Service robot and control method thereof

Abstract

The invention discloses a service robot and a control method thereof. The service robot includes: a main body; a loader for loading food; an arm, in each of the arms, one end of the arm is rotatably connected to the main body, and the other end of the arm is rotatably connected to the loader; a driving unit; and at least one processor, where the at least one processor controls the drive unit to maintain the loader horizontal state during forward rotation or backward rotation of the arm.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to a robot and a method of controlling a service robot. Background Art

[0002] Recently, automation technology using robots has been provided in various fields. For example, products are manufactured by using robots in factories. In addition, food ordered by customers is cooked by robots in restaurants and also provided or delivered to customers by robots.

[0003] The robot can receive an input of an order for food from a user by a touch method or a voice method, and cook the food according to a set recipe. In addition, the robot can recognize the user's location and surrounding environment, and supply the ordered food to the user's location in consideration of the recognized surrounding environment. Summary of the invention

[0004] Technical Solution According to one aspect of the present disclosure, a service robot is provided, comprising: a main body; a loading part configured to load an object; an arm comprising a first end rotatably connected to the main body and a second end rotatably connected to the loading part; a driving part; and at least one processor configured to control the driving part to maintain a horizontal state of the loading part when the arm is rotated in a first direction or in a second direction opposite to the first direction.

[0005] According to another aspect of the present disclosure, a control method for a service robot is provided, the method comprising: moving the service robot based on an object being loaded on a loading part of the service robot; rotating an arm connected to a main body of the service robot, wherein the arm comprises a first end rotatably connected to the main body and a second end rotatably connected to the loading part; and maintaining a horizontal state of the loading part when rotating the arm in a first direction or in a second direction opposite to the first direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 is a perspective view of a service robot according to one or more embodiments of the present disclosure.

[0007] Figure 2 is a block diagram illustrating a configuration of a service robot according to one or more embodiments of the present disclosure.

[0008] Figure 3 is a block diagram illustrating a configuration of a driving part according to one or more embodiments of the present disclosure.

[0009] Figure 4 is a block diagram illustrating a detailed configuration of a service robot according to one or more embodiments of the present disclosure.

[0010] Figure 5a , Figure 5b and Figure 5c is a diagram illustrating a driving principle of a service robot according to one or more embodiments of the present disclosure.

[0011] Figure 6 is a diagram illustrating a constant speed service robot according to one or more embodiments of the present disclosure.

[0012] Figure 7 is a diagram illustrating an accelerated service robot according to one or more embodiments of the present disclosure.

[0013] Figure 8 is a diagram illustrating a decelerated service robot according to one or more embodiments of the present disclosure.

[0014] Figure 9a and Figure 9b is a diagram illustrating a service robot located on a slope according to one or more embodiments of the present disclosure.

[0015] Fig.10 is a diagram illustrating a service robot receiving an order according to one or more embodiments of the present disclosure.

[0016] Fig.11 is a diagram illustrating a service robot that supplies ordered food according to one or more embodiments of the present disclosure.

[0017] Fig.12 is a flowchart illustrating a control method of a service robot according to one or more embodiments of the present disclosure. DETAILED DESCRIPTION

[0018] Hereinafter, various embodiments will be described in more detail with reference to the accompanying drawings. The embodiments described in this specification may be modified in various ways. In addition, specific embodiments may be shown in the accompanying drawings and described in detail in the specific embodiments. However, the specific embodiments disclosed in the accompanying drawings are only for the purpose of making the various embodiments easy to understand. Therefore, the technical ideas of the present disclosure are not limited to the specific embodiments disclosed in the accompanying drawings, and the embodiments should be understood to include all equivalents or substitutes included in the ideas and technical scope of the present disclosure.

[0019] In addition, in the present disclosure, terms including ordinal numbers such as "first" and "second" may be used to describe various components, but these components are not limited by the aforementioned terms. The aforementioned terms are used only for the purpose of distinguishing one component from another.

[0020] In addition, in this specification, terms such as "including" and "having" should be interpreted as specifying the existence of such characteristics, numbers, steps, operations, elements, components or combinations thereof described in the specification, rather than excluding in advance the possibility of the existence or addition of one or more of other characteristics, numbers, steps, operations, elements, components or combinations thereof. In addition, the description of an element "combined with" / "combined to" another element or "connected with" / "connected to" another element in the present disclosure should be interpreted as meaning that one element can be directly combined with / directly combined to another element or directly connected to another element, but another element can also exist between the elements. Conversely, the description that an element is "directly combined with" or "directly connected" to another element can be interpreted as meaning that there is no another element between one element and another element.

[0021] In addition, the "module" or "component" of the element used in this specification performs at least one function or operation. In addition, the "module" or "component" can perform a function or operation by hardware, software, or a combination of hardware and software. In addition, multiple "modules" or multiple "components" other than the "module" or "component" that needs to be implemented in specific hardware or executed in at least one processor can be integrated into at least one module. In addition, unless clearly defined differently in the context, singular expressions include plural expressions.

[0022] In addition, in the description of the present disclosure, unless the previous step must be performed before the subsequent step in a logical and temporal sense, the order of each step should be understood in a non-restrictive manner. That is, excluding the exceptions described above, even if the processing described as a subsequent step is performed before the processing described as a previous step, it will not affect the essence of the present disclosure, and the scope of the present disclosure should also be defined regardless of the order of the steps. In addition, the description "A or B" in this specification is defined to include not only the case of selectively mentioning one of A or B, but also the case of including both A and B. In addition, the term "including" in this specification includes the case of further including elements other than the elements listed as included.

[0023] In addition, in this specification, only the necessary elements necessary for describing the present disclosure are described, and elements irrelevant to the essence of the present disclosure are not mentioned. In addition, the description of the present disclosure should not be interpreted as having an exclusive meaning of only including the mentioned elements, but having a non-exclusive meaning of also including other elements.

[0024] In addition, when describing the present disclosure, in the case where it is determined that the detailed explanation of the related known functions or features may unnecessarily confuse the subject matter of the present disclosure, the detailed explanation will be abridged or omitted. In addition, each embodiment of the present disclosure can be implemented or operated independently, but it can also be implemented or operated in combination with another embodiment.

[0025] Figure 1 is a perspective view of a service robot according to one or more embodiments of the present disclosure.

[0026] Reference Figure 1 , the service robot 100 may include a main body 1 , an arm 10 , a loading portion 20 , and wheels 30 .

[0027] The main body 1 may include various components configured to perform various operations of the service robot 100 (such as driving the service robot 100). For example, the main body 1 may include components such as a processor, a communication interface, a sensor, a camera, a microphone, a speaker, a memory, etc. However, the present disclosure is not limited thereto, and therefore, according to another embodiment, some of these components may be omitted from the main body 1 and / or other components may be further included in the main body 1.

[0028] According to an embodiment, the arm 10 may be connected to the main body 1. For example, one end (e.g., the first end) of the arm 10 may be rotatably connected to the main body 1, and the other end (e.g., the second end) of the arm 10 may be rotatably connected to the loading portion 20. The longitudinal direction of the arm 10 may be oriented in an upward direction relative to the bottom surface of the main body 1. For example, the longitudinal direction of the arm 10 may be arranged perpendicular to the bottom surface of the main body 1. The arm 10 may rotate forward or backward based on the connection axis connected to the main body 1 according to the movement of the service robot 100. As an example, the arm 10 may also rotate within a range of 30 degrees forward to 30 degrees backward based on a vertical axis relative to the bottom surface of the main body 1. In addition, the aforementioned rotation angle is merely an example, and therefore, according to another embodiment, the rotation angle is not limited thereto. Therefore, the arm 10 may rotate within a range different from 30 degrees forward or 30 degrees backward based on a vertical axis relative to the bottom surface of the main body 1. However, according to another embodiment, the arm 10 may not rotate more than 90 degrees forward or more than 90 degrees backward. In Figure 1 , two arms 10 connected to two side surfaces of the main body 1 are shown. However, the present disclosure is not limited thereto, and therefore, according to circumstances, one arm 10 may be connected to one side surface, or a plurality of arms 10 may be attached to the main body. In addition, the arm 10 may be attached to the main body 1 at a position different from the side surface of the main body 1. For example, the arm 10 may be connected to the main body 1 on the front surface or the top surface of the main body 1. According to an embodiment, the arm 10 may be a telescopic arm that can be extended.

[0029] The loading portion 20 may be rotatably connected to the arm 10. For example, the central area of ​​the side surface of the loading portion 20 may be connected to the arm 10. When food is loaded on the loading portion 20, the loading portion 20 may rotate according to the rotation of the arm 10 to maintain a horizontal state. The loading portion 20 may rotate forward or backward based on the connection axis connected to the arm 10. As an example, the loading portion 20 may rotate 360 ​​degrees forward or backward. Although Figure 1 A case where food is loaded on the loading portion 20 is shown, but the present disclosure is not limited thereto, and thus, according to another embodiment, other objects may be loaded on the loading portion 20. According to an embodiment, the loading portion 20 may be referred to as a platform or a loading platform.

[0030] According to an embodiment, one surface (e.g., the first surface) of the loading portion 20 may include a tray, and another surface (e.g., the second surface) may include a display. For example, if the service robot 100 recognizes a user or customer while not loading food, the service robot 100 may rotate the loading portion 20 so that the display faces the upper direction. In this way, the customer or user may be able to view the menu displayed on the display. The display facing the upper direction may mean that the display face faces the upper direction of the vertical axis of the bottom surface of the main body 1, or the display face faces the upward direction relative to the bottom surface of the main body 1. When the display faces the upper direction, the service robot 100 may display information related to food on the display. In addition, the service robot 100 may rotate the loading portion 20 so that the tray surface faces the upper direction for loading food and serving food. When food is loaded on the loading portion 20, the service robot 100 may keep the loading portion 20 horizontal for stable delivery of food.

[0031] The wheels 30 may be located in the lower end portion of the body 1. The wheels 30 may move the service robot 100. Figure 1 , a plurality of independent wheels 30 are shown, but the present disclosure is not limited thereto, and therefore, the service robot 100 may include various numbers of wheels 30. For example, the service robot 100 may include 1 to 8 wheels 30. According to one embodiment, the wheels 30 may be implemented in the form of tracks.

[0032] Hereinafter, components included in the service robot 100 will be described in detail.

[0033] Figure 2 is a block diagram illustrating a configuration of a service robot according to one or more embodiments of the present disclosure.

[0034] Reference Figure 2 , the service robot 100 may include a processor 110 and a driving unit 120 .

[0035] The processor 110 may control each component of the service robot 100. The service robot 100 may include the processor 110. However, the present disclosure is not limited thereto, and therefore, the service robot 100 may include a plurality of processors 110. The processor 110 may control the overall operation of the service robot 100. The processor 110 may include one or more cores (e.g., homogeneous multi-core or heterogeneous multi-core). The processor 110 may be or include, for example, at least one of a central processing unit (CPU), an image signal processing unit (ISP), a digital signal processing unit (DSP), a graphics processing unit (GPU), a visual processing unit (VPU), and a neural processing unit (NPU). The processor 111 may execute various applications loaded onto a memory (e.g., an on-chip memory).

[0036] The processor 110 may control the driving unit 120 so that the service robot 100 moves or operates. The driving unit 120 may be a driver. The processor 110 may control the driving unit 120 to rotate the arm 10 forward or backward according to the acceleration and deceleration of the service robot 100. For example, the processor 110 may control the driving unit 120 according to the forward rotation or backward rotation of the arm 10 so that the loading unit 20 maintains a horizontal state. In addition, the processor 110 may control the driving unit 120 to move the service robot 100.

[0037] According to an embodiment, the processor 110 may control the driving unit 120 to rotate the arm 10 so that the loading unit 20 accelerates, decelerates, and slows down to offset the acceleration, deceleration, and slowdown of the main body 1. For example, when the service robot 100 accelerates, the processor 110 may control the driving unit 120 to rotate the arm 10 backward by a first angle with the axis (connection axis connected to the main body) at one end of the arm 10 connected to the main body 1 as the center, wherein the first angle corresponds to the acceleration information of the main body 1. Then, the processor 110 may control the driving unit 120 to rotate the loading unit 20 based on the first angle so that the loading unit 20 maintains a horizontal state. The first angle may be a predetermined angle.

[0038] If the service robot 100 maintains a constant speed after acceleration, the processor 110 may control the driving unit 120 to rotate the arm 10 forward around an axis at one end of the arm 10 based on information about the change in the speed of the body 1 to move the arm 10 to the initial position. Accordingly, the processor 110 may control the driving unit 120 to rotate the loading unit 20 based on the forward rotation of the arm 10 so that the loading unit 20 maintains a horizontal state.

[0039] If the service robot 100 decelerates, the processor 110 may control the driving unit 120 to rotate the arm 10 forward by a second angle centered on an axis connected to one end of the arm 10 to the main body 1, wherein the second angle corresponds to the deceleration information of the main body 1. Accordingly, the processor 110 may control the driving unit 120 to rotate the loading unit 20 based on the second angle so that the loading unit 20 maintains a horizontal state. The second angle may be a predetermined angle.

[0040] If the service robot 100 maintains a constant speed after deceleration, the processor 110 may control the driving unit 120 to rotate the arm 10 backwards around an axis at one end of the arm 10 based on information about the change in the speed of the body 1 to move the arm 10 to the initial position. Accordingly, the processor 110 may control the driving unit 120 to rotate the loading unit 20 based on the backward rotation of the arm 10 so that the loading unit 20 maintains a horizontal state.

[0041] The service robot 100 may move on a slope. In this case, the service robot 100 may move on a slope, and the processor 110 may control the driving part 120 to rotate the arm 10 and / or the loading part 20 based on the inclination of the main body 1 according to the inclination of the slope so that the loading part 20 maintains a horizontal state.

[0042] The driving part 120 may rotate the arm 10 and / or the loading part 20. According to an embodiment, the driving part 120 may move the service robot 100.

[0043] Figure 3 is a block diagram illustrating a configuration of a driving part according to one or more embodiments of the present disclosure.

[0044] Reference Figure 3 , the driving part 120 may include a first motor 121, a second motor 122, a third motor 123, an arm 10, a loading part 20, and a wheel 30. However, the present disclosure is not limited thereto, and therefore, according to another embodiment, some of these components may be omitted from the driving part 120 and / or other components may be further included in the driving part 120.

[0045] For example, the first motor 121 may rotate the arm 10 forward or backward by the control of the processor 110. The second motor 122 may rotate the loading portion 20 forward or backward by the control of the processor 110 to maintain the horizontal state of the loading portion 20. According to an embodiment, the second motor 122 may rotate the loading portion 20 so that the tray surface or the display surface of the loading portion 20 faces the upper direction. The third motor 123 may drive the wheel 30 by the control of the processor 110 so that the service robot 100 moves. According to an embodiment, the driving portion 120 may further include a connecting component (such as a gear) that connects the first motor 121 to the arm 10, connects the second motor 122 to the loading portion 20, and connects the third motor 123 to the wheel 30.

[0046] Figure 4 is a block diagram illustrating a detailed configuration of a service robot according to one or more embodiments of the present disclosure.

[0047] Reference Figure 4 The service robot 100 may include a processor 110, a driving unit 120, an input interface 130, a communication interface 135, a sensor 140, a camera 145, a microphone 150, a display 155, a speaker 160, and a memory 165. The driving unit 120 may be connected to Figure 2 and Figure 3 The drive unit is the same as described in .

[0048] The input interface 130 may receive input of control instructions from a user. For example, the input interface 130 may receive input of instructions from a user. The input instructions may include, but are not limited to, power on / off instructions, setting instructions (e.g., setting values ​​for setting operating characteristics of the service robot 100), menu selection instructions, etc. The input interface 130 may include a keyboard, a button, a key area, a touch pad, and a touch screen. The input interface 130 may also be referred to as an input device, an input unit, an input module, etc.

[0049] The communication interface 135 may perform communication with an external device. For example, the communication interface 135 may perform communication with an external device through at least one of the communication methods of Wi-Fi, Wi-Fi Direct, Bluetooth, Zigbee, third generation (3G), third generation partnership project (3GPP), and long term evolution (LTE). The communication interface 135 may receive a driving map, menu information, service-related information, etc. from an external device, and send information about a menu selected by a user, information about the status of the service robot 100, etc. to the external device. The communication interface 135 may also be referred to as a communication device, a communication unit, a communication module, a transceiver, etc.

[0050] The sensor 140 may detect acceleration information and deceleration information of the main body 1 and acceleration information and deceleration information of the loading part 20 according to the movement of the service robot 100. For example, the sensor 140 may include a first sensor for detecting the acceleration and deceleration of the main body 1 and a second sensor for detecting the acceleration and deceleration of the loading part 20. In addition, the sensor 140 may detect the inclination information of the bottom surface or the inclination information of the service robot 100. For example, the sensor 140 may include a third sensor for detecting the inclination of the bottom surface or the inclination of the service robot 100. The detected information may be sent to the processor 110. The processor 110 may control the rotation of the arm 10 and / or the loading part 20 based on the information sent from the sensor 140. According to an embodiment, the sensor 140 may detect the surrounding environment. The processor 110 may perform a control operation including the movement of the service robot 100 based on the detected information.

[0051] For example, in the case where the sensor 140 includes an infrared sensor, an ultrasonic sensor, a time-of-flight (ToF) sensor, a laser radar (LiDar), a laser sensor, etc., the sensor 140 may transmit data about a transmitted signal and a received signal to the processor 110, and the processor 110 may recognize the state of a road surface, whether a protrusion exists at the bottom, whether an obstacle exists, etc. based on the transmitted transmission data and the received data. According to an embodiment, in the case where the sensor 140 includes a motion recognition sensor, a heat detection sensor, etc., the sensor 140 may transmit the detected information to the processor 110, and the processor 110 may recognize whether an obstacle exists, etc. based on the transmitted information. For example, the sensor 140 may include an angle sensor, an acceleration sensor, a gravity sensor, a gyro sensor, a geomagnetic sensor, a direction sensor, an infrared sensor, an ultrasonic sensor, a time-of-flight (ToF) sensor, a LiDar, a laser sensor, a motion recognition sensor, a heat detection sensor, an image sensor, a tracking sensor, a proximity sensor, an illumination sensor, a voltmeter, an ammeter, a barometer, a hygrometer, a thermometer, a touch sensor, etc.

[0052] The camera 145 may capture the surrounding environment of the service robot 100. The captured image may be a still image (e.g., a photo) or a moving image (e.g., a video or multiple frames). The processor 110 may obtain information about the surrounding environment based on the image captured at the camera 145. For example, the processor 110 may obtain information related to the user and information related to obstacles based on the captured image. The processor 110 may perform control operations based on the acquired information. As an example, the service robot 100 may include various cameras that perform different functions. According to an embodiment, the service robot 100 may include a plurality of cameras of the same kind. For example, the camera 145 may include a CCD sensor and a CMOS sensor. In addition, the camera 145 may include an RGB camera, a depth camera, a wide-angle camera, a telephoto camera, and the like.

[0053] The microphone 150 may receive an input of a user's voice. For example, the microphone 150 may receive an input of a voice for ordering food from the user. The processor 110 may recognize the food ordered by the user based on the input user's voice, and perform a control operation related to the supply of the ordered food. For example, the service robot 100 may include at least one microphone 150. The microphone 150 may include a general microphone, a surround microphone, a directional microphone, etc.

[0054] The display 155 may output data processed at the processor 110 as an image. The display 155 may display information and output a screen corresponding to the recognized user's instructions. As an example, the display 155 may be arranged on the loading portion 20. That is, one surface of the loading portion 20 may include a tray, and the other surface may include the display 155. If the display surface of the loading portion 20 faces the upward direction, the display 155 may display food-related information (e.g., a menu) through the control of the processor 110. The display 155 may be implemented as a liquid crystal display (LCD), an organic light emitting diode (OLED), a flexible display, a touch screen, etc. In the case where the display 155 is implemented as a touch screen, the service robot 100 may receive input of a control instruction through the touch screen.

[0055] The speaker 160 may output a sound signal. For example, the speaker 160 may output information about a user's input command, information related to food ordered by a user, service information, information related to a warning, information related to the state of the service robot 100, information related to an operation, etc. as a voice or notification sound.

[0056] The memory 165 may store data, algorithms, etc. for executing the functions of the service robot 100, and may store programs, instructions, etc. driven at the service robot 100. According to an embodiment, the memory 165 may store data related to food, data related to service, acceleration and deceleration data of the service robot 100, data related to driving including a driving map, etc. The algorithm or data stored in the memory 165 may be loaded onto the processor 110 by the control of the processor 110, and the functions related to service are performed. For example, the memory 165 may be implemented as a type such as ROM, RAM, HDD, SSD, memory card, etc. According to an embodiment, the memory 165 may be an on-chip memory that may store various application programs that may be executed by the processor 110. The on-chip memory may operate as a cache memory adjacent to the processor 110. The on-chip memory may store commands, addresses, and data to be processed by the processor 110, or may store processing results of the processor 110. The on-chip memory may be, for example, a storage medium or a working memory including latches, registers, static random access memory (SRAM), dynamic random access memory (DRAM), thyristor random access memory (TRAM), tightly coupled memory (TCM), etc.

[0057] The service robot 100 may include all of the aforementioned components, or include some of the components. So far, the configuration of the service robot 100 is described. Hereinafter, a control operation of the service robot 100 according to movement of the service robot 100 will be described.

[0058] Figure 5a , Figure 5b and Figure 5c is a diagram illustrating a driving principle of a service robot according to one or more embodiments of the present disclosure.

[0059] Reference Figure 5a , showing a liquid object 71. For example, the liquid object 71 may be a food item including water, a drink, or a liquid provided in a container such as a glass or a bowl. For example, if a container including the liquid object 71 is loaded on a tray of the loading portion 20 of the service robot 100, and the service robot 100 does not move, the liquid object 71 may remain as shown. Figure 5a The service robot 100 can load the liquid object 71 and move to perform service.

[0060] Reference Figure 5b , showing a state of a liquid object 71 loaded on the accelerating service robot 100.

[0061] If the service robot 100 in the stopped state moves, acceleration is applied to the liquid object 71 loaded on the service robot 100 from the rear side. According to an embodiment, if the service robot 100 moving at a constant speed accelerates, acceleration is applied to the liquid object 71 loaded on the service robot 100 from the rear side. According to the law of inertia, the liquid object 71 in the stopped state (or, in a state of constant speed) may exhibit a characteristic of trying to maintain the previous state. However, since the liquid object 71 has fluidity, it may exhibit Figure 5b If the service robot 100 maintains acceleration, the liquid object 71 may maintain the state shown in FIG. Figure 5b In this case, the liquid object 71 flows over the end of the container, and thus, the liquid object 71 overflows and spills.

[0062] According to an embodiment, if the service robot 100 accelerates to a speed greater than or equal to a specific speed, the service robot 100 may maintain a constant speed again. The feature of the accelerated service robot 100 maintaining a constant speed means that the acceleration is 0, and also means that (-) acceleration is applied to the service robot 100 until the acceleration becomes 0. According to an embodiment, the service robot 100 may decelerate according to the surrounding conditions, and the service robot 100 is applied with (-) acceleration. In this case, the liquid object 71 loaded on the service robot 100 may present the same Figure 5b That is, acceleration can be applied to the liquid object 71 from the front, and the water level of the liquid object 71 in the direction in which the acceleration is applied becomes higher.

[0063] According to an embodiment, the liquid object 71 may vibrate according to a change in the speed of the service robot 100. That is, the water level of the liquid object 71 becomes higher alternately in the left and right directions of the container. As described above, if the water surface in one direction of the liquid object 71 becomes higher or vibrates, the liquid object 71 may overflow. Therefore, a service robot 100 that can stably supply the liquid object 71 even if the service robot 100 moves (or, the speed changes) is needed.

[0064] According to an embodiment, a liquid object 71 is shown that maintains a stable state even if acceleration is applied to the service robot 100. The service robot 100 according to the present disclosure can detect the acceleration (or, the change in speed) of the service robot 100, and rotate the arm 10 and / or the loading part 20 based on the detected acceleration information. The rotation of the arm 10 and / or the loading part 20 applies an acceleration to the liquid object 71 in the opposite direction, and the magnitude of the acceleration is similar to the acceleration applied to the service robot 100, so that the liquid object 71 can be maintained as Figure 5c The stable state shown in .

[0065] According to another embodiment, Figure 5c As shown, if the liquid object 71 vibrates according to the change of the speed of the service robot 100 (as shown by line 73 in the graph), the service robot 100 can control the arm 10 and / or the loading part 20 and apply vibration (as shown by line 75 in the graph) whose phase is opposite to the vibration 73 of the liquid object 71, thereby offsetting the vibration applied to the liquid object 71. That is, the service robot 100 according to the present disclosure can control the arm 10 and the loading part 20 based on the information about the acceleration and deceleration applied to the main body 1, so that the acceleration information and deceleration information of the loading part 20 are offset. Through the above-mentioned process, the service robot 100 according to the present disclosure can stably supply the liquid object 71 to the user.

[0066] Figure 6 is a diagram illustrating a constant speed service robot according to one or more embodiments of the present disclosure.

[0067] like Figure 6 As shown, the service robot 100 with a constant speed can maintain the positions of the arm 10 and the loading part 20 in an initial state. For example, the initial state may be a state in which the arm 10 is located in an upper direction of the main body 1 and the loading part 20 maintains a horizontal state. Here, the constant speed may include not only a case in which the service robot 100 moves at a normal speed, but also a state in which the service robot 100 stops.

[0068] Figure 7 is a diagram illustrating an accelerated service robot according to one or more embodiments of the present disclosure.

[0069] Reference Figure 7 , showing an accelerated service robot 100. On the loading portion 20 of the service robot 100, food may be loaded. In addition, the service robot 100 may be movable. If the service robot 100 in a stopped state moves, acceleration may be applied to the service robot 100 from the rear side. The acceleration applied to the service robot 100 may be applied not only to the main body 1 but also to the loading portion 20, and may also be applied to the food loaded on the loading portion 20.

[0070] The service robot 100 may detect acceleration information of the main body 1 and acceleration information of the loading part 20. The service robot 100 may rotate the arm 10 and the loading part 20 based on the detected acceleration information of the main body 1 so that the acceleration information of the loading part 20 is offset. According to an embodiment, the service robot 100 may store the acceleration information in the memory 165. The service robot 100 may rotate the arm 10 and the loading part 20 based on the stored acceleration information. For example, if acceleration "a" is applied to the main body 1 according to the movement or acceleration of the service robot 100, the service robot 100 may rotate the arm 10 backward so that the acceleration of the loading part 20 becomes 0 (or, becomes closer to 0). The service robot 100 may rotate the arm 10 backward by a predetermined angle centered on the axis of one end of the arm 10 connected to the main body 1 based on the detected acceleration information of the main body 1.

[0071] like Figure 6 As shown in , in the initial stage, the arm 10 and the loading portion 20 may be in a vertical state. Thus, if the arm 10 is rotated backward by a predetermined angle, the loading portion 20 may also be tilted as much as the predetermined angle. In this case, the food loaded on the loading portion 20 may be in an unstable state in which the food may be pushed to one side or fall on the ground. Therefore, if the arm 10 is rotated backward by a predetermined angle, the service robot 100 can maintain the horizontal state of the loading portion 20 by rotating the loading portion 20.

[0072] If the service robot 100 accelerates to a specific speed, it can maintain a constant speed. The accelerated service robot 100 maintaining a constant speed means applying an acceleration "-a" to the service robot 100 until the speed becomes a constant speed. If the service robot 100 maintains a constant speed after acceleration, the service robot 100 can control the arm 10 and the loading part 20 based on the detected information about the change in the speed of the main body 1. That is, the service robot 100 can rotate the arm 10 forward with the axis on one end of the arm 10 as the center, and move the arm 10 to the initial position. Accordingly, the service robot 100 can rotate the loading part 20 based on the forward rotation of the arm 10 so that the loading part 20 remains in a horizontal state.

[0073] Accordingly, even if the service robot 100 moves or accelerates, the acceleration applied to the food loaded on the loading part 20 becomes 0 (or becomes closer to 0), and thus, the service robot 100 can stably supply the food.

[0074] Figure 8 is a diagram illustrating a decelerated service robot according to one or more embodiments of the present disclosure.

[0075] Reference Figure 8 , showing a decelerated service robot 100. The moving service robot 100 may decelerate. For example, the service robot 100 may decelerate when finding an obstacle, moving to a corner area, or arriving at a service destination. When the service robot 100 decelerates, acceleration may be applied to the service robot 100 from the front side. The acceleration applied to the service robot 100 is applied not only to the main body 1 but also to the loading portion 20, and may also be applied to the food loaded on the loading portion 20.

[0076] The service robot 100 may detect deceleration information of the main body 1 and deceleration information of the loading part 20. The service robot 100 may rotate the arm 10 and the loading part 20 based on the detected deceleration information of the main body 1 so that the deceleration information of the loading part 20 is offset. According to an embodiment, the service robot 100 may store the deceleration information in the memory 165. The service robot 100 may rotate the arm 10 and the loading part 20 based on the stored deceleration information. For example, if acceleration "a" is applied to the main body 1 according to the deceleration of the service robot 100, the service robot 100 may rotate the arm 10 forward so that the acceleration of the loading part 20 becomes 0 (or, becomes closer to 0). The service robot 100 may rotate the arm 10 forward by a predetermined angle centered on the axis of one end of the arm 10 connected to the main body 1 based on the detected deceleration information of the main body 1.

[0077] When the arm 10 rotates forward by a predetermined angle, the loading portion 20 may also be tilted by the predetermined angle. In this case, the food loaded on the loading portion 20 may be in an unstable state. Therefore, if the arm 10 rotates forward by a predetermined angle, the service robot 100 can maintain the horizontal state of the loading portion 20 by rotating the loading portion 20.

[0078] If the service robot 100 decelerates to a specific speed, it can maintain a constant speed (including the case where the speed is 0). The feature of the decelerated service robot 100 maintaining a constant speed means that an acceleration "-a" is applied to the service robot 100 until the speed becomes a constant speed. If the service robot 100 maintains a constant speed after deceleration, the service robot 100 can control the arm 10 and the loading part 20 based on the detected information about the change in the speed of the main body 1. That is, the service robot 100 can rotate the arm 10 backward around the axis on one end of the arm 10 and move the arm 10 to the initial position. Accordingly, the service robot 100 can rotate the loading part 20 based on the backward rotation of the arm 10 so that the loading part 20 remains in a horizontal state.

[0079] Accordingly, even if the service robot 100 slows down, the service robot 100 can stably supply food.

[0080] For example, according to various scenarios, the service robot 100 may repeatedly accelerate and decelerate while serving food. In the case where the service robot 100 repeatedly accelerates and decelerates, the liquid food loaded on the loading portion 20 may vibrate, such as Figure 5c The service robot 100 according to the present disclosure can detect the acceleration information and deceleration information of the main body 1 and the acceleration information and deceleration information of the loading part 20, and control the arm 10 and the loading part 20 by the aforementioned method, so as to offset the vibration of the liquid food loaded on the loading part 20. Therefore, the service robot 100 according to the present disclosure can stably supply liquid food even if it repeatedly accelerates and decelerates.

[0081] Figure 9a and Figure 9b is a diagram illustrating a service robot located on a slope according to one or more embodiments of the present disclosure.

[0082] exist Figure 9a and Figure 9b , a service robot 100 is shown moving on a slope at different angles. When the service robot 100 serves food, it can move on the slope according to the state of the bottom. The angle of the slope can be different. As an example, Figure 9a As shown, the angle of the slope can be x, and as Figure 9b As shown, the angle of the slope may be y. Angle x may be an angle less than angle y.

[0083] When the service robot 100 moves on a slope, the service robot 100 may detect the inclination of the body 1. Then, the service robot 100 may keep the loading part 20 horizontal by rotating the arm 10 and / or the loading part 20 based on the detected inclination of the body 1.

[0084] like Figure 9a As shown, the angle of the slope can be x, where x is an angle less than a reference angle. The reference angle can be a predetermined angle. In this case, the service robot 100 can maintain the horizontal state of the loading portion 20 by rotating only the loading portion 20 without rotating the arm 10. That is, the service robot 100 can maintain the horizontal state of the loading portion 20 by rotating only the loading portion 20 based on the detected inclination angle x of the main body 1.

[0085] like Figure 9b As shown, the angle of the slope may be y, where y is an angle greater than a predetermined angle. In this case, it is difficult for the service robot 100 to maintain the horizontal state of the loading portion 20 by rotating only the loading portion 20. The service robot 100 may maintain the horizontal state of the loading portion 20 by rotating the arm 10 and the loading portion 20. That is, the service robot 100 may maintain the horizontal state of the loading portion 20 by rotating the arm 10 and the loading portion 20 based on the detected inclination angle y of the main body 1.

[0086] Therefore, the service robot 100 can stably supply food regardless of the angle of the slope on which the service robot 100 moves. For example, the service robot 100 can take into account the angle of the slope and adjust the rotation of the loading portion 20, the rotation of the arm 10, or the rotation of both the loading portion 20 and the arm 10 based on the angle of the slope.

[0087] Fig.10 is a diagram illustrating a service robot receiving an order according to one or more embodiments of the present disclosure.

[0088] Reference Fig.10 , shows a service robot 100 that receives an order from a user. As described above, one surface of the loading portion 20 of the service robot 100 may include a tray on which food is loaded, and another surface may include a display 155. The service robot 100 may rotate the loading portion 20 so that the tray or the display 155 faces an upward direction.

[0089] For example, the service robot 100 may capture an image about the surrounding environment by using the camera 145. The service robot 100 may identify the users 81, 82 in the captured image. If the service robot 100 identifies the users 81, 82 while the food is not loaded on the loading portion 20, the service robot 100 may rotate the loading portion 20 so that the display 155 faces the upper direction. When the display 155 faces the upper direction, the service robot 100 may display information related to the food on the display 155. The service robot 100 may rotate the arm 10 and the loading portion 20 including the display 155 by an appropriate angle to receive orders from the users 81, 82. For example, the service robot 100 may identify the facial areas (e.g., face areas) of the users 81, 82 in the captured image, and may rotate the arm 10 and the loading portion 20 including the display 155 based on the angle determined according to the position of the display 155 of the loading portion 20 and the position of the recognized facial areas of the users 81, 82. That is, the service robot 100 may rotate the arm 10 and the loading part 20 based on the captured image (for example, based on the position of the user's face recognized in the captured image). However, the present disclosure is not limited to this, and therefore, according to another embodiment, the service robot 100 may rotate the arm 10 and the loading part 20 based on another criterion satisfied in the captured image.

[0090] As an example, if the first user 81 is an adult and the facial area of ​​the first user 81 is a position higher than the position of the display 155, the service robot 100 may rotate the arm 10 forward by 10 degrees and rotate the loading part 20 including the display 155 forward by 5 degrees. In addition, if the second user 82 is a child and the facial area of ​​the second user 82 is a position similar to the position of the display 155, the service robot 100 may rotate the arm 10 forward by 30 degrees and rotate the loading part 20 including the display 155 forward by 20 degrees. In addition, in the case where the first user 81 and the second user 82 are located adjacently, the service robot 100 may only change the direction of the display 155 so that the display 155 faces the first user 81 or the second user 82. According to an embodiment, in the case where the first user 81 and the second user 82 are far away from each other, when the input of the order from the first user 81 is completed, the service robot 100 may move to the second user 82 and receive the input of the order from the second user 82.

[0091] The service robot 100 may receive an input of an order through a touch input through the display 155 implemented as a touch screen, and receive an input of an order by voice via the microphone 150. Therefore, the service robot 100 may give assistance so that the user may conveniently select food.

[0092] When the user selects food, the service robot 100 may identify the user who has selected the food and the selected food. The service robot 100 may use the information about the identified user and food when serving the food. In addition, the service robot 100 may send the information about the selected food to an external device through the communication interface 135. For example, the external device may be an electronic device located in the kitchen. The cooker may cook the food based on the information about the food received from the electronic device located in the kitchen.

[0093] Fig.11 is a diagram illustrating a service robot that supplies ordered food according to one or more embodiments of the present disclosure.

[0094] Reference Fig.11 , a serving robot 100 serving food is shown. The serving robot 100 may rotate the loading portion 20 so that the tray faces an upward direction for loading food. The serving robot 100 may move to serve the food loaded on the tray to the users 81, 82. When the serving robot 100 moves, the serving robot 100 may control the arm 10 and the loading portion 20 based on the acceleration information and the deceleration information by the aforementioned method for stably conveying food.

[0095] When the service robot 100 reaches the users 81, 82, the service robot 100 can supply food by rotating the arm 10 and the loading part 20 based on the identified users and the identified food. As an example, the first user 81 can order A food, and the second user 82 can order B food. The service robot 100 can rotate the arm 10 forward 15 degrees to supply A food to the first user 81. Then, the service robot 100 can rotate the loading part 20 together so that the loading part 20 on which the food is loaded remains in a horizontal state. In addition, the service robot 100 can output a guide message such as "This is the food A you ordered" to the first user 81 through the speaker 160. In the case of completing the supply of A food to the first user 81, the supply robot 100 can supply B food to the second user 82. The service robot 100 can rotate the arm 10 forward 30 degrees to supply B food to the second user 82. Then, the service robot 100 can rotate the loading part 20 together so that the loading part 20 on which the food is loaded remains in a horizontal state. In addition, the service robot 100 may output a guidance message, such as “This is the food B you ordered,” to the second user 82 through the speaker 160. Fig.10 As described in, the service robot 100 may supply food by converting only the direction according to the positions of the first user 81 and the second user 82, and supply food by moving.

[0096] So far, various embodiments of the service robot 100 are described. Hereinafter, a control method of the service robot 100 will be described.

[0097] Fig.12 is a flowchart illustrating a control method of a service robot according to one or more embodiments of the present disclosure.

[0098] Reference Fig.12 , in operation S1210, when food is loaded on the loading portion, the service robot 100 may move. In operation S1220, while moving, the service robot 100 may rotate the arm connected to the main body 10 of the service robot 100. For example, the arm may include one end rotatably connected to the main body and the other end rotatably connected to the loading portion. According to an embodiment, the service robot 100 may rotate the arm forward or backward according to acceleration and deceleration in operation S1220. In S1230, the service robot 100 may maintain a horizontal state of the loading portion. For example, the service robot 100 may maintain a horizontal state of the loading portion by rotating the loading portion based on the forward or backward rotation of the arm.

[0099] For example, the service robot can detect the acceleration information and deceleration information of the main body and the acceleration information and deceleration information of the loading part. The service robot can rotate the arm forward or backward based on the detected acceleration information and deceleration information of the main body so that the acceleration information and deceleration information of the loading part are offset.

[0100] If the service robot accelerates, the service robot may rotate the arm backward by a predetermined first angle around an axis on one end of the arm connected to the main body based on the detected acceleration information of the main body. The service robot may then maintain the horizontal state of the loading portion by rotating the loading portion based on the predetermined first angle. If the service robot maintains a constant speed after acceleration, the service robot may rotate the arm forward by an axis on one end of the arm based on the detected information about the change in the speed of the main body, and move the arm to an initial position. The service robot may then maintain the horizontal state of the loading portion by rotating the loading portion based on the forward rotation of the arm.

[0101] If the service robot decelerates, the service robot may rotate the arm forward by a predetermined second angle around an axis on one end of the arm connected to the main body based on the detected deceleration information of the main body. The service robot may then maintain the horizontal state of the loading portion by rotating the loading portion based on the predetermined second angle. If the service robot maintains a constant speed after deceleration, the service robot may rotate the arm backward by an axis on one end of the arm based on the detected information about the change in the speed of the main body, and move the arm to an initial position. The service robot may then maintain the horizontal state of the loading portion by rotating the loading portion based on the backward rotation of the arm.

[0102] In addition, when the service robot moves on a slope, the service robot may detect the inclination of the main body. The service robot may rotate at least one of the arm or the loading part based on the detected inclination of the main body so that the loading part maintains a horizontal state.

[0103] One surface of the loading part of the service robot may include a tray, and the other surface may include a display. The service robot may rotate the loading part so that the tray or the display faces an upward direction. When the display faces an upward direction, the service robot may display information related to the food.

[0104] The service robot may capture images about the surrounding environment. The service robot may identify the customer from the captured image while the food is not loaded on the loading portion. If the service robot identifies the customer, the display may rotate the loading portion so that the display faces an upward direction. The service robot may receive an input of an order from the customer. For example, the service robot may receive an input of an order through a touch input of a display implemented as a touch screen or a voice input through a speaker. The service robot may identify the food selected by the customer.

[0105] The service robot may rotate the loading part so that the tray faces an upward direction for loading food. Then, the service robot may control the arm and the loading part by using the acceleration information and the deceleration information to safely deliver the food to the customer. When the service robot reaches the customer, the service robot may rotate the arm and the loading part based on the identified customer and the identified food to supply the food to the customer.

[0106] Therefore, the service robot according to the present disclosure can safely move items (such as food) so that users can conveniently order and receive items (such as food). In addition, the service robot according to the present disclosure can enhance interaction with users.

[0107] Effects according to the present disclosure are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art from the following description.

[0108] In addition, the control method of the service robot according to the aforementioned various embodiments may be provided as a computer program product. The computer program product may include the S / W program itself, or a non-transitory computer-readable medium in which the S / W program is stored.

[0109] A non-transitory computer-readable medium refers to a medium that stores data semi-permanently and can be read by a machine, but does not store data for a short time, such as a register, a cache, and a memory, etc. Specifically, the above-mentioned various applications or programs may be provided while being stored in a non-transitory computer-readable medium such as a CD, a DVD, a hard disk, a Blu-ray disc, a USB, a memory card, a ROM, etc.

[0110] In addition, although the preferred embodiments of the present disclosure have been shown and described, the present disclosure is not limited to the above-mentioned specific embodiments, and it is obvious that various modifications can be made by a person skilled in the art of the present disclosure without departing from the subject matter of the present disclosure as claimed in the appended claims. In addition, it is intended that such modifications are not interpreted independently of the technical concept or prospect of the present disclosure.

Claims

1. A service robot, comprising: main body; a loading portion configured to load an object; an arm including a first end rotatably connected to the body and a second end rotatably connected to the loading portion; Drive unit; as well as At least one processor configured to: When the arm rotates in a first direction or a second direction opposite to the first direction, the driving part is controlled to maintain the horizontal state of the loading part.

2. The service robot according to claim 1, further comprising: a sensor configured to detect acceleration or deceleration of the subject, wherein the object is a food item, and Wherein, the at least one processor is configured to: obtaining, from the sensor, first information based on the detected acceleration or deceleration of the main body based on the food item being loaded on the loading portion and the service robot moving, and Based on the first information, the driving portion is controlled to rotate the arm in a first direction or in a second direction to offset the influence of the acceleration or deceleration of the main body in the loading portion.

3. The service robot according to claim 2, in, The at least one processor is configured to: Based on the acceleration of the service robot in the first direction, based on the first information of the main body, the driving unit is controlled to rotate the arm from an initial position in the second direction by a first angle around the axis of the arm connected to the first end of the main body, and Based on the first angle, the driving part is controlled to rotate the loading part so that the loading part maintains a horizontal state.

4. The service robot according to claim 3, in, The at least one processor is configured to: Based on the service robot maintaining a constant speed after acceleration, controlling the driving part to rotate the arm in a first direction around the axis on the first end of the arm to move the arm to the initial position, and Based on the rotation of the arm in the first direction, the driving portion is controlled to rotate the loading portion so that the loading portion maintains a horizontal state.

5. The service robot according to claim 2, in, The at least one processor is configured to: Based on the deceleration of the service robot in the first direction, based on the first information of the main body, the driving unit is controlled to rotate the arm from an initial position in the first direction by a second angle around the axis of the arm connected to the first end of the main body, and Based on the second angle, the driving part is controlled to rotate the loading part so that the loading part maintains a horizontal state.

6. The service robot according to claim 5, in, The at least one processor is configured to: Based on the service robot maintaining a constant speed after deceleration, controlling the driving part to rotate the arm in a second direction around the axis on the first end of the arm to move the arm to the initial position, and Based on the rotation of the arm in the second direction, the driving portion is controlled to rotate the loading portion so that the loading portion maintains a horizontal state.

7. The service robot according to claim 2, in, The at least one processor is configured to: obtaining tilt information of the subject from the sensor, and Based on the tilt information of the main body, the driving part is controlled to rotate at least one of the arm or the loading part to maintain a horizontal state of the loading part.

8. The service robot according to claim 2, in, The loading portion includes a first surface and a second surface, wherein the first surface includes a tray, the second surface includes a display, and Wherein, the at least one processor is configured to: controlling the driving unit to rotate the loading unit so that the tray or the display faces upward, and Based on the display facing an upward direction, the display is controlled to display information related to the food item.

9. The service robot according to claim 8, further comprising: camera, Wherein, the at least one processor is configured to: controlling the camera to capture an image, and Based on recognizing a customer from the captured image while food items are not loaded on the loading portion, the driving portion is controlled to rotate the loading portion so that the display faces an upward direction.

10. The service robot according to claim 9, in, The at least one processor is configured to: A food item selected by the customer is identified.

11. The service robot according to claim 10, in, The at least one processor is configured to: controlling the driving part to rotate the loading part so that the tray faces upward for loading food items, and Based on the identified customer and the food item selected by the customer, the driving portion is controlled to rotate the arm and the loading portion to supply the food item to the customer.

12. A control method for a service robot, the method comprising: Based on the object being loaded on the loading portion of the service robot, moving the service robot; an arm rotatably connected to a main body of the service robot, wherein the arm includes a first end rotatably connected to the main body and a second end rotatably connected to the loading portion; as well as When the arm is rotated in a first direction or a second direction opposite to the first direction, the horizontal state of the loading portion is maintained.

13. The control method of the service robot according to claim 12, further comprising: obtaining first information indicating acceleration information or deceleration information of the subject, The step of rotating the arm in the first direction or the second direction comprises: Based on the first information, the arm is rotated in a first direction or a second direction to offset the influence of the acceleration or deceleration of the main body in the loading portion.

14. The control method of the service robot according to claim 13, in, The step of rotating the arm in a first direction or a second direction comprises: Based on the acceleration of the service robot in the first direction, based on the first information of the main body, the arm is rotated from an initial position in the second direction by a first angle around the axis of the arm connected to the first end of the main body, and Wherein, the step of maintaining the horizontal state of the loading portion comprises: Based on the first angle, the loading portion is rotated so that the loading portion maintains a horizontal state.

15. The control method of the service robot according to claim 14, in, The step of rotating the arm in a first direction or a second direction comprises: Based on the service robot maintaining a constant speed after acceleration, rotating the arm in a first direction around the axis on the first end of the arm to move the arm to the initial position, and Wherein, the step of maintaining the horizontal state of the loading portion comprises: Based on the rotation of the arm in the first direction, the loading portion is rotated so that the loading portion maintains a horizontal state.

Images