KR102745155B1 - Device and method for providing linkage guidance using multiple robots placed in multiple zones - Google Patents

Abstract

A device and method for providing linked guidance using multiple robots placed in multiple areas are provided. The device includes a memory storing one or more instructions, and one or more processors executing the one or more instructions stored in the memory, wherein the one or more processors acquire information about a guide subject and a guidance route for accompanying guidance by executing the one or more instructions, and perform an accompanying guidance task corresponding to the guidance route for the guide subject using a plurality of robots, and performing the accompanying guidance task includes performing a guidance task of guiding the guide subject to one or more destinations located within the first zone of the guidance route using a first robot among the plurality of robots, and performing a guidance task of guiding the guide subject to a moving means for moving from the first zone to the second zone using the first robot, and causing a second robot among the plurality of robots located within the second zone to wait at a predetermined waiting position adjacent to the moving means within the second zone, and performing authentication on the guide subject who has completed moving from the first zone to the second zone using the second robot, and after completing authentication on the guide subject, performing the guidance on the guide subject using the second robot. Includes performing guidance tasks to guide to one or more destinations located within a second zone of the route.

Description

{DEVICE AND METHOD FOR PROVIDING LINKAGE GUIDANCE USING MULTIPLE ROBOTS PLACED IN MULTIPLE ZONES}

The present invention relates to a device and method for providing linked guidance using a plurality of robots placed in a plurality of areas.

The robot industry has grown rapidly along with the development of automation and artificial intelligence technology. It has developed from simple mechanical devices in the early days to sophisticated systems with complex sensors and algorithms. Manufacturing robots are used in various tasks such as assembly, welding, and painting, and have greatly improved the productivity of the manufacturing industry by providing high precision and repeatability. Recently, various service robots such as cleaning robots and medical robots have been developed. They help people in their daily lives and provide convenience by automating specific tasks.

Patent Publication No. 10-2022-0008947, 2022.01.24

The problem to be solved by the present invention is to provide a device and method for providing linked guidance using a plurality of robots placed in a plurality of areas.

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

In one aspect of the present invention for solving the above-described problem, a device for providing linked guidance includes a memory storing one or more instructions, and one or more processors executing the one or more instructions stored in the memory, wherein the one or more processors acquire information on a guide target and a guidance route for accompanying guidance by executing the one or more instructions, and perform an accompanying guidance task corresponding to the guidance route for the guide target using a plurality of robots, and performing the accompanying guidance task includes performing a guidance task of guiding the guide target to one or more destinations located in the first zone of the guidance route using a first robot among the plurality of robots, and performing a guidance task of guiding the guide target to a moving means for moving from the first zone to the second zone using the first robot, and causing a second robot among the plurality of robots located in the second zone to wait at a predetermined waiting position adjacent to the moving means in the second zone, and performing authentication on the guide target who has completed moving from the first zone to the second zone using the second robot, and authenticating the guide target. After completion, it includes performing a guidance task of guiding the guided person to one or more destinations located within a second area of the guidance route using the second robot.

According to another aspect of the present invention for solving the above-described problem, a method for linked guidance includes a step of obtaining information about a guide target and a guidance route for accompanying guidance, and a step of performing an accompanying guidance task corresponding to the guidance route for the guide target using a plurality of robots, wherein the step of performing the accompanying guidance task includes a step of performing a guidance task for guiding the guide target to one or more destinations located within the first zone of the guidance route using a first robot among the plurality of robots, a step of performing a guidance task for guiding the guide target to a means of transportation for moving from the first zone to the second zone using the first robot, a step of causing a second robot among the plurality of robots located within the second zone to wait at a predetermined waiting position adjacent to the means of transportation within the second zone, a step of performing authentication for the guide target who has completed moving from the first zone to the second zone using the second robot, and a step of performing a guidance task for guiding the guide target to one or more destinations located within the second zone of the guidance route after completing authentication for the guide target using the second robot.

Other specific details of the present invention are included in the detailed description and drawings.

According to the present invention, in providing companion guidance using robots for a multi-story building divided into a plurality of zones or an indoor/outdoor space having a large space, while having a plurality of robots perform companion guidance within their respective zones, when companion guidance for a plurality of zones is required, instead of having the robots board a transportation means together with the person being guided, one robot guides the person being guided onto the transportation means, and another robot waits in advance at a location adjacent to the transportation means, performs authentication on the person being guided who has completed movement via the transportation means, and then performs companion guidance to the next destination, thereby providing companion guidance linked between a plurality of robots, and exhibits the effect of enabling efficient utilization of robots.

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

FIG. 1 is a drawing schematically illustrating an example of an environment in which a guidance providing device according to one embodiment of the present invention is provided.
Figures 2 and 3 are schematic drawings illustrating examples of various structures of the site of Figure 1.
FIG. 4 is a diagram schematically illustrating a network connection between a guidance providing device, a robot, an automated facility, and a user device according to one embodiment of the present invention.
Figure 5 is a drawing schematically illustrating the connection structure of the guidance providing device of Figure 4 and a robot or automated equipment.
Figure 6 is a schematic drawing illustrating an example of the configuration of the robot of Figure 1.
FIG. 7 is a drawing schematically illustrating the configuration of a guidance providing device according to one embodiment of the present invention.
FIG. 8 is a drawing schematically illustrating a function or service performed by a guidance providing device according to one embodiment of the present invention.
FIGS. 9 and 10 are schematic diagrams illustrating an example of a process for performing linked guidance for multiple areas by a guidance providing device according to one embodiment of the present invention.
FIG. 11 is a drawing schematically illustrating the configuration of a method for providing linked guidance according to one embodiment of the present invention.
Figure 12 is a drawing schematically illustrating the detailed configuration of step S700 of Figure 11.
Figure 13 is a drawing schematically illustrating the detailed configuration of step S710 of Figure 12.
Figure 14 is a drawing schematically illustrating the detailed configuration of step S720 of Figure 12.

The advantages and features of the present invention, and the methods for achieving them, will become clear with reference to the embodiments described in detail below together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and the present embodiments are provided only to make the disclosure of the present invention complete and to fully inform a person skilled in the art of the scope of the present invention, and the present invention is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. The singular forms used herein also include the plural forms unless specifically stated otherwise. The terms "comprises" and/or "comprising" used herein do not exclude the presence or addition of one or more other components in addition to the mentioned components. Like reference numerals refer to like components throughout the specification, and "and/or" includes each and every combination of one or more of the mentioned components. Although "first", "second", etc. are used to describe various components, these components are not limited by these terms. These terms are only used to distinguish one component from another component. Therefore, it should be understood that a first component mentioned below may also be a second component within the technical spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used with the meaning commonly understood by those skilled in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly specifically defined.

In describing the present invention, if it is judged that a detailed description of related known technology that is obvious to a person skilled in the art and may unnecessarily obscure the gist of the present invention, it will be omitted.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a drawing schematically illustrating an example of an environment in which a guidance providing device according to one embodiment of the present invention is provided.

Referring to FIG. 1, within a site (10) where a guidance providing device is provided, there may be one or more robots (100), one or more automated facilities (200), and one or more people (P).

The site (10) represents a space where one or more robots (100) are introduced (installed or provided) and are controlled. For example, the site (10) may be an indoor space having various forms such as a hospital, a factory, a school, an airport, an apartment, an officetel, an office, a restaurant, a government office, a gymnasium, a shopping mall, a subway station, etc. The site (10) may be a single-story building or a multi-story building having two or more stories. Alternatively, the site (10) may be an outdoor space. Meanwhile, a plurality of sites (10) may be implemented in one space as needed. For example, when the first floor and the second floor of a building are set as separate sites (10), the first floor may be separated as the first site (10) and the second floor may be separated as the second site (10).

In some embodiments, there may be multiple robots (100) within a site (10), as illustrated in FIG. 1. Or, in some embodiments, unlike illustrated in FIG. 1, there may be multiple types of robots (100) within a site (10).

“Robot” refers to a mechanical device programmed to perform various tasks. Robots include robots with various purposes and functions utilized in various industrial and service fields. Since an embodiment of the present invention is for accompanying guidance to a person to be guided, for example, the robot may be a guide robot. A guide robot refers to a robot that has autonomous driving performance and can perform various human-robot interactions using any input or output part. A guide robot can perform various tasks such as facility guidance, information provision, and escorting. Meanwhile, guide robots include various types of robots such as serving robots, delivery robots, security robots, quadruped walking robots, and humanoids that can perform guidance work as an additional purpose based on the above-described function, although the main purpose of the guide robot is not guidance.

In this specification, "multiple types of robots" refers to a case where two or more different types of robots exist. In addition to a case where two or more robots for different purposes exist, a case where two or more robots for the same purpose exist but are made by different manufacturers can be described as "multiple types of robots." "multiple types of robots" can also be expressed as "multiple heterogeneous robots."

Within the site (10), there may be automated facilities (200) other than the robot (100). A plurality of automated facilities (200A, 200B, 200C) having various purposes and functions may be implemented within the site (10). For example, the automated facilities (200) may include various automated means of movement such as an elevator, an automatic door, an access control gate, an escalator, etc. implemented for the movement of people, but are not limited thereto . In addition, the automated facilities (200) may perform operations such as boarding the robot (100) or allowing the robot (100) to pass through in conjunction with a guidance providing device described below to support the movement (100) of the robot.

Within the site (10), there may be a person interacting with a robot (100) or an automated facility (200). The person (P) may perform various roles depending on the situation. For example, if the site (10) is a hospital, the person (P) may be a medical professional such as a doctor, nurse, or pharmacist residing within the hospital, an administrative worker, a security personnel, a patient visiting the hospital, a guardian, etc. Within the site (10), the robot (100) may perform obstacle avoidance to avoid collision with the person (P). If a collision with the person (P) is expected, the robot (100) may temporarily stop or control the driving unit to a different path than the current path.

Figures 2 and 3 are schematic drawings illustrating examples of various structures of the site of Figure 1.

Referring to FIG. 2, the site (10) may be a multi-story building having two or more floors. When the site (10) has a structure of a multi-story building, each floor constituting the multi-story building may be defined as a zone. In addition, one or more robots (100) may be placed in each zone, each zone being designated as a responsible zone. Here, one or more robots (100) may be set to be able to move only within their responsible zone and not to move to a zone that they are not responsible for. In other words, the robot (100) may not move to a floor other than the floor on which it is located.

For example, as illustrated in FIG. 2, the site (10) may be a two-story building having two floors. The site (10) may be composed of a first floor (11) and a second floor (12), and the first floor (11) may be defined as a first zone (11) and the second floor (12) may be defined as a second zone (12).

Meanwhile, as described above, there may be one or more automated facilities (200) within the site (10), and in the example illustrated in FIG. 2, the automated facility (200) may be an elevator as a means of transportation for people to move between the first and second floors. Alternatively, the automated facility (200) may be an escalator that supports movement between floors in substantially the same manner as an elevator.

Referring to FIG. 3, the site (10) may have a large space. For example, the site (10) may be a large indoor space such as a factory, an airport, a gymnasium, a shopping mall, etc., but is not limited thereto. Or, for example, the site (10) may be a large outdoor space such as a theme park, a playground, a park, etc. Even when the site (10) has a large space, multiple zones may be defined within the site (10). The multiple zones may be divided according to various criteria such as the purpose of use, area, environment, etc. The multiple zones may be physically separated by structures such as walls or doors, but is not limited thereto. The multiple zones may not be physically separated but may be logically separated only by the guidance providing device (300).

And, substantially the same as described with reference to FIG. 2, one or more robots (100) may be placed in each zone, each zone being designated as its assigned zone. Here, one or more robots (100) may be set to be able to move only within their assigned zone and not to move to zones that they are not assigned to.

For example, as shown in FIG. 3, if the site (10) is not a multi-story but is a wide indoor/outdoor space, a certain area within the site (10) can be defined as a first area (13) and another certain area can be defined as a second area (14).

Meanwhile, as described above, there may be one or more automated facilities (200) within the site (10), and in the example illustrated in FIG. 3, the automated facilities (200) may be automatic doors, access control gates, etc. as a means of movement for a person to move from a certain area to another area.

In FIGS. 2 and 3, the robot can perform guidance work for a person. The robot (100) can perform accompanying guidance work or general guidance work according to the control command of the guidance providing device. Drawing symbol 100A illustrates a robot (100) performing accompanying guidance work, and drawing symbol 100B illustrates a robot (100) performing general guidance work.

FIG. 4 is a diagram schematically illustrating a network connection between a guidance providing device and a robot, an automated facility, and a user device according to one embodiment of the present invention, and FIG. 5 is a diagram schematically illustrating a connection structure of the guidance providing device of FIG. 4 and a robot or an automated facility.

Referring to FIG. 4, a robot (100), an automated facility (200), a guidance providing device (300), and a user device (400) are connected to a network. The robot (100), the automated facility (200), the guidance providing device (300), and the user device (400) can transmit and receive various data or information to each other through the network.

The network may include a wired network, a wireless network, or a combination thereof, capable of transmitting and receiving various data or information.

The guidance providing device (300) performs control for a plurality of robots (100) introduced to one or more sites (10). The guidance providing device (300) can control the operation of the robot (100) by remotely transmitting a command message to the robot (100). The guidance providing device (300) can receive a status message from the robot (100) and monitor the status of the robot (100) in real time. The guidance providing device (300) can receive the status message at a predetermined time interval. In addition to the basic control function, the guidance providing device (300) can perform various functions described below with reference to FIG. 8. The guidance providing device (300) can perform accompanying guidance to guide a specific guidance target to a specific destination within the site (10) by using a plurality of robots (100), or can perform general guidance for an unspecified number of people. The guidance providing device (300) can be built as an on-premise system structure inside the site (10) or as a cloud system structure outside the site (10).

The user device (400) represents a computing system operated by a user (manager or guidance target) using the guidance providing device (300). The user device (400) can receive a command from the user to perform a specific operation, and output the result of performing the specific operation to the user. The user device (400) may include various input devices and output devices well known in the technical field to which the present invention belongs. For example, the user device (400) may include, but is not limited to, a smart phone, a desktop computer, a laptop computer, a tablet PC, a smart TV, digital signage, a wearable device, etc.

Referring to FIG. 3, the connection structure for transmitting and receiving data or information between the guidance providing device (300) and the robot (100) may vary. For example, the guidance providing device (300) may be directly connected to the robot (100) (or the control panel of the robot) through a network and may transmit and receive messages with the robot (100). Alternatively, the guidance providing device (300) may be connected to the robot (100) through a relay device (500) and may transmit and receive messages with the robot (100). The relay device (500) may include middleware required for communication between the guidance providing device (300) and the robot (100) that use different communication methods. For example, the relay device (500) can communicate with the guidance providing device (300) through an API (Application Programming Interface) and communicate with the robot (100) using an industrial communication method such as Modbus, thereby relaying communication between the guidance providing device (300) and the robot (100). Alternatively, the guidance providing device (300) can be connected to the robot (100) through the manufacturer server (550) of the robot (100). For example, the guidance providing device (300) can communicate with the manufacturer server (550) using various API methods such as a REST (Representational State Transfer) API or a WebSocket API. The guidance providing device (300) can send and receive messages with the robot (100) through the manufacturer server (550).

The connection structure for transmitting and receiving data or information between the guidance providing device (300) and the automation facility (200) may also vary. For example, the guidance providing device (300) may be directly connected to the automation facility (200) through a network and may transmit and receive messages with the automation facility (200). Alternatively, the guidance providing device (300) may be connected to the automation facility (200) through a relay device (600) and may transmit and receive messages with the automation facility (200). The relay device (600) may include middleware necessary for communication between the guidance providing device (300) and the automation facility (200) using different communication methods. For example, the relay device (600) may communicate with the guidance providing device (300) through an API and communicate with the automation facility (200) using an industrial communication method such as Modbus, thereby relaying communication between the guidance providing device (300) and the automation facility (200). Alternatively, the guidance providing device (300) may be connected to the automation facility (200) through the manufacturer server (650) of the automation facility (200). For example, the guidance providing device (300) may communicate with the manufacturer server (650) using various API methods such as a REST API or a web socket API. The guidance providing device (300) may send and receive messages with the automation facility (200) through the manufacturer server (650).

Although not clearly shown in FIG. 5, the relay device (600) may be directly connected to the automation facility (200), or may be connected to the automation facility (200) through a monitoring panel or control panel system of the automation facility (200).

Figure 6 is a drawing schematically illustrating an example of the configuration of the robot of Figure 1.

Referring to FIG. 6, the robot (100) includes a sensor unit (110), a processor (120), a memory (130), a communication unit (140), an input unit (150), an output unit (160), a driving unit (170), and a power supply unit (180).

The sensor unit (110) may include one or more sensors for sensing the surrounding environment of the robot (100), the state of a predetermined configuration inside the robot (100), the position of the robot (100), the operator of the robot (100), etc. For example, the sensor unit (110) may include, but is not limited to, an image sensor, an RGBD sensor, a lidar sensor, a laser sensor, an ultrasonic sensor, a proximity sensor, an infrared sensor, a force/torque sensor, an inertial sensor, a gyro sensor, an acceleration sensor, a temperature sensor, etc.

The processor (120) performs general control of the robot (100). The processor (120) can control other internal components of the robot (100), such as a sensor unit (110), a memory (130), a communication unit (140), an input unit (150), an output unit (160), a driving unit (170), and a power supply unit (180). The processor (120) can be implemented by including a CPU (Central Processing Unit), an MPU (Micro Processor Unit), an MCU (Micro Controller Unit), a GPU (Graphics Processing Unit), or various types of processors well known in the technical field to which the present invention belongs. The processor (120) can read one or more instructions or computer programs stored in the memory (130) and perform various commands. The processor (120) can control the robot (100) according to a command message of a guidance providing device (300) received through the communication unit (140).

The memory (130) stores one or more instructions, computer programs, data or information for the operation of the robot (100). For example, the memory (130) may include a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), an EEPROM (Electrically Erasable Programmable ROM), a flash memory, a hard disk, a removable disk, a CD-ROM, or various forms of computer-readable recording media well known in the art to which the present invention pertains.

The communication unit (140) may include a wired communication unit, a wireless communication unit, or a combination thereof. The wireless communication unit may include, for example, one or more of a mobile communication module, a wireless Internet module, or a short-range communication module. The mobile communication module may transmit and receive wireless signals with at least one of a base station, an external terminal, and a server on a mobile communication network constructed according to technical standards or communication methods for mobile communication. The wireless Internet module may transmit and receive wireless signals on a communication network according to wireless Internet technologies. The short-range communication module is for short-range communication and may support short-range communication using at least one of Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, NFC (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies.

The input unit (150) may include a camera for inputting a video signal, a microphone for receiving an audio signal, and a user input unit for receiving information from a user. Image data or voice data collected by the input unit may be analyzed and processed into a user command. The user input unit may include a mechanical input means or a touch input means.

The output unit (160) may include one or more of a display unit, an audio output unit, a haptic module, and an optical output unit for generating output related to vision, hearing, or tactile sensations.

The driving unit (170) provides a means for driving the mechanical unit of the robot (100). For example, in the case of a manufacturing robot or a quadruped walking robot, the driving unit (170) includes a means for driving the joints of the robot (100), and in the case of a mobile robot, the driving unit (170) may include various means for performing functions such as driving and changing direction of the robot (100). The driving unit (170) may include various actuators such as a motor and a reducer.

The power supply unit (180) supplies power for the operation of the robot (100). The power supply unit (180) supplies external power or power (e.g., a battery) inside the robot (100) to each component inside the robot (100).

FIG. 7 is a drawing schematically illustrating the configuration of a guidance providing device according to one embodiment of the present invention.

Referring to FIG. 7, the guidance providing device (300) includes a processor (310), a memory (320), a communication unit (330), an input unit (340), and an output unit (350).

The processor (310) performs general control of the guidance providing device (300). The processor (310) can control other internal components of the guidance providing device (300), such as a memory (320), a communication unit (330), an input unit (340), and an output unit (350). The processor (310) can be implemented by including a CPU, an MPU, an MCU, a GPU, or various types of processors well known in the technical field to which the present invention belongs. The processor (310) can read one or more instructions or computer programs stored in the memory (320) and perform various commands. The processor (320) can control the guidance providing device (300) according to a command of a user device (400) received through the communication unit (330).

The memory (320) stores one or more instructions, computer programs, data or information for the operation of the guidance providing device (300). For example, the memory (320) may include RAM, ROM, EPROM, EEPROM, flash memory, a hard disk, a removable disk, a CD-ROM, or various forms of computer-readable recording media well known in the art to which the present invention pertains.

The communication unit (330) may include a wired communication unit, a wireless communication unit, or a combination thereof. The wireless communication unit may include, for example, one or more of a mobile communication module, a wireless Internet module, or a short-range communication module. The mobile communication module may transmit and receive a wireless signal with at least one of a base station, an external terminal, and a server on a mobile communication network constructed according to technical standards or communication methods for mobile communication. The wireless Internet module may transmit and receive a wireless signal on a communication network according to wireless Internet technologies. The short-range communication module is for short-range communication and may support short-range communication using at least one of Bluetooth, RFID, infrared communication, UWB, ZigBee, NFC, Wi-Fi, Wi-Fi Direct, and Wireless USB technologies.

The input unit (340) may include a camera for inputting a video signal, a microphone for receiving an audio signal, and a user input unit for receiving information from a user. Image data or voice data collected by the input unit may be analyzed and processed into a user command. The user input unit may include a mechanical input means or a touch input means.

The output unit (350) may include one or more of a display unit, an audio output unit, a haptic module, and an optical output unit for generating output related to vision, hearing, or tactile sensations.

The guidance providing device (300) may be implemented as one server or multiple servers as needed. If the guidance providing device (300) is implemented as multiple servers, each server may include the configuration described with reference to FIG. 5.

FIG. 8 is a drawing schematically illustrating a function or service performed by a guidance providing device according to one embodiment of the present invention.

Referring to FIG. 8, the processor (310) of the guidance providing device (300) may provide various functions or services, such as guidance target management (311), guidance route management (312), guidance task management (313), robot management (314), facility management (315), data analysis (316), remote control (317), and status monitoring (318), by executing one or more instructions or computer programs stored in the memory (320).

The guidance providing device (300) can provide a guidance recipient management function that registers and manages information such as the name, contact information, and password of the guidance recipient. The guidance providing device (300) can provide a guidance route management function that registers and manages information such as a destination requiring guidance, a movement route related to the destination, guidance route items, and a guidance route item list. The guidance providing device (300) can provide a guidance task management function that registers and manages the names, contents, identifiers, robot information assigned to tasks, progress status (e.g., waiting, in progress, completed), required time, and various information required during the guidance process, such as accompanying guidance tasks, guidance tasks for each zone, and general guidance tasks. The guidance providing device (300) can provide a robot management function that registers and manages the type of robot, the name of the robot, and the identifier of the robot, and the like. The guidance providing device (300) can provide a facility management function that registers and manages the type of automated facility, the name of the automated facility, the identifier of the automated facility, and the like. The guidance providing device (300) can provide a data analysis function that analyzes various data regarding the status received from the robot (100) or the command transmitted to the robot (100), and provides the status and statistics of the data. The guidance providing device (300) can provide a remote control function that remotely instructs the robot (100) and controls its operation. The guidance providing device (300) can provide a status monitoring function that monitors various statuses of the robot (100), such as the operating status, battery level, and current location, in real time.

The guidance providing device (300) may provide various other functions or services not shown in FIG. 8. The guidance providing device (300) may provide a user management function that registers and manages a user with management authority for each robot (100). To this end, the guidance providing device (300) may register by linking the robot identifier, the user identifier, the user’s password, etc. In addition, the guidance providing device (300) may provide a site management function that registers and manages the type of site, the name of the site, the address of the site, the number of floors of the site, a map of the site, a robot of the site, a location of interest within the site, etc. The user may assign a robot for which he or she has management authority for each site. In addition, the guidance providing device (300) may provide a workflow management function that builds, modifies, and manages a workflow that defines the order of a series of tasks, and controls and monitors the robot (100) according to the workflow. In addition, the guidance providing device (300) may provide a schedule management function that controls the robot to perform a pre-determined task at a specific point in time or to repeatedly perform the task. Additionally, the guidance providing device (300) can provide maintenance functions such as preemptive (preventive) maintenance of the robot, remote error resolution, etc.

Below, the guidance function or service provided by the guidance provision device (300) will be described in detail.

The guidance providing device (300) can provide a guidance service including accompanying guidance or general guidance by using a plurality of robots (100). The guidance providing device (300) can monitor the status of a plurality of robots (100) in real time and transmit necessary commands to a plurality of robots (100) according to the current guidance service process.

“Guidance along” refers to a robot (100) moving together with or ahead of a person to guide, directly guiding the person to a specific destination so that the person to be guided can safely travel to the specific destination.

"General guidance" is the opposite concept of "accompanied guidance", and refers to guidance performed for an unspecified number of people without accompanying a specific guidance target, and without direct movement to a specific destination. A robot (100) performing general guidance can perform various guidance such as outputting content provided by a guidance providing device to an unspecified number of people, providing various information based on images or voices at the request of a person, providing a map of the site (10) and route information from the current location to various points within the site (10), or providing general information about the facility. "General guidance" can also be expressed as "autonomous guidance".

In some embodiments, the guidance providing device (300) may request at least some of the robots (100) among the plurality of robots (100) to perform an accompanying guidance task. In some embodiments, the guidance providing device (300) may request a robot (100) among the plurality of robots (100) that is not performing an accompanying guidance task to perform a general guidance task.

The guidance provision device (300) can obtain information about the guidance target and the guidance route (guidance course) for the guidance from the manager or directly from the guidance target before providing the guidance.

Information about the recipient may include, but is not limited to, one or more of the following information: name, nickname, ID, other identifier, phone number, email address, other contact information, password, etc.

In some embodiments, the information about the guidance path may include information about one or more destinations (requiring guidance) within the site (10). In some embodiments, the information about the guidance path may additionally include movement path information about one or more destinations within the site (10). In the former case, the guidance providing device (300) only transmits information about the destinations to the robot (100), and the robot (100) can independently perform movement path planning to the destination. In the latter case, the guidance providing device (300) transmits information about the movement path to a predetermined destination as well as information about the destination to the robot (100), and the robot (100) can move to the destination along the movement path determined by the guidance providing device (300).

In some embodiments, the information about the guidance route may include selection information about one or more guidance route items from a list of predefined guidance route items. The list of guidance route items may include m guidance route items (where m is a natural number greater than or equal to 2). Each guidance route item may include information about one or more destinations within the site (10) as described above, or movement route information about one or more destinations.

The guidance providing device (300) can provide accompanying guidance to the guidance target using one robot (100) or multiple robots (100). If there is only one destination within the guidance route, the guidance providing device (300) can cause one robot (100) to perform the accompanying guidance task. If there are two or more destinations within the guidance route and all the destinations are located within one zone, the guidance providing device (300) can similarly cause one robot (100) located within the zone to perform the accompanying guidance task. If there are two or more destinations within the guidance route and the two or more destinations are located within different zones, the guidance providing device (300) can cause multiple robots (100) located within different zones to perform the accompanying guidance task in conjunction with each other.

When linked guidance is required for multiple zones, the guidance providing device (300) generates and performs guidance tasks for each of the multiple zones requiring guidance. For example, assume that n zones (where n is a natural number greater than or equal to 2) are defined within the site (10). In addition, for convenience of explanation, assume that one robot is placed in each zone. The guidance providing device (300) can generate an accompanying guidance task for the nth zone and request the task to the nth robot located within the nth zone and responsible for guidance for the nth zone.

The accompanying guidance task for each zone may basically include a guidance task of guiding the guide target to one or more destinations located within the zone. When the guidance task starts, the guidance providing device (300) transmits a movement command to the robot (100) to the first destination within the zone, and the robot (100) starts moving to the first destination according to the movement command. At this time, the robot (100) may output guidance information regarding the first destination so that the guide target can understand information such as which place, location, or point they are moving to, and the purpose of moving to the first destination. When the robot (100) completes the accompanying guidance to the guide target to the first destination, i.e., when the robot (100) completes moving to the first destination, the robot (100) transmits a report of the completion of moving to the first destination to the guidance providing device (300). The guidance providing device (300) may command the robot (100) to wait for a predetermined period of time after completing moving to the first destination and before starting moving to the next destination. If the next destination, the second destination, is located within the same zone, the guidance providing device (300) and the robot (100) repeat the operation described for the first destination for the second destination. When the accompanying guidance for all destinations located within the zone is completed, the robot (100) can output information indicating that the accompanying guidance for the zone is completed. The guidance providing device (300) can transmit a command to the robot (100) to return to the waiting position within the zone.

Meanwhile, if the next destination is located in a different zone and linked guidance to the different zone is required, the accompanying guidance task may additionally include a guidance task of guiding the guidance target to a transportation means located in the corresponding zone. To this end, the guidance providing device (300) transmits a movement command to the robot (100) to the location of the transportation means within the corresponding zone, and the robot (100) starts moving to the location of the transportation means according to the movement command. Alternatively, the guidance providing device (300) may transmit a movement command to the robot (100) to a predetermined location adjacent to the transportation means within the corresponding zone. When the robot (100) completes moving to the location of the transportation means, the robot (100) transmits a report of the completion of moving to the location of the transportation means to the guidance providing device (300). During the movement to the location of the transportation means or after completing the movement to the location of the transportation means, the robot (100) may output guidance information regarding the use of the transportation means so that the guidance target can recognize that he or she must use the transportation means to move to another zone. For example, guidance information regarding the use of transportation may include, but is not limited to, messages such as "Take the elevator to floor X", "Pass through the access control gate and move to area Y", etc. The guidance providing device (300) may command the robot (100) to wait for a predetermined period of time after completing movement to the location of the transportation means. When the waiting time has elapsed, the guidance providing device (300) may transmit a command to the robot (100) to return to the waiting position within the corresponding area.

In order to perform linked guidance for a guide target moving from another area, the accompanying guidance task may additionally include a waiting task to have the robot (100) wait in advance to greet the guide target. To this end, the guidance providing device (300) transmits a command to move to a waiting position within the relevant area to the robot (100), and the robot (100) starts moving to the waiting position according to the movement command. The waiting position may be a location of a moving means within the relevant area or a predetermined location adjacent to the moving means. The guidance providing device (300) may command the robot (100) to wait for a predetermined period of time after completing the movement to the waiting position.

The accompanying guidance task for each zone may additionally include an authentication task for authenticating the guided subject before starting guidance to one or more destinations for the guided subject. The guidance providing device (300) transmits an authentication command for the guided subject to the robot (100), and the robot (100) authenticates the guided subject according to the authentication command. In some embodiments, the authentication may include authentication of the information about the guided subject described above. For example, the robot (100) may request the guided subject to input information about the guided subject, such as at least a part of the name or phone number and a password, while requesting authentication from the guided subject. The robot (100) may obtain information about the guided subject and transmit it to the guidance providing device (300), and the guidance providing device (300) may perform authentication of the guided subject by comparing whether the information received from the robot (100) matches the information obtained from the manager or the guided subject in advance. In addition, the guidance providing device (300) may transmit the authentication result to the robot (100). The robot (100) may output the authentication result. If the authentication result is a success, the robot (100) can additionally output guidance information on all destinations for accompanying guidance within the corresponding area. Authentication of the guide target can be performed in the first area where accompanying guidance starts. In addition, if there are two or more destinations within the guidance route and the two or more destinations are located in different areas, i.e., if the guide target needs to move between areas, authentication of the guide target can also be performed in the area to which the guide target is newly moving. Authentication of the guide target can be performed every time movement to each destination starts.

When the accompanying guidance for all destinations located within the corresponding area is completed and there is no more next destination, the robot (100) can output information indicating that the accompanying guidance for all areas is completed and the accompanying guidance is terminated. The guidance providing device (300) can transmit a command to the robot (100) to return to the waiting position within the corresponding area.

The standby position of the robot (100) may be set variously for each zone. For example, if the starting point for starting the accompanying guidance is defined within the first zone, the standby position within the first zone may be the starting point position or a predetermined position adjacent to the starting point. In addition, the standby position within the remaining other zones may be the position of the moving means within the zone or a predetermined position adjacent to the moving means as described above. Alternatively, an additional standby position may be set within each zone in addition to the starting point position or the moving means position. If two or more robots are arranged in each zone, the standby positions of at least some of the two or more robots may be set differently from each other.

The accompanying guidance task may include handling exceptional situations such as the departure of the guide target. In a normal situation, the robot (100) may wait for a predetermined period of time after completing movement to a predetermined destination before starting to move to the next destination. Then, the guide target may request the robot (100) to guide him/her to the next destination after completing necessary tasks at the destination within the waiting time. However, an exceptional situation may occur in which the guide target deviates from the guidance path for accompanying guidance or moves to the next destination alone without the robot (100) accompanying him/her. The same applies when the guide target spends a long time at the destination and exceeds the predetermined waiting time. In order to handle such exceptional situations, the robot (100) may transmit information indicating that the waiting time has exceeded the predetermined period of time to the guidance providing device (300), and the guidance providing device (300) may transmit a message indicating that the waiting time has exceeded to the manager to notify him/her. Alternatively, the guidance providing device (300) may command the robot (100) to move to a predetermined manager's resident position corresponding to the destination within the relevant area and output a guidance target confirmation request message through a visual signal, an audio signal, or other means. The guidance target confirmation request message may include, for example, "Please find the guidance target who is being guided," but is not limited thereto. The manager may confirm the location of the guidance target and transmit the guidance target's location confirmation result to the guidance providing device (300). The guidance providing device (300) may command the robot (100) to continue performing the guidance task and to continue waiting at the current destination or to move to the next destination based on the response including the guidance target's location confirmation result. Alternatively, if the guidance target's location cannot be confirmed, the guidance providing device (300) may end the guidance task for the relevant area or all areas and transmit a command to the robot (100) to return to a waiting position within the relevant area.

A robot (100) that has completed accompanying guidance to all destinations located within a given area can perform general guidance work without returning to a standby position according to a command from a guidance providing device (300). That is, a robot (100) that has completed accompanying guidance for a given area can perform general guidance work while another robot (100) is performing accompanying guidance work for another area. A robot (100) that has completed guidance to a location of a means of transportation within a given area can also perform general guidance work according to a command from a guidance providing device (300). A robot (100) assigned accompanying guidance work for an n-th area can perform general guidance work according to a command from a guidance providing device (300) until a person to be guided moves to an n-th area. When accompanying guidance to all destinations located within a previous area is completed, the guidance providing device (300) can transmit a command to move to a standby position to a robot (100) located in an n-th area.

When two or more robots are deployed in each zone, the robot (100) that is not performing accompanying guidance work within each zone can perform general guidance work.

FIGS. 9 and 10 are schematic diagrams illustrating an example of a process for performing linked guidance for multiple areas by a guidance providing device according to one embodiment of the present invention.

Referring to FIGS. 9 and 10, the guidance providing device (100) can perform accompanying guidance work using a plurality of robots (100_1, 100_2). The guidance providing device (100) can request the first robot (100_1) to perform accompanying guidance work for the first zone (11) corresponding to the first floor of the site (10), and can request the second robot (100_2) to perform accompanying guidance work for the second zone (12) corresponding to the second floor of the site (10).

In the examples shown in FIGS. 9 and 10, the guidance route includes first to third destinations (D1_1 to D1_3) within the first zone (11) and first to third destinations (D2_1 to D2_3) within the second zone (12).

The first robot (100_1) can perform authentication on the person to be guided before starting guidance to the first destination (D1_1) within the first zone (11). If the authentication result is successful, the first robot (100_1) can output guidance information on the first to third destinations (D1_1 to D1_3) within the first zone (11) and then start guidance to the first destination (D1_1) within the first zone (11).

Although not clearly shown in Fig. 9, the starting point for starting the accompanying guidance and the waiting position of the first robot (100_1) can be set at a predetermined location within the first zone (11).

The first robot (100_1) that has completed accompanying guidance for the first to third destinations (D1_1 to D1_3) within the first zone (11) can output information indicating that accompanying guidance for the first zone (11) has been completed. Since linked guidance between the first zone (11) and the second zone (12) is required, the first robot (100_1) can guide the person being guided to the location (D1_E) of the transportation means (200) within the first zone (11). During movement to the transportation means location (D1_E) or after completing movement to the transportation means location (D1_E), the first robot (100_1) can output guidance information regarding the use of the transportation means (200). The person being guided can check the guidance information regarding the use of the transportation means (200) and use the transportation means (200) to move from the first zone (11) to the second zone (12).

The first robot (100_1) that has completed accompanying guidance for all destinations (D1_1 to D1_3) located within the first zone (11) can return to the standby position or perform general guidance work.

In order to provide guidance for the connection between the first zone (11) and the second zone (12), the second robot (100_2) may move to a waiting position (D2_E) in the second zone (12) in advance and wait there. The waiting position (D2_E) in the second zone (12) may be the position (D2_E) of the moving means (200) in the second zone (12).

The second robot (100_2) can perform authentication on a guide target who has completed movement from the first zone (110) to the second zone (12) using a means of transportation (200). If the authentication result is successful, the second robot (100_2) can output guidance information on the first to third destinations (D2_1 to D2_3) within the second zone (12) and then start guidance for the first destination (D2_1) within the second zone (12).

The second robot (100_2) that has completed the accompanying guidance for the first to third destinations (D2_1 to D2_3) within the second zone (12) can output information indicating that the accompanying guidance for the second zone (12) has been completed. In addition, the second robot (100_2) can output information indicating that the accompanying guidance for all zones has been completed and thus the accompanying guidance has been terminated.

The second robot (100_2) that has completed accompanying guidance for all destinations (D2_1 to D2_3) located within the second zone (12) can return to the standby position or perform general guidance work.

So far, a guidance providing device according to an embodiment of the present invention has been described with reference to FIGS. 1 to 10. Hereinafter, a linked guidance providing method according to an embodiment of the present invention will be described with reference to FIGS. 11 to 14. For convenience of explanation, detailed descriptions of matters identical to those described with reference to FIGS. 1 to 10 will be omitted.

The method for providing linked guidance according to one embodiment of the present invention can be performed by various computer devices including the guidance providing device according to one embodiment of the present invention. For convenience of explanation, the method for providing linked guidance is described assuming that two zones are defined within the site (10), but the present invention is not limited thereto, and a person skilled in the art to which the present invention pertains will understand that the present invention can be implemented in substantially the same form for various cases where two or more zones are defined.

FIG. 11 is a drawing schematically illustrating the configuration of a method for providing linked guidance according to one embodiment of the present invention.

Referring to FIG. 11, at step S700, the guidance providing device (300) obtains information about the guidance target and the guidance route for accompanying guidance.

Next, in step S800, the guidance providing device (300) performs accompanying guidance work corresponding to the guidance route for the guidance target using multiple robots (100). The guidance route may include multiple destinations in multiple areas.

Figure 12 is a drawing schematically illustrating the detailed configuration of step S700 of Figure 11.

Referring to FIG. 12, at step S710, the guidance providing device (300) performs an accompanying guidance task for the first zone by using the first robot (100) located within the first zone among the plurality of robots (100).

Next, at step S720, the guidance providing device (300) performs an accompanying guidance task for the second zone using a second robot (100) located within the second zone among the plurality of robots (100).

Figure 13 is a drawing schematically illustrating the detailed configuration of step S710 of Figure 12.

Referring to FIG. 13, at step S711, the guidance providing device (300) performs authentication on the guidance target using the first robot (100).

Next, in step S712, after completing authentication for the guide target, the guide providing device (300) performs a guidance task of guiding the guide target to one or more destinations located within the first area of the guidance route using the first robot (100).

Next, in step S713, after completing the guidance task for one or more destinations located within the first zone using the first robot (100), the guidance providing device (300) performs the guidance task of guiding the guidance target to a means of transportation for moving from the first zone to the second zone using the first robot (100). The means of transportation may include one or more of an elevator, an automatic door, an access control gate, or an elevator.

Next, at step S71, after completing the guidance task of guiding the guidance target to the above-mentioned means of transportation using the first robot (100), the guidance providing device (300) can return the first robot (100) to a predetermined standby position within the first zone, or perform a general guidance task corresponding to the first zone using the first robot (100).

Figure 14 is a drawing schematically illustrating the detailed configuration of step S720 of Figure 12.

Referring to FIG. 14, at step S721, the guidance providing device (300) moves the second robot (100) to a predetermined waiting position adjacent to the moving means within the second zone and places it on standby.

Next, at step S722, the guidance providing device (300) performs authentication on the guidance target who has completed movement from the first zone to the second zone using the second robot (100).

Next, in step S723, after completing authentication for the guide target, the guide providing device (300) performs a guidance task of guiding the guide target to one or more destinations located within the second area of the guidance route using the second robot (100).

Next, at step S724, after completing the guidance task of guiding the person being guided to one or more destinations located within the second zone among the guidance routes using the second robot (100), the guidance providing device (300) can return the second robot (100) to a predetermined standby position within the second zone, or perform a general guidance task corresponding to the second zone using the second robot (100).

The embodiment of the present invention described with reference to FIGS. 1 to 14 performs companion guidance by having multiple robots perform companion guidance within their respective areas when companion guidance is required for a multi-story building or an indoor/outdoor space with a large space, and, when companion guidance is required for multiple areas, performs companion guidance by linking the companion guidance between multiple robots, thereby completing the overall companion guidance process.

In the case of conventional robot-based accompanying guidance methods, the robot rides a means of transportation such as an elevator with the person being guided, so that one robot can only respond to one person being guided, which reduces the efficiency of robot utilization. This method also has the disadvantage of increasing the overall guidance time using the robot. However, according to an embodiment of the present invention, by providing accompanying guidance in a linked manner using multiple robots, each with its own area of responsibility, efficient utilization of the robot is possible.

The methods described in connection with the embodiments of the present invention may be implemented as a computer program and stored in a computer-readable recording medium. The computer program stored in the computer-readable recording medium may be combined with a computing device to execute the above-described methods.

In some embodiments of the present invention, devices or systems may, depending on the implementation of the present invention, have functions performed by one functional block performed by multiple functional blocks, or functions performed by multiple functional blocks may be performed by one functional block.

The steps of the methods according to some embodiments of the present invention may be further divided into additional steps or combined into fewer steps, depending on the implementation of the present invention. In addition, some steps may be omitted as needed, or the order between the steps may be changed.

The steps of a method or algorithm described in connection with the embodiments of the present invention may be implemented directly in hardware, implemented in a software module executed by hardware, or implemented by a combination of these. The software module may reside in a Random Access Memory (RAM), a Read Only Memory (ROM), an Erasable Programmable ROM (EPROM), an Electrically Erasable Programmable ROM (EEPROM), a Flash Memory, a hard disk, a removable disk, a CD-ROM, or any other form of computer-readable recording medium well known in the art to which the present invention pertains.

Above, while the embodiments of the present invention have been described with reference to the attached drawings, it will be understood by those skilled in the art that the present invention may be implemented in other specific forms without changing the technical idea or essential features thereof. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

Claims (10)

Memory that stores one or more instructions; and
comprising one or more processors executing one or more instructions stored in said memory;
The one or more processors execute the one or more instructions,
Obtain information about the guide target and the guide route for accompanying guidance,
Using one or more robots, the accompanying guidance task corresponding to the guidance route is performed on the person being guided.
Performing the above accompanying guidance work
If there is only one destination within the above guidance path, or if there are two or more destinations within the above guidance path and all destinations are located within one of the first or second zones, the accompanying guidance task is performed using one robot,
If there are two or more destinations within the above guidance route, and one or more destinations are located within the first zone and another or more destinations are located within the second zone, the accompanying guidance task is performed using multiple robots,
The above-mentioned guiding task is performed using the above-mentioned multiple robots.
Among the plurality of robots, the first zone is designated as the zone in charge, and a guidance task is performed to guide the person to be guided to one or more destinations located within the first zone among the guidance paths using the first robot that can only move within the first zone.
When the accompanying guidance for all destinations located within the first zone is completed, in order to perform linked guidance for the second zone, the guidance task of guiding the person to be guided to a means of transportation for moving from the first zone to the second zone is performed using the first robot, and the first robot is controlled so as not to board the means of transportation together with the person to be guided.
A second robot capable of moving only within the second zone is placed on standby at a predetermined waiting position adjacent to the means of transportation within the second zone, and the second zone is designated as the zone in charge of the plurality of robots.
Before starting to provide guidance to one or more destinations located within the second zone, authentication is performed on the person being guided who has completed moving from the first zone to the second zone using the second robot.
After completing authentication for the above guide target, performing a guidance task of guiding the guide target to one or more destinations located within the second area of the guidance route using the second robot.
A device that provides linked guidance using multiple robots placed in multiple areas. In the first paragraph,
The above means of transportation includes at least one of an elevator, an automatic door, an access control gate or an elevator.
A device that provides linked guidance using multiple robots placed in multiple areas. In the first paragraph,
The one or more processors execute the one or more instructions,
After completing the guidance task of guiding the person to be guided to the means of transportation using the first robot, the first robot is returned to a predetermined waiting location within the first area.
A device that provides linked guidance using multiple robots placed in multiple areas. In the first paragraph,
The one or more processors execute the one or more instructions,
After completing the guidance task of guiding the person to be guided to the means of transportation using the first robot, the general guidance task corresponding to the first area is performed using the first robot.
A device that provides linked guidance using multiple robots placed in multiple areas. In the first paragraph,
Performing guidance tasks that guide to one or more of the above destinations
When the waiting time of the robot has elapsed for a predetermined time after the robot has completed moving to a predetermined destination and before starting to move to the next destination, the robot is controlled to move to a predetermined resident location of a manager using the linked guidance providing device corresponding to the predetermined destination within the area and output a guidance target confirmation request message, and continues or ends the accompanying guidance task according to the manager's response.
A device that provides linked guidance using multiple robots placed in multiple areas. A method performed by a computer device,
Step of obtaining information about the guide target and the guide route for accompanying guidance; and
A step of performing an accompanying guidance task corresponding to the guidance route for the guidance target using one robot or multiple robots,
The steps to perform the above accompanying guidance work are:
A step of performing the accompanying guidance task using one robot when there is only one destination within the above guidance path, or when there are two or more destinations within the above guidance path and all destinations are located within one of the first zone or the second zone,
Including a step of performing the accompanying guidance task using multiple robots, when there are two or more destinations within the above guidance route, and one or more destinations are located within the first zone and another one or more destinations are located within the second zone,
The step of performing the accompanying guidance task using the above multiple robots is
A step of performing a guidance task of guiding the person to be guided to one or more destinations located within the first zone among the guidance paths by using the first robot that is capable of moving only within the first zone among the plurality of robots, and
When the accompanying guidance for all destinations located within the first zone is completed, a step of performing a guidance task of guiding the person to be guided to a means of transportation for moving from the first zone to the second zone using the first robot to perform linked guidance for the second zone, and controlling the first robot not to board the means of transportation together with the person to be guided;
A step of placing a second robot capable of moving only within the second zone as the zone in charge of the second zone among the plurality of robots at a predetermined waiting position adjacent to the moving means within the second zone, and
Before starting to provide guidance to one or more destinations located within the second zone, a step of performing authentication on the person being guided who has completed moving from the first zone to the second zone using the second robot;
After completing authentication for the person to be guided, a step of performing a guidance task of guiding the person to be guided to one or more destinations located within the second area of the guidance route using the second robot is included.
A method for providing linked guidance using multiple robots placed in multiple areas. In Article 6,
The above means of transportation includes at least one of an elevator, an automatic door, an access control gate or an elevator.
A method for providing linked guidance using multiple robots placed in multiple areas. In Article 6,
The steps to perform the above accompanying guidance work are:
After completing the guidance task of guiding the person to be guided to the means of transportation using the first robot, a step of returning the first robot to a predetermined waiting location within the first area is included.
A method for providing linked guidance using multiple robots placed in multiple areas. In Article 6,
The steps to perform the above accompanying guidance work are:
After completing the guidance task of guiding the person to be guided to the means of transportation using the first robot, a step of performing a general guidance task corresponding to the first area using the first robot is included.
A method for providing linked guidance using multiple robots placed in multiple areas. In Article 6,
The step of performing a guidance task that guides to one or more of the above destinations
When the waiting time of the robot has elapsed for a predetermined time after the robot has completed moving to a predetermined destination and before starting to move to the next destination, the robot is controlled to move to a predetermined resident location of a manager using the linked guidance providing device corresponding to the predetermined destination within the area and output a guidance target confirmation request message, and the step of continuing or ending the accompanying guidance task according to the manager's response is included.
A method for providing linked guidance using multiple robots placed in multiple areas.