KR102809452B1 - Robot-friendly building, method and system for collaboration using multiple robots - Google Patents

Abstract

A collaboration method using a plurality of robots according to the present invention comprises the steps of: assigning a specific task to a first robot performing a first function, and performing a first task related to the specific task in the first robot; sensing, in the first robot, a second robot located around the first robot and performing a second function different from the first function; specifying, based on the sensing of the second robot by the first robot, the second robot as a collaboration target robot that will collaborate with the first robot on the specific task; performing, based on data communication between the first robot and the second robot, a second task related to the specific task by the first robot and the second robot; and performing, based on the completion of the second task, a third task related to the specific task in the second robot.

Description

{ROBOT-FRIENDLY BUILDING, METHOD AND SYSTEM FOR COLLABORATION USING MULTIPLE ROBOTS}

The present invention relates to a method and system for collaboration between robots. More specifically, the present invention relates to a method for performing communication between robots so as to enable collaborative tasks between robots even in an offline situation.

Furthermore, the present invention relates to a method and system for robot-to-robot collaborative tasks applicable to robot-friendly buildings.

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., it is becoming possible to control robots more precisely and safely, and accordingly, the utilization of robots is gradually increasing. In particular, due to the development of technology, robots have reached a level where they can safely coexist with humans in indoor spaces.

Accordingly, robots are recently replacing human work or tasks, and various methods for robots to directly provide services to people, especially in indoor spaces, are being actively studied.

For example, in public places such as airports, stations, and department stores, robots provide guidance services, and in restaurants, robots provide serving services. Furthermore, in office spaces and shared living spaces, robots provide delivery services, delivering mail and packages. In addition, robots provide various services such as cleaning services, security services, and logistics processing services, and the types and scope of services provided by robots are expected to increase exponentially in the future, and the level of service provision is also expected to continue to develop.

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

Meanwhile, in order for robots to provide various services or live in indoor spaces, they must collaborate, and in some cases, there is a need for robots to collaborate with each other even in offline situations where there is no network.

Accordingly, in order to provide higher-level services using robots in buildings, not only research on robot control technology in situations where a network exists, but also fundamental research on methods for providing services through collaboration between robots even in offline situations is necessary.

The robot collaboration method and system according to the present invention are intended to provide a process that enables collaboration between robots even in offline situations.

More specifically, the robot collaboration method and system according to the present invention provides a process in which robot collaboration is possible even in the absence of a network by performing robot-to-robot communication using visual means.

Furthermore, the present invention provides a robot-friendly building in which robots and people coexist and provide useful services to people.

Furthermore, the robot-friendly building according to the present invention can expand the types and scope of services that robots can provide by providing various robot-friendly facility infrastructures that can be used by robots.

Furthermore, the robot-friendly building according to the present invention can manage the operation of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud system that is linked to a plurality of robots. Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless format controlled by a cloud server, and according to this, not only can a large number of robots placed in the building be manufactured inexpensively without expensive sensors, but they can also be controlled with high performance/high precision.

A collaboration method using a plurality of robots according to the present invention comprises the steps of: assigning a specific task to a first robot performing a first function, and performing a first task related to the specific task in the first robot; sensing, in the first robot, a second robot located around the first robot and performing a second function different from the first function; specifying, based on the sensing of the second robot by the first robot, the second robot as a collaboration target robot that will collaborate with the first robot on the specific task; performing, based on data communication between the first robot and the second robot, a second task related to the specific task by the first robot and the second robot; and performing, based on the completion of the second task, a third task related to the specific task in the second robot.

Furthermore, a service robot according to the present invention that navigates a space includes a display unit, a navigation unit, and a control unit that controls information output to the display unit based on an operating state of the service robot, wherein the control unit controls information output to the display unit based on collaboration between a specific robot arranged in the space and a specific task-related task, and the display unit may output a first marker that enables identification of the service robot from the specific robot, and a second marker that enables identification of the current operating state of the service robot.

Furthermore, a robot according to the present invention includes a camera unit that recognizes a marker output to a specific robot performing collaboration, an output unit that outputs a control signal for controlling the operation of the specific robot, and a control unit that controls the camera unit and the output unit, wherein the control unit can output a control signal corresponding to the specific operation through control of the output unit so that a specific operation is performed in the specific robot according to the progress status of a specific task corresponding to the collaboration.

Furthermore, a building in which a first robot and a second robot communicating with a cloud server according to the present invention are located includes a space in which the first robot and the second robot are located, and the first robot and the second robot are configured to perform a first task associated with the specific task by assigning a specific task to the first robot performing a first function based on a control command received from the cloud server, a step of sensing, in the first robot, a second robot located around the first robot and performing a second function different from the first function, a step of specifying, based on the first robot sensing the second robot, the second robot as a collaboration target robot to collaborate with the first robot on the specific task, a step of performing a second task associated with the specific task by the first robot and the second robot based on data communication between the first robot and the second robot, and a step of performing a third task associated with the specific task by the second robot based on the completion of the second task, thereby performing the specific task in the building. In the cloud server, the task input for the specific task can be updated based on the task history information received from at least one of the first robot and the second robot.

Furthermore, a robot collaboration system in which collaboration is achieved between a first robot and a second robot according to the present invention includes: a specific task is assigned to a first robot performing a first function; the first robot performs a first task associated with the specific task; the first robot senses a second robot located around the first robot and performing a second function different from the first function; and, based on the sensing of the second robot by the first robot, the second robot is specified as a collaboration target robot that collaborates with the first robot for the specific task; and, based on data communication between the first robot and the second robot, a second task associated with the specific task is performed by the first robot and the second robot; and, based on the completion of the second task, the second robot performs a third task associated with the specific task, thereby enabling collaboration for the specific task.

The collaborative method and system using a plurality of robots according to the present invention can perform collaborative work even in a situation where a network is absent or a network failure occurs by performing collaboration related to a specific task by the first robot and the second robots based on data communication between the output units and sensing units provided in each of the first robot and the second robot. Therefore, in a building including robots according to the present invention, even in an environment where a network does not exist, the robots can provide various services through collaborative work among a plurality of robots, thereby further improving user convenience.

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

Furthermore, the robot-friendly building according to the present invention can systematically manage the operation of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud server that is linked to a plurality of robots. Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless format controlled by a cloud server, and according to this, not only can a large number of robots placed in the building be manufactured inexpensively without expensive sensors, but they can also be controlled with high performance/high precision.

Furthermore, in a building according to the present invention, the driving is controlled to take into consideration the tasks and movement situations assigned to a number of robots placed in the building, as well as to take people into consideration, so that robots and people can coexist naturally in the same space.

Furthermore, in a building according to the present invention, by performing various controls to prevent accidents caused by robots and to respond to unexpected situations, it is possible to instill in people the perception that robots are friendly and safe, rather than dangerous.

Figures 1, 2, and 3 are conceptual diagrams illustrating a robot-friendly building according to the present invention.
FIGS. 4, 5, and 6 are conceptual diagrams for explaining a system for controlling a robot that drives a robot-friendly building and various facilities provided in the robot-friendly building according to the present invention.
Figures 7 and 8 are conceptual diagrams for explaining the facility infrastructure provided in a robot-friendly building according to the present invention.
FIGS. 9 to 11 are conceptual diagrams for explaining a method for estimating the position of a robot moving through a robot-friendly building according to the present invention.
Figure 12 is a conceptual diagram for explaining a collaboration method using multiple robots according to the present invention.
Figures 13 and 14 are block diagrams illustrating robots performing collaboration.
Figure 15 is a flow chart for explaining a collaboration method using multiple robots according to the present invention.
Figures 16, 17, 18, and 19 are conceptual diagrams for explaining information output from a robot according to the present invention.
FIGS. 20A and 20B are conceptual diagrams for explaining a method of performing data communication for collaboration using a plurality of robots according to the present invention.
Figure 21 is a conceptual diagram explaining the linkage for collaboration between robots in the present invention.
Figure 22 is a conceptual diagram explaining how a robot according to the present invention updates its work history.
FIGS. 23 and 24 are conceptual diagrams illustrating a method for a manager to intervene in robot collaboration according to the present invention.

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 including 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 “have” 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 relates to a robot-friendly building, and proposes a robot-friendly building in which people and robots can safely coexist and, further, in which robots can provide useful services within the building.

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

In the present invention, a building is a structure built for continuous residence, living, work, etc., and may have various forms such as a commercial building, an industrial building, an institutional building, a residential building, etc. In addition, the building may be a multi-story building with multiple floors, or a single-story building as opposed to a multi-story building. However, in the present invention, for the convenience of explanation, the infrastructure or facility infrastructure applied to a multi-story building is described as an example.

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

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

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

Meanwhile, the meaning of “robot friendly” in the present invention refers to a building where robots coexist, and more specifically, it can mean that there is a facility infrastructure built that allows robots to run, that allows robots to provide services, that is usable by robots, or that is built to provide functions necessary for robots (ex: charging, repair, cleaning, etc.). In this case, “robot friendly” in the present invention can be used to mean that there is an integrated solution for coexistence of robots and humans.

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

FIGS. 1, 2 and 3 are conceptual diagrams for explaining a robot-friendly building according to the present invention, and FIGS. 4, 5 and 6 are conceptual diagrams for explaining a system for controlling a robot that drives a robot-friendly building according to the present invention and various facilities equipped in the robot-friendly building. Furthermore, FIGS. 7 and 8 are conceptual diagrams for explaining facility infrastructure equipped in a robot-friendly building according to the present invention.

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

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

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

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

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

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

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

One or more different types of multiple robots may be positioned within the building (1000), and these robots may run within the building (1000), provide services, and utilize various facility infrastructures provided within the building (1000) under the control of the server (20).

In the present invention, the location of the server (20) may exist in various ways. For example, the server (20) may be located at least one of the inside of the building (1000) and the outside of the building (1000). That is, at least some of the servers (20) may be located inside the building (1000), and the remaining some may be located outside the building (1000). Alternatively, the servers (20) may be located entirely inside the building (1000), or only outside the building (1000). Accordingly, in the present invention, no particular limitation is placed on the specific location of the server (20).

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

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

Meanwhile, looking more specifically at the cloud server (21) and the edge server (22), the edge server (22) is an electronic device that can operate as the brain of the robot (R). That is, each edge server (22) can wirelessly control at least one robot (R). At this time, the edge server (22) can control the robot (R) based on a set control cycle. The control cycle can be determined as the sum of the time given to process data related to the robot (R) and the time given to provide a control command to the robot (R). The cloud server (21) can manage at least one of the robot (R) or the edge server (22). At this time, the edge server (22) can operate as a server corresponding to the robot (R) and as a client corresponding to the cloud server (21).

The robot (R) and the edge server (22) can communicate wirelessly, and the edge server (22) and the cloud server (21) can communicate wiredly or wirelessly. At this time, the robot (R) and the edge server (22) can communicate via a wireless network capable of ultra-reliable and low latency communications (URLLC). For example, the wireless network may include at least one of a 5G network or WiFi-6 (WiFi ad/ay). Here, the 5G network may have features that not only enable ultra-reliable and low latency communications, but also enable enhanced mobile broadband (eMBB) and massive machine type communications (mMTC). For example, the edge server (22) may include an MEC (mobile edge computing, multi-access edge computing) server and may be deployed at a base station. Through this, the latency time due to communication between the robot (R) and the edge server (22) can be shortened. At this time, as the time given to provide a control command to the robot (R) in the control cycle of the edge server (22) is shortened, the time given to process data can be extended. Meanwhile, the edge server (22) and the cloud server (21) can communicate via a wireless network, such as the Internet, for example.

Meanwhile, in some cases, a plurality of edge servers may be connected via a wireless mesh network, and the function of the cloud server (21) may be distributed to a plurality of edge servers. In this case, for a certain robot (R), one of the edge servers may operate as an edge server (22) for the robot (R), and at least one other of the edge servers may operate as a cloud server (21) for the robot (R) in cooperation with one of the edge servers.

A network or communication network formed in a building (1000) according to the present invention may include communication between at least one robot (R) configured to collect data, at least one edge server (22) configured to wirelessly control the robot (R), and a cloud server (21) connected to the edge server (22) and configured to manage the robot (R) and the edge server (22).

The edge server (22) can be configured to wirelessly receive the data from the robot (R), determine a control command based on the data, and wirelessly transmit the control command to the robot (R).

According to various embodiments, the edge server (22) may be configured to determine whether to cooperate with the cloud server (21) based on the data, and if it is determined that there is no need to cooperate with the cloud server (21), determine the control command and transmit the control command within a set control period.

According to various embodiments, the edge server (22) may be configured to communicate with the cloud server (21) based on the data to determine the control command when it is determined that cooperation with the cloud server (21) is required.

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

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

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

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

In addition, the cloud server (20) can check the status information of robots located in the building and provide (or support) various functions required for the robots. Here, various functions may exist, such as a charging function for robots, a cleaning function for contaminated robots, and a standby function for robots whose tasks have been completed.

The cloud server (20) can control the robots so that the robots can use various facility infrastructures equipped in the building (1000) to provide various functions to the robots. Furthermore, the cloud server can directly control the facility infrastructure equipped in the building (1000) or control the facility infrastructure through communication with a control system that controls the facility infrastructure to provide various functions to the robots.

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

Meanwhile, the cloud server (20) can perform various controls based on the information stored in the database, and there is no particular limitation on the type and location of the database in the present invention. The term of the database can be freely modified and used as long as it means a means for storing information, such as memory, storage, storage, cloud storage, external storage, external server, etc. In the following, the term “database” will be used for explanation.

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

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

Furthermore, the cloud server (20) performs artificial intelligence-based learning that utilizes data collected in the process of controlling the robot as learning data, and utilizes this to control the robot, so that the more control is performed on the robot, the more accurately and efficiently the robot can be operated. That is, the cloud server (20) can be configured to perform deep learning or machine learning. In addition, the cloud server (20) can perform deep learning or machine learning through simulation, etc., and perform control on the robot using the artificial intelligence model constructed as a result.

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

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

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

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

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

The types of services provided by robots may vary from robot to robot. In other words, robots may exist in various types depending on their purpose, robots may have different structures depending on their purpose, and robots may be equipped with programs appropriate for their purpose.

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

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

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

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

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

More specifically, the facility infrastructure may include facilities to support the movement of the robot within the building.

The facilities that support the movement of the robot can have either a robot-only facility for exclusive use by the robot or a shared facility for joint use with people.

Furthermore, the facilities supporting the movement of the robot can support the horizontal movement of the robot or the vertical movement of the robot. The robots can move horizontally or vertically using the facilities within the building (1000). Movement in the horizontal direction means movement within the same floor, and movement in the vertical direction can mean movement between different floors. Therefore, in the present invention, moving up and down within the same floor can be referred to as movement in the horizontal direction.

The facilities supporting the movement of the robot may be diverse, and for example, as shown in FIGS. 2 and 3, a building (1000) may be provided with a robot passage (robot road, 201, 202, 203) supporting the horizontal movement of the robot. This robot passage may include a robot-only passage exclusively used by the robot. Meanwhile, the robot-only passage may be formed so that access by humans is fundamentally blocked, but may not necessarily be limited thereto. That is, the robot-only passage may be formed in a structure that allows humans to pass through or access it.

Meanwhile, as illustrated in FIG. 3, the robot-only passage may be formed of at least one of a first-only passage (or a first-type passage, 201) and a second-only passage (or a second-type passage, 202). The first-only passage and the second-only passage (201, 202) may be provided together on the same floor or on different floors.

As another example, as illustrated in FIGS. 2 and 3, the building (1000) may be equipped with a moving means (204, 205) that supports vertical movement of the robot. The moving means (204, 205) may include at least one of an elevator or an escalator. The robot may move between different floors using the elevator (204) or the escalator (205) equipped in the building (1000).

Meanwhile, these elevators (204) or escalators (205) may be for robot use only or may be for shared use with people.

For example, the building (1000) may include at least one of a robot-only elevator or a public elevator. Likewise, further, the building (1000) may include at least one of a robot-only escalator or a public escalator.

Meanwhile, the building (1000) may be equipped with a means of movement that can be utilized for both vertical and horizontal movement. For example, a means of movement in the form of a moving walkway may support horizontal movement of the robot within a floor or vertical movement between floors.

The robot can move within the building (1000) in a horizontal or vertical direction under its own control or under the control of a cloud server (20), and at this time, the robot can move within the building (1000) using various facilities that support the movement of the robot.

Furthermore, the building (1000) may include at least one of an entrance door (206, or automatic door) and an access control gate (gate, 207) that control access to the building (1000) or a specific area within the building (1000). At least one of the entrance door (206) and the access control gate (207) may be configured to be accessible to a robot. The robot may be configured to pass through the entrance door (or automatic door, 206) or the access control gate (207) under the control of the cloud server (20).

Meanwhile, the access control gate (207) may be named in various ways, such as a speed gate.

In addition, the building (1000) may further include a waiting space facility (208) corresponding to a waiting space where the robot waits, a charging facility (209) for charging the robot, and a cleaning facility (210) for cleaning the robot.

Furthermore, the building (1000) may include facilities (211) specialized for specific services provided by the robot, for example facilities for delivery services.

Additionally, the building (1000) may include equipment for monitoring the robot (see drawing symbol 212), examples of which may include various sensors (e.g., cameras (or image sensors, 121).

As seen with reference to FIGS. 2 and 3, the building (1000) according to the present invention may be equipped with various facilities for providing services, moving the robot, driving, maintaining functions, maintaining cleanliness, etc.

Meanwhile, as illustrated in FIG. 4, a building (1000) according to the present invention is interconnected with a cloud server (20), a robot (R), and equipment infrastructure (200), so that the robots can provide various services within the building (1000) and use the equipment appropriately for this purpose.

Here, “interconnected” may mean that various data and control commands related to services provided within a building, movement, driving, function maintenance, and cleaning of the robot, etc. are transmitted and received unidirectionally or bidirectionally from at least one entity to at least one other entity through a network (or communication network).

Here, the subject can be a building (1000), a cloud server (20), a robot (R), facility infrastructure (200), etc.

Furthermore, the facility infrastructure (200) may include at least one of the various facilities (see drawing symbols 201 to 213) examined with reference to FIGS. 2 and 3 and the control systems (201a, 202a, 203a, 204a, ...) that control them.

A robot (R) running in a building (1000) is configured to communicate with a cloud server (20) via a network (40) and can provide services within the building (1000) under the control of the cloud server (20).

More specifically, the building (1000) may include a building system (1000a) for communicating with various facilities provided in the building (1000) or directly controlling the facilities. As illustrated in FIG. 4, the building system (1000a) may include a communication unit (110), a sensing unit (120), an output unit (130), a storage unit (140), and a control unit (150).

The communication unit (110) forms at least one of a wired communication network and a wireless communication network within the building (1000), thereby connecting i) between the cloud server (20) and the robot (R), ii) between the cloud server (20) and the building (1000), iii) between the cloud server (20) and the facility infrastructure (200), iv) between the facility infrastructure (200) and the robot (R), and v) between the facility infrastructure (200) and the building (1000). That is, the communication unit (110) can act as a medium for communication between different entities. This communication unit (110) can also be referred to as a base station, a router, etc., and the communication unit (110) can form a communication network or network so that the robot (R), the cloud server (20), and the facility infrastructure (200) can communicate with each other within the building (1000).

Meanwhile, in this specification, being connected to a building (1000) via a communication network may mean being connected to at least one of the components included in the building system (1000a).

As illustrated in FIG. 5, a plurality of robots (R) placed in a building (1000) can be remotely controlled by a cloud server (20) by performing communication with the cloud server (20) through at least one of a wired communication network and a wireless communication network formed through a communication unit (110). Such a communication network, such as a wired communication network or a wireless communication network, can be understood as a network (40).

In this way, the building (1000), the cloud server (20), the robot (R), and the equipment infrastructure (200) can form a network (40) based on the communication network formed within the building (1000). Based on this network, the robot (R) can provide a service corresponding to an assigned task by utilizing various equipment provided within the building (1000) under the control of the cloud server (20).

Meanwhile, the facility infrastructure (200) may include at least one of the various facilities (see drawing symbols 201 to 213) examined with reference to FIGS. 2 and 3 and the control systems (201a, 202a, 203a, 204a, …) that control them (such control systems may also be referred to as “control servers”).

As illustrated in FIG. 4, different types of equipment may have their own control systems. For example, in the case of a robot passageway (or a robot-only passageway, a robot road, a robot-only road, 201, 202, 203), there may be a control system (201a, 202a, 203a) for independently controlling each of the robot passageways (201, 202, 203), and in the case of an elevator (or a robot-only elevator, 204), there may be a control system (204) for controlling the elevator (204).

These unique control systems for controlling the facilities can communicate with at least one of the cloud server (20), the robot (R), and the building (1000) to perform appropriate control of each facility so that the robot (R) can use the facility.

Meanwhile, the sensing units (201b, 202b, 203b, 204b, ...) included in each facility control system (201a, 202a, 203a, 204a, ...) may be provided in the facility itself and configured to sense various information related to the facility.

Furthermore, the control unit (201c, 202c, 203c, 204c, ...) included in each facility control system (201a, 202a, 203a, 204a, ...) performs control for driving each facility, and can perform appropriate control so that the robot (R) can use the facility through communication with the cloud server (20). For example, the control system (204b) of the elevator (204) can control the elevator (204) to stop at the floor where the robot (R) is located so that the robot (R) can board the elevator (204) through communication with the cloud server (20).

At least some of the control units (201c, 202c, 203c, 204c, ...) included in each facility control system (201a, 202a, 203a, 204a, ...) may be located within the building (1000) together with each facility (201, 202, 203, 204, ...) or may be located outside the building (1000).

Furthermore, at least some of the facilities included in the building (1000) according to the present invention may be controlled by a cloud server (20) or by a control unit (150) of the building (1000). In this case, the facilities may not be equipped with a separate facility control system.

In the following description, each facility is provided with an example of having its own control system. However, as mentioned above, it goes without saying that the role of the control system for controlling the facility can be replaced by the control unit (150) of the cloud server (20) or the building (1000). In this case, it goes without saying that the term of the control unit (201c, 202c, 203c, 204c, ...) of the facility control system described in this specification can be replaced with the term of the cloud server (20) or the control unit (150, or the control unit (150) of the building.

Meanwhile, the components of each facility control system (201a, 202a, 203a, 204a, …) in FIG. 4 are for example only, and various components may be added or excluded depending on the characteristics of each facility.

In this way, in the present invention, a robot (R), a cloud server (20), and a facility control system (201a, 202a, 203a, 204a, …) provide various services within a building (1000) by utilizing the facility infrastructure.

In this case, the robot (R) mainly drives inside the building to provide various services. To this end, the robot (R) may be equipped with at least one of a body part, a driving part, a sensing part, a communication part, an interface part, and a power supply part.

The body part includes a case (casing, housing, cover, etc.) forming the exterior. In the present embodiment, the case can be divided into a plurality of parts, and various electronic components are built into the space formed by the case. In this case, the body part can be formed in different shapes according to various services exemplified in the present invention. For example, in the case of a robot providing a delivery service, a storage compartment for storing items can be provided on the upper part of the body part. As another example, in the case of a robot providing a cleaning service, a suction port for sucking dust using a vacuum can be provided on the lower part of the body part.

The driving unit is configured to perform specific operations according to control commands transmitted from the cloud server (20).

The drive unit provides a means for the body of the robot to move within a specific space in relation to driving. More specifically, the drive unit includes a motor and a plurality of wheels, which are combined to perform the functions of driving, changing direction, and rotating the robot (R). As another example, the drive unit may include at least one of an end effector, a manipulator, and an actuator to perform other operations than driving, such as picking up.

The sensing unit may include one or more sensors for sensing at least one of information within the robot (particularly, the operating status of the robot), information about the surrounding environment surrounding the robot, location information of the robot, and user information.

For example, the sensing unit may be equipped with a camera (image sensor), proximity sensor, infrared sensor, laser scanner (lidar sensor), RGBD sensor, geomagnetic sensor, ultrasonic sensor, inertial sensor, UWB sensor, etc.

The communication unit of the robot is configured to transmit and receive wireless signals in the robot in order to perform wireless communication between the robot (R) and the communication unit of the building, between the robot (R) and another robot, or between the robot (R) and the control system of the facility. As examples of this, the communication unit may be equipped with a wireless Internet module, a short-distance communication module, a location information module, etc.

The interface unit may be provided as a passage that can connect the robot (R) to an external device. For example, the interface unit may be a terminal (charging terminal, connection terminal, power terminal), a port, or a connector. The power supply unit may be a device that receives external power or internal power and supplies power to each component included in the robot (R). As another example, the power supply unit may be a device that generates electric energy inside the robot (R) and supplies it to each component.

In the above, the robot (R) was mainly described as driving inside a building, but the present invention is not necessarily limited to this. For example, the robot of the present invention can also be in the form of a robot that flies inside a building, such as a drone. More specifically, a robot that provides guidance services can fly around a person inside a building and provide guidance to the person about the building.

Meanwhile, the overall operation of the robot of the present invention is controlled by the cloud server (20). In addition, the robot may be equipped with a separate control unit as a sub-controller of the cloud server (20). For example, the control unit of the robot receives a control command for driving from the cloud server (20) and controls the driving unit of the robot. In this case, the control unit may calculate the torque or current to be applied to the motor using data sensed by the sensing unit of the robot. The motor, etc. is driven by a position controller, a speed controller, a current controller, etc. using the calculated result, and through this, the robot executes the control command of the cloud server (20).

Meanwhile, in the present invention, the building (1000) may include a building system (1000a) for communicating with various facilities provided in the building (1000) or directly controlling the facilities. As illustrated in FIGS. 4 and 5, the building system (1000a) may include at least one of a communication unit (110), a sensing unit (120), an output unit (130), a storage unit (140), and a control unit (150).

The communication unit (110) forms at least one of a wired communication network and a wireless communication network within the building (1000), thereby connecting i) between the cloud server (20) and the robot (R), ii) between the cloud server (20) and the building (1000), iii) between the cloud server (20) and the facility infrastructure (200), iv) between the facility infrastructure (200) and the robot (R), and v) between the facility infrastructure (200) and the building (1000). That is, the communication unit (110) can act as a medium for communication between different entities.

As illustrated in FIGS. 5 and 6, the communication unit (110) may be configured to include at least one of a mobile communication module (111), a wired Internet module (112), a wireless Internet module (113), and a short-range communication module (114).

The communication unit (110) can support various communication methods based on the communication modules listed above.

For example, the mobile communication module (111) may be configured to transmit and receive wireless signals with at least one of a building system (1000a), a cloud server (20), a robot (R), and facility infrastructure (200) on a mobile communication network constructed according to technical standards or communication methods for mobile communications (e.g., 5G, 4G, GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc.). At this time, as a more specific example, the robot (R) can transmit and receive wireless signals with the mobile communication module (111) using the communication unit of the robot (R) described above.

Next, the wired Internet module (112) provides communication in a wired manner, and can be configured to transmit and receive signals with at least one of a cloud server (20), a robot (R), and equipment infrastructure (200) using a physical communication line as a medium.

Furthermore, the wireless Internet module (113) is a concept that includes a mobile communication module (111), and may mean a module capable of wireless Internet access. The wireless Internet module (113) is placed in a building (1000) and is configured to transmit and receive wireless signals with at least one of a building system (1000a), a cloud server (20), a robot (R), and facility infrastructure (200) in a communication network according to wireless Internet technologies.

Wireless Internet technologies can be very diverse, and in addition to the communication technology of the mobile communication module (111) discussed above, there are WLAN (Wireless LAN), Wi-Fi, Wi-Fi Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), etc. Furthermore, in the present invention, the wireless Internet module (113) transmits and receives data according to at least one wireless Internet technology, including Internet technologies not listed above.

Next, the short-range communication module (114) is for short-range communication, and can perform short-range communication with at least one of the building system (1000a), the cloud server (20), the robot (R), and the facility infrastructure (200) by using at least one of Bluetooth™, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi, Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

The communication unit (110) may include at least one of the communication modules discussed above, and these communication modules may be placed in various spaces inside the building (1000) to form a communication network. Through this communication network, i) the cloud server (20) and the robot (R), ii) the cloud server (20) and the building (1000), iii) the cloud server (20) and the facility infrastructure (200, iv) the facility infrastructure (200) and the robot (R), and v) the facility infrastructure (200) and the building (1000) may be configured to communicate with each other.

Next, the building (1000) may include a sensing unit (120), and the sensing unit (120) may be configured to include various sensors. At least some of the information sensed through the sensing unit (120) of the building (1000) may be transmitted to at least one of the cloud server (20), the robot (R), and the facility infrastructure (200) through a communication network formed through the communication unit (110). At least one of the cloud server (20), the robot (R), and the facility infrastructure (200) may control the robot (R) or the facility infrastructure (200) using the information sensed through the sensing unit (120).

The types of sensors included in the sensing unit (120) may be very diverse. The sensing unit (120) may be installed in the building (1000) and configured to sense various pieces of information about the building (1000). The information sensed by the sensing unit (120) may be information about a robot (R) running in the building (1000), a person located in the building (1000), an obstacle, etc., and may include various environmental information related to the building (e.g., temperature, humidity, etc.).

As illustrated in FIG. 5, the sensing unit (120) may include at least one of an image sensor (121), a microphone (122), a biosensor (123), a proximity sensor (124), an illuminance sensor (125), an infrared sensor (126), a temperature sensor (127), and a humidity sensor (128).

Here, the image sensor (121) may correspond to a camera. As seen in FIG. 3, a camera corresponding to the image sensor (121) may be placed in the building (1000). In this specification, the camera is given the same drawing symbol “121” as the image sensor (121).

Meanwhile, there is no limitation on the number of cameras (121) placed in the building (1000). The types of cameras (121) placed in the building (1000) may vary, and as an example, the camera (121) placed in the building (1000) may be a CCTV (closed circuit television). Meanwhile, the fact that the camera (121) is placed in the building (1000) may mean that the camera (121) is placed in the indoor space (10) of the building (1000).

Next, the microphone (122) can be configured to sense various sound information occurring in the building (1000).

The biosensor (123) is for sensing biometric information and can sense biometric information (e.g., fingerprint information, facial information, iris information, etc.) about a person or animal located in a building (1000).

The proximity sensor (124) can be configured to sense an object (such as a robot or a person) approaching the proximity sensor (124) or located around the proximity sensor (124).

In addition, the light sensor (125) is configured to sense the light around the light sensor (125), and the infrared sensor (126) has a built-in LED, which can be used to take pictures of a building (1000) in a dark room or at night.

Furthermore, the temperature sensor (127) can sense the temperature around the temperature sensor (127), and the humidity sensor (128) can sense the temperature around the humidity sensor (128).

Meanwhile, there is no particular limitation on the type of sensor constituting the sensing unit (120) in the present invention, and it is sufficient as long as the function defined by each sensor is implemented.

Next, the output unit (130) may include at least one of a display unit (131), an audio output unit (132), and a lighting unit (133) as a means for outputting at least one of visual, auditory, and tactile information to a person or a robot (R) in the building (1000). This output unit (130) may be placed at an appropriate location in the indoor space of the building (1000) depending on necessity or circumstances.

Next, the storage (140) may be configured to store various information related to at least one of the building (1000), the robot, and the facility infrastructure. In the present invention, the storage (140) may be provided in the building (1000) itself. Alternatively, at least a part of the storage (140) may mean at least one of a cloud server (20) or an external database. That is, the storage (140) may be sufficient as long as it is a space where various information according to the present invention is stored, and it may be understood that there is no limitation on the physical space.

Next, the control unit (150) is a means for performing overall control of the building (1000) and can control at least one of the communication unit (110), the sensing unit (120), the output unit (130), and the storage unit (140). The control unit (150) can perform control of the robot by linking with the cloud server (20). Furthermore, the control unit (150) can exist in the form of a cloud server (20). In this case, the building (1000) can be controlled together by the cloud server (20), which is a control means of the robot (R). Alternatively, the cloud server controlling the building (1000) can exist separately from the cloud server (20) controlling the robot (R). In this case, the cloud server controlling the building (1000) and the cloud server (20) controlling the robot (R) may be interconnected with each other through mutual communication so that the robot (R) may provide services, or may be interconnected with each other for the movement, function maintenance, and cleanliness maintenance of the robot. Meanwhile, the control unit of the building (1000) may also be named a “processor,” and the processor may be configured to process various commands by performing basic arithmetic, logic, and input/output operations.

As described above, at least one of the building (1000), the robot (R), the cloud server (20), and the facility infrastructure (200) forms a network (40) based on a communication network, so that various services using the robot can be provided within the building (1000).

As described above, in a building (1000) according to the present invention, a robot (R), facility infrastructure (200) provided within the building, and a cloud server (20) can be organically connected so that various services can be provided by the robot. At least some of the robot (R), facility infrastructure (200), and cloud server (20) can exist in the form of a platform for constructing a robot-friendly building.

Hereinafter, with reference to the contents of the building (1000), building system (1000a), facility infrastructure (200), and cloud server (20) discussed above, the process in which the robot (R) utilizes the facility infrastructure (200) will be examined in more detail. At this time, the robot (R) may drive in the indoor space (10) of the building (1000) or move using the facility infrastructure (200) for the purpose of performing a task (or providing a service), driving, charging, maintaining cleanliness, waiting, etc., and may further utilize the facility infrastructure (200).

In this way, the robot (R) can drive within the indoor space of the building (1000) or move using the facility infrastructure (200) to achieve the “purpose” based on a certain “purpose”, and further, can utilize the facility infrastructure (200).

At this time, the purpose that the robot must achieve can be specified based on various causes. The purpose that the robot must achieve can exist as a first type purpose and a second type purpose.

Here, the first type of purpose may be for the robot to perform its original mission, and the second type of purpose may be for the robot to perform a mission or function other than its original mission.

That is, the purpose that a robot of the first type must achieve may be the purpose of performing the robot's original mission. This purpose may also be understood as the robot's "task."

For example, if the robot is a robot that provides a serving service, the robot may drive in an indoor space of a building (1000) or move using the facility infrastructure (200) and further utilize the facility infrastructure (200) in order to achieve the purpose or mission of providing the serving service. In addition, if the robot is a robot that provides a route guidance service, the robot may drive in an indoor space of a building (1000) or move using the facility infrastructure (200) and further utilize the facility infrastructure (200) in order to achieve the purpose or mission of providing the route guidance service.

Meanwhile, a plurality of robots operating for different purposes may be positioned in the building according to the present invention. That is, different robots capable of performing different tasks may be placed in the building, and different types of robots may be placed in the building according to the needs of the building manager and various entities occupying the building.

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

Meanwhile, the second type of purpose is for the robot to perform a task or function other than the robot's original task, which may be a purpose unrelated to the robot's original task. This second type of purpose may be a task or function that is not directly related to the robot performing the robot's original task, but is indirectly necessary.

For example, in order for a robot to perform its original mission, it needs sufficient power for its operation, and in order for the robot to provide pleasant services to people, it needs to be kept clean. Furthermore, in order for multiple robots to operate efficiently within a building, there may be times when they have to wait in a certain space.

In this way, in order to achieve the second type of purpose, the robot in the present invention can drive in an indoor space of a building (1000) or move using the facility infrastructure (200), and further, can utilize the facility infrastructure (200).

For example, a robot may utilize charging facility infrastructure to achieve a purpose according to a charging function, and may utilize washing facility infrastructure to achieve a purpose according to a washing function.

In this way, in the present invention, the robot can drive in an indoor space of a building (1000) or move using the facility infrastructure (200) to achieve a certain purpose, and further, can utilize the facility infrastructure (200).

Meanwhile, the cloud server (20) can perform appropriate control on each robot located within the building based on information corresponding to each of the multiple robots located within the building stored in the database.

Meanwhile, various information about each of a plurality of robots located in a building may be stored in the database, and information about the robot (R) may be very diverse. For example, there may be i) identification information for identifying the robot (R) placed in the space (10) (e.g., serial number, TAG information, QR code information, etc.), ii) mission information assigned to the robot (R) (e.g., type of mission, operation according to the mission, target user information that is the subject of the mission, mission performance location, mission performance scheduled time, etc.), iii) driving path information set for the robot (R), iv) location information of the robot (R), v) status information of the robot (R) (e.g., power status, breakdown, cleaning status, battery status, etc.), vi) image information received from a camera equipped in the robot (R), vii) operation information related to the operation of the robot (R), etc.

Meanwhile, appropriate control of robots may be related to the control of operating robots according to the purpose of the first type or the purpose of the second type discussed above.

Here, operation of the robot may mean control to enable the robot to drive within the indoor space of the building (1000), move using the facility infrastructure (200), and further, utilize the facility infrastructure (200).

The movement of the robot may be referred to as the driving of the robot, and therefore, in the present invention, the movement path and the driving path may be used interchangeably.

The cloud server (20) can assign appropriate tasks to the robots based on the information about each robot stored in the database according to the purpose (or original mission) of each robot, and control the robots so that the assigned tasks are performed. At this time, the assigned tasks may be tasks for achieving the first type of purpose discussed above.

Furthermore, the cloud server (20) can perform control on each robot to achieve a second type of purpose based on information about each robot stored in the database.

At this time, the robot that has received a control command to achieve the second type of purpose from the cloud server (20) can move to the charging facility infrastructure or the washing facility infrastructure, etc., based on the control command, to achieve the second type of purpose.

Meanwhile, in the following, the terms “purpose” or “mission” will be used without distinguishing between the first type or the second type of purpose. The purpose described below may be either the first type of purpose or the second type of purpose.

Likewise, the mission described below may be a mission to achieve the first type of objective or a mission to achieve the second type of objective.

For example, if there is a robot capable of providing serving services and there is a target user to serve, the cloud server (20) can control the robot so that the robot performs a task corresponding to serving the target user.

For another example, if there is a robot that needs to be charged, the cloud server (20) can perform control to move the robot to the charging facility infrastructure so that the robot performs a task corresponding to charging.

Hereinafter, a method in which a robot performs a purpose or task by using the facility infrastructure (200) under the control of a cloud server (20), regardless of whether the purpose is a first type or a second type, will be examined in more detail. Meanwhile, in this specification, a robot controlled by a cloud server (20) to perform a task may also be referred to as a “target robot.”

The cloud server (20) can, upon request or at its own discretion, specify at least one robot to perform a task.

Here, the request can be received from various subjects. For example, the cloud server can receive requests in various ways (e.g., user input via electronic devices, user input via gestures) from various subjects such as visitors, managers, residents, and workers located in the building. Here, the request can be a service request for a specific service (or a specific task) to be provided by the robot.

Based on the request, the cloud server (20) can specify a robot among multiple robots located within the building (1000) that can perform the service. The cloud server (20) can specify a robot that can respond to the request based on i) the type of service that the robot can perform, ii) the task assigned to the robot, iii) the current location of the robot, and iv) the status of the robot (e.g., power status, cleanliness status, battery status, etc.). As described above, there is various information about each robot in the database, and the cloud server (20) can specify a robot that will perform the task based on the request based on the database.

Furthermore, the cloud server (20) can, based on its own judgment, specify at least one robot to perform the task.

Here, the cloud server (20) can perform its own judgment based on various causes.

As an example, the cloud server (20) can determine whether a specific user or a specific space within a building (1000) requires provision of a service. The cloud server (20) can extract a specific target requiring provision of a service based on information sensed and received from at least one of a sensing unit (120, see FIGS. 4 to 6) within the building (1000), a sensing unit included in the facility infrastructure (200), and a sensing unit equipped in a robot.

Here, a specific target may include at least one of a person, a space, or an object. The object may mean a facility, an object, etc. located within a building (1000). In addition, the cloud server (20) may specify the type of service required for the extracted specific target and control the robot so that the specific service is provided to the specific target.

To this end, the cloud server (20) can specify at least one robot that will provide a specific service to a specific target.

The cloud server (20) can determine a target that requires service provision based on various judgment algorithms. For example, the cloud server (20) can specify a type of service, such as route guidance, serving, or stairway movement, based on information sensed and received from at least one of a sensing unit (120, see FIGS. 4 to 6) existing in a building (1000), a sensing unit included in the facility infrastructure (200), and a sensing unit equipped in a robot. In addition, the cloud server (20) can specify a target that requires the service. Furthermore, the cloud server (20) can specify a robot capable of providing a specified service so that the service is provided by the robot.

Furthermore, the cloud server (20) can determine a specific space requiring service provision based on various judgment algorithms. For example, the cloud server (20) can extract a specific space or object requiring service provision, such as a target user for delivery, a guest requiring guidance, a contaminated space, a contaminated facility, a fire zone, etc., based on information sensed and received from at least one of a sensing unit (120, see FIGS. 4 to 6) existing in a building (1000), a sensing unit included in the facility infrastructure (200), and a sensing unit equipped in a robot, and can specify a robot capable of providing the service so that the service is provided by the robot to the specific space or object.

In this way, when a robot to perform a specific task (or service) is specified, the cloud server (20) can assign a task to the robot and perform a series of controls necessary for the robot to perform the task.

At this time, a series of controls may include at least one of i) setting a movement path of the robot, ii) specifying a facility infrastructure to be used for moving to a destination where the mission is to be performed, iii) communicating with a specific facility infrastructure, iv) controlling a specific facility infrastructure, v) monitoring the robot performing the mission, vi) evaluating the driving of the robot, and vii) monitoring whether the robot has completed the mission.

The cloud server (20) can specify the destination where the robot's mission is to be performed and set a movement path for the robot to reach the destination. When the movement path is set by the cloud server (20), the robot (R) can be controlled to move to the destination in order to perform the mission.

Meanwhile, the cloud server (20) can set a movement path from the location where the robot starts (initiates) performing a task (hereinafter referred to as “task performance start location”) to reach the destination. Here, the location where the robot starts performing a task can be the current location of the robot or the location of the robot at the time when the robot starts performing the task.

The cloud server (20) can generate a movement path of a robot to perform a mission based on a map (or map information) corresponding to an indoor space (10) of a building (1000).

Here, the map may include map information for each space of multiple floors (10a, 10b, 10c, …) that constitute the interior space of the building.

Furthermore, the movement path may be a movement path from a mission execution start location to a destination where the mission is performed.

In the present invention, the map information and movement path are described as being for indoor spaces, but the present invention is not necessarily limited thereto. For example, the map information may include information on outdoor spaces, and the movement path may be a path connecting an indoor space to an outdoor space.

As illustrated in FIG. 8, the indoor space (10) of the building (1000) may be composed of a plurality of different floors (10a, 10b, 10c, 10d, ...), and the mission execution start location and destination may be located on the same floor or on different floors.

The cloud server (20) can generate a movement path of a robot that performs a service within a building (1000) by using map information for multiple floors (10a, 10b, 10c, 10d, …).

The cloud server (20) can specify at least one facility among the facility infrastructure (multiple facilities) placed in the building (1000) that the robot must use or pass through to move to the destination.

For example, when a robot needs to move from the first floor (10a) to the second floor (10b), the cloud server (20) can specify at least one facility (204, 205) to assist the robot in moving between floors, and generate a movement path including the point where the specified facility is located. Here, the facility assisting the robot in moving between floors can be at least one of a robot-only elevator (204), a public elevator (213), and an escalator (205). In addition, there can be various types of facilities assisting the robot in moving between floors.

As an example, the cloud server (20) can identify a specific floor corresponding to a destination among multiple floors (10a, 10b, 10c, ...) of an indoor space (10), and determine whether the robot needs to move between floors to perform a service based on the robot's task execution start position (ex: the robot's position at the time of starting a task corresponding to the service).

And, the cloud server (20) may include a facility (means) that assists the movement of the robot between floors on the movement path based on the judgment result. At this time, the facility that assists the movement of the robot between floors may be at least one of a robot-only elevator (204), a public elevator (213), and an escalator (205). For example, when the movement of the robot between floors is required, the cloud server (20) may generate a movement path so that the facility that assists the movement of the robot between floors is included on the movement path of the robot.

As another example, if a robot-only passageway (201, 202) is located on the movement path of the robot, the cloud server (20) can generate a movement path including a point where the robot-only passageway (201, 202) is located so that the robot can move using the robot-only passageway (201, 202). As discussed above with reference to FIG. 3, the robot-only passageway can be formed of at least one of a first-only passageway (or a first-type passageway, 201) and a second-only passageway (or a second-type passageway, 202). The first-only passageway and the second-only passageway (201, 202) can be provided together on the same floor or can be provided on different floors. The first-only passageway (201) and the second-only passageway (202) can have different heights with respect to the floor surface of the building.

Meanwhile, the cloud server (20) can control the driving characteristics of the robot on the robot-only passage to vary based on the type of the robot-only passage used by the robot and the degree of congestion around the robot-only passage. As shown in FIG. 3 and FIG. 8, the cloud server (20) can control the driving characteristics of the robot to vary based on the degree of congestion around the robot-only passage when the robot is driving on the second dedicated passage. Since the second dedicated passage is a passage accessible to people or animals, this is to consider both safety and movement efficiency.

Here, the driving characteristics of the robot may be related to the driving speed of the robot. Furthermore, the degree of congestion may be calculated based on images received from at least one of a camera (or image sensor, 121) placed in the building (1000) and a camera placed in the robot. Based on these images, the cloud server (20) may control the driving speed of the robot to be lower than (or below) a preset speed when the robot-only passageway at the point where the robot is located and in the direction of travel is congested.

In this way, the cloud server (20) uses map information for multiple floors (10a, 10b, 10c, 10d, ...) to generate a movement path of a robot that will perform a service within a building (1000), and at this time, among the facility infrastructure (multiple facilities) placed in the building (1000), at least one facility that the robot must use or pass through to move to a destination can be specified. In addition, a movement path can be generated so that at least one specified facility is included in the movement path.

Meanwhile, a robot driving in an indoor space (10) to perform a service can drive to a destination by sequentially using or passing through at least one of the facilities along a movement path received from a cloud server (20).

Meanwhile, the order of the facilities to be used by the robot can be determined under the control of the cloud server (20). Furthermore, the order of the facilities to be used by the robot can be included in the information on the movement path received from the cloud server (20).

Meanwhile, as illustrated in FIG. 7, the building (1000) may include at least one of robot-only facilities (201, 202, 204, 208, 209, 211) exclusively used by robots and common facilities (205, 206, 207, 213) jointly used by people.

Robot-specific equipment used exclusively by the robot may include equipment (208, 209) that provides functions required by the robot (e.g., charging function, washing function, standby function) and equipment (201, 202, 204, 211) used for movement of the robot.

When the cloud server (20) generates a movement path for the robot, if there is a robot-only facility on the path from the task execution start position to the destination, the cloud server (20) can generate a movement path that allows the robot to move (or pass) using the robot-only facility. That is, the cloud server (20) can generate a movement path by giving priority to the robot-only facility. This is to increase the efficiency of the robot's movement. For example, if there is both a robot-only elevator (204) and a public elevator (213) on the movement path to the destination, the cloud server (20) can generate a movement path that includes the robot-only elevator (204).

As described above, a robot that drives a building (1000) according to the present invention can drive within an indoor space of the building (1000) to perform a task by utilizing various facilities provided in the building (1000).

The cloud server (20) may be configured to communicate with a control system (or control server) of at least one facility used or scheduled to be used by the robot for smooth movement of the robot. As previously discussed with reference to FIG. 4, unique control systems for controlling the facilities may communicate with at least one of the cloud server (20), the robot (R), and the building (1000) to perform appropriate control of each facility so that the robot (R) may use the facility.

Meanwhile, the cloud server (20) has a need to secure the location information of the robot within the building (1000). That is, the cloud server (200) can monitor the location of the robot running in the building (1000) in real time or at preset time intervals. The cloud server (1000) can monitor the location information of all the robots running in the building (1000), or selectively monitor the location information of only a specific robot as needed. The location information of the monitored robot can be stored in a database where the robot information is stored, and the location information of the robot can be continuously updated over time.

There are many different ways to estimate the location information of a robot located in a building (1000), and below, we will look at an example of estimating the location information of a robot.

FIGS. 9 to 11 are conceptual diagrams for explaining a method for estimating the position of a robot moving through a robot-friendly building according to the present invention.

As an example, as illustrated in FIG. 9, the cloud server (20) according to the present invention is configured to receive an image of a space (10) using a camera (not illustrated) equipped on a robot (R) and perform Visual Localization to estimate the location of the robot from the received image. At this time, the camera is configured to capture (or sense) an image of the space (10), that is, an image of the surroundings of the robot (R). Hereinafter, for the convenience of explanation, an image acquired using a camera equipped on the robot (R) will be referred to as a “robot image.” And, an image acquired through a camera placed in a space (10) will be referred to as a “space image.”

The cloud server (20) is configured to obtain a robot image (910) through a camera (not shown) equipped on the robot (R), as shown in (a) of Fig. 9. Then, the cloud server (20) can estimate the current location of the robot (R) using the obtained robot image (910).

The cloud server (20) can compare the robot image (910) with the map information stored in the database, and extract the location information corresponding to the current location of the robot (R) (e.g., “3rd floor, Zone A (3, 1, 1)”), as shown in (b) of FIG. 9.

As previously discussed, in the present invention, 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. In particular, the map for the space (10) may be a map created based on image information.

That is, the map for space (10) may be a map generated by vision (or visual)-based SLAM technology.

Accordingly, the cloud server (20) can specify coordinate information (e.g., (3rd floor, area A (3, 1, 1,)) for the robot image (910) obtained from the robot (R) as shown in (b) of FIG. 9. In this way, the specified coordinate information can become the current location information of the robot (R).

At this time, the cloud server (20) can estimate the current location of the robot (R) by comparing the robot image (910) obtained from the robot (R) with the map generated by the vision (or visual)-based SLAM technology. In this case, the cloud server (20) can specify the location information of the robot (R) by i) specifying the image most similar to the robot image (910) by using image comparison between the robot image (910) and the images constituting the previously generated map, and ii) obtaining location information matching the specified image.

In this way, when the cloud server (20) acquires a robot image (910) from the robot (R) as shown in (a) of FIG. 9, the cloud server (20) can use the acquired robot image (910) to identify the current location of the robot. As described above, the cloud server (20) can extract location information (e.g., coordinate information) corresponding to the robot image (910) from map information (e.g., also called a “reference map”) stored in a database.

Meanwhile, in the above description, an example of estimating the position of the robot (R) in the cloud server (20) was described, but as previously discussed, the position estimation of the robot (R) can be performed in the robot (R) itself. That is, the robot (R) can estimate the current position based on the image received from the robot (R) itself in the previously discussed manner. Then, the robot (R) can transmit the estimated position information to the cloud server (20). In this case, the cloud server (20) can perform a series of controls based on the position information received from the robot.

In this way, when the location information of the robot (R) is extracted from the robot image (910), the cloud server (20) can specify at least one camera (121) positioned in an indoor space (10) corresponding to the location information. The cloud server (20) can specify the camera (121) positioned in an indoor space (10) corresponding to the location information from matching information related to the camera (121) stored in the database.

These images can be utilized not only for estimating the location of the robot but also for controlling the robot. For example, the cloud server (20) can output the robot image (910) acquired from the robot (R) itself and the image acquired from the camera (121) placed in the space where the robot (R) is located, together on the display unit of the control system, in order to control the robot (R). Accordingly, a manager who remotely manages and controls the robot (R) inside or outside the building (1000) can perform remote control of the robot (R) by considering not only the robot image (910) acquired from the robot (R) but also the image of the space where the robot (R) is located.

As another example, the position estimation of a robot moving in an indoor space (10) can be performed based on a tag (1010) provided in the indoor space (10), as shown in (a) of FIG. 10.

Referring to FIG. 10, the tag (1010) may have location information corresponding to the point where the tag (1010) is attached, as shown in (b) of FIG. 10. That is, tags (1010) having different identification information may be provided at different points in the indoor space (10) of the building (1000). The identification information of each tag and the location information of the point where the tag is attached may be matched with each other and may exist in the database.

Furthermore, the tags (1010) may be configured to include location information matching each tag (1010).

The robot (R) can recognize a tag (1010) equipped in a space (10) using a sensor equipped in the robot (R). Through this recognition, the robot (R) can extract location information included in the tag (1010) to determine the current location of the robot (R). This extracted location information can be transmitted from the robot (R) to the cloud server (20) through the communication unit (110). Accordingly, the cloud server (20) can monitor the locations of robots moving in the building (20) based on the location information received from the robot (R) that sensed the tag.

Furthermore, the robot (R) can transmit the identification information of the recognized tag (1010) to the cloud server (20). The cloud server (20) can extract location information matching the identification information of the tag (1010) from the database and monitor the location of the robot within the building (1000).

Meanwhile, the term of the tag (1010) described above may be named in various ways. For example, the tag (1010) may be named in various ways, such as QR code, barcode, identification mark, etc. Meanwhile, the term of the tag examined above may be used instead of “marker.”

Below, a method of monitoring the location of a robot (R) located in an indoor space (10) of a building (1000) by using an identification tag provided on the robot (R) will be described.

As mentioned above, we have seen that various information about a robot (R) can be stored in a database. The various information about a robot (R) can include identification information (e.g., serial number, TAG information, QR code information, etc.) for identifying a robot (R) located in an indoor space (10).

Meanwhile, the identification information of the robot (R) may be included in an identification mark (or identification tag) provided on the robot (R), as illustrated in FIG. 11. This identification mark may be sensed or scanned by the building control system (1000a) or the facility infrastructure (200). As illustrated in (a), (b), and (c) of FIG. 11, the identification marks (1101, 1102, 1103) of the robot (R) may include identification information of the robot. As illustrated, the identification marks (1101, 1102, 1103) may be represented by a barcode (1101), serial information (or serial information, 1102), a QR code (1103), an RFID tag (not illustrated), or an NFC tag (not illustrated). A barcode (1101), serial information (or serial information, 1102), QR code (1103), RFID tag (not shown), or NFC tag (not shown) may be used to include identification information of a robot equipped with (or attached to) an identification mark.

The identification information of the robot is information for distinguishing each robot, and even if they are the same type of robot, they may have different identification information. Meanwhile, the information constituting the identification mark may be composed of various other than the barcode, serial information, QR code, RFID tag (not shown), or NFC tag (not shown) discussed above.

The cloud server (20) can extract identification information of the robot (R) from images received from a camera placed in the indoor space (10), a camera equipped on another robot, or a camera equipped on the facility infrastructure, and can identify and monitor the location of the robot in the indoor space (10). Meanwhile, the means for sensing the identification mark is not necessarily limited to a camera, and a sensing unit (e.g., a scanning unit) can be used depending on the shape of the identification mark. Such a sensing unit can be equipped in at least one of the indoor space (10), the robots, and the facility infrastructure (200).

For example, when an identification mark is sensed from an image captured by a camera, the cloud server (20) can identify the location of the robot (R) from the image received from the camera. At this time, the cloud server (20) can identify the location of the robot (R) based on at least one of the location information of the camera placement and the location information of the robot in the image (more precisely, the location information of the graphic object corresponding to the robot in the image captured with the robot as the subject).

In the database, location information about the location where the camera is placed can be matched with identification information about the camera placed in the indoor space (10). Accordingly, the cloud server (20) can extract location information of the robot (R) by extracting the location information matched with the identification information of the camera that captured the image from the database.

As another example, when an identification mark is sensed by a scanning unit, the cloud server (20) can identify the location of the robot (R) from the scan information sensed by the scanning unit. In the database, the location information for the place where the scanning unit is placed can be matched with the identification information for the scanning unit placed in the indoor space (10). Accordingly, the cloud server (20) can extract the location information of the robot (R) by extracting the location information matched to the scanning unit that scanned the identification mark equipped on the robot from the database.

As discussed above, in a building according to the present invention, it is possible to extract and monitor the location of a robot by utilizing various infrastructures provided in the building. Furthermore, the cloud server (20) monitors the location of the robot, thereby enabling efficient and accurate control of the robot within the building.

Meanwhile, as technology advances, the utilization of robots is gradually increasing. Previously, robots were used in special industrial fields (e.g., industrial automation-related fields), but they are gradually changing into service robots that can perform useful tasks for humans or facilities.

A robot capable of providing various services in this way can be configured to drive in a space (10) such as that shown in Fig. 8 to perform assigned tasks, or can be configured to manufacture food, etc., at a specific location. In this way, the robot can be configured to provide useful services to humans by being placed in various spaces and performing assigned tasks or work.

The “task” described in the present invention is also expressed as a work or service that the robot (R) must perform, and may mean that the robot (R) performs a specific action on a specific object, such as a person or thing, for a specific purpose.

The “task” performed by the robot (R) may include multiple “tasks” related to the task.

“Task-related tasks” may be understood as actions, steps or processes that a robot (R) must perform to provide a specific task.

“Task-related work” can be determined in various ways based on the task performed by the robot (R), the type of robot (R), and the characteristics of the space in which the robot (R) is located.

For example, if the mission is “serving food,” tasks related to the mission may include i) food manufacturing tasks, ii) food packaging tasks, iii) food pickup tasks, iv) driving tasks for serving, v) tasks of approaching a serving target (user or table) for serving, and vi) tasks of operating the robot’s hardware for serving.

In addition to the examples listed above, the types of tasks and tasks related to the robot's mission may vary, and the present invention is not limited to the examples above.

Meanwhile, the “operation” described in the present invention may be understood as a movement (or motion) performed by the robot (R) to perform a task (ex: movement of a component (ex: robot arm, wheel, etc.) equipped in the robot (R)) or another component (ex: movement of a product receiving box, tray, etc.) equipped in the robot (R). A specific task may be composed of at least one motion.

For example, if a specific task is a food manufacturing task, the actions may include actions of the robot (R) moving toward materials, actions of grabbing materials, actions of lifting materials, actions of using materials to manufacture food, etc.

As another example, if a particular task is a driving task for serving, the actions may include driving, stopping, turning a corner, grabbing food to be served, opening and closing a container for receiving food, loading food to be served onto a tray, etc.

That is, it can be understood that a specific “operation” is performed through at least one “action” described in the present invention, and a specific “task” is performed through at least one “operation.”

However, a specific task can be performed as a single operation. A specific task can be performed as a single action. Therefore, in the present invention, “task”, “task” and “action” can be used interchangeably depending on the situation. Furthermore, it is natural that “task”, “task” and “action” are all performed by the robot (R) to provide a specific service.

Meanwhile, the robot (R) may be configured such that one robot (R) performs multiple tasks (overall process) related to a specific task, or multiple robots (R) may perform multiple tasks related to a specific task by dividing them.

In the present invention, a task performed by having multiple robots (R) share multiple tasks related to a specific task may be referred to as a “collaborative task,” “collaborative work,” “collaborative service,” “collaborative task,” etc.

For example, if the task is “food serving,” i) the food manufacturing and food packaging tasks may be performed by robots specialized in food manufacturing and packaging tasks, and ii) the driving tasks for serving, the tasks of approaching a serving target (user or table) for serving, and the tasks of operating the robot’s hardware for serving may be performed by robots specialized in delivery (delivery or serving).

Meanwhile, a collaborative task by multiple robots can be accomplished by controlling multiple robots by a cloud server (20) based on a network (40) (first collaborative method) or by directly communicating between multiple robots (second collaborative method).

In the present invention, a collaboration method and system (hereinafter, “robot collaboration method and system”) using a plurality of robots that perform a collaboration task can be provided by performing communication using information output means (ex: marker, infrared LED, RGB LED, etc.) and sensing means (camera, marker reader, infrared receiver, etc.) equipped on a first robot (R1) and a second robot (R2) without using a network (40).

Hereinafter, a robot collaboration method and system according to the present invention will be specifically described with reference to the attached drawings. Fig. 12 is a conceptual diagram for explaining a collaboration method using a plurality of robots according to the present invention. Figs. 13 and 14 are block diagrams for explaining robots performing collaboration, Fig. 15 is a flowchart for explaining a collaboration method using a plurality of robots according to the present invention, Figs. 16, 17, 18 and 19 are conceptual diagrams for explaining information output from a robot according to the present invention, Figs. 20a and 20b are conceptual diagrams for explaining a method for performing data communication for collaboration using a plurality of robots according to the present invention, Fig. 21 is a conceptual diagram for explaining linkage for collaboration between robots in the present invention, Fig. 22 is a conceptual diagram for explaining a robot updating a work history according to the present invention, and Figs. 23 and 24 are conceptual diagrams for explaining a method for a manager to intervene in robot collaboration according to the present invention.

The present invention relates to a robot collaboration method and system that enables a plurality of robots (R) to collaborate to perform a task.

The robots described in the present invention can be classified into types based on the function (or specialized function) performed. In the present invention, a robot performing a first function can be named a first robot (R1), and a robot performing a second function can be named a second robot (R2).

Here, “function” relates to the work performed by the robot and can be understood as the ability to perform a specific task.

For example, as illustrated in FIG. 12, the “food serving” task can be performed through collaboration between a first robot (R1) that performs the functions of food manufacturing and food packaging, and a second robot (R2) that performs the functions of driving for serving, approaching a serving target (user or table) for serving, and driving the hardware of the robot for serving.

In the present invention, for the convenience of explanation, the first robot (R1) is explained by using a manufacturing robot or a collaborative robot as an example. For example, the first robot (R1), a collaborative robot, can perform functions such as manufacturing food, assembling or creating objects, or interacting with a person (or user) or independently.

Furthermore, for the convenience of explanation, in the present invention, the second robot (R2) is described as a service robot having a function of providing various services. For example, the second robot (R2), a service robot, may be a robot that delivers objects (e.g., food, parcels, items, etc.) to people while driving in a space (10), or a cleaning robot that cleans a space (10).

The above is only an example for convenience of explanation, and both the first robot (R1) and the second robot (R2) may be collaborative robots (or manufacturing robots), or both the first robot (R1) and the second robot (R2) may be service robots, or the first robot (R1) may be a service robot and the second robot (R2) may be a collaborative robot.

That is, the present invention is not limited to an example in which the first robot (R1) is a collaborative robot and the second robot (R2) is a service robot.

Meanwhile, in the present invention, a collaborative task can be performed by performing communication using the information output means and sensing means provided in the first robot (R1) and the second robot (R2) without using a network (40). Hereinafter, the first robot (R1) and the second robot (R2) capable of performing a collaborative task will be described in detail.

As illustrated in FIG. 13, the first robot (R1) may be configured to include at least one of a communication unit (1310), a storage unit (1320), an output unit (1330), a sensing unit (1340), and a control unit (1350).

The communication unit (1310) of the first robot (R1) can communicate with at least one of the cloud server (20) and another robot (ex: R2). For example, the communication unit (1310) can transmit collaboration information stored in the storage unit (1320) to the cloud server (20) or transmit and receive information to perform a task in collaboration with another robot (ex: R2).

Next, the storage unit (1320) of the first robot (R1) can be configured to store various information related to the present invention. In the present invention, information about the first robot (R1) can be stored in the storage unit (1320).

Information about the first robot (R1) can be very diverse, and as examples, there may be i) identification information (e.g., serial number, ID, etc.) for identifying the first robot (R1) placed in the space (10), ii) task information assigned to the first robot (R1), iii) status information of the first robot (R1), iv) information sensed by sensors equipped in the first robot (R1), v) operation information related to the operation of the first robot (R1), etc.

Furthermore, the storage unit (1320) of the first robot (R1) may include collaboration information including various information related to tasks or operations performed in collaboration with another robot (ex: the second robot).

Collaboration information related to the first robot (R1) may include at least one of: i) an image including a blinking signal (1441) output from the first robot (R1), ii) information (control command, etc.) included in the blinking signal (1441) output from the first robot (R1), iii) information on the time at which the blinking signal (1441) was output from the first robot (R1), vi) an image including at least one of a first marker (1441) and a second marker (1442) sensed by the first robot (R1), v) information included (or interpreted) in at least one of the first marker (1441) and the second marker (1442) sensed by the first robot (R1), vi) information on an action performed by the first robot (R1) and the time at which the action was performed.

The “work history” described in the present invention may include at least one such collaboration information, or may be information generated based on the collaboration information.

Next, the output unit (1330) of the first robot (R1) can output a control signal to the second robot (R2) in order to perform a task in collaboration with the second robot (R2).

The output unit (1330) of the first robot (R1) may be configured to include a plurality of light (e.g., infrared LED, RGB LED) output units. The control unit (1350) of the first robot (R1) controls the output unit (1330) so that at least one of the plurality of light output units is turned on or off, thereby outputting a blinking signal corresponding to a control signal for the second robot (R2).

The “blinking signal” is information generated by turning on or off a plurality of light output units included in the output unit (1330) of the first robot (R1), and the control unit (1350) can generate information by using at least one of i) a light lighting state (a state in which at least some of the light output units among the plurality of light output units are lit and other light output units are off), ii) a light blinking state (a state in which a specific light output unit among the plurality of light output units is repeatedly lit and off at regular intervals, for a regular period of time), and iii) a pulse (voltage or current or wave of light).

Next, the sensing unit (1340) of the first robot (R1) can be configured to sense markers (1441, 1442) output to the display unit (1440) of the second robot (R2).

For example, the sensing unit (1340) of the first robot (R1) is composed of at least one of a camera, a QR code reader, and a barcode reader, and can sense the first marker (1441) and the second marker (1442) using at least one of the camera, the QR code reader, and the barcode reader.

Next, the control unit (1350) of the first robot (R1) can be configured to control the overall operation of the first robot (R1). The control unit (1350) of the first robot (R1) can process data, information, etc. input or output through the components of the first robot (R1) discussed above, or provide or process appropriate information or functions to the institution.

The control unit (1350) of the first robot (R1) can control the operation of the first robot (R1) to perform a specific assigned task. For example, if the specific task is a “food providing task,” the control unit (1350) of the first robot (R1) can control the operation of the first robot (R1) so that the first robot (R1) performs food manufacturing among the multiple tasks included in the food providing task.

Furthermore, the control unit (1350) of the first robot (R1) can control the output unit (1330) of the first robot (R1) to output a control signal (or blinking signal) corresponding to a control command that controls the operation of the second robot (R2) in order to perform a specific task in collaboration with the second robot (R2).

Meanwhile, as illustrated in FIG. 14, the second robot (R2) may be configured to include at least one of a communication unit (1410), a storage unit (1420), a driving unit (1430), a display unit (1440), a camera unit (1450), a sensing unit (1460), and a control unit (1470).

The communication unit (1410) of the second robot (R2) can communicate with at least one of the cloud server (20) and another robot (ex: R1). For example, the communication unit (1410) can transmit collaboration information stored in the storage unit (1420) to the cloud server (20) or transmit and receive information to perform a task in collaboration with another robot (ex: R1).

Next, the storage unit (1420) of the second robot (R2) can be configured to store various information related to the present invention. In the present invention, information about the second robot (R2) can be stored in the storage unit (1420).

Information about the second robot (R2) can be very diverse, and as examples, there may be i) identification information (e.g., serial number, ID, etc.) for identifying the second robot (R2) placed in the space (10), ii) mission information assigned to the second robot (R2), iii) driving path information set for the second robot (R2), iv) location information of the second robot (R2), v) status information of the second robot (R2), vi) information sensed by sensors equipped in the second robot (R2), vii) operation information related to the operation of the second robot (R2), etc.

Furthermore, the storage unit (1420) of the second robot (R2) may include collaboration information including various information related to tasks or operations performed in collaboration with another robot (the first robot).

Collaboration information related to the second robot (R2) may include at least one of i) at least one of the first marker (1441) and the second marker (1442) output from the second robot (R2) (for example, an image for the marker), ii) information included in at least one of the first marker (1441) and the second marker (1442) output from the second robot (R2) (identification information, status information, etc.), iii) information on the time at which at least one of the first marker (1441) and the second marker (1442) was output from the second robot (R2), vi) an image including a blinking signal (1441) sensed by the second robot (R2), v) information included (or interpreted) in the blinking signal (1441) sensed by the second robot (R2), vi) information on an action performed by the second robot (R2) and the time at which the action was performed.

Next, the driving unit (1430) of the second robot (R2) provides a means for the second robot (R2) to move within a specific space in relation to driving. More specifically, the driving unit (1430) of the second robot (R2) includes a motor and a plurality of wheels, which are combined to perform the functions of driving, changing direction, and rotating the second robot (R2).

Next, the display unit (1440) of the second robot (R2) can perform the role of transmitting the identification information and status information of the second robot (R2) to the first robot (R1) by outputting the first marker (1341) including the identification information of the second robot (R2) and the second marker (1342) including the status information of the second robot (R2).

On the display unit (1440) of the second robot (R2), a first mark (1341) including identification information of the first robot (R1) may be output in one area, and a second marker (1342) that changes based on a change in status information of the second robot (R2) may be output in another area. Meanwhile, the terms of the markers (1441, 1442) described above may be variously named. For example, these markers (1441, 1442) may be variously named as terms referring to visual means including information such as QR codes, barcodes, and identification marks.

Next, the camera unit (1450) of the second robot (R2) can perform the role of photographing a blinking signal (1331) output from the first robot (R1). The type of the camera unit (1450) can be various, and it can be equipped in the second robot (R2) to photograph an area corresponding to a specific angle of view.

Next, the sensing unit (1460) of the second robot (R2) can be configured to sense a blinking signal (1331 (see FIG. 18), control signal) output through the output unit (1330) of the first robot (R1).

For example, the sensing unit (1460) of the second robot (R2) includes at least one of an infrared receiver and an RGB receiver, and can sense at least one of an infrared LED, an RGB LED, and a wavelength output from the first robot (R1) through the infrared receiver.

Next, the control unit (1470) of the second robot (R2) can be configured to control the overall operation of the second robot (R2). The control unit (1350) of the second robot (R2) can process data, information, etc. input or output through the components of the first robot (R1) discussed above, or provide or process appropriate information or functions to the institution.

The control unit (1470) of the second robot (R2) can control the operation of the second robot (R2) to perform a specific task. For example, if the specific task is a “food serving task,” the control unit (1470) of the second robot (R2) can control the operation of the driving unit (143) of the first robot (R1) so that the second robot (R2) performs a driving task for serving among the multiple tasks included in the food serving task.

Furthermore, the control unit (1470) of the second robot (R2) can control the second robot (R2) to perform a specific operation based on a control command included in a sensed blinking signal (1331, see FIG. 18) in order to perform a specific task in collaboration with the first robot (R1).

Meanwhile, the body (or case) of the second robot (R2) may include an item receiving box (or storage box, 1480) capable of receiving an object (item). The item receiving box (1480) of the second robot (R2) may be configured to have the door of the item receiving box (1480) open or closed by changing the open/closed state of the door provided in the item receiving box (1480). When the door of the item receiving box (1480) is open, the user may receive (store, load, receive) an object (item) in the item receiving box (1480) or unload (take out an item).

Together with the configuration of the first robot (R1) and the second robot (R2) discussed above, a method for performing a collaborative task without the absence of a network (40) or the intervention of a cloud server (20) by outputting and sensing visual means such as markers, infrared rays, and visible light will be described.

In the present invention, a specific task is assigned to a first robot (R1) performing a first function, and a process may be performed in which a first task associated with the specific task is performed in the first robot (R1) (S110, see FIG. 15).

As explained above, the first function may mean the ability of the first robot (R1) to perform a specific task.

Furthermore, the first task can be understood as a task performed solely by the first robot (R1) among multiple tasks associated with a specific task. In other words, the first task can be understood as a task performed by the first robot (R1) performing the first function.

Specifically, let us assume a food manufacturing robot (first robot) having a function related to food manufacturing (first function) and a food delivery robot (second robot) capable of performing a food delivery function (second function).

A food manufacturing robot (first robot) can perform tasks (food manufacturing task, food packaging task, first task) related to a food manufacturing function (first function) among a plurality of tasks related to a food providing mission (e.g., food manufacturing task, food packaging task, driving task for serving, task of approaching a serving target for serving, task of driving robot hardware for serving).

A food delivery robot (second robot) can perform tasks related to a food delivery function (second function) among multiple tasks related to a food providing task (a task of driving for serving, a task of approaching a serving target for serving, a task of operating the robot's hardware for serving). Task assignment to the first robot can be made based on information received from a server (20).

Next, in the present invention, a process of sensing a second robot (R2) located around the first robot (R1) and performing a second function different from the first function can be performed in the first robot (R1) (S120, see FIG. 15).

In order to perform a collaborative task with the first robot (R1), the second robot (R2) can output marker information (1441, 1442) in a form that the first robot (R1) can sense on the display unit (1440) of the second robot (R2).

The first marker (1441) may be information including identification information of the second robot (R2).

The identification information of the robot is information for distinguishing each robot, and even if they are the same type of robot, they may have different identification information. Specifically, even if they are the same type of driving robot, the identification information of the first driving robot and the second driving robot may be different from each other.

While the second robot (R2) is performing collaboration with the first robot (R1), the first robot (R1) can continuously recognize the second robot (R2) by continuously displaying the first marker (1441) on the display unit (1440) of the second robot (R2).

In this case, the first robot (R1) can identify the second robot (R2) performing collaboration while collaborating with the second robot (R2) by sensing the first marker (1441).

Specifically, as illustrated in FIG. 16, while the second robot (R2) performs collaboration with the first robot (R1), the type of the second marker (1442) output to the display unit (1440) may change depending on the collaboration status with the first robot (R1), but the first marker (1441) may not change.

The first robot (R1) can sense the first marker (1441) to distinguish which robot outputs the first marker (1441) and the second marker (1442) or which robot is currently performing a collaborative task.

Meanwhile, the second marker (1442) may include various status information related to the status of the second robot (R2). Specifically, the second marker (1442) may include information related to the current status of the second robot (R2) (e.g., robot location information), information related to the working status of the second robot (R2) (e.g., type of work being collaborated with the first robot (R1), progress of work being collaborated with the first robot (R1), etc.), and information related to different operation states of the second robot.

That is, the second marker (1442) can be understood as including state information corresponding to each of the various states (e.g., operation states) of the second robot (R2).

In the present invention, the term “state” or “operation state” may be used as a general term for the positional state, work state, and operation state of the second robot (R2). That is, the “state” or “operation state” may mean the motion state of the second robot (R2), the work or task assigned to the second robot (R2), or the position of the second robot (R2).

The types of the second marker (1442) may be plural, and each of the plurality of first markers (1442) may include different status information of the second robot (R2). That is, the types of markers output by the second marker (1442) may be different depending on the status (or status information) of the second robot (R2).

As illustrated in FIG. 17, the second marker (1442) may exist in a database (at least one of the storage unit (1420) of the second robot (R2) and the storage unit (1320) of the first robot (R1), hereinafter referred to as the database) in which various markers including state information corresponding to the operating state of the second robot (R2) are each matched with different state information. That is, the first robot (R1) and the second robot (R2) may share the same matching information related to the second marker (1442).

For example, as illustrated in FIG. 17, the second marker (1442) may include (1442a) status information indicating that i) the second robot (R2) can perform a delivery (or shipping) mission, ii) status information indicating the current location coordinates of the second robot (R2) (1442b), iii) status information indicating that the location of the second robot (R2) has changed (1442c), vi) status information indicating that the door of a storage unit (1480) equipped in the second robot (R2) has been opened (1442d), or v) status information indicating that the second robot (R2) is currently performing a delivery mission (1442e).

Furthermore, the database may store information related to the creation and interpretation (encoding and decoding) of the second marker (1442).

Information related to the generation and interpretation (encoding and decoding) of the second marker (1442) may be information related to a criterion for generating (encoding) and interpreting (decoding) the status information of the second robot (R2) as the second marker (1442). For example, information related to the generation and interpretation (encoding and decoding) of the second marker (1442) may include information on how to generate the status information and current position coordinates of the second robot (R2) as the second marker, and based on this, the position coordinates of the second robot (R2) may be generated as the second marker (1442).

In the following, for convenience of explanation, as illustrated in Fig. 17, an example will be described in which there are multiple second markers (1442) each matching the status information of the second robot (R2).

Meanwhile, the second robot (R2) can check the second marker (1442) matching the status of the second robot (R2) in the database (storage unit (1420) of the second robot (R2)) and output the checked second marker (1442) on the display unit (1440).

As illustrated in FIG. 16, the second robot (R2) can output a first marker (1441) in the first area of the display unit (1440) and output a second marker (1442) in the second area that is distinct from the first area.

The second robot (R2) can change the second marker (1442) output to the second area of the display unit (1440) based on the change in the state of the second robot (R2). That is, when the operation state of the second robot (R2) is changed, the second robot (R2) can output the second marker (1442) including state information corresponding to the changed operation state to the display unit (1440).

Furthermore, the second robot (R2) may not change the first marker (1441) output to the first area while the collaborative task is being performed (while the second task is being performed), even if the second marker (1442) output to the second area is changed.

The second robot (R2) can output the same first marker (1441) on the display unit (1440) of the second robot while performing a collaborative task or collaborative work with the first robot (R1) so that the first robot (300) can identify the second robot (R2).

Meanwhile, the terms of the markers (1441, 1442) described above may be variously named. For example, these markers (1441, 1442) may be variously named as terms referring to visual means containing information such as QR codes, barcodes, and identification marks.

Meanwhile, the robot collaboration method according to the present invention can proceed with a process of sensing a first marker (1441) and a second marker (1442) output to a second robot (R2) using a sensor equipped in the first robot (R1).

The first robot (R1) may be equipped with sensors corresponding to the types of the first marker (1441) and the second marker (1442) so as to sense the first marker (1441) and the second marker (1441). For example, if the first marker (1441) and the second marker (1442) are QR codes, the first robot (R1) may be equipped with a camera or a QR code reader capable of sensing the QR code, and if the first marker (1441) and the second marker (1442) are barcodes, the first robot (R1) may be equipped with a camera or a barcode reader capable of sensing the barcode. However, in the following description, the types of sensors equipped in the first robot (R1) will not be distinguished, and will be referred to as the sensing unit (1340) of the first robot (R1) or the sensor (1340) equipped in the first robot (R1).

Meanwhile, the first robot (R1) can control at least one of the position and direction of the sensor unit (1340) equipped in the first robot (R1) so that the sensor unit (1340) equipped in the first robot (R1) can sense the first marker (1441) and the second marker (1442) according to the collaboration task status with the second robot (R2).

Specifically, when the first robot (R1) is not performing a collaborative task with the second robot (R2), the first robot (R1) can freely control the movement and position of the sensor unit (1340) equipped in the first robot (R1) until it recognizes a second marker (1441) that includes status information indicating that it can perform a collaborative task.

Furthermore, when the first robot (R1) is performing a collaborative task with the second robot (R2), the sensor unit (1340) provided in the first robot (R1) can control the movement (for example, at least one of the direction and the position) of the sensor unit (1340) provided in the first robot (R1) so that the sensor unit (1340) provided in the first robot (R1) can sense the display unit (1440) of the second robot (R2) based on the position information of the second robot (R2). For example, the first robot (R1) can control the movement of the sensor unit (1340) provided in the first robot (R1) so as to correspond to the movement of the second robot (R2) or the movement of the display unit (1440) of the second robot (R2).

Meanwhile, in the present invention, based on the sensing of the second robot (R2) by the first robot (R1), a process may be performed in which the second robot (R2) is specified as a robot to perform collaboration with the first robot (R1) for a specific task (S130, see FIG. 15).

Specifying the second robot (R2) as a robot to perform collaboration in the first robot (R1) can be understood as a process of linking with the specified second robot (R2) so that they can share status information and control commands with each other in order to perform at least one of a plurality of tasks related to a specific task.

The first robot (R1) can sense the first marker (1441) output on the display unit (1440) of the second robot (R2) to identify the second robot (R2) and check whether collaboration with the first robot (R1) is possible.

When the first robot (R1) senses the first marker (1441) and the second marker (1442) output on the display unit (1440) of the second robot (R2) through the sensor unit (1340) equipped on the first robot (R1), the first robot (R1) can check the information included in the first marker (1441) and the second marker (1442) to determine whether collaboration is possible.

First, the first robot (R1) can specify the second robot (R2) as a collaboration target robot based on the recognition of the first marker (1441) through the sensing unit (1340) equipped in the first robot (R1).

Specifically, the first robot (R1) can check the identification information of the second robot (R2) included in the first marker (1441) to determine whether the second robot (R2) is a robot that can perform a collaborative task.

For example, let's assume that a specific task assigned to the first robot (R1) is a "food serving task." The first robot (R1) can determine whether the second robot (R2) is a robot performing a delivery function or a robot performing a cleaning function based on the identification information included in the first marker (1441).

The first robot (R1) can determine whether to perform collaboration with the second robot (R2) (i.e., specify it as a collaboration target robot) based on the identification information of the second robot (R2) included in the first marker (1441), and further, whether to transmit at least one of the status information of the first robot (R1) (e.g., collaboration request information) and the control command for the second robot (R2) to the second robot (R2).

Furthermore, based on the judgment result, the first robot (R1) can decide whether to output at least one of the status information of the first robot (R1) and the control command for the second robot (R2) to the output unit (1330) of the first robot (R1).

If the second robot (R2) is not a robot related to the collaborative task as a result of verifying the identification information of the second robot (R2) included in the first marker (1441), the first robot (R1) can control the movement of the sensor unit (1340) equipped in the first robot (R1) to recognize another second robot (R2) with which collaboration is possible.

On the other hand, if the second robot (R2) is a robot related to a collaborative task as a result of verifying the identification information of the second robot (R2) included in the first marker (1441), the first robot (R1) can specify the second robot (R2) as a collaborative target robot.

Furthermore, the first robot (R1) can determine whether to proceed with a collaboration task with the collaboration target robot based on the status information of the second robot (R2) specified as the collaboration target robot.

More specifically, the first robot (R1) can check the status information of the second robot (R2) included in the second marker (1442) and determine whether to output at least one of the status information of the first robot (R1) and a control command for the second robot (R2) to the output unit (1330) of the first robot (R1).

That is, the current operating status of the second robot (R2) can be identified based on recognizing the second marker (1442) through the sensing unit (1340) equipped in the first robot (R1).

Meanwhile, as described above, the first robot (R1) may share matching information related to the status information matched to the second marker (1442) with the second robot (R2). The first robot (R1) may determine what information is matched to the sensed second marker (1442) based on the matching information shared with the second robot (R2).

Furthermore, the first robot (R1) may share information related to the generation and interpretation of the second marker (1442) with the second robot (R2). The first robot (R1) may interpret (decode) information matching the sensed second marker (1442) based on the information related to the generation and interpretation of the second marker (1442) shared with the second robot (R2).

The first robot (R1) may attempt a collaborative task with the second robot (R2) if it is determined that the second robot (R2) is capable of performing a collaborative task based on the status information of the second robot (R2) included in the second marker (1442).

Specifically, if the first robot (R1) includes status information indicating that the second robot (R2) is in a collaborative state (e.g., status information indicating that a delivery mission can be performed, 1442a, see FIG. 17), the first robot (R1) may output at least one of the status information of the first robot (R1) and a control command for the second robot (R2) to the output unit (1330) of the first robot (R1).

On the other hand, if the first robot (R1) determines that the second robot (R2) is unable to perform the collaboration task based on the status information of the second robot (R2) included in the second marker (1442), the first robot (R1) can specify another robot as the collaboration target robot.

Specifically, if the second marker (1442) includes status information indicating that the second robot (R2) is not in a state where collaboration is possible (e.g., status information indicating that a delivery mission is being performed, 1442e, see FIG. 17), the first robot (R1) can control the movement of the sensor unit (1340) equipped in the first robot (R1) to recognize another second robot (R2) that is capable of collaboration.

In this way, the first robot (R1) and the second robot (R2) can attempt data communication for performing a collaborative task even in an offline situation by using the first marker (1441) and the second marker (1442). Hereinafter, a specific method for performing a collaborative task in an offline situation by the first robot (R1) and the second robot (R2) will be continuously described.

Next, in the present invention, a process can be performed in which a second task related to a specific task is performed by the first robot (R1) and the second robot (R2) based on data communication between the first robot (R1) and the second robot (R2) (S140, see FIG. 15).

The “second task” described in the present invention may be understood as a task (or tasks) performed by the first robot (R1) and the second robot (R2) through data communication in cooperation among a plurality of tasks related to a specific task. For example, let’s assume that the specific task is a “food providing task.” The second task may be a task in which the first robot (R1) and the second robot (R2) change their positions and postures while performing data communication in order to deliver food manufactured by the first robot (R1) to the second robot (R2).

For example, let's assume that a specific task is a "food delivery task." A second task may be to deliver food manufactured by a food manufacturing robot (a first robot) to a food delivery robot (a second robot) so that the food delivery robot (a second robot) can deliver the food.

The first robot (R1) can perform data communication with the second robot (R2) to perform a second task based on specifying the second robot (R2) as a collaborative target robot.

Data communication between the first robot (R1) and the second robot (R2) can be achieved using the output unit (1330) and sensing unit (1340) of the first robot (R1) and the display unit (1440) and sensing unit (1460) of the second robot (R2).

The first robot (R1) and the second robot (R2) can output visual information (blinking signals or markers) corresponding to information to be transmitted to the collaborative robot to their respective output units (1330) and display units (1440).

Furthermore, the first robot (R1) and the second robot (R2) can sense visual information (blinking signal or marker) output from the collaborative robot using the sensing units (1340, 1460) provided in each.

First, the first robot (R1) can output a control signal through an output unit (1330) provided in the first robot (R1) to convey the fact that the second robot (R2), which is specified as a collaboration target robot, has been specified as a collaboration target robot.

The first robot (R1) can output a control signal for controlling a specific operation of the second robot (R2) in relation to the second task through an output unit (1340) provided in the first robot (R1).

As previously discussed, the output unit (1330) of the first robot (R1) may be composed of a plurality of light output units. These plurality of light output units may include at least one of an infrared LED module and an RGB LED module.

The first robot (R1) can output a blinking signal (1341) through the output unit (1330) of the first robot (R1) to perform the second task.

The blinking signal (1341) described in the present invention may be understood as including at least one of a control signal corresponding to a control command that commands a specific operation of the second robot (R2) and a status signal corresponding to status information of the first robot (R1). That is, the blinking signal (1341) may be understood as a signal corresponding to information that the first robot (R1) wishes to transmit to the second robot (R2) (e.g., control command information, information indicating that the second robot has been specified as a collaboration target task, etc.).

This blinking signal (1341) is information generated by turning on or off a plurality of light output units included in the output unit (1330) of the first robot (R1), and can be generated by using at least one of i) a light output unit lighting state (a state in which at least some of the light output units among the plurality of lights are lit and other light output units are off), ii) a light output unit blinking state (a state in which a specific light output unit among the plurality of light output units is repeatedly lit and off at regular intervals, for a regular period of time), and iii) a pulse (voltage or current or wave of light).

The flashing signal can be output through the output section (1330) of the first robot (R1) while the first robot (R1) performs the entire process of a second task or collaborative task with the second robot (R2), thereby causing the second robot (R2) to perform a specific action according to the control command of the first robot (R1).

The specific action may exist in various ways. It may be specified in various ways based on a specific task, the type of the second robot (R2), the current status of the second robot (R2), etc. For example, the specific action may include at least one of an action of changing the position of the second robot (R2), an action of changing the posture of the second robot (R2), and an action of changing the open/closed state of an item storage box (1480) equipped on the second robot (R2).

As illustrated in Fig. 18, different blinking signals (1331) can be output from the output section (1330) of the first robot (R1) according to a control command for the second robot (R2).

There may be multiple types of flashing signals (1331), and each of the multiple flashing signals (1331) may include different status information of the first robot (R1) or different control commands for the second robot (R2). That is, the flashing signals (1331) may have different types depending on the status of the first robot (R1) or the control commands for the second robot (R2).

As illustrated in FIG. 19, a blinking signal (1331) may exist as matching information in which a blinking signal corresponding to a state (or state information) of the first robot (R1) or a control command for the second robot (R2) is matched to a state (or state information) of the first robot (R1) or a control command for the second robot (R2).

Such matching information for the blinking signal (1331) may exist in a database (storage unit (1420) of the second robot (R2) and storage unit (1320) of the first robot (R1), hereinafter referred to as the database).

For example, as illustrated in FIG. 19, the blinking signal (1331) may include a first blinking signal (1710), and the first blinking signal (191) may be matched with a control command (1331a) requesting position coordinates from the second robot (R2). At this time, the first blinking signal (1710) may be a blinking signal (1331a) that turns on the second light output unit (1900b), the third light output unit (1900c), and the fifth light output unit (1900e) among the plurality of light output units (1900) and turns off the other light output units (1900a, 1900d, 1900f).

As another example, i) a control command requesting a change in the position of the second robot (R2) (e.g., “Change the position to coordinates (30, 25, 12)”) is matched to the second flashing signal (1920), ii) a control command requesting a rotation of the first robot (R1) (e.g., “Rotate 30˚ clockwise”) is matched to the third flashing signal (1930), iii) a control command controlling the storage door of the second robot (R2) to be open (e.g., “Open the storage door”) is matched to the fourth flashing signal (1940), vi) status information of the first robot (R1) (e.g., “Food manufacturing task completed”) is matched to the fifth flashing signal (1950), and iii) a control command requesting delivery to the second robot (R2) (e.g., “314”) is matched to the sixth flashing signal (1960). “Deliver to table” may be matched.

That is, the first robot (R1) and the second robot (R2) may share matching information related to the matching signal and blinking signal (1331) related to the second marker (1442).

Furthermore, the first robot (R1) and the second robot (R2) may share information related to the generation and interpretation (encoding and decoding) of the blink signal (1331).

Information related to generation and interpretation (encoding and decoding) of a flashing signal (1331) may be information related to a criterion for generating (encoding) and interpreting (decoding) a flashing signal (1331) corresponding to status information of a first robot (R1) and a control command for a second robot (R2).

For example, information related to the generation and interpretation of a blinking signal (1331) may include information on how to generate a control command requesting movement to a specific coordinate as a blinking signal in order to move the second robot (R2) to a specific coordinate, and based on this, the position coordinate of the second robot (R2) may be generated as a second marker (1442).

Meanwhile, the first robot (R1) can determine the operation that the second robot (R2) needs to perform based on the work guide related to a specific task. For example, the first robot (R1) can determine whether there is a need to change the position or direction of the second robot (R2) based on the information confirmed by sensing the second marker (1432b).

In the present invention, the “task guide” may include operation information on how the first robot (R1) and the second robot (R2) should operate in order for the first robot (R1) and the second robot (R2) to perform a collaborative task.

These task guides may include information about the operations of the first robot (R1) and the second robot (R2) determined by taking into account at least one of the tasks being performed by the first robot (R1) and the second robot (R2), the characteristics of the space in which the first robot (R1) and the second robot (R2) are placed, and the types of the first robot (R1) and the second robot (R2).

In this way, the first robot (R1) can transmit a control command to control the operation of the second robot (R2) to the second robot (R2) by outputting a flashing signal (1331) through the output section (1330) of the first robot (R1), even without using the network (40).

Meanwhile, the second robot (R2) can sense the control signal output to the output unit (1340) of the first robot (R1) through the sensing unit (1460) equipped in the second robot (R2). Furthermore, the second robot (R2) can perform a specific operation included in the control signal based on sensing the control signal.

The second robot (R2) may be equipped with a sensor corresponding to the flashing signal (1331) output from the first robot (R1) so as to be able to sense the flashing signal (1441) output from the output section (1330) of the first robot (R1).

For example, if the flashing signal (1331) is based on the light-on state of the plurality of light output units included in the output unit (1330) of the first robot (R1) (a state in which at least some of the lights among the plurality of light output units are on and other light output units are off) and the light-blinking state (a state in which the lights are repeatedly turned on and off at regular intervals, for a regular period of time), the second robot (R2) can sense the flashing signal (1441) using the camera unit (1450).

As another example, if the flashing signal (1331) is based on a pulse (voltage or current or wave of light), the second robot (R2) can sense the flashing signal (1441) using a sensor unit (1360) such as an infrared receiver.

However, for the convenience of explanation, in the following description, the means for sensing the flashing signal (1331) will not be distinguished and will be referred to as a sensor equipped in the second robot (R2). That is, the sensor equipped in the second robot (R2) can be understood as including at least one of the camera unit (1450) and the sensor unit (1360) of the second robot (R2).

Meanwhile, the second robot (R2) senses a flashing signal (1331) output from the output unit (1330) of the first robot (R1), and can check at least one of the status information of the first robot (R1) and a control command corresponding to a specific operation through the sensed flashing signal (1331).

The second robot (R2) can check at least one of the status information of the first robot (R1) and the control command for the second robot (R2) corresponding to the sensed flashing signal (1331) based on the matching information related to the flashing signal (1331) shared with the first robot (R1).

Furthermore, the second robot (R2) can interpret (or decode) the sensed blinking signal (1331) based on information related to interpretation (encoding and decoding).

As described above, the first robot (R1) and the second robot (R2) may share at least one of the matching information related to the blink signal (1331) and the information related to the generation and interpretation (encoding and decoding) of the blink signal (1331).

The information shared by the first robot (R1) and the second robot (R2) may be stored in the storage unit (1320) of the first robot (R1) and the storage unit (1420) of the second robot (R2), respectively.

If the information corresponding to the flashing signal (1331) is a control command for a specific operation, the second robot (R2) can perform the specific operation included in the control command based on the control command included in the flashing signal (1331).

For example, as illustrated in FIG. 19, if the information matched to the flashing signal (1331b) is a request to move to a specific coordinate (e.g., “Change the location to coordinates (30, 25, 15)”), the second robot (R2) can move to the specific coordinate based on the control command included in the flashing signal (1331b).

Furthermore, when the second robot (R2) performs or completes a specific operation according to a control command included in the flashing signal (1331), the operation status of the second robot (R2) may be changed.

The second robot (R2) can output a marker including state information of a specific operation state corresponding to the changed operation state to the display unit (1440) of the second robot (R2) based on the change in operation state based on the flashing signal (1331). That is, the second robot (R2) can change the flashing signal (1331) according to the changed operation state.

For example, when the second robot (R2) is changing its position to a specific coordinate according to a blinking signal (1331), the second robot (R2) can output a second marker (1432) corresponding to the change in position to the specific coordinate on the display unit (1440) of the second robot (R2) to convey to the first robot (R1) that it has completed performing a specific operation.

When the second marker (1441) output on the display unit (1440) of the second robot (R2) changes, the first robot (R1) can identify that a specific operation related to the second task has been performed or a specific operation has been completed in the second robot (R2).

When the first robot (R1) identifies that the second robot (R2) has completed a specific operation, the first robot (R1) can output a blinking signal (1331) to control another specific operation of the second robot (R2) in relation to the second task through an output unit (1340) provided in the first robot (R1).

The first robot (R1) and the second robot (R2) can perform data communication by repeating the process of outputting a blinking signal (1331) or a marker (1441, 1442) to the output unit (1330) and display unit (1440), respectively, and sensing through the sensing unit (1340, 1460).

Furthermore, the first robot (R1) and the second robot (R2) can perform a second task based on data communication.

FIGS. 20A and 20B are conceptual diagrams for explaining how a first robot (R1) and a second robot (R2) collaborate to perform a “food providing task.” Together with FIGS. 20A and 20B, a method for a first robot (R1) and a second robot (R2) to perform a second task related to a food providing task will be explained.

As illustrated in (a) of FIG. 20a, a first marker (1441) including identification information of a second robot (R2) and a second marker including status information of the second robot (R2) (e.g., “Current location coordinates are (60, 78, 20)”, 1432b) can be output. The first robot (R1) can sense the marker (1331, 1432b) of the second robot (R2) that has approached the surroundings and determine whether collaboration with the second robot (R2) is possible, thereby specifying the second robot (R2) as a collaboration target robot.

The first robot (R1) can determine an action that the second robot (R2) needs to perform for collaboration with the second robot (R2) based on information confirmed by sensing the second marker (1432b), and output a flashing signal (1331) commanding the determined action to the output unit (1330).

As illustrated in (b) of Fig. 20a, the first robot (R1) can transmit a control command to the second robot (R2) by outputting a flashing signal (1331c) corresponding to a control command requesting rotation of the second robot (R2) through the output unit (1330) of the first robot (R1).

The second robot (R2) can perform a specific operation included in the flashing signal (1331c) and output a second marker (1442c) including changed status information of the second robot (R2) based on the performance of the specific operation to the display unit (1440) of the second robot (R2).

As illustrated in (c) of FIG. 20a, the second robot (R2) may perform rotation (or position change) according to a control command included in a sensed blinking signal (1331c), and output a second marker (e.g., “position change completed”, 1432c) including state information corresponding to the changed state according to the result of the performance to the display unit (1440).

At this time, even if the second robot (R2) changes the second marker (1432b) previously output on the display unit (1440) to a new second marker (1442c), the first marker (1331) including the identification information of the second robot (R2) can continue to output.

The first robot (R1) can confirm the information transmitted from the second robot (R2) by re-sensing the first marker (1331) and the second marker (1442c) that are re-output from the second robot (R2).

The first robot (R1) may not check the information included in the sensed second marker (1432) if the identification information included in the sensed first marker (1331) does not match the identification information of the second robot (R2) specified as the collaboration target robot.

On the other hand, the first robot (R1) can check the information included in the sensed second marker (1442c) if the identification information included in the sensed first marker (1331) matches the identification information of the second robot (R2) specified as the collaboration target robot.

The first robot (R1) can re-perform the process of determining an action that the second robot (R2) needs to perform for collaboration with the second robot (R2) based on the information and task guide included in the sensed second marker (1442c) and outputting a blinking signal (1441d) requesting the second robot (R2) to perform a specific action.

As illustrated in (a) of Fig. 20b, the first robot (R1) can transmit a control command to the second robot (R2) by outputting a blinking signal (e.g., “Open the storage door”, 1441d) corresponding to a control command requesting an action to open the storage door (1480) of the second robot (R2).

The second robot (R2) can re-sensor the flashing signal (1331d) re-output from the first robot (R1) through a sensor (e.g., a camera) equipped in the second robot (R2) and perform a specific operation included in the re-sensed flashing signal (1441d).

As illustrated in (b) of FIG. 20B, the second robot (R2) can perform a second task with the first robot (R1) by performing an operation according to a control command included in a sensed blinking signal (1331c) and outputting status information according to the result of performing a specific operation to a second marker (e.g., “the storage locker door is opened”, 1432d).

Furthermore, as illustrated in (c) of FIG. 20B, when the second task is completed, the first robot (R1) can output a blinking signal (e.g., “Deliver to table 314”, 1331f) including a control command for the third task among the multiple tasks related to a specific mission to the second robot (R2).

In the present invention, based on the completion of the second task, a process may be performed in which a third task related to a specific task is performed in the second robot (R2) (see S150, 15).

The third task described in the present invention can be understood as a task performed solely by the second robot (R2) among a plurality of tasks associated with a specific task.

The third task may be a task associated with the second function of the second robot (R2).

For example, let's assume that a specific task is a "food delivery task." The third task may be a task in which a food delivery robot (second robot) delivers food manufactured by a food manufacturing robot (first robot) to a destination (e.g., a user or a table).

In the present invention, when the second robot (R2) completes the third task, it can be determined that the specific task is completed. That is, in the present invention, the specific task can be completed based on the first task, the second task, and the third task being performed sequentially.

Meanwhile, as explained above, the first robot (R1) and the second robot (R2) can perform a collaborative task based on the first robot (R1) sensing the second robot (R2) and specifying the second robot (R2) as a collaborative target robot.

Hereinafter, the process by which the first robot (R1) specifies the second robot (R2) as the target robot for collaboration will be specifically described. Hereinafter, the process by which the first robot (R1) specifies the second robot (R2) as the target robot for collaboration can be described as “interoperability” between the first robot (R1) and the second robot (R2).

The linkage between the first robot (R1) and the second robot (R2) can be carried out through a process in which the first robot (R1) senses the marker of the second robot (R2) that has approached the surroundings.

The second robot (R2) can extract location information corresponding to the current location (e.g., “3rd floor, area A (3, 1, 1)”) using the map information stored in the storage unit (1420) of the second robot (R2). Based on the location information corresponding to the extracted current location, the second robot (R2) can move to an area included within a certain radius from the location corresponding to the extracted current location.

That is, even if the second robot (R2) is not directly controlled by the cloud server (20) or is offline, it can freely move within a preset area based on a location corresponding to its current location and attempt to link up with the second robot.

The second robot (R2) can move to a position corresponding to the position of the first robot (R1) based on the map information stored in the storage unit (1420) of the second robot (R2).

The map information may include information about a location corresponding to the location of the first robot (R1). The second robot (R2) may move around the first robot (R1) based on the location corresponding to the location of the first robot (R1) included in the map information.

Furthermore, the second robot (R2) can sense the first robot (R1) through a sensor (e.g., a camera) equipped on the second robot (R2) while moving based on map information, and move around the sensed first robot (R1).

Meanwhile, when there are multiple first robots (R1_a, R1_b) in a space (10), a specific second robot (R2_a) can move around one first robot (R2_a) with a higher priority based on a preset criterion among the multiple first robots (R1_a, R1_b).

The priorities for the plurality of first robots (R1_a, R1_b) can be determined based on various criteria. For example, the priorities for the plurality of first robots (R1_a, R1_b) can be determined based on at least one of the types of the first robot (R1) and the second robot (R2), the importance of the task assigned to the first robot (R1), and the task progress status (or linkage status) of the first robot (R1).

Here, the mission progress status of the first robot (R1) may include a state in which the first robot (R1) is collaborating with another second robot (R2) (or a linked state).

As illustrated in FIG. 21, the mission progress status (or linkage status) of the first robot (R1) can be determined based on the location information of the first robot (R1) and the information of the second robot (R2_b) that is different from the specific second robot (R2_a). More specifically, the mission progress status (or linkage status) of the first robot (R1) can be determined as a state in which the first robot (R1) is collaborating (or linkage status) with the other second robot (R2) when the second robot (R2) that is different from the specific second robot (R2_a) is located around the first robot (R1) (for example, within a certain radius or area based on a location corresponding to the location of the first robot (R1)).

A specific second robot (R2_a) can give priority to a first robot (R1_a) that is not linked with another second robot (R2_b) over a first robot (R1_b) that is linked with another second robot (R2_b).

A specific second robot (R2_a) can move to a position corresponding to a position of a first robot (R1_a) that is not linked with another second robot (R2_b) based on priority.

In this way, the second robot (R2) can perform a collaborative task with the first robot (R1_a) by moving around the first robot (R1_a) that does not perform a collaborative task with another second robot (R2_b).

Meanwhile, the storage unit (1320) of the first robot (R1) and the storage unit (1420) of the second robot (R1) may each have a task history including at least one of the first task, the second task, and the third task related to the collaborative task.

Here, the work history may include at least one piece of collaboration information related to the performance of a task associated with a collaboration task, or may be information generated based on the collaboration information.

For example, the collaboration information related to the first robot (R1) may include at least one of i) an image including a blinking signal (1441) output from the first robot (R1), ii) information (control command, etc.) included in the blinking signal (1441) output from the first robot (R1), iii) information on the time at which the blinking signal (1441) was output from the first robot (R1), vi) an image including at least one of the first marker (1441) and the second marker (1442) sensed by the first robot (R1), v) information included (or interpreted) in at least one of the first marker (1441) and the second marker (1442) sensed by the first robot (R1), vi) information on an action performed by the first robot (R1) and the time at which the action was performed.

Collaboration information related to the second robot (R2) may include at least one of i) at least one of the first marker (1441) and the second marker (1442) output from the second robot (R2) (for example, an image for the marker), ii) information included in at least one of the first marker (1441) and the second marker (1442) output from the second robot (R2) (identification information, status information, etc.), iii) information on the time at which at least one of the first marker (1441) and the second marker (1442) was output from the second robot (R2), vi) an image including a blinking signal (1441) sensed by the second robot (R2), v) information included (or interpreted) in the blinking signal (1441) sensed by the second robot (R2), vi) information on an action performed by the second robot (R2) and the time at which the action was performed.

In the present invention, work history and collaboration information are not distinguished, and are named and explained as work history. In the present invention, “work history” can be used interchangeably with “collaboration information,” “log,” “log information,” “collaboration log,” “collaboration log information,” “work history information,” and “collaboration history information.”

At least one of the first robot (R1) and the second robot (R2) can transmit (update) the work history stored in each storage unit (1320, 1420) to a preset server (e.g., a cloud server (20)) to perform backup, management, analysis, and monitoring of the work history.

The first robot (R1) and the second robot (R2) can transmit the work history stored in their respective storage units (1420, 1320) to the cloud server (20) at a time when they can communicate with the cloud server (20) using the network (40).

At this time, the first robot (R1) and the second robot (R2) can transmit the work history that has not been updated in the cloud server (20) among the work history stored in their respective storage units (1420, 1320) to the cloud server (20).

The first robot (R1) and the second robot (R2) can determine which work history among the work history stored in each storage (1320, 1420) has been updated to the cloud server (20) and which work history has not been updated to the cloud server (20) based on the work history update information stored in each storage (1320, 1420). The first robot (R1) and the second robot (R2) can transmit the work history that has not been updated to the cloud server (20) to the cloud server (20).

Furthermore, the first robot (R1) and the second robot (R2) can determine what work history has been stored since the last time the work history was updated in the cloud server (20) based on the work history update information stored in each storage unit (1320, 1420). The first robot (R1) and the second robot (R2) can transmit the work history stored since the last time the work history was updated in the cloud server (20) to the cloud server (20).

Furthermore, the first robot (R1) and the second robot (R2) can delete the work history stored in each storage unit (1420, 1320) based on the completion of updating the work history in the cloud server (20) for the efficiency of each storage unit (1320, 1420).

Meanwhile, the cloud server (20) can perform monitoring of the first robot (R1) and the second robot (R2) based on the work history received from at least one of the first robot (R1) and the second robot (R2).

In the cloud server (20), the actions performed to perform the first robot (R1) and the second robot (R2) collaborative tasks can be evaluated based on the work history and the work guide related to the collaborative task included in the work history.

The “task guide” may include motion information on how the first robot (R1) and the second robot (R2) should move in order for the first robot (R1) and the second robot (R2) to perform a collaborative task.

These task guides may include information about the operations of the first robot (R1) and the second robot (R2) determined by taking into account at least one of the tasks being performed by the first robot (R1) and the second robot (R2), the characteristics of the space in which the first robot (R1) and the second robot (R2) are placed, and the types of the first robot (R1) and the second robot (R2).

For example, if the task performed by the first robot (R1) and the second robot (R2) in collaboration is a “food serving task,” the actions performed by the first robot (R1) and the second robot (R2) may include: i) an action of matching the positions of the first robot (R1) and the second robot (R2), ii) an action of opening the storage box door of the second robot (R2), iii) an action of the first robot (R1) loading food into the storage box of the second robot (R2), vi) an action of the first robot (R1) conveying a destination to the second robot (R2), and v) an action of the second robot (R2) serving (delivering) food to the destination.

When the cloud server (20) receives a work history from at least one of the first robot (R1) and the second robot (R2), it can perform an evaluation of the actions performed in the collaborative task performed by the first robot (R1) and the second robot (R2).

The cloud server (20) can evaluate whether the first robot (R1) and the second robot (R2) performed movements according to the work guide based on the work history and the movement guide corresponding to the collaborative task included in the work history.

For example, the cloud server (20) can evaluate whether the first robot (R1) outputs a flashing signal (1331) corresponding to a control command requesting the second robot (R2) to perform an operation according to the work guide. As another example, the cloud server (20) can evaluate whether the second robot (R2) performed a specific operation according to the flashing signal (1331) output by the first robot (R1).

Furthermore, the cloud server (20) can compare the work history related to the second robot (R2) and the work history related to the first robot (R1) to evaluate whether communication between the first robot (R1) and the second robot (R2) is smooth.

More specifically, the cloud server (20) can evaluate the actions performed by the second robot (R2) and the first robot (R1) based on the sensed markers (1441, 1442) or the blinking signal (1331).

For example, let us assume that the work history related to the first robot (R1) includes log information that outputs a flashing signal (1331b) corresponding to a control command requesting a change in position to specific coordinates (e.g., “(30, 25, 15)”) from the first robot (R1). The cloud server (20) can evaluate whether the operation of the second robot (R2) corresponding to the flashing signal (1331b) corresponding to the control command requesting a change in position to specific coordinates (e.g., “(30, 25, 15)”) moved to the specific coordinates or performed another operation (e.g., opening the locker door).

Meanwhile, when the operation of the robot is evaluated by the control unit (150), the cloud server (20) can store evaluation result information corresponding to the evaluation result in a database. The cloud server (20) can match the evaluation result information of the second robot (R2) with the identification information of at least one of the first robots (R1) and store it in the database.

In this way, in the present invention, based on the work history, it is possible to generate evaluation result information by evaluating whether the first robot (R1) and the second robot (R2) perform movements according to the collaboration guide and whether communication between the first robot (R1) and the second robot (R2) is smooth.

The cloud server (20) or administrator can check errors occurring in the first robot (R1) and the second robot (R2) and corrections thereto by referring to the evaluation result information.

Meanwhile, in the process of the first robot (R1) and the second robot (R2) working together to perform a collaborative task, a situation may arise that requires monitoring and intervention (control, supervision) by at least one of the cloud server (20) and the manager.

For example, in a situation where a second robot (R2) must perform a food serving (or delivery) operation to a specific destination, if the second robot (R2) does not move and continues to stop in front of the first robot (R1), the cloud server (20) and the administrator can intervene to discover an error that occurred in the second robot (R2) and resolve the error.

In order for the cloud server (20) to monitor and control the first robot (R1) and the second robot (R2), a network (40) must be used between the cloud server (20) and the first robot (R1) and the second robot (R2).

However, in a situation where the network (40) is absent, i.e., offline, the cloud server (20) cannot perform monitoring of the first robot (R1) and the second robot (R2), and thus a situation may arise where an administrator must intervene.

Below, a method is described that enables an administrator to monitor collaborative tasks performed by a first robot (R1) and a second robot (R2) in an offline situation without a monitoring program for the administrator.

The first robot (R1) can output work history (status information, control commands, etc.) in a human-perceivable form through the output unit (1330) of the first robot (R1) along with a flashing signal (1331).

Furthermore, the second robot (R2) can output work history (status information, control commands, etc.) in a human-recognizable form on the display unit (1440) of the second robot (R2) together with markers (1441, 1442).

In the present invention, “operation history (state information, control command) in a form recognizable to a human” is named “recognizable information (1343).”

“Recognition information (1343)” can be understood as information that is information corresponding to information included in a second marker (1442) output from a second robot (R2) or information included in a blinking signal (1441) output from a first robot (R1), converted into visual information in a form that can be recognized by a human.

For example, as illustrated in FIG. 23, “cognitive information (1343)” may include text information (e.g., “Performing a delivery mission.” 1343a) corresponding to information included in the second marker (1442) of the second robot (R2) (e.g., “In delivery,” 1442), or may include a graphic object (1343b).

Furthermore, “cognitive information (1343)” may include text information corresponding to an error (e.g., “Error”, 1343c) based on the occurrence of an error in the first robot (R1) and the second robot (R2).

Meanwhile, the second robot (R2) can output a first marker (1441) in a first area on the display unit (1440) of the second robot (R2) and output a second marker (1442) in a second area. Furthermore, the second robot (R2) can output recognition information (1343) in a third area that is distinguished from the first area and the second area.

The second robot (R2) can change the second marker (1442) outputted in the second area of the display unit (1440) and the recognition information (1343) outputted in the third area based on the change in the status information of the second robot (R2). Furthermore, even if the second marker (1442) outputted in the second area and the recognition information (1343) outputted in the third area are changed, the second robot (R2) may not change the second marker (1441) outputted in the first area.

Meanwhile, the first robot (R1) can output cognitive information corresponding to the information included in the blinking signal (1441) through the output unit (1330) of the first robot (R1).

More specifically, some of the multiple lights included in the output section (1330) of the first robot (R1) can output a blinking signal (1441) that can be sensed by the second robot (R2), and some of the lights can output cognitive information in a form that can be recognized by the manager.

For example, if the output unit (1330) of the first robot (R1) is a display including a plurality of lights, the second robot (R2) can output a blinking signal (1441) that can be sensed in one area of the display, and output cognitive information in a form that can be recognized by the manager in another area.

The first robot (R1) can output cognitive information by using at least one of the colors, blinking degrees, and blinking patterns of the plurality of lights included in the output unit (1330) of the first robot (R1). For example, assume that the first robot (R1) is outputting a control command to the second robot (R2) through a blinking signal (1441). The first robot (R1) can control a specific light (e.g., an LED) to blink in a specific pattern with a specific color through the output unit (1440).

Meanwhile, the timing at which cognitive information is output from the first robot (R1) and the second robot (R2) may vary.

For example, the first robot (R1) and the second robot (R2) can continuously output cognitive information while performing a collaborative task.

As another example, the first robot (R1) and the second robot (R2) can output recognition information when an administrator approaches the surroundings. More specifically, the first robot (R1) and the second robot (R2) can output recognition information when an administrator or a preset user approaches within a certain radius from the point where each of them is located.

The first robot (R1) and the second robot (R2) can sense the approach (or presence) of an administrator or a preset user through sensors provided in each of them in order to output recognition information. For example, when an administrator approaches the second robot (R2) and inputs identification information assigned to the administrator (e.g., ID card, QR code), the second robot (R2) can output recognition information.

As another example, the first robot (R1) and the second robot (R2) can output cognitive information when an error occurs. That is, the first robot (R1) and the second robot (R2) can request assistance from a manager in an error situation by outputting cognitive information when an error occurs.

In this way, the present invention provides cognitive information in a form that can be recognized by the user, thereby allowing the manager to intuitively recognize the status of the first robot (R1) and the second robot (R2) located in the space (10).

For example, if the second robot (R2) is stopped despite outputting cognitive information such as “performing a delivery mission,” the manager can determine that there is a problem with the second robot (R2) and intervene in the operation of the second robot (R2).

As another example, if the second robot (R2) is outputting cognitive information such as “Error,” the manager can intuitively recognize that a problem has occurred with the second robot (R2) and intervene in the operation of the second robot (R2).

Meanwhile, in the present invention, work history can be provided through a terminal (2400) carried by the manager so that the manager can monitor the first robot (R1) and the second robot (R2).

The terminal (2400) possessed by the manager may have a system for monitoring the first robot (R1) and the second robot (R2).

Here, the system for monitoring the first robot (R1) and the second robot (R2) may be software installed on the terminal (2400), and may be an application or a program.

As shown in (a) of Fig. 24, the manager can use the terminal (2400) possessed by the manager to capture the blinking signal (1331) of the first robot (R1) or the marker (1441, 1442) of the second robot (R2).

The terminal (2400) can check information corresponding to the photographed blinking signal (1331) and marker (1441, 1442).

Specifically, the terminal (2400) may store matching information related to the blinking signal (1331) or matching information related to the markers (1441, 1442). The terminal (2400) may check information corresponding to the photographed blinking signal (1331) and markers (1441, 1442) based on the matching information related to the blinking signal (1331) or the matching information related to the markers (1441, 1442).

The terminal (2400) can output work history related to specific tasks performed by the first robot (R1) and the second robot (R2) on the terminal (2400) based on the verified information.

For example, as illustrated in (b) of FIG. 24, at least one of identification information of the robot (e.g., “Robot ID: 12TEQ68”, 2410), information related to the work being performed by the robot (e.g., “Delivering beverage to table 134”, 2420), and location information (2430) of the robot may be output on the terminal (2400).

The manager can monitor the collaborative tasks of the first robot (R1) and the second robot (R2) through the work history of the first robot (R1) and the second robot (R2) output to the terminal (2400).

Meanwhile, in the above explanation, it goes without saying that the explanations expressed with the first robot (R1) and the second robot (R2) as subjects can be replaced with explanations with the control unit (1350) of the first robot (R1) and the control unit (1470) of the second robot.

As described above, the collaborative method and system using a plurality of robots according to the present invention can perform collaborative work even in a situation where a network is absent or a network failure occurs by performing collaboration related to a specific task by the first robot and the second robot based on data communication between the output units and sensing units provided in each of the first robot and the second robot. Therefore, in a building including robots according to the present invention, even in an environment where a network does not exist, the robots can provide various services through collaborative work among a plurality of robots, thereby further improving user convenience.

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

Furthermore, the robot-friendly building according to the present invention can systematically manage the operation of robots that provide services more systematically by organically controlling a plurality of robots and facility infrastructure using a cloud server that is linked to a plurality of robots. Through this, the robot-friendly building according to the present invention can provide various services to people more safely, quickly, and accurately.

Furthermore, the robot applied to the building according to the present invention can be implemented in a brainless format controlled by a cloud server, and according to this, not only can a large number of robots placed in the building be manufactured inexpensively without expensive sensors, but they can also be controlled with high performance/high precision.

Furthermore, in a building according to the present invention, the driving is controlled to take into consideration the tasks and movement situations assigned to a number of robots placed in the building, as well as to take people into consideration, so that robots and people can coexist naturally in the same space.

Furthermore, in a building according to the present invention, by performing various controls to prevent accidents caused by robots and to respond to unexpected situations, it is possible to instill in people the perception that robots are friendly and safe, rather than dangerous.

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, various control methods according to the present invention can be provided in the form of a program, either integrated or individually.

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 (10)

In a collaborative method using multiple robots,
A step in which a specific task is assigned to a first robot performing a first function, and a first task associated with the specific task is performed by the first robot;
In the first robot, a step of specifying the second robot as a collaboration target robot to perform collaboration with the first robot for the specific task based on sensing of a marker output on a display unit of a second robot located around the first robot;
A step in which a second task related to the specific task is performed by the first robot and the second robot; and
A collaborative method using a plurality of robots, characterized in that it includes a step of performing a third task related to the specific task on the second robot based on the completion of the second task. In the first paragraph,
The marker output on the display unit of the second robot includes a first marker including identification information of the second robot and a second marker including status information on the operating status of the second robot.
At the stage where the above collaborative robot is specified,
A collaboration method using a plurality of robots, characterized in that the second robot is specified as the collaboration target robot based on the recognition of the first marker through a sensing unit equipped in the first robot. In the second paragraph,
The first marker output on the display section of the second robot is,
A collaborative method using a plurality of robots, characterized in that, while the second task is performed between the first robot and the second robot, the first robot is output on the display unit of the second robot so that the first robot can identify the second robot. In the second paragraph,
The second marker above is,
Including one of different types of motion state markers, each of which includes state information corresponding to different motion states of the second robot,
The above first robot,
A collaborative method using a plurality of robots, characterized in that the current operating state of the second robot is identified based on recognizing the second marker through a sensing unit equipped in the first robot. In paragraph 4,
The step in which the above second task is performed is:
A step of outputting, in the first robot, a control signal for controlling a specific operation of the second robot in relation to the second task, through an output unit provided in the first robot;
In the second robot, a step of sensing the control signal through a sensing unit provided in the second robot;
A collaborative method using a plurality of robots, characterized by including a step of performing the specific operation based on sensing the control signal from the second robot. In paragraph 5,
The second marker output on the display section of the second robot is,
A collaborative method using a plurality of robots, characterized in that a specific operating state marker is changed corresponding to the changed operating state based on a change in the operating state based on the above control signal. delete delete In a building where the first robot and the second robot that communicate with the cloud server are located,
The above building,
Including a space where the first robot and the second robot are located,
The above first robot and the above second robot,
A step in which a specific task is assigned to the first robot performing the first function based on a control command received from the cloud server, and a first task associated with the specific task is performed by the first robot;
In the first robot, a step of specifying the second robot as a collaboration target robot to perform collaboration with the first robot for the specific task based on sensing of a marker output on the display unit of the second robot located around the first robot;
A step in which a second task related to the specific task is performed by the first robot and the second robot; and
Based on the completion of the above second task, a third task related to the above specific task is performed by the second robot, thereby performing the above specific task in the building,
In the above cloud server,
A building characterized in that the work input for the specific task is updated based on work history information received from at least one of the first robot and the second robot. In a robot collaboration system where collaboration takes place between a first robot and a second robot,
In the above robot collaboration system,
A specific task is assigned to a first robot performing a first function, and the first robot performs a first task associated with the specific task.
Based on sensing of a marker output on the display unit of the second robot located around the first robot from the first robot, the second robot is specified as a collaboration target robot to perform collaboration with the first robot for the specific task,
A second task related to the specific task is performed by the first robot and the second robot,
A robot collaboration system characterized in that collaboration for the specific task is achieved by performing a third task related to the specific task on the second robot based on the completion of the second task.

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