Method and system for controlling robot configured with plurality of modular robots, and building in which robot is disposed

1 . A method of controlling a first robot and a second robot, the first robot configured with a plurality of modular robots and the second robot configured with a plurality of other modular robots, the method performed by a robot control system, the method comprising:

receiving first sensing information or first state information from a first modular robot that performs a first function among the plurality of modular robots and receiving second sensing information or second state information from a second modular robot that performs a second function among the plurality of modular robots; and

controlling the first modular robot by transmitting a first command to the first modular robot based on the first sensing information or the first state information, and controlling the second modular robot by transmitting a second command to the second modular robot based on the second sensing information or the second state information,

wherein each of the first modular robot and the second modular robot is individually controlled by the robot control system without a direct interaction between the first modular robot and the second modular robot for controlling each other or executing a first task related to a service requested for the first robot, such that the first robot is controlled to perform the first task,

each of the plurality of other modular robots is individually controlled by the robot control system without a direct interaction between the plurality of other modular robots for controlling each other or executing a second task related to a service requested for the second robot, such that the second robot is controlled to perform the second task,

the first task and the second task are interrelated tasks,

the first robot and the second robot configure a single virtual robot, and

the first robot and the second robot are controlled to operate in conjunction with each other.

2 . The method of claim 1 , wherein each of the plurality of modular robots is a brainless robot that is controlled by executing a command from the robot control system, without each of the plurality of modular robots directly interacting with another robot or another modular robot for controlling each other or executing the first task.

3 . The method of claim 1 , further comprising:

receiving a request for the first task related to the service requested for the first robot,

wherein the controlling the first modular robot and the controlling the second modular robot comprise

generating the first command based on a result of interpreting the request and the first sensing information or the first state information, and

generating the second command based on a result of interpreting the request and the second sensing information or the second state information.

4 . The method of claim 3 , wherein the first command is generated using information obtained from a predefined first functional element in association with the first function, and

the second command is generated using information obtained from a predefined second functional element in association with the second function.

5 . The method of claim 3 , wherein the generating of the second command comprises generating the second command further based on the first sensing information or the first state information, and

the second modular robot is controlled according to the second command generated further based on the first sensing information or the first state information.

6 . The method of claim 1 , further comprising:

configuring a first module controller for controlling the first modular robot and a second module controller for controlling the second modular robot,

wherein the first sensing information or the first state information is received from the first modular robot and the first command is transmitted to the first modular robot using the first module controller corresponding to the first modular robot,

the second sensing information or the second state information is received from the second modular robot and the second command is transmitted to the second modular robot using the second module controller corresponding to the second modular robot, and

the first module controller and the second module controller correspond to the first modular robot and the second modular robot on a one-to-one basis, respectively.

7 . The method of claim 6 , further comprising:

in response to a request for control of a third modular robot that performs a third function among the plurality of modular robots to perform a third task, configuring a third module controller for controlling the third modular robot,

wherein the third module controller corresponds to the third modular robot on a one-to-one basis.

8 . The method of claim 1 , wherein each of the first modular robot and the second modular robot communicates with the robot control system using a shared communicator, and

reception of the first sensing information or the first state information, reception of the second sensing information or the second state information, transmission of the first command, and transmission of the second command are performed through the shared communicator.

9 . The method of claim 1 , wherein each of the first robot and the second robot is controlled by a robot controller independently configured in the robot control system.

10 . The method of claim 1 , wherein each of the first robot and the second robot is controlled by a common robot controller of the robot control system.

11 . The method of claim 1 , wherein the first function is a function for moving the first robot and the first modular robot is a mobile base modular robot configured to move the first robot,

the second function is a function for providing the service and the second modular robot is a service modular robot configured to provide the service of the first robot, and

the first robot is configured through combination of the first modular robot and the second modular robot.

12 . A robot control system for controlling a first robot and a second robot, the first robot configured with a plurality of modular robots and the second robot configured with a plurality of other modular robots, the robot control system comprising:

at least one processor configured to execute computer-readable instructions,

wherein the at least one processor is configured to receive first sensing information or first state information from a first modular robot that performs a first function among the plurality of modular robots, receive second sensing information or second state information from a second modular robot that performs a second function among the plurality of modular robots, control the first modular robot by transmitting a first command to the first modular robot based on the first sensing information or the first state information, and control the second modular robot by transmitting a second command to the second modular robot based on the second sensing information or the second state information,

each of the first modular robot and the second modular robot is individually controlled by the robot control system without a direct interaction between the first modular robot and the second modular robot for controlling each other or executing a first task related to a service requested for the first robot, such that the first robot is controlled to perform the first task,

each of the plurality of other modular robots is individually controlled by the robot control system without a direct interaction between the plurality of other modular robots for controlling each other or executing a second task related to a service requested for the second robot, such that the second robot is controlled to perform the second task,

the first task and the second task are interrelated tasks,

the first robot and the second robot configure a single virtual robot, and

the first robot and the second robot are controlled to operate in conjunction with each other.

13 . The robot control system of claim 12 , wherein the at least one processor comprises a first module controller for controlling the first modular robot and a second module controller for controlling the second modular robot,

the first module controller corresponding to the first modular robot is configured to receive the first sensing information or the first state information from the first modular robot and transmit the first command to the first modular robot,

the second module controller corresponding to the second modular robot is configured to receive the second sensing information or the second state information from the second modular robot and transmit the second command to the second modular robot,

the first module controller and the second module controller correspond to the first modular robot and the second modular robot, respectively, on a one-to-one basis, and

in response to a request for control of a third modular robot that performs a third function among the plurality of modular robots to perform a third task, the at least one processor is configured to generate a third module controller for controlling the third modular robot.

14 . The robot control system of claim 12 , wherein the at least one processor comprises a first robot controller configured to control the first robot and a second robot controller configured to control the second robot, and

the first robot controller and the second robot controller are independently configured.

15 . The robot control system of claim 12 , wherein the at least one processor comprises a common robot controller, and

each of the first robot and the second robot is controlled by the common robot controller.

16 . A number of robots controlled by a robot control system to provide a service within a space, the number of robots comprising:

a first robot having a plurality of modular robots, and

a second robot having a plurality of other modular robots,

wherein each of the plurality of modular robots is individually controlled by the robot control system without a direct interaction between the plurality of modular robots for controlling each other or executing a first function for providing the service,

each of the plurality of other modular robots is individually controlled by the robot control system without a direct interaction between the plurality of other modular robots for controlling each other or executing a second function for providing the service,

each modular robot of the plurality of modular robots is configured to perform the first function,

each other modular robot of the plurality of other modular robots is configured to perform the second function,

the first function and the second function are interrelated functions,

the first robot and the second robot configure a single virtual robot,

the first robot and the second robot are controlled to operate in conjunction with each other,

the each modular robot comprises at least one processor configured to execute computer-readable instructions, and

the at least one processor is configured to transmit sensing information or state information of the each modular robot to the robot control system, receive a command from the robot control system based on the sensing information or the state information, and control the each modular robot according to the command.

17 . The number of robots of claim 16 , wherein a shared communicator

is configured to connect to the plurality of modular robots through a connector to enable the robot control system through the shared communicator.

18 . The number of robots of claim 16 , wherein the plurality of modular robots comprises:

a mobile base modular robot configured to provide a function for moving the first robot; and

a service modular robot configured to provide a function for providing the service, and

the first robot is configured through combination of the mobile base modular robot and the service modular robot.

19 . A building comprising:

a first robot configured with a plurality of modular robots moving through a space within the building,

a second robot configured with a plurality of other modular robots,

the first robot and the second robot each being controlled by a robot control system,

the robot control system including at least one processor configured to execute computer-readable instructions,

wherein the at least one processor is configured to receive first sensing information or first state information from a first modular robot that performs a first function among the plurality of modular robots, receive second sensing information or second state information from a second modular robot that performs a second function among the plurality of modular robots, control the first modular robot by transmitting a first command to the first modular robot based on the first sensing information or the first state information, and control the second modular robot by transmitting a second command to the second modular robot based on the second sensing information or the second state information,

each of the first modular robot and the second modular robot is individually controlled by the robot control system without a direct interaction between the first modular robot and the second modular robot for controlling each other or executing a first task related to a service requested for the first robot, such that the first robot is controlled to perform the first task,

each of the plurality of other modular robots is individually controlled by the robot control system without a direct interaction between the plurality of other modular robots for controlling each other or executing a second task related to a service requested for the second robot, such that the second robot is controlled to perform the second task,

the first task and the second task are interrelated tasks,

the first robot and the second robot configure a single virtual robot, and

the first robot and the second robot are controlled to operate in conjunction with each other.

20 . A building comprising:

a first robot configured with a plurality of modular robots moving through a space within the building and controlled by a robot control system,

a second robot configured with a plurality of other modular robots controlled by the robot control system,

wherein each of the plurality of modular robots is individually controlled by the robot control system without a direct interaction between the plurality of modular robots for controlling each other or executing a first function for providing a service within the space,

each of the plurality of other modular robots is individually controlled by the robot control system without a direct interaction between the plurality of other modular robots for controlling each other or executing a second function for providing the service within the space,

each modular robot of the plurality of modular robots is configured to perform the first function,

each other modular robot of the plurality of other modular robots is configured to perform the second function,

the first function and the second function are interrelated functions,

the first robot and the second robot configure a single virtual robot,

the first robot and the second robot are controlled to operate in conjunction with each other,

the each modular robot includes at least one processor, and

the at least one processor is configured to transmit sensing information or state information of the each modular robot to the robot control system, receive a command from the robot control system based on the sensing information or the state information, and control the each modular robot according to the command.