Granted Patent B2

US 12,656,790 · App. 18/654,501 · Granted Jun 16, 2026

Inventors: Jung Min Ryu (Hwaseong-si, KR); Seok Won Kim (Hwaseong-si, KR)

Assignees: Hyundai Motor Company; Kia Corporation

G05D1/6987

Abstract

Claims (76)

1 . An electronic device comprising:

a communication device configured to support communication between the electronic device and an external device;

one or more processors; and

a storage medium storing computer-readable instructions that, when executed by the one or more processors, enable the one or more processors to:

set a first sub area in which a first robot is movable in a first direction and in which a second robot is movable in a second direction, the second direction being different from the first direction, wherein the first sub area includes a first partial area of a main area, wherein the first sub area is a trigger area for determining a first entry condition that indicates whether the first robot is permitted to enter into the main area;

in response to the first robot entering the first sub area, determine a first entry condition that indicates whether the first robot is permitted to enter the main area, based on a location of the second robot, wherein the main area is where a deadlock of the first robot and the second robot can occur; and

transmit, to the first robot and based on the first entry condition being determined, a first entry command for causing the first robot to enter the main area.

2 . The electronic device of claim 1 , wherein the instructions further enable the one or more processors to:

set the first sub area in which the first robot enters the main area first while moving to the main area, wherein the first sub area includes the first partial area of the main area and includes a second partial area of a second area, the second area being different from the main area; and

set a second sub area in which the second robot enters the main area first while moving to the main area.

3 . The electronic device of claim 2 , wherein the instructions further enable the one or more processors to:

identify whether the second robot is located in the main area, in response to the first robot having entered the first sub area; and

determine the first entry condition as being inactive based on the second robot being located in the main area and based on a total number of robots being movable to the main area.

4 . The electronic device of claim 3 , wherein the instructions further enable the one or more processors to:

move the first robot to a first standby area being distinguished from the first sub area, the second sub area, and the main area, based on the first entry condition being determined as being inactive.

5 . The electronic device of claim 4 , wherein the instructions further enable the one or more processors to:

determine a first number of total robots located in the main area, based on the second robot being located in the first sub area while moving in the second direction; and

determine the first entry condition as being active, based on the first number of the total robots being located in the main area being equal to or less than a threshold number of the total robots.

6 . The electronic device of claim 3 , wherein the instructions further enable the one or more processors to:

determine a first priority of the first robot and a second priority of the second robot based on the second robot being located in an intersection area of the second sub area being a second partial area of the main area in response to the second robot moving in the second direction.

7 . The electronic device of claim 6 , wherein the instructions further enable the one or more processors to:

determine the first priority of the first robot in the main area based on one or more of a first remaining battery charge of the first robot, a first loading state of the first robot, and a first operation time period of the first robot;

determine the second priority of the second robot in the main area based on one or more of a second remaining battery charge of the second robot, a second loading state of the second robot, and a second operation time period of the second robot; and

determine the first entry condition based on comparing the first priority of the first robot and the second priority of the second robot.

8 . The electronic device of claim 7 , wherein the instructions further enable the one or more processors to:

determine a second entry condition for whether to permit the second robot to enter the main area as being inactive, based on the first priority of the first robot being higher than the second priority of the second robot;

move the second robot to a second standby area distinguished from the first sub area, the second sub area, and the main area, based on the second entry condition being determined as being inactive;

determine a first number of total robots located in the main area, based on the first robot being located in an intersection area while moving in the first direction; and

determine the second entry condition as being active, based on the first number of the total robots being located in the main area being equal to or less than a threshold number of the total robots.

9 . The electronic device of claim 1 , wherein the instructions further enable the one or more processors to:

set an intersection area of the first sub area being a first partial area of the main area;

set a second area of the first sub area, other than the first partial area of the main area, as a padding area;

determine a first priority of the first robot and a second priority of the second robot, based on the first robot having entered the intersection area and the second robot having entered the padding area; and

determine the first entry condition based on comparing the first priority of the first robot and the second priority of the second robot.

10 . The electronic device of claim 1 , wherein the instructions further enable the one or more processors to:

receive a first request from the first robot and a second request from the second robot, through the communication device, wherein the communication device is configured to perform a data transform function;

determine the first direction and the second direction based on area locations of the main area and the first sub area, and based on robot locations of the first robot and the second robot; and

set the main area and the first sub area based on a user input received through the communication device.

11 . A control method comprising:

setting a first sub area in which a first robot is movable in a first direction and in which a second robot is movable in a second direction, the second direction being different from the first direction, wherein the first sub area includes a first partial area of a main area, wherein the first sub area is a trigger area for determining a first entry condition that indicates whether the first robot is permitted to enter into the main area;

in response to the first robot entering the first sub area, determining a first entry condition that indicates whether the first robot is permitted to enter the main area, based on a location of the second robot, wherein the main area is where a deadlock of the first robot and the second robot can occur; and

transmitting, to the first robot and based on the first entry condition being determined, a first entry command for causing the first robot to enter the main area.

12 . The control method of claim 11 , further comprising:

setting the first sub area in which the first robot enters the main area first while moving to the main area, wherein the first sub area includes the first partial area of the main area and includes a second partial area of a second area, the second area being different from the main area; and

setting a second sub area in which the second robot enters the main area first while moving to the main area.

13 . The control method of claim 12 , further comprising:

identifying whether the second robot is located in the main area, in response to the first robot having entered the first sub area; and

determining the first entry condition as being inactive based on the second robot being located in the main area and based on a total number of robots being movable to the main area.

14 . The control method of claim 13 , further comprising:

moving the first robot to a first standby area being distinguished from the first sub area, the second sub area, and the main area, based on the first entry condition being determined as being inactive.

15 . The control method of claim 13 , further comprising:

determining a first number of total robots located in the main area, based on the second robot being located in the first sub area while moving in the second direction; and

determining the first entry condition as being active, based on the first number of the total robots being located in the main area being equal to or less than a threshold number of the total robots.

16 . The control method of claim 13 , further comprising:

determining a first priority of the first robot and a second priority of the second robot based on the second robot being located in an intersection area of the second sub area being a second partial area of the main area in response to the second robot moving in the second direction.

17 . The control method of claim 16 , further comprising:

determining the first priority of the first robot in the main area based on one or more of a first remaining battery charge of the first robot, a first loading state of the first robot, and a first operation time period of the first robot;

determining the second priority of the second robot in the main area based on one or more of a second remaining battery charge of the second robot, a second loading state of the second robot, and a second operation time period of the second robot; and

determining the first entry condition based on comparing the first priority of the first robot and the second priority of the second robot.

18 . The control method of claim 17 , further comprising:

determining a second entry condition for whether to permit the second robot to enter the main area as being inactive, based on the first priority of the first robot being higher than the second priority of the second robot;

moving the second robot to a second standby area distinguished from the first sub area, the second sub area, and the main area, based on the second entry condition being determined as being inactive;

determining a first number of total robots located in the main area, based on the first robot being located in the intersection area while moving in the first direction; and

determining the second entry condition as being active, based on the first number of the total robots being located in the main area being equal to or less than a threshold number of the total robots.

19 . The control method of claim 11 , further comprising:

setting an intersection area of the first sub area being a first partial area of the main area;

setting a second area of the first sub area, other than the first partial area of the main area, as a padding area;

determining a first priority of the first robot and a second priority of the second robot, based on the first robot having entered the intersection area and the second robot having entered the padding area; and

determining the first entry condition based on comparing the first priority of the first robot and the second priority of the second robot.

20 . A control method comprising:

receiving a first request from a first robot and a second request from a second robot;

determining a first direction and a second direction based on area locations of a main area and a first sub area, and based on robot locations of the first robot and the second robot, wherein the second direction is different from the first direction;

setting the main area and the first sub area based on a user input;

setting the first sub area in which the first robot is movable in the first direction and in which the second robot is movable in the second direction, wherein the first sub area includes a first partial area of the main area, wherein the first sub area is a trigger area for determining a first entry condition that indicates whether the first robot is permitted to enter into the main area;

in response to the first robot entering the first sub area, determining a first entry condition that indicates whether the first robot is permitted to enter the main area, based on a location of the second robot, wherein the main area is where a deadlock of the first robot and the second robot can occur; and

transmitting, to the first robot and based on the first entry condition being determined, a first entry command for causing the first robot to enter the main area.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (16)