Patent Application
20220017332
This U.S. non-provisional application claims the benefit of priority under 35 U.S.C. § 119 to Korean Patent Application No. 10-2020-0087340 filed on Jul. 15, 2020, in the Korean Intellectual Property Office (KIPO), the entire contents of which are incorporated herein by reference.
One or more example embodiments of the following description relate to technology for controlling an elevator for boarding of a robot.
An autonomous driving robot refers to a robot that searches around the surroundings, senses obstacles, and finds an optimal path to a destination using wheels or legs, and is developed and used in various fields, such as, for example, autonomous driving vehicles, logistics, hotel services, and robot vacuum cleaners.
A robot used to provide a service in a building may need to board an elevator installed in the building to provide a service on a specific floor of the building. However, when an elevator is simply called and used by a robot or a robot control system that controls the robot, situations, such as a crowded elevator or other events which may prevent the robot from boarding the elevator, may frequently occur, which makes it difficult for the robot to effectively provide a service.
Accordingly, there is a need for a method and system for controlling an elevator for boarding of a robot that enables a robot to further efficiently provide a service.
Korean Patent Laid-Open Publication No. 10-2005-0024840 describes technology related to a path planning method for an autonomous mobile robot and also describes a method of planning an optimal path through which a mobile robot autonomously moving in a home or an office may move safely and quickly to a target point while avoiding obstacles.
The aforementioned information is simply provided to help in understanding the background of the invention, may not include contents that do not form a part of the related art, and may not include what the related art may present to those skilled in the art.
One or more example embodiments provide a method and system that enables an elevator control system to maintain control over opening or closing a door of an elevator when a robot boards or alights from the elevator.
One or more example embodiments provide a method and system that may secure a boarding space of a robot by adjusting a full capacity (a fullness handling standard) of an elevator when a robot boards the elevator.
According to an aspect of at least one example embodiment, there is provided an elevator control method performed by a computer-implemented elevator control system including at least one processor configured to execute computer-readable instructions included in a memory, the elevator control method including, by the at least one processor, receiving state information of a robot from the robot or a robot control system; and controlling a door of an elevator which the robot is to board or alight from based on the state information.
The controlling of the door of the elevator may include maintaining a door open state of the elevator for boarding of the robot when the elevator arrives at a calling floor of the robot and the door of the elevator opens; and transmitting a door close instruction to the elevator in response to receiving state information according to a boarding completion of the robot.
The controlling of the door of the elevator may include maintaining a door open state of the elevator for alighting of the robot when the elevator arrives at a target floor of the robot and the door of the elevator opens; and transmitting a door close instruction to the elevator in response to receiving state information according to an alight completion of the robot.
The controlling of the door of the elevator may include controlling a door open state of the elevator to be maintained for a preset period of time in response to boarding or alighting of the robot.
The controlling of the door of the elevator may further include additionally extending the door open state of the elevator when boarding or alighting of the robot is not completed within the desired period of time.
The elevator control method may further include, by the at least one processor, adjusting a full capacity of the elevator into consideration of a boarding space of the robot for the elevator.
The elevator control method may further include, by the at least one processor, adjusting a full capacity that represents a standard for handling the fullness of the elevator, based on at least one of a number of robots aboard or planned to board the elevator, a required area, and a purpose of movement.
The elevator control method may further include, by the at least one processor, controlling state information of the robot associated with the elevator to be displayed through at least one of an internal user interface and an external user interface of the elevator.
The controlling of the state information of the robot may include controlling information about a floor from which the robot is planned to board and a floor on which the robot is to alight through the internal user interface.
The controlling of the state information of the robot may include controlling information about a fullness state by boarding or planned boarding of the robot to be displayed through the internal user interface.
The elevator control method may further include, by the at least one processor, receiving a call from the robot control system; assigning an elevator to be called to a floor indicated by the call; and controlling the assigned elevator to move to the floor indicated by the call.
The assigning may include selecting an elevator that guarantees an available area of the robot as the elevator to be called based on a congestion level according to an internal boarding situation of each elevator.
The assigning may include selecting, from among a plurality of elevators, an elevator set as a dedicated elevator for boarding of the robot as the elevator to be called.
An indicator that indicates a robot-only elevator may be displayed on at least one of an internal user interface and an external user interface of an elevator set as the dedicated elevator and not providing information about whether the elevator is ascending or descending and a planned stopping of the elevator, inactivating a floor selection button and a door close button of the elevator, and adjusting a lighting in the elevator may be applied thereto.
The elevator control method may further include, by the at least one processor, receiving a cancellation for the assigned elevator from the robot or the robot control system; assigning another elevator to be called to the floor indicated by the call; and controlling the other elevator to move to the floor indicated by the call.
According to an aspect of at least one example embodiment, there is provided a non-transitory computer-readable record medium storing instructions that, when executed by a processor, cause the processor to perform the elevator control method.
According to an aspect of at least one example embodiment, there is provided a computer-implemented elevator control system including at least one processor configured to execute computer-readable instructions included in a memory. The at least one processor is configured to receive state information of a robot from the robot or a robot control system, and to control a door of an elevator which the robot is to board or alight from based on the state information.
According to some example embodiments, safety and efficiency for elevator use may be promoted in such a manner that an elevator control system may maintain control over opening and closing a door of an elevator when a robot boards or alights from the elevator.
According to some example embodiments, safety and efficiency for elevator use may be promoted by securing a boarding space of a robot through adjustment of a full capacity of an elevator when the robot boards the elevator and by minimizing a number of persons to board the elevator used by the robot.
Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.
Example embodiments will be described in more detail with regard to the figures, wherein like reference numerals refer to like parts throughout the various figures unless otherwise specified, and wherein:
It should be noted that these figures are intended to illustrate the general characteristics of methods and/or structure utilized in certain example embodiments and to supplement the written description provided below. These drawings are not, however, to scale and may not precisely reflect the precise structural or performance characteristics of any given embodiment, and should not be interpreted as defining or limiting the range of values or properties encompassed by example embodiments.
One or more example embodiments will be described in detail with reference to the accompanying drawings. Example embodiments, however, may be embodied in various different forms, and should not be construed as being limited to only the illustrated embodiments. Rather, the illustrated embodiments are provided as examples so that this disclosure will be thorough and complete, and will fully convey the concepts of this disclosure to those skilled in the art. Accordingly, known processes, elements, and techniques, may not be described with respect to some example embodiments. Unless otherwise noted, like reference characters denote like elements throughout the attached drawings and written description, and thus descriptions will not be repeated.
Although the terms “first,” “second,” “third,” etc., may be used herein to describe various elements, components, regions, layers, and/or sections, these elements, components, regions, layers, and/or sections, should not be limited by these terms. These terms are only used to distinguish one element, component, region, layer, or section, from another region, layer, or section. Thus, a first element, component, region, layer, or section, discussed below may be termed a second element, component, region, layer, or section, without departing from the scope of this disclosure.
Spatially relative terms, such as “beneath,” “below,” “lower,” “under,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below,” “beneath,” or “under,” other elements or features would then be oriented “above” the other elements or features. Thus, the example terms “below” and “under” may encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. In addition, when an element is referred to as being “between” two elements, the element may be the only element between the two elements, or one or more other intervening elements may be present.
As used herein, the singular forms “a,” “an,” and “the,” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises” and/or “comprising,” when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups, thereof. As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed products. Expressions such as “at least one of,” when preceding a list of elements, modify the entire list of elements and do not modify the individual elements of the list. Also, the term “exemplary” is intended to refer to an example or illustration.
When an element is referred to as being “on,” “connected to,” “coupled to,” or “adjacent to,” another element, the element may be directly on, connected to, coupled to, or adjacent to, the other element, or one or more other intervening elements may be present. In contrast, when an element is referred to as being “directly on,” “directly connected to,” “directly coupled to,” or “immediately adjacent to,” another element there are no intervening elements present.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which example embodiments belong. Terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and/or this disclosure, and should not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Example embodiments may be described with reference to acts and symbolic representations of operations (e.g., in the form of flow charts, flow diagrams, data flow diagrams, structure diagrams, block diagrams, etc.) that may be implemented in conjunction with units and/or devices discussed in more detail below. Although discussed in a particular manner, a function or operation specified in a specific block may be performed differently from the flow specified in a flowchart, flow diagram, etc. For example, functions or operations illustrated as being performed serially in two consecutive blocks may actually be performed simultaneously, or in some cases be performed in reverse order.
Units and/or devices according to one or more example embodiments may be implemented using hardware and/or a combination of hardware and software. For example, hardware devices may be implemented using processing circuitry such as, but not limited to, a processor, Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a System-on-Chip (SoC), a programmable logic unit, a microprocessor, or any other device capable of responding to and executing instructions in a defined manner.
Software may include a computer program, program code, instructions, or some combination thereof, for independently or collectively instructing or configuring a hardware device to operate as desired. The computer program and/or program code may include program or computer-readable instructions, software components, software modules, data files, data structures, and/or the like, capable of being implemented by one or more hardware devices, such as one or more of the hardware devices mentioned above. Examples of program code include both machine code produced by a compiler and higher level program code that is executed using an interpreter.
For example, when a hardware device is a computer processing device (e.g., a processor), Central Processing Unit (CPU), a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a microprocessor, etc., the computer processing device may be configured to carry out program code by performing arithmetical, logical, and input/output operations, according to the program code. Once the program code is loaded into a computer processing device, the computer processing device may be programmed to perform the program code, thereby transforming the computer processing device into a special purpose computer processing device. In a more specific example, when the program code is loaded into a processor, the processor becomes programmed to perform the program code and operations corresponding thereto, thereby transforming the processor into a special purpose processor.
Software and/or data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, or computer storage medium or device, capable of providing instructions or data to, or being interpreted by, a hardware device. The software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion. In particular, for example, software and data may be stored by one or more computer readable storage mediums, including the tangible or non-transitory computer-readable storage media discussed herein.
According to one or more example embodiments, computer processing devices may be described as including various functional units that perform various operations and/or functions to increase the clarity of the description. However, computer processing devices are not intended to be limited to these functional units. For example, in one or more example embodiments, the various operations and/or functions of the functional units may be performed by other ones of the functional units. Further, the computer processing devices may perform the operations and/or functions of the various functional units without sub-dividing the operations and/or functions of the computer processing units into these various functional units.
Units and/or devices according to one or more example embodiments may also include one or more storage devices. The one or more storage devices may be tangible or non-transitory computer-readable storage media, such as random access memory (RAM), read only memory (ROM), a permanent mass storage device (such as a disk drive), solid state (e.g., NAND flash) device, and/or any other like data storage mechanism capable of storing and recording data. The one or more storage devices may be configured to store computer programs, program code, instructions, or some combination thereof, for one or more operating systems and/or for implementing the example embodiments described herein. The computer programs, program code, instructions, or some combination thereof, may also be loaded from a separate computer readable storage medium into the one or more storage devices and/or one or more computer processing devices using a drive mechanism. Such separate computer readable storage medium may include a Universal Serial Bus (USB) flash drive, a memory stick, a Blue-ray/DVD/CD-ROM drive, a memory card, and/or other like computer readable storage media. The computer programs, program code, instructions, or some combination thereof, may be loaded into the one or more storage devices and/or the one or more computer processing devices from a remote data storage device via a network interface, rather than via a local computer readable storage medium. Additionally, the computer programs, program code, instructions, or some combination thereof, may be loaded into the one or more storage devices and/or the one or more processors from a remote computing system that is configured to transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, over a network. The remote computing system may transfer and/or distribute the computer programs, program code, instructions, or some combination thereof, via a wired interface, an air interface, and/or any other like medium.
The one or more hardware devices, the one or more storage devices, and/or the computer programs, program code, instructions, or some combination thereof, may be specially designed and constructed for the purposes of the example embodiments, or they may be known devices that are altered and/or modified for the purposes of example embodiments.
A hardware device, such as a computer processing device, may run an operating system (OS) and one or more software applications that run on the OS. The computer processing device also may access, store, manipulate, process, and create data in response to execution of the software. For simplicity, one or more example embodiments may be exemplified as one computer processing device; however, one skilled in the art will appreciate that a hardware device may include multiple processing elements and multiple types of processing elements. For example, a hardware device may include multiple processors or a processor and a controller. In addition, other processing configurations are possible, such as parallel processors.
Although described with reference to specific examples and drawings, modifications, additions and substitutions of example embodiments may be variously made according to the description by those of ordinary skill in the art. For example, the described techniques may be performed in an order different with that of the methods described, and/or components such as the described system, architecture, devices, circuit, and the like, may be connected or combined to be different from the above-described methods, or results may be appropriately achieved by other components or equivalents.
Hereinafter, example embodiments will be described with reference to the accompanying drawings.
The example embodiments may configure an optimal elevator interactive environment for a vertical movement of a robot in a building and may control an elevator operation by disallowing a person to board or allowing a small number of persons to board an elevator used by the robot for safety and efficiency.
Each of the elevators 110 may be called and controlled to move by an elevator control system 130. For example, the elevator control system 130 may select an appropriate elevator in response to a call from a user or a robot control system 140 that controls the robot 100 and may move the selected elevator to a called position. A structure of the elevator control system 130 is further described with reference to
In the example of
The robot 100 may be a service robot used to provide a service in the building. The robot 100 may be configured to provide a service on at least one floor. Also, when a plurality of robots 100 is present, each of the plurality of robots 100 may be configured to provide a service on at least one floor. That is, the robot 100 may be configured to provide a service on one or more floors based on a type/providing frequency of the service and/or a form/structure of the building (floor). The plurality of robots 100 may be configured to provide services on a single floor.
The service provided from the robot 100 may include, for example, a delivery service, an order-based beverage (coffee, etc.) delivery service, a cleaning service, and other information/content providing services.
Movement and service providing of the robot 100 and at least a portion of calling the elevator 120 may be performed through the robot control system 140. For example, in response to a call from the robot control system 140, the elevator control system 130 may move the appropriate elevator 120 to a floor on which the robot 100 is present. A structure of the robot 100 and a structure of the robot control system 140 are further described with reference to
The elevator control system 130 may sense boarding of at least one robot 100 in the elevator 120 and may control the elevator 120 to move to a floor on which the robot 100 is to provide a service. The elevator control system 130 may configure at least one of an internal user interface of the elevator 120 and an external user interface of the elevator 120 to display whether the robot 100 is using the elevator 120. The internal user interface may be provided inside the elevator 120 and may include, for example, an internal display and floor selection buttons of the elevator 120. The internal user interface is further described with reference to
In an example embodiment, at least one of the internal user interface and the external user interface of the elevator 120 may be configured to display whether the robot 100 is using the elevator 120 such that a user (person) desiring to use the elevator 120 may verify whether the robot 100 has boarded the elevator 120 or whether the elevator 120 is set as a robot-only elevator.
Therefore, according to example embodiments, a user may refrain from using an elevator being used by a robot or a dedicated robot-only elevator, and interference between the robot and the user may be minimized in terms of elevator use.
As described above, the robot 100 may be a service robot that is used to provide a service in a building. The robot 100 may provide the service to a user in the building at a predetermined (alternatively, desired) position, for example, on a specific floor, of the building through autonomous driving.
Referring to
Although not illustrated, the controller 104 may be a physical processor embedded in the robot 100 and may include a path planning processing module, a mapping processing module, a driving control module, a localization processing module, a data processing module, and a service processing module. Here, the path planning processing module, the mapping processing module, the driving control module, and the localization processing module may be selectively included in the controller 104 depending on example embodiments to enable indoor autonomous driving of the robot 100 regardless of a failure in communication with the robot control system 140.
The communicator 102 may be a component for the robot 100 to communicate with another device, for example, another robot or the robot control system 140. That is, the communicator 102 may be a hardware module, such as, for example, an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot 100, and a software module, such as, for example, a network device driver and a networking program, configured to transmit/receive data and/or information to/from another device.
The driver 108 may include equipment for controlling and enabling movement of the robot 100 as a component configured to control and enable the movement of the robot 100.
The sensor 106 may be a component configured to collect required data for autonomous driving and service providing of the robot 100. The sensor 106 may not include expensive sensing equipment and may simply include, for example, a low-cost ultrasonic sensor and/or a low-cost camera.
For example, the data processing module of the controller 104 may transmit sensing data including output values of sub-sensors of the sensor 106 to the robot control system 140 through the communicator 102. The robot control system 140 may transmit path data generated using an indoor map of the building to the robot 100. The path data may be transmitted to the data processing module through the communicator 102. The data processing module may immediately transmit the path data to the driving control module and the driving control module may control the driver 108 based on the path data and may control indoor autonomous driving of the robot 100.
When the robot 100 is incommunicable with the robot control system 140, the data processing module may transmit sensing data to the localization processing module and may generate path data through the path planning processing module and the mapping processing module and may directly process indoor autonomous driving of the robot 100.
The robot 100 may be distinguished from a mapping robot used to generate the indoor map of the building. Here, since the robot 100 does not include high-cost sensing equipment, the robot 100 may process indoor autonomous driving using an output vale of, for example, a low-cost ultrasonic sensor and/or a low-cost camera. Meanwhile, if the robot 100 has processed indoor autonomous driving in communication with the robot control system 140, the robot 100 may use mapping data included in the existing path data received from the robot control system 140 and may enable further precise indoor autonomous driving using low-cost sensors.
The service processing module may receive an instruction received through the robot control system 140 through the communicator 102 or through the communicator 102 and the data processing module. The driver 108 may further include equipment for movement of the robot 100 and equipment related to the service provided from the robot 100. For example, to perform a food/delivery item delivery service, the driver 108 of the robot 100 may include a component configured to load food/delivery item or a component (e.g., a robot arm) configured to deliver food/delivery item to a user. Also, the robot 100 may further include a speaker and/or display configured to provide information/content. The service processing module may transfer a driving instruction for a service to be provided to the driving control module. In response to the driving instruction, the driving control module may control a component included in the robot 100 or the driver 108 such that the service may be provided.
The robot 100 may sense the called elevator 120 under control of the robot control system 140 and may board the called elevator 120. When the elevator 120 arrives at a floor on which the robot 100 is to provide the service, the robot 100 may alight from the elevator 120 and may provide the service on the corresponding floor.
The elevator control system 130 and the robot control system 140 that control the elevator 120 for boarding of the robot 100 are further described with reference to
Description related to technical features made above with reference to
The elevator control system 130 may be a device configured to control a call for the elevators 110 and movement of the elevators 110 in the building. The elevator control system 130 may include at least one computing device and may be configured as a server present inside the building or outside the building.
Referring to
The memory 330 may include a permanent mass storage device, such as random access memory (RAM), read only memory (ROM), and a disk drive as a non-transitory computer-readable record medium. Here, the ROM and the permanent mass storage device may be separated from the memory 330 and may be included as a separate permanent storage device. Also, an operating system (OS) and at least one program code may be stored in the memory 330. Such software components may be loaded from a computer-readable storage medium separate from the memory 330. The separate computer-readable storage medium may include a non-transitory computer-readable record medium, such as a floppy drive, a disk, a tape, a DVD/CD-ROM drive, and a memory card. According to other example embodiments, software components may be loaded to the memory 330 through the communicator 310 instead of, or in addition to, the non-transitory computer-readable record medium.
The processor 320 may be configured to process computer-readable instructions of a computer program by performing basic arithmetic operations, logic operations, and I/O operations. The computer-readable instructions may be provided from the memory 330 or the communicator 310 to the processor 320. For example, the processor 320 may be configured to execute received instructions in response to the program code loaded to the memory 330. Referring to
Each of the components, for example, the EV assigner 322, the EV controller 324, and the UI controller 326, of the processor 320 may be a software module and/or a hardware module as a portion of the processor 320 and may represent a function (functional block) implemented by the processor 320. The EV assigner 322 may assign the elevator 120 for boarding of the robot 100 in response to a call from the robot control system 140. Here, at a specific time or in a specific situation, the EV assigner 322 may assign a robot-only elevator and may assign the elevator 120 capable of guaranteeing an available area for the robot 100 based on the congestion level in the corresponding elevator 120. The EV controller 324 may control the elevator 120 to move to a floor on which the robot 100 is to provide a service. In particular, the elevator control system 130 has control over opening and closing the door of the elevator 120 and may control door opening and closing of the elevator 120 taking into consideration of the state of the robot 100 when the robot 100 boards or alights from the elevator 120. The EV controller 324 may secure a boarding space for the robot 100 by adjusting the full capacity of the elevator 120 based on boarding or planned boarding of the robot 100. The UI controller 326 may configure at least one of the internal user interface and the external user interface of the elevator 120 to display the state of the robot 100 associated with use or nonuse of the elevator 120.
The communicator 310 may be a component for the elevator control system 130 to communicate with another device, for example, the elevators 110 or the robot control system 140. That is, the communicator 310 may be a hardware module, such as, for example, an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the elevator control system 130, and a software module, such as, for example, a network device driver and a networking program, configured to transmit/receive data and/or information to/from another device.
The I/O interface 340 may be a device for interface with an input device, such as, for example, a keyboard and a mouse, and an output device, such as, for example, a display and a speaker.
Also, according to other example embodiments, the elevator control system 130 may include a number of components greater than or less than the number of components shown in
A method of controlling the elevator 120 for boarding of the robot 100, performed by the components, for example, the EV assigner 322, the EV controller 324, and the UI controller 326, of the processor 320 is further described below with reference to
Descriptions related to technical features made above with reference to
The robot control system 140 may be a device configured to control movements of the robot 100 and service providing of the robot 100 in a building, which is described above. The robot control system 140 may control the movements of each of a plurality of robots 100 and the services provided by the robots. The robot control system 140 may call the elevator 120 for moving the robot 100 to a floor on which the robot 100 is to provide a service, in communication with the elevator control system 130. The robot control system 140 may control the robot 100 to recognize the called elevator 120 and to board the elevator 120, and may control the robot 100 to alight from the elevator 120 on the floor on which the robot 100 is to provide the service.
The robot control system 140 may include at least one computing device and may be configured as a server present inside or outside the building. The robot control system 140 may be implemented as a cloud server (system).
Referring to
Description related to technical features made above with reference to
In the following description, an operation performed by components of the robot 100, the elevator control system 130, or the robot control system 140 may be described as an operation performed by the robot 100, the elevator control system 130, or the robot control system 140, for clarity of description.
Hereinafter, an elevator control method for calling the elevator 120 in response to an elevator call from the robot control system 140, performed by the elevator control system 130, allowing the robot 100 to board the called elevator 120, and moving the elevator 120 to a floor on which the robot 100 is to provide a service is described with reference to
Referring to
The UI controller 326 may configure at least one of an external user interface and an internal user interface of the elevator 120 set as the dedicated elevator to display that the elevator 120 is set as the dedicated elevator for boarding of the robot 100. For example, an image of the robot 100 may be displayed on a display corresponding to the external user interface of the elevator 120.
A method of configuring, by the UI controller 326, the internal user interface and/or the external user interface of the elevator 120 may be performed when the elevator 120 is set as the dedicated elevator regardless of whether the robot 100 is actually aboard the elevator 120. Alternatively, the method of configuring the internal user interface and/or the external user interface of the elevator 120 may be performed when the robot 100 is aboard the elevator 120 or when the elevator 120 is called by the robot control system 140, although the elevator 120 is not set as the dedicated elevator.
When a general user (person) calls the elevator 120, the robot-only elevator may be excluded from a target to be called. When a person is aboard the dedicated elevator, it is possible to induce the person to alight from the dedicated elevator by disallowing the person to select a floor using the internal user interface of the elevator 120.
The dedicated elevator may be simply preferred and recommended for use of the robot 100 (for the external user interface and/or the internal user interface) and may not completely exclude use by a general user.
In operation S520, the elevator control system 130 may receive a call for the elevator 120 from the robot control system 140. The call may include robot identification information (e.g., a robot ID) for identifying the robot 100 and information about the current floor on which the robot 100 is present and a target floor to which the robot is to move, such as a floor on which the robot 100 is to provide a service. Depending on example embodiments, the call may further include information about an area required by the robot 100 by including an area physically occupied by the robot 100 as a space required in the elevator 120. Depending on example embodiments, the call may be directly transmitted from the robot 100 to the elevator control system 130. Also, the call may further include at least one of estimated time information about a time at which the robot 100 is to arrive at a waiting space for the elevator 120 (elevator room) and information about whether quickness is required (e.g., quickness may be required if the robot 100 is on a delivery and otherwise, quickness may not be required).
In operation S530, in response to the call received from the robot control system 140, the elevator control system 130 may assign the elevator 120 (i.e., the elevator 120 to be called) to move to a floor on which the robot 100 is present, among the elevators 110 and may transfer elevator number information representing the assigned elevator 120 to the robot control system 140. For example, the elevator control system 130 may select the elevator 120 set as the dedicated elevator in operation S520, as the elevator 110 to be called. Alternatively, the elevator control system 130 may select, as the elevator 120 to be called, the elevator 110 nearest to the floor indicated by the call from among the elevators 110. Alternatively, the elevator control system 130 may calculate the amount of time used by each of the elevators 110 to move to the floor indicated by the call and may select, as the elevator 120 to be called, the elevator 120 capable of most quickly moving to the floor indicated by the call, for example, the elevator 120 with the smallest number of stopping floors before moving to the floor indicated by the call.
Also, the elevator control system 130 may not select, as the elevator 120 to be called, an elevator 110 being used for a special purpose (e.g., moving, maintenance, VIP use, etc.) or an elevator 110 in a “full” (capacity) state from among the elevators 110.
The elevator control system 130 may assign the elevator 120 capable of guaranteeing an available area for the robot 100 based on the congestion level of each of the elevators 110. In the case of using the elevator 120 with a general user, the elevator control system 130 may select the elevator 120 to be used by the robot 100 based on the congestion level of each of the elevators 110 to secure a space and a retreat for the robot 100. The congestion level of each of the elevators 110 may be calculated by the elevator control system 130 based on the number and the weight of the persons and the robots 100 aboard. If the congestion level of the first arriving elevator is high, the robot 100 may call for and use another elevator. Also, when the congestion level of the elevator 120 that the robot 100 is currently aboard is determined to be high based on the robot 100, another elevator 110 may be assigned to the floor for which an elevator has been called by skipping this floor. Therefore, the elevator control system 130 may not call some of the elevators 110 based on the congestion level according to the internal boarding state of each of the elevators 110.
In response to receiving, from the robot control system 140, a call including an area required by the robot 100 when the robot 100 boards, the elevator control system 130 may assign the elevator 120 capable of providing the corresponding area indicated by the call based on an area available in each of the elevators 110. When an area physically occupied by the robot 100 is greater than the area required, the robot control system 140 may transfer information about the corresponding area to the elevator control system 130.
The elevator control system 130 may transfer, to the robot control system 140, elevator number information representing the elevator 120 assigned to the robot 100 among the elevators 110.
In operation S540, the elevator control system 130 may control the assigned elevator 120 to move to the floor indicated by the corresponding call.
In operation S550, the elevator control system 130 may receive, from the robot control system 140, state information associated with boarding and alighting of the robot 100 and may control door opening and closing of the elevator 120 based on the state information of the robot 100. The state information may represent a state of the robot 100 to which the elevator 120 is assigned and may represent a state in which the robot 100 is waiting in front of a planned elevator number, a boarding cancellation state, a boarding state, a boarding completion state, an alighting state, and an alight completion state.
In operation S560, when boarding of the robot 100 is completed in the elevator 120 according to door opening and closing of the elevator 120, the elevator control system 130 may control the elevator 120 boarded by the robot 100 to move to the target floor on which the robot 100 is to provide a service. The elevator control system 130 may automatically move the elevator 120 to the corresponding target floor based on information about the target floor on which the robot 100 is to provide the service, included in the call.
Once the robot 100 is aboard the elevator 120, the elevator control system 130 may automatically move the elevator 120 to the target floor on which the robot 100 is to provide the service (without the robot 100 inputting the target floor).
When the robot 100 boards or alights from the elevator 120, the elevator control system 130 may maintain the control over door opening and closing of the elevator 120. When the elevator 120 moves to the floor indicated by the call and the door of the elevator 120 opens, the robot 100 may board the elevator 120. When the elevator 120 moves to the target floor on which the robot 100 is to provide the service and the door of the elevator 120 opens, the robot 100 may alight from the elevator 120. The elevator control system 130 may automatically open or close the door of the elevator 120 based on the state information associated with the boarding and the alighting of the robot 100 through interaction with the robot control system 140 using a server-to-server (S2S) scheme, without inputting a separate button for boarding or alighting of the robot 100.
In the case of boarding, when the robot 100 is waiting in a waiting space (an elevator room) for the elevator 120, the elevator control system 130 may open the door of the elevator 120 and may maintain a door open state of the elevator 120 until the robot 100 is completely aboard the elevator 120 and then may close the door of the elevator 120.
Likewise, in the case of alighting, when the elevator 120 arrives at the target floor on which the robot 100 is to provide the service, the elevator control system 130 may open the door of the elevator 120 and may maintain a door open state of the elevator 120 until alighting of the robot 100 from the elevator 120 is completed and then may close the door of the elevator 120.
Therefore, the elevator control system 130 may directly control door opening and closing of the elevator 120 based on state information of the robot 100 received from the robot control system 140.
When the robot 100 is boarding or planned to board the elevator 120, the elevator control system 130 may adjust the full capacity of the elevator 120 to secure a boarding space for the robot 100. For example, the elevator control system 130 may set the full capacity representing a standard for handling the fullness of the elevator 120 to a certain lower capacity based on the number of robots 100 aboard or planned to board the elevator 120, the area required, and the movement purpose, that is, the service to be provided by the robot 100.
Once the robot 100 boards the elevator 120, the external user interface of the elevator 120 may display that the robot 100 is aboard the elevator 120. Also, the internal user interface of the elevator 120 may also display that the robot 100 is aboard. The internal user interface of the elevator 120 may also display a floor on which the aboard robot 100 is to provide a service. That is, the internal user interface of the elevator 120 may display a floor on which the boarded robot 100 is to alight from the elevator 120 to provide the service. A display control for the external user interface and the internal user interface may be performed by the UI controller 326.
The elevator control system 130 may configure at least one of the internal user interface and the external user interface of the elevator 120 to display whether the robot 100 is using the elevator 120. For example, as described above, the elevator control system 130 may configure at least one of the external user interface and the internal user interface to display that the elevator 120 is set as the dedicated elevator. Alternatively or additionally, the elevator control system 130 may configure at least one of the external user interface and the internal user interface to display that the robot 100 is aboard the elevator 120.
Meanwhile, when the elevator 120 is set as the dedicated elevator, or when the robot 100 is aboard the elevator 120, the elevator control system 130 may control the elevator 120 to not move to the floor called by a user. That is, when the elevator 120 is set as the dedicated elevator or when the robot 100 is aboard the elevator 120, the elevator 120 may be controlled such that the use of the robot 100 may take precedence over a call from a user.
Description related to technical features made above with reference to
Hereinafter, an elevator control method in a case in which the called elevator 120 has arrived at a floor which the robot 100 is to board and the robot 100 may not board the elevator 120 is described with reference to
Referring to
When it is determined that boarding of the robot 100 is possible, the robot 100 may board the elevator 120.
In operation S620, when it is determined that boarding of the robot 100 is impossible, the elevator control system 130 may receive a call cancellation of the elevator 120 from the robot control system 140.
In operation S630, the elevator control system 130 may receive again, from the robot control system 140, a call that includes information about a floor on which the robot 100 is present as a call for requesting another elevator.
That is, when the door of the elevator 120 opens and the robot 100 verifies that there is no space in the elevator 120 or attempts to board but is difficult to secure a sufficient space, the robot 100 may transmit a boarding cancellation signal to the robot control system 140 and may request the robot control system 140 to call for another elevator. When it is determined that boarding of the robot 100 is impossible, the robot control system 140 may transmit a call cancellation of the elevator 120 to the elevator control system 130 and may transmit a call that includes information about a floor on which the robot 100 is present to request another elevator.
In response to the call for another elevator, the elevator control system 130 may select another elevator to move to a floor on which the robot 100 is present and may control the selected elevator to move to the corresponding floor.
If the aforementioned boarding cancellation and elevator re-call is repeated a preset number of times or more, the elevator 120 set as a robot-only elevator may operate.
Description related to technical features made above with reference to
Depending on example embodiments, an appropriate elevator may be called for the robot 100 based on a congestion level inside the elevator 120.
Hereinafter, an elevator control method in a case in which a waiting space for the elevator 120 is congested before or immediately after the called elevator 120 arrives at the floor on which the robot 100 is to board is described with reference to
Referring to
When it is determined that the waiting space is not congested, the robot 100 may board the elevator 120.
When it is determined that the waiting space is congested, the elevator control system 130 may receive a call cancellation of the elevator 120 from the robot control system 140. Also, the elevator control system 130 may receive again, from the robot control system 140, a call that includes information about the floor on which the robot 100 is present as a call for requesting another elevator.
That is, when it is determined that the waiting space is congested, the robot control system 140 may transmit a call cancellation of the elevator 120 to the elevator control system 130 and may transmit again a call that includes information about the floor on which the robot 100 is present to request another elevator.
In response to the call for another elevator, the elevator control system 130 may select another elevator to move to the floor on which the robot 100 is present and may control the other elevator to move to the corresponding floor.
Description related to technical features made above with reference to
Referring to
Alternatively, whether the sufficient boarding space for the robot 100 is present in the elevator 120 may be detected by a sensor included in the elevator 120. For example, it may be determined by a camera installed in the elevator 120 or a weight detection sensor installed in the elevator 120.
In operation S820, when it is determined that the sufficient boarding space for the robot 100 is present in the elevator 120, the elevator control system 130 may set the elevator 120 to a call able state.
In operation S830, when it is determined that the sufficient boarding space for the robot 100 is absent in the elevator 120, the elevator control system 130 may set the elevator 120 to a call disable state. For example, in this case, the elevator control system 130 may set the elevator 120 to be in a full state. The elevator 120 set to be in the full state may be set to the call disable state.
The elevator control system 130 may configure the internal user interface of the elevator 120 to output an indicator representing a full state. The indicator may induces a user aboard the elevator 120 to alight from the elevator 120. For example, the elevator control system 130 may output a visual or, additionally, auditory indicator through the internal user interface. The indicator may be output until the sufficient boarding space for the robot 100 is secured in the elevator 120 in response to the boarded user or the robot 100 alighting from the elevator 120. Once the sufficient boarding space for the robot 100 is secured in the elevator 120, output of the indicator may be stopped and the full state may also be released. When the full state is released, that is, when a sufficient boarding space is secured, the elevator 120 may be set to the call able state. In another embodiment, the elevator control system 130 may relay the elevator full state to the robot control system 140, which may in turn transmit the status to the robot 100 riding in the elevator, and the auditory indicator may be output from the robot 100.
Meanwhile, whether the elevator 120 is full may be displayed on the external user interface of the elevator 120.
Description related to technical features made above with reference to
Hereinafter, an operation from perspective of the robot control system 140 is described with reference to
Referring to
In operation S920, in response to the call, the robot control system 140 may control the robot 100 to board the elevator 120 that is moving to the floor on which the robot 100 is present.
The elevator 120 may automatically move to the floor on which the robot 100 is to provide the service based on information about the target floor on which the robot 100 is to provide the service, included in the call.
In operation S930, as the elevator 120 arrives at the floor on which the robot 100 is to provide the service, the robot control system 140 may control the robot 100 to alight from the elevator 120.
In operation S940, the robot control system 140 may control the robot 100 having alighted from the elevator 120 to provide the service on the target floor.
As described above, when the robot 100 arrives at the waiting space for the elevator 120, the robot control system 140 may transfer the waiting state of the robot 100 to the elevator control system 130. In response to receiving a door open state of the elevator 120 from the elevator control system 130, the robot control system 140 may control the robot 100 to board the elevator 120 or to alight from the elevator 120. When boarding or alighting of the robot 100 is completed, the robot control system 140 may transfer the corresponding state information of the robot 100 to the elevator control system 130. In response to receiving a boarding completion state or an alight completion state of the robot 100 from the robot control system 140, the elevator control system 130 may switch the door open state of the elevator 120 to a door close state.
As described above, when at least a preset number of users or robots 100 are present in the waiting space for the elevator 120 that moves to a floor on which the robot 100 is present in response to the call, or when the robot 100 may not board the elevator 120 moved to the floor on which the robot 100 is present, the robot control system 140 may transmit a cancellation of the corresponding call to the elevator control system 130 and may transmit again a call for requesting another elevator.
The aforementioned operations may be implemented to be performed by not the robot control system 140 but the robot 100 based on a configuration of an example embodiment.
Description related to technical features made above with reference to
The elevator 120 may be set as a general elevator or a dedicated elevator for boarding of the robot 100.
The EV controller 324 may control the elevator 120 to sequentially move to the floor on which each of the plurality of robots R1 to R5 is to provide a service (refer to operation S560). Each of the plurality of robots R1 to R5 may be aboard the elevator 120 in response to a call of the elevator 120 according to a request associated with each corresponding robot.
That is, the elevator control system 130 may receive calls associated with the plurality of robots R1 to R5 from the robot control system 140 in operation S520, and may select an elevator to be called to a floor indicated by each of the calls in operation S530. A plurality of elevators may be called. In
The elevator control system 130 may control the elevator 120 such that the robot R3 to alight from the elevator 120 relatively later among the plurality of robots R1 to R5 may relatively earlier board the elevator 120. In the example of
Alternatively, the plurality of robots R1 to R5 may board the elevator 120 in call order thereof. The plurality of robots R1 to R5 may appropriately move in the elevator 120 and the robot R1 to alight from the elevator 120 first may be placed in front, for example, close to a door.
The plurality of robots R1 to R5 may board the elevator 120 in a group on a single floor.
Description related to technical features made above with reference to
Referring to
An external user interface 1110 may represent an external user interface in terms of a general use and an external user interface 1120 may represent an external user interface when the elevator 120 is set as a dedicated elevator, for example, a robot-only elevator.
Referring to
The external user interface 1120 may include a method of inducing a user to not board the elevator 120 although a door of the elevator 120 opens, as a method of displaying a state for robot-only boarding. The external user interface 1120 may display an image (a robot image) indicating that the elevator 120 is set as a dedicated elevator. The external user interface 1120 may not display whether the elevator 120 ascends or descends, a current position of the elevator 120, and a planned stopping floor of the elevator 120.
That is, the UI controller 326 may configure the external user interface 1120 of the elevator 120 to display that the robot 100 is aboard or that the elevator 120 is used as a dedicated elevator for boarding of the robot 100. Here, the UI controller 326 may configure the external user interface 1120 to not display whether the elevator 120 is ascending or descending, the target floor of a person, the current position of the elevator 120, or the planned stopping floor of the elevator 120 (or at least one thereof). Based on the configuration of the external user interface 1120, a user may be induced to refrain from using the elevator 120 being used by the robot 100 or the dedicated elevator for boarding of the robot 100.
An image indicating a special purpose use of the elevator 120, may be displayed in a state display area in which a robot image of the external user interface 1120 is displayed. The special purpose use may be, for example, for VIP use, or maintenance use, in addition to robot-only use.
In the case of a dedicated elevator, use by a general user is not completely excluded. Therefore, when the user boards the elevator 120 set as the dedicated elevator, the user may move to a desired floor by manipulating the internal user interface (e.g., a floor selection button) of the elevator 120.
Description related to technical features made above with reference to
Referring to
Referring to
The first portion 1210 may represent a user interface for the purpose of displaying information related to the elevator 120, and the second portion 1220 may refer to a floor selection user interface and may be configured as, for example, a touchscreen.
The first portion 1210-1 and the second portion 1220-1 may represent a configuration of the internal user interface 1200 in terms of general use of the elevator 120. The first portion 1210-2 and the second portion 1220-2 may represent a configuration of the internal user interface 1200 in terms of dedicated use of the robot 100 for the elevator 120.
The second portion 1220-1 may be configured as a general floor selection screen as a floor selection touchscreen. Information about a floor to which the elevator 120 may move and a button corresponding to the floor may be displayed on the second portion 1220-1. Also, a door open button and a door close button of the elevator 120 may be displayed on the second portion 1220-1.
Basically, a current position of the elevator 120, whether the elevator 120 is ascending or descending, or a planned stopping floor of the elevator 120 may be displayed on the first portion 1210-1. The planned stopping floor may include a planned robot boarding and alighting floor. In the case of the planned robot boarding and alighting floor, an indicator may also be displayed to be distinguished from other planned stopping floors.
The planned robot boarding and alighting floor displayed on the first portion 1210-1 aims to seek understanding from a passenger in advance since boarding or alighting of the robot 100 is planned, along with information indicating that the elevator 120 will stop on a corresponding floor.
A planned stopping floor on which the robot 100 is to board the elevator 120 may be displayed on the first portion 1210-1 of the elevator 120 to which the robot 100 is assigned. When the elevator 120 arrives at the corresponding floor, display of the corresponding planned stopping floor may disappear.
When the elevator 120 arrives at the floor on which the robot 100 is to board, a robot boarding guidance voice “The robot is about to board,” may be provided with an arrival sound. Here, a boarding guidance message “The robot is about to board,” may be displayed on one area, for example, a lower end area, of the first portion 1210-1. Even after the elevator 120 arrives and the door of the elevator 120 opens, the robot may cancel boarding due to some reasons. Therefore, “Planned to board” may be informed during or before boarding.
While the robot 100 is boarding the elevator 120, the boarding guidance message “The robot is boarding the elevator,” may be displayed on the first portion 1210-1, which is to secure a boarding path of the robot 100 and to seek understanding from the user to wait for a while. In addition, the robot control system 140 may display information about a target floor on which the robot 100 is to alight from the elevator 120 on the robot 100 aboard the elevator 120 to be recognized by passengers (users) in the elevator 120.
When the elevator 120 arrives at a floor on which the robot 100 is to board the elevator 120 and the door of the elevator 120 opens, a close button may not immediately operate and be delayed for a preset period of time. Here, a close button delay guidance message “Please wait until the robot boards the elevator,” may be displayed on one area of the second portion 1220-1, for example, a lower end area or an area adjacent to the close button.
When boarding of the robot 100 is completed in the elevator 120, a boarding guidance message “Boarding of the robot is completed,” may be displayed on the first portion 1210-1 as a state indication for boarding completion. Since the robot 100 may not board the assigned elevator 120, the target floor of the robot 100 having boarded the elevator 120 may be displayed as a planned stopping floor on the first portion 1210-1 with a robot display indicator.
When boarding of the robot 100 is difficult due to the robot 100 failing in arriving at a waiting space of the elevator 120 in time, or when it is determined that boarding of the robot 100 is impossible due to insufficient space, the robot 100 may cancel boarding the elevator 120 and may inform other passengers of corresponding information. When a state of “Planned to board” or “Boarding” is changed to a state of “Boarding cancelled,” a boarding cancellation message “Boarding of the robot is cancelled,” may be displayed on the first portion 1210-1.
Due to boarding or planned boarding of the robot 100, the full capacity of the elevator 120 may decrease, which may cause the elevator 120 to be processed as being full. In this case, a fullness notification message may be displayed on the first portion 1210-1 to seek understanding from passengers. When the elevator 120 is processed as being full in a state in which the robot 100 is not aboard, a guidance voice “The robot is about to board. Please use the next elevator,” according to planned boarding of the robot 100 may be output as additional information to seek understanding from passengers.
When the elevator 120 arrives at the target floor of the robot 100 and the robot 100 is planned to alight from the elevator 120, an alighting guidance message “The robot is getting off the elevator,” may be displayed on the first portion 1210-1, which is to secure an alighting path of the robot 100 and to seek understanding from other passengers for waiting.
When the elevator 120 arrives at a floor on which the robot 100 is planned to alight from the elevator 120, a robot alighting guidance voice “The robot is planned to get off the elevator,” may be provided with an arrival sound. After the door of the elevator 120 opens, the close button may not immediately operate and be delayed for a preset period of time. Here, a close button delay guidance message “Please wait until the robot gets off the elevator,” may be displayed on one area of the second portion 1220-1, for example, a lower end area or an area adjacent to the close button.
When alighting of the robot 100 from the elevator 120 is completed, an alight completion guidance message “The robot is off the elevator,” may be displayed on the first portion 1210-1.
During delay of the close button, the close button may be displayed in an inactive state on the second portion 1220-1 to prevent a user from forcefully closing the door of the elevator 120. The close button may be inactivated only when boarding or alighting of the robot 100 is ongoing after the door of the elevator 120 opens.
Such inactivation of the close button is to prevent the user from closing the door. Here, a button may not be displayed on the second portion 1220-1. Alternatively, a button may be displayed on the second portion 1220-1 or displayed to be distinguished from an active button, for example, displayed blurrily, but may not be input.
That is, the elevator control system 130 may maintain the door of the elevator 120 in a forcefully open state until a boarding or alighting process of the robot 100 is completed.
An indicator representing that the elevator 120 is set as a dedicated elevator may be displayed on the first portion 1210-2 or the second portion 1220-2. The indicator may include, for example, a robot image and a text such as “It is a robot-only elevator. Please use another elevator.”
In a robot-only mode, the elevator 120 for boarding of the robot 100 only may be operated in a specific time zone. In the case of using the elevator 120 in the robot-only mode, it is to prevent boarding of a person. To this end, a floor selection button may be configured in an inactive state on the second portion 1220-2. In the robot-only mode, a floor selection is disabled, information about whether the elevator 120 is ascending or descending, and a stopping floor may not be provided, and an illumination in the elevator 120 may be turned OFF. That is, the second portion 1220-2 may be configured such that all floor selection buttons and a door close button are in an inactive state.
Description related to technical features made above with reference to
Initially, an elevator calling process is described with reference to
Referring to
Referring to
That is, when the same elevator 120 is assigned to a plurality of robots present on the same floor, the robot control system 140 may queue the robots in alight order according to the target floor of each robot, that is, such that a robot to alight first may board last.
Hereinafter, a robot-only elevator calling process is described with reference to
Referring to
Hereinafter, a process of boarding, by the robot 100, the elevator 120 is described with reference to
Referring to
Hereinafter, a process of cancelling, by the robot control system 140, the boarding of the elevator 120 is described with reference to
Referring to
Hereinafter, a process of processing the fullness of the elevator 120 is described with reference to
Referring to
Hereinafter, a process of alighting, by the robot 100, from the elevator 120 is described with reference to
Referring to
According to some example embodiments, safety and efficiency for elevator use may be promoted in such a manner that an elevator control system may maintain control over opening and closing a door of an elevator when a robot boards or alights from the elevator. Also, according to some example embodiments, safety and efficiency for elevator use may be promoted by securing a boarding space of a robot through adjustment of a full capacity of an elevator when the robot boards the elevator and by minimizing a number of persons to board the elevator used by the robot.
The systems and/or apparatuses described herein may be implemented using hardware components, software components, and/or a combination thereof. For example, hardware components may include a processing device which may be implemented using one or more general-purpose or special purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor or any other device capable of responding to and executing instructions in a defined manner. The processing device may run an operating system (OS) and one or more software applications that run on the OS. The processing device also may access, store, manipulate, process, and create data in response to execution of the software. For purpose of simplicity, the description of a processing device is used as singular; however, one skilled in the art will appreciated that a processing device may include multiple processing elements and/or multiple types of processing elements. For example, a processing device may include multiple processors or a processor and a controller. In addition, different processing configurations are possible, such as parallel processors.
The software may include a computer program, a piece of code, an instruction, or some combination thereof, for independently or collectively instructing or configuring the processing device to operate as desired. Software and/or data may be embodied permanently or temporarily in any type of machine, component, physical or virtual equipment, computer storage medium or device, or in a propagated signal wave capable of providing instructions or data to or being interpreted by the processing device. The software also may be distributed over network coupled computer systems so that the software is stored and executed in a distributed fashion. In particular, the software and data may be stored by one or more computer readable storage mediums.
The methods according to the example embodiments may be recorded in non-transitory computer-readable media including program instructions to implement various operations embodied by a computer. The media may also include, alone or in combination with the program instructions, data files, data structures, and the like. The media and program instructions may be those specially designed and constructed for the purposes, or they may be of the kind well-known and available to those having skill in the computer software arts. Examples of non-transitory computer-readable media include magnetic media such as hard disks, floppy disks, and magnetic tape; optical media such as CD ROM disks and DVD; magneto-optical media such as floptical disks; and hardware devices that are specially to store and perform program instructions, such as read-only memory (ROM), random access memory (RAM), flash memory, and the like. Examples of other media may include recording media and storage media managed by Appstore that distributes applications or a site, a server, and the like that supplies and distributes other various types of software. Examples of program instructions include both machine code, such as produced by a compiler, and files containing higher level code that may be executed by the computer using an interpreter.
The foregoing description has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular example embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10-2020-0087340 | Jul 2020 | KR | national |
