.

The operating principle and embodiments of the present disclosure are described below with reference to the attached drawings.

In this specification, the control unit of the unmanned vehicle according to the present disclosure includes various devices that can perform computational processing and provide results to the user. For example, the control unit according to the present disclosure may include both a computer and a server, or may be in the form of either one.

Here, the computer may include, for example, a notebook, desktop, laptop, tablet PC, slate PC, single-board computer, etc. having a WEB Browser.

A server device is a server that processes information by communicating with external devices, and may include an application server, a computing server, a database server, a file server, a mail server, a proxy server, and a web server.

A portable terminal is, for example, a wireless communication device that ensures portability and mobility, and may include all kinds of handheld-based wireless communication devices such as a PCS (Personal Communication System), GSM (Global System for Mobile communications), PDC (Personal Digital Cellular), PHS (Personal Handyphone System), PDA (Personal Digital Assistant), IMT (International Mobile Telecommunication)-2000, CDMA (Code Division Multiple Access)-2000, W-CDMA (W-Code Division Multiple Access), WiBro (Wireless Broadband Internet) terminal, a smart phone, and wearable devices such as a watch, ring, bracelet, anklet, necklace, glasses, contact lenses, or a head-mounted-device (HMD).

An unmanned vehicle according to the present disclosure receives weight information of an elevator acquired through a weight sensor mounted on the elevator before the elevator door opens, and if the weight information of the elevator satisfies a preset level, when the elevator door opens, receives an object in an image acquired through a camera, and if the object in the image is not in a collision detection area for a preset first time, moves to a preset target boarding point, and if the object in the image is in the collision detection area for the first time, notifies the object in the image by voice through a speaker to leave the collision detection area, and if the voice notification is completed and the object in the image is not in the collision detection area for a preset second time, moves to the target boarding point by repeating preset stop and move operations, and if the movement to the target boarding point is completed and emergency disembarkation information and emergency work information required at another destination are received from a server, the vehicle can get off when the elevator door opens.

Such unmanned vehicles can complete movement to a target boarding point without colliding with an object when boarding the elevator is possible, quickly send an elevator without attempting to board the elevator when boarding is not possible, and quickly perform emergency disembarkation due to cancellation of work performance or disembarkation in an emergency situation.

Below, we will take a closer look at unmanned vehicles.

FIG. 1 is a drawing showing the configuration of an elevator boarding/disembarking decision system of an unmanned vehicle according to the present disclosure.

Referring to FIG. 1, the unmanned vehicle (100) may be a vehicle that recognizes the external environment by itself, judges the situation, and performs a task without human assistance. At this time, the unmanned vehicle (100) may determine whether to get on or off an elevator (10). For example, the unmanned vehicle (100) may be a mobile robot. The unmanned vehicle (100) may include a communication unit (110), a sensor unit (120), a camera (130), a control unit (140), a driving unit (150), and a speaker (160).

The communication unit (110) can be electrically connected to the control unit (140), can communicate with the weight sensor (11) mounted on one side of the elevator (10), and can receive emergency disembarkation information and emergency work information required at another destination from the server (20). At this time, the communication unit (110) can include a wireless communication module that supports various wireless communication methods such as GSM (global System for Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), UMTS (universal mobile telecommunications system), TDMA (Time Division Multiple Access), LTE (Long Term Evolution), 4G, 5G, and 6G, in addition to a WiFi module and a WiBro (Wireless broadband) module.

The sensor unit (120) may include at least one of an ultrasonic sensor, a radar sensor, and a lidar sensor. The sensor unit (120) may obtain lidar data through the lidar sensor. Here, the sensor unit (120) may obtain distance information to an object in the elevator (10). At this time, the object may be a static object or a dynamic object. For example, the static object may be at least one fixed object among obstacles and objects, and the dynamic object may be at least one moving object among people and pets.

The camera (130) may be provided as a video camera using an image sensor. The camera (130) may process image frames such as still images or moving images acquired through the image sensor. Meanwhile, when there are multiple cameras (130), they may be arranged to form a matrix structure. Multiple image information having various angles or foci may be input through the video cameras forming the matrix structure. In addition, the video cameras may be arranged in a stereo structure to acquire left and right images for implementing a three-dimensional stereoscopic image. In addition, the camera (130) may be provided as an AI camera. The AI camera may finely adjust an image recognized through a wide-angle sensor made by imitating the human retina using a brain neural network algorithm. The AI camera may adjust shutter speed, light exposure, saturation, color density, dynamic range, contrast, etc. In addition, the AI camera may output the captured image as a high-quality image. Here, the camera (130) may acquire an object in the image. At this time, the object may be a static object or a dynamic object. For example, a static object can be at least one stationary object among obstacles and objects, and a dynamic object can be at least one movable object among people and pets.

The control unit (140) may be implemented with a memory (141) that stores data on an algorithm for controlling the operation of components within the device or a program that reproduces the algorithm, and at least one processor (142) that performs the aforementioned operation using the data stored in the memory (141). Here, the memory (141) and the processor (142) may each be implemented as separate chips. In addition, the memory (141) and the processor (142) may also be implemented as a single chip.

The memory (141) can store data supporting various functions of the device, programs for the operation of the control unit, can store input/output data, and can store a plurality of application programs (or applications) run on the device, data for the operation of the device, and commands. At least some of these application programs can be downloaded from an external server via wireless communication.

The memory (141) may include at least one type of storage medium among a flash memory type, a hard disk type, an SSD (Solid State Disk type), an SDD (Silicon Disk Drive) type, a multimedia card micro type, a card type memory (for example, an SD or XD memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, and an optical disk. In addition, the memory (141) may be a database that is separate from the device but connected by wire or wirelessly.

The memory (141) can store the movement path to the elevator (10) and the movement path to the destination, and can store data for determining boarding and disembarking of the elevator (10). The processor (142) can control the operation for determining boarding and disembarking of the elevator (10).

The processor (142) can receive weight information of the elevator (10) obtained through a weight sensor (11) mounted on the elevator (10) before the door of the elevator (10) opens.

The processor (142) can stop the boarding operation of the elevator (10) if the weight information of the elevator (10) does not satisfy a preset level.

The processor (142) can receive an object in an image acquired through the camera (130) when the door of the elevator (10) opens if the weight information of the elevator (10) satisfies a preset level. Here, the processor (142) can move to a preset target boarding point if the object in the image is not in the collision detection area for a preset first time.

In addition, if the weight information of the elevator (10) satisfies a preset level, the processor (142) may receive an object in an image acquired through a camera (130) that rotates 360 degrees when the door of the elevator (10) opens. Here, if the object in the image includes a preset physically weak person, the processor (142) waits until the physically weak person boards the elevator (10), and if the object in the image is not in the collision detection area for a preset first time, the processor may move to a preset target boarding point. For example, the physically weak person may be an elderly person, a child, a patient with difficulty moving, a disabled person, etc.

At this time, if the object in the image is not in the collision detection area for a preset first time, the processor (142) may move the unmanned vehicle (100) to the target boarding point by repeating the preset first stop operation and the first movement operation through the driving unit (150). The driving unit (150) may move the unmanned vehicle (100) to the target boarding point by repeating the first stop operation and the first movement operation. At this time, the collision detection area may be an area where it is determined that a collision with an object in the image is possible. For example, the driving unit (130) may include a battery and electronic components supplied with power from the battery, and mechanical driving components such as a battery and wheels or a driving belt supplied with power from the battery to provide power necessary for driving the unmanned vehicles (100).

The processor (142) can notify the object in the image to leave the collision detection area through the speaker (160) if the object in the image is in the collision detection area for a first time.

The processor (142) can stop the boarding operation of the elevator (10) when the voice notification is completed and the object in the image is in the collision detection area for a preset second time. The processor (142) can stop the boarding operation of the elevator (10) when the object in the image is in the collision detection area for a preset second time, judging that the interior of the elevator is crowded.

The processor (142) may move the unmanned vehicle (100) to the target boarding point by repeating the second stop operation and the second movement operation when the voice notification is completed and the object in the image is not in the collision detection area for the preset second time period, via the driving unit (150). The driving unit (150) may move the unmanned vehicle (100) to the target boarding point by repeating the second stop operation and the second movement operation. At this time, the second time period may be a time later than the first time period, and the speed for the repeated operation of the second stop operation and the second movement operation may be slower than the speed for the repeated operation of the first stop operation and the first movement operation. That is, the processor (142) may slow down the speed for the repeated operation of the second stop operation and the second movement operation than the speed for the repeated operation of the first stop operation and the first movement operation in order to prevent a collision with the object in the image in advance when the object in the image is not in the collision detection area for the second time period.

When the processor (142) completes moving to the target boarding point and receives at least one of emergency disembarkation information and emergency work information required for another destination from the server (20), the processor can disembark when the door of the elevator (10) opens. Here, when the processor (142) receives at least one of emergency disembarkation information and emergency work information required for another destination, the processor can disembark when the door of the elevator (10) opens on the previous floor before reaching the floor of the preset destination. At this time, the processor (142) may additionally receive corresponding voice data for the floor on which the elevator (10) speaks through the voice recognition unit (170) of the unmanned mobile device (100). Here, when the processor (142) completes receiving the corresponding voice data for the floor where the elevator (10) speaks, it may further determine whether an emergency operation is required at the corresponding destination of the corresponding floor based on the emergency operation information for the destination of the corresponding floor that is preset according to the corresponding voice data among the emergency operation information required at other destinations received from the server (20). At this time, if the processor (142) is in a state where an emergency operation is required at the corresponding destination of the corresponding floor, it may get off when the door of the elevator (10) opens at the corresponding floor before reaching the floor of the preset destination and move to the corresponding destination. For example, the emergency disembarkation information may be information that an disembarkation command is received at the corresponding floor before reaching the floor of the destination due to cancellation of the assigned task execution. For another example, the emergency operation information required at another destination may be information that an emergency operation command is received at the corresponding destination of the corresponding floor before reaching the floor of the destination due to cancellation of the assigned task execution. At this time, the emergency operation information may be at least one of a logistics transport operation, a loading/unloading operation, and a delivery operation.

The processor (142) may receive additional voice data regarding an emergency situation from at least one passenger through the voice recognition unit (170) of the unmanned vehicle (100) after moving to the target boarding point. Here, when the processor (142) completes receiving the voice data, the processor (142) may receive additional images regarding the emergency situation acquired through the camera (130) and may further determine whether the emergency situation is based on an object in the images regarding the emergency situation. At this time, if it is an emergency situation, the processor (142) may allow the passenger to get off when the door of the elevator (10) opens.

FIGS. 2 to 4 are flowcharts illustrating a method for determining whether to board or disembark an elevator for an unmanned vehicle according to the present disclosure. FIGS. 5 to 8 are drawings illustrating examples of a state in which an unmanned vehicle according to the present disclosure can board an elevator.

FIG. 9 is a drawing showing an example of a state in which an unmanned vehicle according to the present disclosure cannot board an elevator. FIG. 10 and FIG. 11 are drawings showing an example of a state in which an unmanned vehicle according to the present disclosure can get off an elevator.

Referring to FIGS. 2 to 11, a method for determining whether to board or disembark an elevator for an unmanned vehicle may include a first receiving step (S211), a first judgment step (S212), a second receiving step (S221), a second judgment step (S222), a first moving step (S223), a voice notification step (S224), a third judgment step (S225), a boarding stop step (S226), a second moving step (S227), a fourth judgment step (S231), a first boarding maintenance step (S232), a first disembarkation step (S233), a fifth judgment step (S234), a second boarding maintenance step (S235), a third receiving step (S236), a sixth judgment step (S237), and a second disembarkation step (S238).

In the first receiving step, before the door of the elevator (10) opens, weight information of the elevator (10) obtained through the weight sensor (11) mounted on the elevator (10) can be received through the processor (142) (S211).

The first judgment step is that, if the weight information of the elevator (10) does not satisfy the preset level (NO of S212), the boarding operation of the elevator (10) can be stopped (S226) through the processor (142). At this time, if the weight information of the elevator (10) does not satisfy the preset level, the processor (142) determines that the interior of the elevator (10) is crowded and can stop the boarding operation of the elevator (10). For example, if the total weight value including the object corresponding to the weight information of the elevator (10) is greater than the preset reference weight value, the processor (142) determines that the interior of the elevator (10) is crowded and can stop the boarding operation of the elevator (10).

In the second receiving step, if the weight information of the elevator (10) satisfies a preset level (example of S212) and the door of the elevator (10) opens, the object in the image acquired through the camera (130) can be received through the processor (142) (S221). In addition, in the second receiving step, if the weight information of the elevator (10) satisfies a preset level (example of S212) and the door of the elevator (10) opens, the object in the image acquired through the camera (130) that rotates 360 degrees can be received through the processor (142).

At this time, if the weight information of the elevator (10) satisfies a preset level, the processor (142) determines that the interior of the elevator (10) is in a roomy state and can receive an object in an image acquired through the camera (130) or the camera (130) that rotates 360 degrees. For example, if the total weight value including the object corresponding to the weight information of the elevator (10) is less than a preset reference weight value, the processor (142) determines that the interior of the elevator (10) is in a roomy state and can receive an object in an image acquired through the camera (130) or the camera (130) that rotates 360 degrees.

The second judgment step can determine, through the processor (142), whether an object in the image is in the collision detection area for a preset first time (S222).

In the first movement step, if the object in the image is not in the collision detection area for a first preset time (NO in S222), the vehicle can move to the preset target boarding point (S223) via the processor (142). In addition, in the first movement step, if the object in the image acquired by the 360-degree rotating camera (130) includes a preset physically weak person, the vehicle can wait until the physically weak person boards the elevator (10) via the processor (142), and if the object in the image is not in the collision detection area for the first preset time, the vehicle can move to the preset target boarding point. In the first movement step, if the object in the image is not in the collision detection area for the first time, the vehicle can move to the target boarding point via the drive unit (150) by repeating the preset first stop operation and the first movement operation.

Here, the driving unit (150) can move the unmanned vehicle (100) to the target boarding point by repeating the first stop operation and the first moving operation. The unmanned vehicle (100) can be controlled so as not to stop moving if an object in the image does not enter the collision detection area, and can be controlled so as to decelerate if an object in the image enters the collision detection area. In this way, the unmanned vehicle (100) can move to the target boarding point at a precise and low-speed driving speed.

The voice notification step can notify the object in the image to leave the collision detection area through the speaker (160) of the unmanned vehicle (100) via a voice (S224) if the object in the image is in the collision detection area for a first time (example of S222) via the processor (142). For example, the speaker (160) can notify the object in the image to leave the collision detection area by saying, "Please move into the elevator little by little!"

The third judgment step is to determine whether an object in the image is in the collision detection area for a preset second time period through the processor (142) after the voice notification is completed (S225).

The boarding stop step can be performed by stopping the boarding operation of the elevator (10) (S226) when the voice notification is completed and the object in the image is in the collision detection area for a preset second time (example of S225) through the processor (142). At this time, the processor (142) can determine that the inside of the elevator is crowded when the object in the image is in the collision detection area for the second time, and can stop the boarding operation of the elevator (10).

In the second movement step, when the voice notification is completed and the object in the image is not in the collision detection area for a second time (NO in S225) through the processor (142), the preset second stop operation and the second movement operation are repeated to move the unmanned vehicle (100) to the target boarding point through the driving unit (150) (S227). Here, the driving unit (150) can move the unmanned vehicle (100) to the target boarding point by repeating the second stop operation and the second movement operation. The unmanned vehicle (100) can control the moving speed not to stop if the object in the image does not enter the collision detection area, and can control it to decelerate if the object in the image enters the collision detection area. In this way, the unmanned vehicle (100) can move to the target boarding point more precisely and carefully at a low driving speed. At this time, the second time may be a time later than the first time, and the speed for the repeated operation of the second stop operation and the second movement operation may be slower than the speed for the repeated operation of the first stop operation and the first movement operation. That is, if the object in the image is not in the collision detection area during the second time (NO in S225), the processor (142) may slow down the speed for the repeated operation of the second stop operation and the second movement operation to be slower than the speed for the repeated operation of the first stop operation and the first movement operation in order to prevent collision with the object in the image in advance.

As illustrated in FIG. 3, the fourth judgment step may determine whether movement to the target boarding point is completed and at least one of emergency disembarkation information and emergency work information required at another destination has been received from the server (20) via the processor (142) (S231). For example, the emergency disembarkation information may be information on receiving an order to disembark on a corresponding floor before reaching the floor of the destination due to cancellation of the assigned work performance. As another example, the emergency work information required at another destination may be information on receiving an emergency work order at a corresponding destination on a corresponding floor before reaching the floor of the destination due to cancellation of the assigned work performance. At this time, the emergency work information may be at least one of a logistics transport work, a loading/unloading work, and a delivery work.

The first boarding maintenance step is to maintain boarding of the elevator (10) if emergency disembarkation information and emergency work information required at another destination are not received from the server (20) via the processor (142) (NO in S231).

In the first disembarkation step, if at least one of emergency disembarkation information and emergency work information required for another destination is received from the server (20) through the processor (142) (example of S231), the user can disembark when the door of the elevator (10) opens (S233). Here, if the processor (142) receives at least one of emergency disembarkation information and emergency work information required for another destination, the user can disembark when the door of the elevator (10) opens on a previous floor before reaching the floor of the preset destination. At this time, the processor (142) may additionally receive corresponding voice data for the floor on which the elevator (10) speaks through the voice recognition unit (170). Here, when the processor (142) completes receiving the corresponding voice data for the floor where the elevator (10) speaks, it may further determine whether an emergency operation is required at the corresponding destination of the corresponding floor based on the emergency operation information for each destination of the corresponding floor that is preset according to the corresponding voice data among the emergency operation information required at other destinations received from the server (20). At this time, when the processor (142) determines that an emergency operation is required at the corresponding destination of the corresponding floor, it may get off when the door of the elevator (10) opens on the corresponding floor before reaching the floor of the preset destination and move to the corresponding destination.

As illustrated in FIG. 4, the fifth judgment step may further determine whether voice data regarding an emergency situation from at least one passenger obtained through the voice recognition unit (170) of the unmanned vehicle (100) has been received through the processor (142) (S234). For example, the processor (142) may determine whether voice data such as “emergency patient occurrence” or “emergency patient occurrence” has been received from at least one passenger obtained through the voice recognition unit (170).

The second boarding maintenance step can maintain boarding of the elevator (10) (S235) if voice data regarding an emergency situation is not received from at least one passenger through the processor (142) (NO in S234).

In the third receiving step, when the reception of voice data regarding an emergency situation is completed through the processor (142), an image regarding an emergency situation acquired through the camera (130) can be received (S236). For example, the processor (142) can receive an image regarding an emergency patient acquired through the camera (130).

The sixth judgment step can determine, through the processor (142), whether the emergency patient in the image is an emergency patient corresponding to the emergency situation learned through the artificial intelligence model (S237).

The second disembarkation step is, through the processor (142), if there is an emergency (yes of S237), the user can disembark when the door of the elevator (10) opens (S238). At this time, if there is no emergency (no of S237), the processor (142) can maintain boarding of the elevator (10) (S235).

For example, as illustrated in FIG. 5, the unmanned vehicle (100) can receive weight information of the elevator (10) obtained through the weight sensor (11) mounted on the elevator (10) through the processor (142) before the door (D) of the elevator (10) opens. If the weight information of the elevator (10) does not satisfy a preset level, the unmanned vehicle (100) can determine that the interior of the elevator (10) is crowded and stop the boarding operation of the elevator (10).

For another example, as illustrated in FIG. 6, if the weight information of the elevator (10) satisfies a preset level, the unmanned vehicle (100) may receive an object (A) in an image acquired through the camera (130) through the processor (142) when the door (D) of the elevator (10) opens. In addition, if the weight information of the elevator (10) satisfies a preset level, the unmanned vehicle (100) may receive an object (A, Z) in an image acquired through the camera (130) rotating 360 degrees through the processor (142) when the door (D) of the elevator (10) opens. At this time, if the weight information of the elevator (10) satisfies a preset level, the unmanned vehicle (100) may determine that the interior of the elevator (10) is spacious and receive an object (A, Z) in an image acquired through the camera (130) or the camera (130) rotating 360 degrees. At this time, A may be a passenger on the elevator, and Z may be a physically weak person waiting for the elevator.

As another example, as illustrated in FIG. 7, the unmanned vehicle (100) can determine whether an object (A, B) in the image is in the collision detection area (R) for a preset first time period. Thereafter, if the object (A, B) in the image is not in the collision detection area (R) for the first time period, the unmanned vehicle (100) can move to the target boarding point (G) via the driving unit (150) by repeating the preset first stop operation and the first move operation.

In addition, if the object (Z) in the image acquired by the 360-degree rotating camera (130) includes a preset physically weak person, the unmanned vehicle (100) waits until the physically weak person boards the elevator (10), and if the object (A, B, Z) in the image is not in the collision detection area for a preset first time, the unmanned vehicle (100) can move to the preset target boarding point (G). If the object (A, B, Z) in the image is not in the collision detection area (R) for a preset first time, the unmanned vehicle (100) can move to the target boarding point (G) by repeating the preset first stop operation and the first move operation through the drive unit (150).

Here, when the unmanned vehicle (100) completes moving to the target boarding point (G), it performs a rotation in place to face the door (D) of the elevator (10) and then completes boarding.

As another example, as illustrated in FIG. 8, when the door (D) of the elevator (10) opens, the unmanned vehicle (100) can determine whether objects (A, B, Z) in the image are in the collision detection area (R) for a preset first time period. At this time, when determining whether objects (A, B) in the image are in the collision detection area (R) for the preset first time period, the unmanned vehicle (100) can determine whether there is a collision between the objects (A, B) in the image and the collision area shape based on the Gilbert-Johnson-Keerthi (GJK) distance algorithm. For example, the processor (142) can detect the two vertices (A, B) closest to the target point in the collision area shape based on the GJK distance algorithm, obtain a vector connecting the two vertices (A, B), find the farthest vertex in the direction of the target point, and compare this distance with the distance between the target point.

After this, if an object (A, B) in the image is in the collision detection area (R) for a first time, the unmanned vehicle (100) can notify the object (A, B) in the image to leave the collision detection area by voice through the speaker (160). For example, the speaker (160) can notify the object (A, B) in the image to leave the collision detection area by voice, saying, "Please go into the elevator little by little!"

When the voice notification is completed, the unmanned vehicle (100) can determine whether the object (A, B) in the image is in the collision detection area (R) for a preset second time period. Thereafter, when the object (A, B) in the image is not in the collision detection area (R) for the second time period, the unmanned vehicle (100) can move to the target boarding point (G) through the driving unit (150) by repeating the preset second stop operation and the second moving operation. Here, the driving unit (150) can move the unmanned vehicle (100) to the target boarding point (G) by repeating the second stop operation and the second moving operation. When the unmanned vehicle (100) completes moving to the target boarding point (G), it can perform a standstill rotation to face the door (D) of the elevator (10) and then complete boarding.

As another example, as illustrated in FIG. 9, when the door (D) of the elevator (10) opens, the unmanned vehicle (100) can determine whether an object (A, B) in the image is in the collision detection area (R) for a preset first time period. At this time, when determining whether an object (A, B) in the image is in the collision detection area (R) for the preset first time period, the unmanned vehicle (100) can determine whether there is a collision between the objects (A, B) in the image and the collision area shape based on the Gilbert-Johnson-Keerthi (GJK) distance algorithm.

After this, if an object (A, B) in the image is in the collision detection area (R) for a first time, the unmanned vehicle (100) can notify the object (A, B) in the image to leave the collision detection area by voice through the speaker (160). For example, the speaker (160) can notify the object (A, B) in the image to leave the collision detection area by voice, saying, "Please go into the elevator little by little!"

When the voice notification is completed, the unmanned vehicle (100) can determine whether the object (A, B) in the image is in the collision detection area (R) for a preset second time period. At this time, when determining whether the object (A, B) in the image is in the collision detection area (R) for a preset second time period, the unmanned vehicle (100) can determine whether there is a collision between the object (A, B) in the image and the collision area shape based on the Gilbert-Johnson-Keerthi (GJK) distance algorithm.

After this, if an object (A, B) in the image is in the collision detection area (R) for a second time, the unmanned vehicle (100) determines that the interior of the elevator (10) is crowded and can stop the boarding operation of the elevator (10).

As another example, as illustrated in FIG. 10, the unmanned vehicle (100) can determine whether it has received at least one of emergency disembarkation information and emergency work information required at another destination from the server (20). At this time, if the unmanned vehicle (100) does not receive emergency disembarkation information and emergency work information required at another destination from the server (20), it can maintain boarding the elevator (10).

In addition, if the unmanned vehicle (100) receives at least one of emergency disembarkation information and emergency work information required for another destination from the server (20), it can disembark when the door (D) of the elevator (10) opens. Here, if the unmanned vehicle (100) receives at least one of emergency disembarkation information and emergency work information required for another destination, it can disembark when the door (D) of the elevator (10) opens on the previous floor before reaching the floor of the preset destination. At this time, the unmanned vehicle (100) may additionally receive corresponding voice data for the floor on which the elevator (10) speaks through the voice recognition unit (170). Here, when the unmanned vehicle (100) completes receiving the corresponding voice data for the floor where the elevator (10) speaks, it may further determine whether an emergency operation is required at the corresponding destination of the corresponding floor based on the emergency operation information for each destination of the corresponding floor that is preset according to the corresponding voice data among the emergency operation information required at other destinations received from the server (20). After this, when the unmanned vehicle (100) determines that an emergency operation is required at the corresponding destination of the corresponding floor, it may get off when the door of the elevator (10) opens on the corresponding floor before reaching the floor of the preset destination and move to the corresponding destination.

For example, when the unmanned vehicle (100) completes receiving the corresponding voice data for "It is the 5th floor" spoken by the elevator (10), it may further determine whether an emergency operation is required at the corresponding destination on the 5th floor based on the emergency operation information for each destination on the 5th floor that corresponds to the corresponding voice data among the emergency operation information required at other destinations received from the server (20). Thereafter, when the unmanned vehicle (100) determines that an emergency operation is required at the corresponding destination on the 5th floor, it may get off when the door of the elevator (10) opens on the 5th floor before reaching the 10th floor of the preset destination and move to the corresponding destination on the 5th floor.

As another example, as illustrated in FIG. 11, the unmanned vehicle (100) may determine whether voice data regarding an emergency situation has been received from at least one passenger through the voice recognition unit (170) via the processor (142). For example, the unmanned vehicle (100) may determine whether voice data such as “emergency patient occurrence” or “emergency patient occurrence” has been received from at least one passenger through the voice recognition unit (170). At this time, if the unmanned vehicle (100) does not receive voice data regarding an emergency situation from at least one passenger, the vehicle may maintain boarding of the elevator (10).

In addition, when the unmanned vehicle (100) completes receiving voice data regarding an emergency situation, it can receive an image of the emergency situation acquired through the camera (130). For example, the unmanned vehicle (100) can receive an image of an emergency patient (x) acquired through the camera (130).

At this time, the unmanned vehicle (100) can determine whether the emergency patient (x) in the image is an emergency patient corresponding to the emergency situation learned through the artificial intelligence model. Here, the unmanned vehicle (100) can maintain boarding the elevator (10) if it is not an emergency situation, and can get off when the door (D) of the elevator (10) opens if it is an emergency situation. At this time, the unmanned vehicle (100) can notify a voice that wants to quickly respond to the emergency situation by saying, "Emergency patient! Please get out of the way!" at the same time as getting off the elevator (10), and can also transmit emergency situation information to an external server such as a server (20) or a hospital server so that quick action can be taken regarding the emergency situation.

At least one component may be added or deleted in accordance with the performance of the components illustrated in FIG. 1. In addition, it will be readily understood by those skilled in the art that the mutual positions of the components may be changed in accordance with the performance or structure of the system.

Although FIGS. 2 to 4 describe the execution of multiple steps sequentially, this is merely an example explaining the technical idea of the present embodiment, and those skilled in the art to which the present embodiment pertains may modify and change the order described in FIGS. 2 to 4 without departing from the essential characteristics of the present embodiment, or may execute one or more of the multiple steps in parallel, thereby applying various modifications and variations. Therefore, FIGS. 2 to 4 are not limited to a chronological order.

Meanwhile, the disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. The instructions may be stored in the form of program codes, and when executed by a processor, may generate program modules to perform the operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

Computer-readable storage media include all types of storage media that store instructions that can be deciphered by a computer. Examples include ROM (Read Only Memory), RAM (Random Access Memory), magnetic tape, magnetic disk, flash memory, and optical data storage devices.

As described above, the disclosed embodiments have been described with reference to the attached drawings. Those skilled in the art to which the present disclosure pertains will understand that the present disclosure can be implemented in forms other than the disclosed embodiments without changing the technical idea or essential features of the present disclosure. The disclosed embodiments are exemplary and should not be construed as limiting.

100: Unmanned vehicle 110: Communications unit
120: Sensor part 130: Camera
140: Control unit 141: Memory
142: Processor 150: Drive Unit
160: Speaker 170: Voice recognition unit

Claims (10)

In a method for determining boarding and disembarking of an elevator for an unmanned vehicle,
A step of receiving weight information of an elevator obtained through a weight sensor mounted on the elevator before the door of the elevator opens;
When the weight information of the elevator satisfies a preset level, a step of receiving an object in an image acquired through a camera of the unmanned vehicle when the door of the elevator opens;
A step of moving to a preset target boarding point when an object in the above image is not in a collision detection area for a preset first time;
A step of audibly notifying the object in the image through a speaker of the unmanned vehicle to leave the collision detection area when the object in the image is in the collision detection area for the first time;
When the above voice notification is completed and the object in the image is not in the collision detection area for a preset second time, a step of moving to the target boarding point by repeating the preset stop and move actions; and
When movement to the above target boarding point is completed and at least one of emergency disembarkation information and emergency work information required at another destination is received from a server performing communication with the above unmanned vehicle, a step of disembarking when the elevator door opens is included.
The above moving steps are,
If the object in the above image is not in the collision detection area for the preset first time, the preset stop and move actions are repeated to move to the target boarding point,
The above steps for getting off are:
Upon receiving the above emergency disembarkation information and the emergency work information required at the other destination, get off when the elevator door opens on the previous floor before reaching the floor of the preset destination.
Upon completion of movement to the above target boarding point, voice data regarding an emergency situation is further received from at least one passenger through the voice recognition unit of the unmanned vehicle, and upon completion of reception of the voice data, a video regarding the emergency situation acquired through the camera is further received.
A method characterized in that it further determines whether the emergency situation is an emergency situation based on an object in the video for the emergency situation, and if it is an emergency situation, it disembarks when the elevator door opens. delete delete delete Memory storing the route to the elevator and the route to the destination; and
Including a processor that controls the operation for determining boarding and disembarking of the elevator,
The above processor,
Before the door of the elevator opens, the weight information of the elevator obtained through the weight sensor mounted on the elevator is received,
When the weight information of the above elevator satisfies the preset level, when the door of the above elevator opens, the object in the image acquired through the camera is received,
If the object in the above image is not in the collision detection area for a preset first time, it moves to the preset target boarding point.
If an object in the above image is in the collision detection area for the first time, the object in the image is notified by voice through a speaker to leave the collision detection area.
When the above voice notification is completed and the object in the above video is not in the collision detection area for the preset second time, the preset stop and move actions are repeated to move to the target boarding point.
When the movement to the above target boarding point is completed and at least one of emergency disembarkation information and emergency work information required at another destination is received from the server, disembark when the elevator door opens.
When moving to the above target boarding point,
If the object in the above image is not in the collision detection area for the preset first time, the preset stop and move actions are repeated to move to the target boarding point,
When getting off the elevator when the door opens,
Upon receiving the above emergency disembarkation information and the emergency work information required at the other destination, get off when the elevator door opens on the previous floor before reaching the floor of the preset destination.
After completing the movement to the above target boarding point, further voice data regarding the emergency situation is received from at least one passenger through the voice recognition unit of the unmanned vehicle, and when the reception of the voice data is completed, further video regarding the emergency situation acquired through the camera is received,
An unmanned vehicle characterized in that it further determines whether the emergency situation is based on an object in the video regarding the emergency situation, and if it is the emergency situation, it gets off when the elevator door opens. delete delete delete An unmanned vehicle that determines who gets on and off an elevator;
A weight sensor mounted on one side of the elevator and communicating with the unmanned vehicle; and
A server for performing communication with the unmanned vehicle and providing emergency disembarkation information and emergency work information required at another destination to the unmanned vehicle;
The above unmanned vehicle is,
Before the door of the elevator opens, the weight information of the elevator obtained through the weight sensor is received,
When the weight information of the above elevator satisfies the preset level, when the door of the above elevator opens, the object in the image acquired through the camera is received,
If the object in the above image is not in the collision detection area for a preset first time, it moves to the preset target boarding point.
If an object in the above image is in the collision detection area for the first time, the object in the image is notified by voice through a speaker to leave the collision detection area.
When the above voice notification is completed and the object in the above video is not in the collision detection area for the preset second time, the preset stop and move actions are repeated to move to the target boarding point.
When the movement to the above target boarding point is completed and at least one of the emergency disembarkation information and the emergency work information required at the other destination is received from the server, disembark when the elevator door opens.
When moving to the above target boarding point,
If the object in the above image is not in the collision detection area for the preset first time, the preset stop and move actions are repeated to move to the target boarding point,
When getting off the elevator when the door opens,
Upon receiving the above emergency disembarkation information and the emergency work information required at the other destination, get off when the elevator door opens on the previous floor before reaching the floor of the preset destination.
Upon completion of movement to the above target boarding point, voice data regarding an emergency situation is further received from at least one passenger through the voice recognition unit of the unmanned vehicle, and upon completion of reception of the voice data, a video regarding the emergency situation acquired through the camera is further received.
An elevator boarding and disembarking decision system for an unmanned vehicle, characterized in that it further determines whether the emergency situation is based on an object in an image of the emergency situation, and if it is the emergency situation, it disembarks when the elevator door opens. A program stored in a computer-readable recording medium, coupled with a computer as hardware, for executing the method for determining boarding and disembarking of an elevator of an unmanned mobile device according to claim 1.

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