KR20240102210A - Server and method for controlling elevator use of unmanned vehicle in the space - Google Patents

Abstract

A method and server for controlling elevator boarding of unmanned moving objects in a building are disclosed. The method includes obtaining driving information of an unmanned mobile device, including a movement path of the unmanned mobile device; Based on the driving information of the unmanned mobile object, identifying whether the movement path of the unmanned mobile object includes inter-floor movement; Obtaining operation information of elevators including the elevator queue within the building; Identifying one or more available elevators based on operation information of the elevators; calculating a boarding cost to be used in a boarding plan of the unmanned mobile device for the one or more elevators; determining an elevator to be assigned to the unmanned mobile device based on the boarding cost; providing information about the determined elevator to the unmanned mobile device; and updating the elevator queue.

Description

Server and how the server controls the use of elevators by unmanned vehicles in space {SERVER AND METHOD FOR CONTROLLING ELEVATOR USE OF UNMANNED VEHICLE IN THE SPACE}

This disclosure relates to unmanned vehicles. More specifically, the present disclosure relates to an unmanned vehicle and a method for determining elevator boarding of an unmanned vehicle.

In the era of the 4th Industrial Revolution, the introduction of unmanned service vehicles is increasing as artificial intelligence is developed in various industries such as distribution, hotels, and logistics.

These unmanned service vehicles perform services while moving within the building. At this time, when multiple unmanned vehicles perform individually assigned missions within a building, a driving deadlock situation may occur between unmanned vehicles. For example, there are multiple elevators in a building, and many people get on and off in addition to unmanned vehicles. Unmanned vehicles must take the optimal elevator to move to a specific floor in a building. When multiple unmanned vehicles board an elevator, appropriate elevator allocation is necessary to prevent deadlock. It is necessary to control a plurality of unmanned moving objects to move efficiently using limited elevator resources, while preventing paths between the plurality of unmanned moving objects from overlapping and colliding.

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

The embodiment disclosed in the present disclosure sets multiple types of waiting areas for waiting a mobile unmanned vehicle with different properties in consideration of characteristics in space, and dynamically determines the waiting area based on the driving information of the unmanned vehicle and/ The purpose is to provide a method for a plurality of mobile unmanned vehicles to enter/exit an optimized path to a destination by changing the method.

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

According to one aspect of the present disclosure for achieving the above-mentioned technical problem, a method for a server to control traffic of unmanned mobile objects in a space may be provided. The method includes obtaining driving information of an unmanned mobile device, including a movement path of the unmanned mobile device; Based on the driving information of the unmanned mobile object, identifying whether the movement path of the unmanned mobile object includes inter-floor movement; Obtaining operation information of elevators including the elevator queue within the building; Identifying one or more available elevators based on operation information of the elevators; calculating a boarding cost to be used in a boarding plan of the unmanned mobile device for the one or more elevators; determining an elevator to be assigned to the unmanned mobile device based on the boarding cost; providing information about the determined elevator to the unmanned mobile device; and updating the elevator queue.

The identifying the one or more available elevators may include, when there is no one or more elevators available, determining a waiting area of the unmanned mobile device based on a movement path of the unmanned mobile device; and requesting the unmanned mobile device to move to the determined waiting area.

In the step of calculating the boarding cost of the unmanned vehicle with respect to the one or more elevators, a lower ride cost may be given as the distance from the unmanned vehicle to the one or more elevators is shorter.

The driving information of the unmanned mobile object includes at least one of the location, speed, movement path, and space map of the unmanned mobile object, and the operation information of the elevators includes at least one of the location, speed, travel route, failure status, and congestion level of the elevators. It can contain one.

The step of calculating the boarding cost of the unmanned mobile device for the one or more elevators includes assigning a low boarding cost to the elevator that the unmanned mobile device can use first, based on the driving information of the unmanned mobile device and the operating information of the elevators. It may be.

The step of determining an elevator to be assigned to the unmanned moving object based on the boarding cost may include determining an elevator to be assigned to the unmanned moving object further based on driving information of other unmanned moving objects in the one or more elevators.

According to one aspect of the present disclosure, a server that controls traffic of unmanned mobile objects in space may be provided. The server includes a memory that stores one or more instructions; Ministry of Communications; and at least one processor executing the one or more instructions stored in the memory. The at least one processor, by executing the one or more instructions, identifies whether the movement path of the unmanned mobile object includes inter-floor movement based on driving information of the unmanned mobile object, and includes an elevator queue in the building. Obtain operation information of elevators, identify one or more available elevators based on the operation information of the elevators, calculate a boarding cost to be used in a boarding plan of the unmanned mobile device for the one or more elevators, and calculate the boarding cost Based on this, an elevator to be assigned to the unmanned mobile device may be determined, information regarding the determined elevator may be provided to the unmanned mobile device, and the elevator queue may be updated.

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

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

According to the means for solving the above-described problem of the present disclosure, it is possible to control the movement of a plurality of unmanned mobile objects within the building, avoid collisions between the unmanned mobile objects, and use the elevator while each unmanned mobile object travels within the building along an optimized path. It provides an effect that allows

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

FIG. 1 is a diagram schematically illustrating how a server controls unmanned mobile devices to board an elevator according to an embodiment of the present disclosure.
Figure 2 is a block diagram showing the configuration of a server according to an embodiment of the present disclosure.
FIG. 3 is a flowchart illustrating an operation in which a server controls unmanned mobile devices to board an elevator according to an embodiment of the present disclosure.
Figure 4 is a diagram for explaining examples in which a server controls elevator boarding according to an embodiment of the present disclosure.
Figure 5 is a diagram for explaining an elevator queue according to an embodiment of the present disclosure.
Figure 6 is a diagram for explaining the cost of riding an elevator according to an embodiment of the present disclosure.
FIG. 7 is a diagram illustrating an example in which a server allocates an elevator to an unmanned moving object according to an embodiment of the present disclosure.
FIG. 8 is a diagram illustrating an example in which a server allocates a waiting area to an unmanned mobile object according to an embodiment of the present disclosure.
FIG. 9 is a diagram illustrating an example in which a server allocates an elevator to an unmanned moving object according to an embodiment of the present disclosure.
FIG. 10 is a diagram illustrating an example in which a server allocates an elevator to an unmanned moving object according to an embodiment of the present disclosure.

Like reference numerals refer to like elements throughout this disclosure. This disclosure does not describe all elements of the embodiments, and general content or overlapping content between embodiments in the technical field to which this disclosure pertains is omitted. The term 'part, module, member, block' used in the specification may be implemented as software or hardware, and depending on the embodiment, a plurality of 'part, module, member, block' may be implemented as a single component, or It is also possible for one 'part, module, member, or block' to include multiple components.

Additionally, when a part "includes" a certain component, this means that it may further include other components rather than excluding other components, unless specifically stated to the contrary.

Terms such as first and second are used to distinguish one component from another component, and the components are not limited by the above-mentioned terms.

Singular expressions include plural expressions unless the context clearly makes an exception.

The identification code for each step is used for convenience of explanation. The identification code does not explain the order of each step, and each step may be performed differently from the specified order unless a specific order is clearly stated in the context. there is.

Hereinafter, the operating principle and embodiments of the present disclosure will be described with reference to the attached drawings.

In this specification, the 'server according to the present disclosure' includes all various devices that can perform computational processing and provide results to the user.

FIG. 1 is a diagram schematically illustrating how a server controls boarding of an elevator of an unmanned moving object according to an embodiment of the present disclosure.

In one embodiment, the server 2000 may control elevator boarding of unmanned vehicles traveling within the building 102. For example, when an unmanned mobile object 100 traveling within the building 102 wants to board an elevator, the server 2000 selects the available elevators among elevator A (110), elevator B (120), and elevator C (130). Elevators can be identified, and among available elevators, elevator A 110 can be determined as the elevator in which the unmanned mobile device 100 will board. When the server 2000 allocates an elevator to the unmanned mobile device 100, it can control matters related to the running of the unmanned mobile device 100 so that the unmanned mobile device 100 can board the elevator.

In one embodiment, if there is currently no available elevator, the server 2000 may set a waiting area for the unmanned mobile device 100 to wait. The server 2000 may allocate an elevator to the unmanned mobile device 100, and if the assigned elevator is not immediately available, set a waiting area 140 and allow the unmanned mobile device 100 to wait in the waiting area. .

The server 2000 may obtain driving information of the unmanned mobile device 100 and operating information of elevators. Driving information of the unmanned vehicle 100 may include at least one of the location, speed, movement path including the starting point and destination, and a space map of the unmanned moving vehicle 100. In addition, the operation information of the elevators may include at least one of the location, speed, operation route, failure status, and congestion level of the elevators. The server 2000 generates/manages data/information for boarding the elevator of the unmanned moving object based on the driving information of the unmanned moving object and the operating information of the elevator, and controls the elevator boarding of the unmanned moving object based on the generated data/information. Information can be transmitted to each unmanned mobile device.

Meanwhile, within the building 102, there may be multiple floors, multiple elevators, and multiple unmanned vehicles may travel. In this case, the server 2000 can allocate elevators and manage queues so that a plurality of unmanned moving objects use a plurality of elevators. For convenience of explanation, in this disclosure, an example is given in which the server 2000 allocates an elevator to the unmanned mobile device 100 based on one unmanned mobile device 100 among several unmanned mobile devices. However, a person skilled in the art to which the present invention pertains will understand that the present invention can be used to control the boarding of an elevator of a plurality of unmanned vehicles running in a building.

Figure 2 is a block diagram showing the configuration of a server according to an embodiment of the present disclosure.

In one embodiment, the server 2000 may include at least a communication unit 2100, a memory 2200, and a processor 2300. The components shown in FIG. 2 are not essential for implementing the server 2000 according to the present disclosure, so the server 2000 described herein may include more or fewer components than the components listed above. You can have it.

The communication unit 2100 can perform data communication with a plurality of unmanned mobile objects existing in space. The server 2000 may receive driving information from a plurality of unmanned mobile objects using the communication unit 2100 and transmit information for driving control of each of the plurality of unmanned mobile objects to each of the plurality of unmanned mobile objects.

The communication unit 2100 may include one or more components that enable communication with an external device, and may include, for example, at least one of a wireless communication module, a short-range communication module, and a location information module.

In addition to Wi-Fi modules and WiBro (Wireless broadband) modules, wireless communication modules include GSM (global System for Mobile Communication), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), and UMTS (universal mobile telecommunications system). ), TDMA (Time Division Multiple Access), LTE (Long Term Evolution), 4G, 5G, 6G, etc. may include a wireless communication module that supports various wireless communication methods.

The wireless communication module may include a wireless communication interface including an antenna and a transmitter that transmits a data signal. Additionally, the wireless communication module may further include a data signal conversion module that modulates a digital control signal output from the processor 2300 through a wireless communication interface into an analog wireless signal under the control of the processor 2300.

The wireless communication module may include a wireless communication interface including an antenna and a receiver for receiving data signals. Additionally, the wireless communication module may further include a data signal conversion module for demodulating an analog wireless signal received through a wireless communication interface into a digital control signal.

The memory 2200 can store data supporting various functions of the device and a program for the operation of the processor 2300, and input/output data (e.g., music files, still images, videos, etc.) can be stored, and a number of application programs (application programs or applications) running on the device, data for operation of the device, and commands can be stored. At least some of these applications may be downloaded from an external server via wireless communication.

These memories include flash memory type, hard disk type, SSD type (Solid State Disk type), SDD type (Silicon Disk Drive type), and multimedia card micro type. , card-type memory (e.g., SD or It may include at least one type of storage medium among (only memory), PROM (programmable read-only memory), magnetic memory, magnetic disk, and optical disk. Additionally, the memory may be a database that is separate from the device, but is connected wired or wirelessly. The memory 2200 may store an unmanned vehicle management module 2210 and an elevator management module 2220.

The processor 2300 may control the operation of components within the server 2000 of the present disclosure. The processor 2300 may control any one or a combination of the above-described components in order to implement various embodiments according to the present disclosure described in the drawings below on the server 2000.

The processor 2300 executes the unmanned mobile vehicle management module 2210 stored in the memory 2200 to monitor/control/manage the driving of the unmanned mobile vehicles. The unmanned vehicle management module 2210 can generally control matters related to the movement of a plurality of unmanned vehicles traveling in a space. For example, the processor 2300 transmits commands and/or data requesting that an unmanned vehicle within a space enter a destination, board an elevator, or enter a waiting area to the unmanned vehicles traveling within the space. The communication unit 2100 can be controlled to do so.

The processor 2300 may execute the elevator management module 2220 stored in the memory 2200 to generally control matters related to a plurality of elevators operating within the building. For example, when an unmanned vehicle in a space is identified as wanting to board an elevator, the processor 2300 identifies available elevators and assigns a cost to each of the available elevators, thereby assigning an elevator for the unmanned vehicle to board. can do.

The communication unit 2100 may be controlled to transmit commands and space map information requesting to enter a destination or enter an area of interest and/or a waiting area to unmanned mobile vehicles traveling in the space.

FIG. 3 is a flowchart illustrating an operation in which a server controls unmanned mobile devices to board an elevator according to an embodiment of the present disclosure.

In step S310, the server 2000 according to one embodiment acquires driving information of the unmanned mobile object, including the movement path of the unmanned mobile object.

The driving information of the unmanned vehicle may include, but is not limited to, at least one of the location of the unmanned vehicle, a speed, a movement path including a starting point and a destination, and a space map. An unmanned vehicle can travel within the indoor space of a building based on the space map and movement path. The location of the unmanned vehicle may be updated in real time as the unmanned vehicle travels along its path, and the speed of the unmanned vehicle may be a preset value or a value that changes in real time depending on traffic conditions around the unmanned vehicle. The server 2000 may receive driving information of the unmanned mobile device from the unmanned mobile device. When a plurality of unmanned mobile objects exist in a building, the server 2000 may obtain driving information for each of the plurality of unmanned mobile objects from the plurality of unmanned mobile objects.

In step S320, the server 2000 according to one embodiment identifies whether the movement path of the unmanned mobile object includes inter-floor movement based on the driving information of the unmanned mobile object.

In one embodiment, the server 2000 may identify the origin and destination of the unmanned mobile vehicle from the driving information of the unmanned mobile vehicle. If the origin and destination floors of the unmanned vehicle are different, the server 2000 may identify the unmanned vehicle as moving between floors. For example, if the movement path of the unmanned vehicle is from the 3rd floor-A location to the 7th floor-B location, the server 2000 may identify that the movement path of the unmanned vehicle includes movement between floors. The server 2000 may identify unmanned vehicles moving between floors among a plurality of unmanned vehicles running in a building. If the number of unmanned vehicles moving between floors is greater than the number of operable elevators in the building, the server 2000 can manage the boarding and exit of the elevator by the unmanned vehicles using the elevator queue.

In step S330, the server 2000 according to one embodiment acquires operation information of elevators including the elevator queue in the building.

The operation information of the elevators may include at least one of the location of the elevators, speed, operation route, failure status, and congestion level. Elevators can move up and down floors in a building based on the elevator's operating path. The operating routes of the elevators may be determined based on the driving information of the unmanned moving object. For example, the disembarkation floor of unmanned vehicles boarding the elevator, the boarding floor of unmanned vehicles scheduled to board the elevator, etc. may be included in the operation path of the elevator. The location of the elevator, whether it is broken, and the level of congestion can be updated in real time as the elevator operates.

In step S340, the server 2000 according to one embodiment identifies one or more available elevators based on elevator operation information.

In one embodiment, an available elevator may mean an elevator that is not in use. In one embodiment, an available elevator may be an elevator that can be used because there is free space even if other unmanned vehicles are boarding the elevator. In some embodiments, when other unmanned vehicles are boarding the elevator, if the movement path of the unmanned vehicle is included in the operating path of the elevator, the server 2000 may identify it as an available elevator.

As a result of the server 2000 identifying available elevators, if there are a plurality of available elevators, the server 2000 may determine the plurality of available elevators as candidate elevators for the unmanned vehicle to board.

In one embodiment, when there is no available elevator, the server 2000 may determine a waiting area within the building where the unmanned vehicle will wait to board the elevator.

In step S350, the server 2000 according to one embodiment calculates a boarding cost to be used in the boarding plan of the unmanned mobile device for one or more elevators.

Boarding cost refers to a value used by the server 2000 to determine which elevator the unmanned mobile device will board. The server 2000 calculates a boarding cost for each of one or more elevators.

In one embodiment, the server 2000 may calculate the distance from the unmanned vehicle to one or more available elevators. The server 2000 may grant a low boarding cost to an available elevator that is nearby based on the distance from the unmanned vehicle to the elevator.

In one embodiment, the server 2000 may identify an elevator that is available to the unmanned mobile device first, based on the driving information of the unmanned mobile device and the driving information of one or more available elevators. The server 2000 may grant a low boarding cost to the elevator that the unmanned vehicle can use first. For example, when an unmanned vehicle is approaching an elevator, the server 2000 may identify, among available elevators, the elevator that can first reach the floor where the unmanned vehicle is located when the unmanned vehicle reaches the elevator lobby. You can. In this case, the server 2000 may assign a boarding cost to one or more elevators based on at least one of the elevators' current location, speed, operation route, failure, and congestion level.

In one embodiment, the server 2000 records the distance from the unmanned vehicle to one or more available elevators, the current location of the unmanned vehicle, its speed, the moving path, the location, speed, operating path of one or more elevators, whether there is a breakdown, and the degree of congestion. The boarding cost can be calculated based on a combination of at least two of the following.

In one embodiment, the server 2000 may grant a low boarding cost to an elevator with a small queue. For example, if two unmanned vehicles are waiting in elevator A and three unmanned vehicles are waiting in elevator B, the server 2000 may grant a low boarding cost to elevator A.

In one embodiment, the server 2000 may calculate the boarding cost based on the occupancy time of the elevator of another unmanned moving object. For example, if another unmanned vehicle boarded elevator A 5 minutes ago and another unmanned vehicle just boarded elevator B, the server 2000 may grant a lower boarding cost to elevator A.

In one embodiment, the server 2000 may calculate the boarding cost based on a specific time period. For example, if elevator A is an elevator that many people use from 2 PM to 4 PM, the server 2000 may assign a high boarding cost to elevator A to prevent unmanned vehicles from using elevator A.

The server 2000 can determine the priority of one or more available elevators by calculating a boarding cost for each of one or more elevators and assigning a lower cost to an elevator that is more suitable for use by an unmanned mobile vehicle.

In step S360, the server 2000 according to one embodiment determines an elevator to be assigned to the unmanned mobile device based on the boarding cost.

The server 2000 may calculate a boarding cost for each of one or more elevators and select the elevator with the lowest boarding cost.

In one embodiment, the server 2000 may change the boarding cost for one or more elevators before the unmanned vehicle boards the elevator. For example, when an unmanned vehicle is moving to board an elevator with the lowest boarding cost, the elevator with the lowest boarding cost, which the unmanned vehicle was scheduled to board, may break down or be controlled by a person to take a different route. In this case, the server 2000 may identify the changed operation information of the elevator and update the boarding cost based on the changed operation information of the elevator. The server 2000 may change the elevator assigned to the unmanned mobile device when the boarding cost changes before the unmanned mobile device boards the elevator.

In step S370, the server 2000 according to one embodiment provides information about the determined elevator to the unmanned mobile device.

The server 2000 may change at least part of the data included in the driving information of the unmanned moving object based on the determined information about the elevator. For example, the server 2000 may include elevator A in the movement path of the unmanned mobile device, or may request the unmanned mobile device to wait in a waiting area if there is no available elevator. In this case, the unmanned mobile object may continue or change its driving operation based on information received from the server 2000.

In step S380, the server 2000 according to one embodiment updates the elevator queue.

When an elevator is assigned to an unmanned moving object, the server 2000 may add the unmanned moving object to the queue of the assigned elevator. The updated elevator queue can be used by the server 2000 to determine which elevator to allocate to another unmanned vehicle.

Figure 4 is a diagram for explaining examples in which a server controls elevator boarding according to an embodiment of the present disclosure.

Referring to block 402, there are elevator A (410), elevator B (420), and elevator C (430) in the building, elevator A (410) is empty, and elevator B (420) and elevator C (430) are empty. It may be in use.

Since the operation of the server 2000 to identify available elevators has already been described in FIG. 3, repeated descriptions are omitted for brevity. However, as described above, an available elevator does not necessarily have to be an empty elevator. As a result of the server 2000 identifying elevators that can be used by the unmanned mobile device 100, the available elevator may be identified as elevator A (410). In this case, the server 2000 may provide information about elevator A 410 to the unmanned mobile device 100. For example, the server 2000 may provide the location of elevator A 410 to the unmanned mobile device 100. The unmanned mobile device 100 may move to board elevator A 410 based on the location of elevator A 410 received from the server 2000. For example, the server 2000 may directly control the unmanned mobile device 100 to board elevator A (410).

Referring to block 404, there are elevator A (410), elevator B (420), and elevator C (430) in the building, elevator A (410) is empty, and elevator B (420) and elevator C (430) are empty. It may be in use.

As a result of the server 2000 identifying available elevators, there may not currently be an elevator in which the unmanned mobile device 100 can board. In this case, the server 2000 may allocate an elevator for the unmanned mobile device to board, but may have it wait at a lower priority in the elevator queue. If there is no available elevator, the server 2000 may determine a waiting area 440 where the unmanned mobile device will wait. Server 2000 may obtain a spatial map and identify one or more locations available as a waiting area 440 in the spatial map. The server 2000 may determine the location of the waiting area 440 based on at least one of traffic in the space, number of unmanned vehicles, elevator usage status, and queue, among locations available for the waiting area 440. In some embodiments, when determining the location of the waiting area 440, the server 2000 sets an area spaced a predetermined distance away from the elevator entrance as the waiting area 440 to prevent collision with an unmanned moving object getting off the elevator. You can.

For example, the server 2000 may determine the waiting area 440 in an area near an elevator. When setting up the waiting area 440, the server 2000 may determine the size and location of the waiting area 440 based on free space within the space and traffic within the space. For example, when there is a large demand for the waiting area 440 because there are many unmanned vehicles trying to board the elevator, the server 2000 may set a number of areas in the space as the waiting area 440. In this case, the server 2000 may determine the location of the waiting area 440 based on the space map so that the unmanned mobile unit waiting in the waiting area does not affect the driving of other unmanned mobile units moving in the space.

In one embodiment, when traffic near the elevator increases due to a plurality of unmanned moving objects waiting near the elevator, the server 2000 creates another waiting area further away from the elevator in addition to the waiting area 440. You can set it. Alternatively, the server 2000 may increase or decrease the size of the waiting area 440 based on traffic.

In one embodiment, when traffic near the elevator increases due to a large number of other unmanned vehicles traveling near the waiting area, the server 2000 creates another waiting area further away from the elevator in addition to the waiting area 440. You can set it. Alternatively, the server 2000 may increase or decrease the size of the waiting area 440 based on traffic.

Figure 5 is a diagram for explaining an elevator queue according to an embodiment of the present disclosure.

In one embodiment, server 2000 may create and manage elevator queues. When there are multiple elevators in the building, the server 2000 manages a queue for each of the multiple elevators.

For example, if there are elevator A (510), elevator B (520), and elevator C (530) in the building, the server 2000 can create the queue 512 for elevator A (510) and the queue for elevator B (520). (522), manages the queue (532) of elevator C (530).

In one embodiment, the server 2000 may allow the unmanned vehicle to board the elevator according to priority, based on the elevator queue. For example, referring to the queue 512 of elevator A (510), unmanned vehicle 1, unmanned vehicle 4, and unmanned vehicle 8 each use elevator A (510) in order.

In one embodiment, the server 2000 may determine an elevator for the unmanned vehicle to board, based on the elevator queue. For example, when three unmanned vehicles are waiting in elevator A (510) and elevator B (520), and two unmanned vehicles are waiting in elevator C (530), the server 2000 boards the elevator C (530). By assigning the lowest cost, elevator C (530) can be assigned to a new unmanned moving object.

In one embodiment, if there are more than a preset number of unmanned moving objects riding the same elevator, the server 2000 may determine a waiting area. For example, when the number of unmanned vehicles that can board elevator B (520) is set to 1, if there is an unmanned vehicle boarding elevator B (520), the server 2000 will Unmanned Mobile 3, Unmanned Mobile 5, and Unmanned Mobile 7 can be made to wait in the waiting area. Additionally, when unmanned mobile device 3 gets on elevator B (520), the server 2000 can cause unmanned mobile device 5 and unmanned mobile device 7 to wait in the waiting area. In this case, the server 2000 can set a plurality of waiting areas. Since this has been described above, repeated explanations are omitted for brevity.

Figure 6 is a diagram for explaining the cost of riding an elevator according to an embodiment of the present disclosure.

In one embodiment, the server 2000 may calculate a boarding cost to be used in a boarding plan for an unmanned mobile vehicle for each of a plurality of elevators. The boarding cost refers to a value to be used in planning an elevator ride for an unmanned vehicle, such as when the unmanned vehicle can use the elevator the fastest or uses the nearest elevator.

Since the operation of the server 2000 to calculate the boarding cost has been described above, repeated descriptions are omitted for brevity.

As a result of the server 2000 determining the boarding cost, the boarding cost of elevator A (610) is 0, the boarding cost of elevator B (620) and elevator C (630) is 2, and the boarding cost of elevator D (640) is 0. It can be 1. However, the boarding cost value is only an example and is not limited thereto. For example, the ride cost may have a normalized value between 0 and 1.

The server 2000 may determine an elevator to be assigned to the unmanned mobile device based on the boarding cost. The server 2000 may assign the elevator with the lowest boarding cost to the unmanned moving object based on the boarding costs of the plurality of elevators. For example, the server 2000 may determine to allocate elevator A 610, which has a ride cost of 0, to the unmanned mobile device. The server 2000 may allocate elevator A (610) to the unmanned moving object, and when the unmanned moving object boards elevator A (610), the elevator queue may be updated and the boarding cost may be updated. For example, as described above, since the unmanned vehicle is using the assigned elevator A (610), when the server 2000 allocates an elevator to a new unmanned vehicle in the future, the riding cost of elevator A (610) Can be set higher than the boarding cost of other elevators, such as elevator B (620), elevator C (630), and elevator D (640).

FIG. 7 is a diagram illustrating an example in which a server assigns an elevator to an unmanned moving object according to an embodiment of the present disclosure.

Referring to FIG. 7, there are eight elevators in the building 700.

In one embodiment, the server 2000 may obtain driving information of the unmanned mobile device 100. The driving information of the unmanned mobile device 100 may include, but is not limited to, at least one of the location, speed, movement path, and space map of the unmanned mobile device. Additionally, the server 2000 can obtain elevator operation information. Elevator operation information may include, but is not limited to, at least one of the location, speed, operation route, failure status, and congestion level of the elevators.

The server 2000 may identify available elevators based on the driving information of the unmanned mobile device 100 and the operating information of the elevator. As a result of the server 2000 identifying available elevators, the available elevators may be elevator A (710), elevator D (720), and elevator F (730). An available elevator here does not necessarily mean an empty elevator. For example, even if another unmanned vehicle is boarding an elevator, it can be identified as an available elevator if there is free space for boarding. In addition, the available elevators may be determined by the server 2000 as available elevators at the time when the unmanned mobile device 100 is predicted to reach the elevator, based on the driving information of the unmanned mobile device 100. there is.

In one embodiment, the server 2000 calculates the cost of boarding the unmanned mobile device 100 for one or more available elevators. For example, the server 2000 may calculate the boarding cost for each of elevator A (710), elevator D (720), and elevator F (730). The server 2000 may calculate the distance from the unmanned mobile device 100 to one or more available elevators. The server 2000 may provide a lower boarding cost as the distance from the unmanned mobile device 100 to the one or more elevators is shorter. The server 2000 allocates an elevator to the unmanned mobile device 100 based on the boarding cost. Accordingly, the server 2000 may determine that the unmanned mobile device 100 should board elevator A (710).

FIG. 8 is a diagram illustrating an example in which a server allocates a waiting area to an unmanned mobile object according to an embodiment of the present disclosure.

Referring to FIG. 8, there are eight elevators in the building 800.

The server 2000 may identify available elevators based on the driving information of the unmanned mobile device 100 and the operating information of the elevator. As a result of the server 2000 identifying available elevators, there may be no available elevators. In this case, the server 2000 may determine the waiting area 810, which is an area where the unmanned mobile device 100 will wait before boarding the elevator.

In one embodiment, server 2000 may determine waiting area 810 based on the elevator queue. For example, the server 2000 allocates elevator A (820) to the unmanned vehicle 100, but the unmanned vehicle 100 cannot board elevator A (820) immediately and must wait in the waiting area 810. In this case, a location close to elevator A (820) may be determined as the waiting area (810).

In one embodiment, the server 2000 may determine the waiting area based on driving information of other unmanned vehicles using the elevator. For example, the server 2000 allocates elevator F (830) to the unmanned vehicle 100, but the unmanned vehicle 100 cannot board elevator F (830) immediately and must wait in the waiting area 810. There may be cases. In this case, when another unmanned vehicle using elevator F (830) gets off at the floor where the unmanned vehicle 100 is located, there is a possibility of collision between the unmanned vehicle 100 and the other unmanned vehicle. In this case, the server 2000 may determine the location of the waiting area 810 to avoid collision with other unmanned moving objects. For example, when the traveling path of another unmanned vehicle is to get off at elevator F (830) and travel through the aisle toward elevator E and elevator F (830), the server 2000 is set to the waiting area of the unmanned vehicle 100 ( The location of 810) can be determined as the opposite passage, elevator A (820), and the passage on the elevator B side.

FIG. 9 is a diagram illustrating an example in which a server allocates an elevator to an unmanned moving object according to an embodiment of the present disclosure.

Referring to FIG. 9, there are eight elevators in the building 900.

The server 2000 may identify available elevators based on the driving information of the unmanned mobile device 100 and the operating information of the elevator. As a result of the server 2000 identifying available elevators, the available elevators may be elevator A (910) and elevator H (920).

In one embodiment, the server 2000 calculates the cost of boarding the unmanned mobile device 100 for one or more available elevators. For example, the server 2000 may calculate the boarding cost for each of elevator A (910) and elevator H (920). The server 2000 may grant a low boarding cost to the elevator that the unmanned mobile device 100 can use first, based on the driving information of the unmanned mobile device 100 and the operating information of the elevators. For example, the server 2000 is based on at least some of the location, speed, and movement path of the unmanned mobile object 100, the location, speed, travel path, and congestion level of elevator A (910) and elevator H (920), A lower riding cost can be given to the elevator that is available first. For example, the distance from the unmanned vehicle 100 to elevator A (910) is shorter than the distance from the unmanned vehicle 100 to elevator H (920), but elevator H (920) is located at the unmanned vehicle 100. Because it is closer to the floor, it may be the elevator that is available first. The server 2000 allocates an elevator to the unmanned mobile device 100 based on the boarding cost. Accordingly, the server 2000 may determine that the unmanned mobile device 100 should board the elevator H 920.

FIG. 10 is a diagram illustrating an example in which a server assigns an elevator to an unmanned moving object according to an embodiment of the present disclosure.

Referring to FIG. 10, there are eight elevators in the building 1000.

In one embodiment, when determining an elevator to be assigned to the unmanned mobile device 100, the server 2000 may determine the elevator to be assigned based on the operation information of the elevator. For example, as a result of the server 2000 identifying available elevators, all elevators may be available, but the server 2000 may select only some of the available elevators based on elevator operation information.

The server 2000 may determine an elevator to be assigned to the unmanned mobile device 100 based on a specific time. For example, even if all elevators are available, if the current time is a preset time zone (e.g., rush hour from 2 PM to 4 PM), some elevators 1010 (Elevator A, Elevator B, Elevator E, Elevator F) may be elevators that are frequently used during times when many people use them. The server 2000 may assign a high boarding cost to some elevators 1010 so that the unmanned vehicle 100 does not use some elevators 1010.

The server 2000 may determine an elevator to be assigned to the unmanned mobile device 100 based on other elevator operation information. For example, when some of the elevators 1010 are out of order, under inspection, or crowded with many people, the server 2000 prevents the unmanned mobile device 100 from using some of the elevators 1010. A high riding cost can be assigned to the elevators 1010.

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

Computer-readable recording media include all types of recording media storing instructions that can be decoded by a computer. For example, there may be read only memory (ROM), random access memory (RAM), magnetic tape, magnetic disk, flash memory, optical data storage device, etc.

As described above, the disclosed embodiments have been described with reference to the attached drawings. A person skilled in the art to which this disclosure pertains will understand that the present disclosure may be practiced in forms different from the disclosed embodiments without changing the technical idea or essential features of the present disclosure. The disclosed embodiments are illustrative and should not be construed as limiting.

Claims (10)

In a method for a server to control elevator boarding of unmanned mobile objects in a building,
Obtaining driving information of the unmanned mobile device, including the movement path of the unmanned mobile device;
Based on the driving information of the unmanned mobile object, identifying whether the movement path of the unmanned mobile object includes inter-floor movement;
Obtaining operation information of elevators including the elevator queue within the building;
Identifying one or more available elevators based on operation information of the elevators;
calculating a boarding cost to be used in a boarding plan of the unmanned mobile device for the one or more elevators;
determining an elevator to be assigned to the unmanned mobile device based on the boarding cost;
providing information about the determined elevator to the unmanned mobile device; and
A method comprising updating the elevator queue. According to paragraph 1,
Identifying one or more available elevators includes:
If there is no one or more elevators available, determining a waiting area of the unmanned mobile device based on a movement path of the unmanned mobile device; and
A method comprising requesting the unmanned mobile device to move to the determined waiting area. According to paragraph 2,
The step of calculating a boarding cost of the unmanned mobile device for the one or more elevators,
A method of granting a lower boarding cost as the distance from the unmanned vehicle to the one or more elevators is shorter. According to paragraph 3,
The driving information of the unmanned vehicle includes at least one of the location, speed, movement path, and space map of the unmanned vehicle,
The operation information of the elevators includes at least one of the location, speed, operation route, failure status, and congestion level of the elevators. According to paragraph 4,
The step of calculating a boarding cost of the unmanned mobile device for the one or more elevators,
A method wherein the unmanned mobile device grants a low boarding cost to the first available elevator based on the driving information of the unmanned mobile device and the operating information of the elevators. According to clause 5,
The step of determining an elevator to be assigned to the unmanned moving object based on the boarding cost includes:
A method of determining an elevator to be assigned to the unmanned moving object based further on driving information of other unmanned moving objects in the one or more elevators. A computer-readable recording medium recording a program for executing the method of any one of claims 1 to 6 on a computer. In the server that controls elevator boarding of unmanned vehicles in the building,
A memory that stores one or more instructions;
Ministry of Communications; and
At least one processor executing the one or more instructions stored in the memory,
The at least one processor executes the one or more instructions,
Based on the driving information of the unmanned mobile object, identify whether the movement path of the unmanned mobile object includes inter-floor movement,
Obtain operation information of elevators, including elevator queues in the building,
Based on the operation information of the elevators, identify one or more available elevators,
Calculate a boarding cost to be used in a boarding plan of the unmanned mobile device for the one or more elevators,
Based on the boarding cost, determine an elevator to be assigned to the unmanned moving object,
Provide information about the determined elevator to the unmanned mobile device,
A server that updates the elevator queue. According to clause 8,
The at least one processor executes the one or more instructions,
If there is no one or more elevators available, determine a waiting area of the unmanned mobile device based on the movement path of the unmanned mobile device,
A server requesting that the unmanned mobile object move to the determined waiting area. According to clause 9,
The at least one processor executes the one or more instructions,
A server that grants a lower boarding cost as the distance from the unmanned moving object to the one or more elevators is shorter.

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