| CPC G05D 1/639 (2024.01) [A62B 3/00 (2013.01); G05D 1/2462 (2024.01); G05D 1/686 (2024.01); G05D 2101/22 (2024.01); G05D 2105/55 (2024.01)] | 7 Claims |
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1. A robot control method performed by a robot that travels in a space, the robot control method comprising:
acquiring evacuation route information on the space from a server when an emergency situation occurs in the space, the evacuation route information including node information on each node of a plurality of nodes corresponding to all nodes defined in the space and the node information including direction information on a direction toward an adjacent next node to which the robot needs to move from the each node; and
moving the robot toward a first node among the plurality of nodes closest to the robot or a second node indicated by direction information of the first node, based on the evacuation route information and a current location of the robot, the second node being an adjacent next node to the first node and the direction information of the first node indicating a direction toward the second node,
wherein the direction information of the each node indicates, as a portion of an optimal route from the each node to a destination node among the plurality of nodes, a direction toward the adjacent next node to which the robot needs to move from the each node,
the robot is controlled to move to the destination node based on the evacuation route information,
the node information includes attribute information representing an attribute of the each node,
the destination node includes a first attribute indicating a safe area for the emergency situation as the attribute information,
the optimal route represents a route to move from the each node to the destination node, avoiding a danger node that includes a second attribute indicating a danger area for the emergency situation as the attribute information among the plurality of nodes, and
the first node and the second node do not include the second attribute as the attribute information,
wherein the robot control method further comprises:
identifying whether a person is present within a predetermined first distance from the robot,
wherein the moving of the robot is performed to guide the person to the destination node when the person is present within the predetermined first distance,
wherein the moving of the robot comprises controlling the robot as a guide mode for the person to move to a destination while maintaining a distance between the person and the robot to be less than a predetermined second distance,
wherein the controlling the robot as the guide mode comprises:
while the robot and the person are moving together, continuously or periodically identifying the person; and
in response that the person is not identified for a predetermined period of time or more, controlling the robot to stop moving to the destination;
in response that movement of the robot is determined to be limited due to presence of a predetermined number or more of persons around the robot, setting a collision prevention function of the robot to OFF to expand a range of movement of the robot for identifying the person, and extending a shock absorber including a bumper from a body of the robot; and
controlling the robot to move within a predetermined radius to identify the person while the collision prevention function of the robot is set to OFF and the shock absorber is extended from the body of the robot.
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