Guiding robot and operation method of guiding robot

Abstract

The invention discloses a guide robot and an operation method thereof. In the guide robot of the present invention, in a case where there is a use request for a back display while a front display is being used, restrictive use can be permitted and a screen corresponding to the use request can be provided. At this time, the limited use range can be determined to be different according to the use state of the front display. Therefore, the two-sided display can be effectively used, and the usability of the guiding robot can be improved.

Description

Technical Field

[0001] The present invention relates to a guiding robot and an operating method of the guiding robot, and more particularly to a guiding robot with touch screens respectively arranged on both sides of a main body and an operating method of the guiding robot. Background Art

[0002] In recent years, people have shown increasing interest in guidance robots that provide various guidance services to users. Guidance robots can travel autonomously without user operation and provide various guidance services to users through interactive functions such as voice dialogue functions or touch screens.

[0003] This guide robot can perform signage advertising functions by using a mounted display, and in order to further enhance the advertising effect, can perform signage advertising functions while driving in a specified space.

[0004] On the other hand, in order to further improve the advertising effect, a guide robot with displays installed on both sides is being developed. However, in fact, due to the following conditions, the displays on both sides cannot be used normally, and only one side (for example, the front display) is used normally.

[0005] Specifically, one reason is the limitation caused by the movement of the robot. When a user on one side uses the display and controls the movement of the robot (for example, route guidance, photo shooting, etc.), the user on the other side may be frightened by the sudden movement of the robot, or the use may be limited due to the movement of the robot. Another reason is that when the front and back displays are used at the same time, the content of the guidance on use may be repeated or overlapped, causing confusion to the user.

[0006] If the guide robot has two-sided displays, the user will understand that both displays are in operation. However, due to the aforementioned limitations and conditions, for example, when the rear display is touched while the front display is in use, the request of the rear display is ignored, and no screen change occurs. As a result, the user who wants to use the rear display will be in a situation where he does not know what to do, which greatly reduces the usability of the two-sided displays.

[0007] Therefore, development is needed to provide the experience of guiding the robot to more users and expand the usability of the two-sided display. Summary of the invention

[0008] Problems to be solved by the invention

[0009] To this end, according to some embodiments of the present invention, it is an object to provide a guiding robot and a method of operating the guiding robot, in which, in a guiding robot having two-sided displays, the display on the other side can be used even when the display on one side is in use.

[0010] In addition, according to some embodiments of the present invention, it is an object to provide a guiding robot and a method of operating the guiding robot that can limit the movement of the guiding robot for safety reasons when, in a guiding robot having two-sided displays, there is a request to use the display on the other side while the display on one side is in use.

[0011] In addition, according to some embodiments of the present invention, it is an object to provide a guiding robot and a method of operating the guiding robot, in which, in a guiding robot having two-sided displays, a situation in which a request for use of the display on one side is being used is provided to a user, and if the intended use of the display on one side is ended, restrictions on the use of the display on the remaining side can be completely lifted.

[0012] In addition, according to some embodiments of the present invention, it is an object to provide a method for guiding a robot to more efficiently process multiple tasks even when multiple tasks received through two-sided displays cannot be executed simultaneously or independently.

[0013] Technical solutions to the problem

[0014] When there is a request to use the back display while the front display is being used, the guiding robot of the present invention can allow restricted use and provide a screen corresponding to the use request. At this time, the restricted use range can be determined to be different according to the use state of the front display.

[0015] Specifically, the guide robot of the embodiment of the present invention includes: a travel unit that moves the guide robot; a display unit that includes a first touch screen and a second touch screen that are arranged on the front and back of the main body of the guide robot; and a processor that is electrically connected to the display unit and outputs first screen information corresponding to a first operation using the first touch screen to the first touch screen. In addition, during the period when the first touch screen displays the first screen information, the processor can identify a request to use the second touch screen, and can determine and output second screen information corresponding to the request to use the second touch screen based on the state of the first operation to the second touch screen.

[0016] In an embodiment, while the second touch screen displays preset screen information, a request to identify the use of the second touch screen may be performed based on a user of the second touch screen and a touch input applied to the second touch screen sensed by a proximity sensor.

[0017] In an embodiment, if the first job is in an execution state, a request for using the second touch screen is responded to and a read-only menu screen is determined as the second screen information.

[0018] In an embodiment, the processor may output guidance information indicating that the requested function cannot be executed to the second touch screen in response to determining that the use request corresponding to the second touch screen cannot be executed according to the state of the first job.

[0019] In an embodiment, in a case where the first operation includes guiding a traveling function of the robot, the processor may include guidance information related to executing the traveling function in the second screen information and output the information to the second touch screen.

[0020] In an embodiment, while the second touch screen displays the second screen information, the processor can, in response to recognizing that there is no intention to use the first touch screen, convert the first screen information into pre-set screen information and output third screen information corresponding to the second operation using the second touch screen.

[0021] In an embodiment, while displaying the first screen information corresponding to the first job, the processor can identify a request for a second job using the second touch screen, can determine whether to execute the second job based on the status of the first job, and can change the execution status of the first job based on the second job.

[0022] In an embodiment, in a case where the first job includes a driving function of the guide robot, the processor may perform the first job in a state where the driving function is suspended based on the second job.

[0023] In an embodiment, in a case where the first job and the second job include functions that cannot be executed simultaneously, the processor may delay execution of the first job and the second job until a priority order for executing the jobs is determined.

[0024] In an embodiment, the processor may display notification information corresponding to the use request of the second touch screen in an area of ​​the first touch screen, and the notification information may be changed according to the use state of the second touch screen.

[0025] In an embodiment, the processor can determine the priority of executing the first job and the second job based on the job request time of the first job and the second job, can output job processing information including the determined execution priority to the first touch screen and the second touch screen, and can perform actions to guide the robot based on the job processing information.

[0026] In an embodiment, during a period when execution of the first job and the second job is delayed or during execution of an action based on the job processing information, the processor may, in response to sensing that there is no intention to use one of the first touch screen and the second touch screen, then execute the job of the other.

[0027] In an embodiment, when the first job and the second job include a common job part, the processor can output job processing information including the common job to the first touch screen and the second touch screen, and during the action of the guiding robot to perform the common job, information of the remaining part of the job can be provided to the respective touch screens.

[0028] In an embodiment, if a pre-set condition is met, the processor changes the priority of executing the first job and the second job, and can temporarily suspend the previously executed job based on the change. The party that suspends the job between the first touch screen and the second touch screen can output guidance information related to changing the execution priority and the next action.

[0029] In an embodiment, the pre-set conditions may be related to an estimated completion time of the operation, whether the operation includes a driving function, and whether the operation is an emergency operation.

[0030] In addition, the action method of the guiding robot of an embodiment of the present invention may include: a step of displaying different screens on a first touch screen and a second touch screen arranged on the front and back sides of a main body of the guiding robot, respectively; a step of outputting first screen information corresponding to a first operation using the first touch screen to the first touch screen; a step of identifying a request to use the second touch screen while the first touch screen displays the first screen information; and a step of determining, based on the status of the first operation, second screen information corresponding to the request to use the second touch screen and displaying it on the second touch screen.

[0031] Effects of the Invention

[0032] According to a guiding robot and an action method thereof of some embodiments of the present invention, when there is a request to use the rear display while the front display is being used, the use request can be accepted without ignoring the use request and restrictive use such as a reading mode can be allowed, thereby further effectively using both displays and expanding usability.

[0033] In addition, according to the guide robot and its operation method of some embodiments of the present invention, when the use of the front display includes a driving function, the user of the rear display can be notified of the situation, or the driving function can be temporarily restricted, thereby enabling users of both displays to safely use the guide robot.

[0034] In addition, according to the guiding robot and the operation method thereof of some embodiments of the present invention, each user of the two-sided displays can confirm whether the opposite side display is in use and the usage status. Regardless of which display is used, if it is confirmed that there is no intention to use the opposite side display, the display can be used without restriction, thereby maximizing the usability of the two-sided displays for different users.

[0035] In addition, according to some embodiments of the present invention, the guiding robot and its action party can more effectively process multiple tasks based on benchmarks such as the request order of the tasks, the detection of common task parts, and the estimated completion time of the tasks, even if it is impossible to simultaneously or independently execute multiple tasks received through the two-sided displays, thereby greatly improving the user experience and satisfaction of different users. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 : is a diagram showing an example of a guide robot related to the present invention.

[0037] Figure 2 : is a block diagram showing an example configuration of a guide robot related to the present invention.

[0038] Figure 3 2 is a diagram showing a guidance robot having a plurality of displays related to the present invention.

[0039] Figure 4 A diagram showing a situation in which a plurality of displays in a guidance robot related to the present invention trigger a use request.

[0040] Figure 5 This is a representative flow chart of the method for guiding the robot's operation related to the present invention.

[0041] Figure 6a and Figure 6b1 is a diagram showing an example of a screen of a reading mode for requesting use of a second touch screen and providing the request for use when a first touch screen is used in a guidance robot related to the present invention.

[0042] Figure 7 1 is a diagram showing a screen example when a function that cannot be executed on the second touch screen is requested when the first touch screen is used in the guidance robot related to the present invention.

[0043] Figure 8a FIG. 1 shows an example of a screen for providing a notification to the second touch screen when the first operation includes an extended travel function in the guide robot related to the present invention. Figure 8b An example of screen change of the second touch screen is shown when it is confirmed that there is no intention to use the first touch screen.

[0044] Fig. 9 1 is a flowchart showing another example of an operation method of the guide robot related to the present invention.

[0045] Fig.10a and Fig.10b This is a diagram showing an example in which, in the guidance robot according to the present invention, when the tasks received by the first touch screen and the second touch screen include functions that cannot be executed simultaneously, the screen processing of each touch screen is different from each other.

[0046] Fig.11a , Fig.11b as well as Fig.11c The figures show examples of screens different from each other for notifying a first touch screen of a usage state of a second touch screen in a guidance robot according to the present invention.

[0047] Fig.12 , Fig.13 as well as Fig.14 The present invention is a diagram showing an example of a situation in which operations of processing a first touch screen and a second touch screen cannot be performed simultaneously with each other in a guiding robot related to the present invention, for example, an example of processing different usage requests of a second touch screen while requesting route guidance as an operation of the first touch screen. DETAILED DESCRIPTION

[0048] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings. Regardless of the figure numbers, the same or similar constituent elements will be marked with the same figure numbers, and repeated descriptions thereof will be omitted. The suffixes "module" and "unit" of the constituent elements used in the following description are only given or mixed in consideration of the ease of writing of the description, and they themselves do not have meanings or functions that distinguish each other. In addition, when describing the embodiments disclosed in this specification, if it is determined that the specific description of the relevant known technology may confuse the subject matter of the embodiments disclosed in this specification, its detailed description will be omitted. In addition, the accompanying drawings are only used to make the embodiments disclosed in this specification easy to understand, and it should be understood that the technical ideas disclosed in this specification are not limited by the accompanying drawings, but cover all changes, equivalents and substitutes included in the ideas and technical scope of the present invention.

[0049] Terms including ordinal numbers such as first, second, etc. may be used to describe various constituent elements, but the constituent elements are not limited by the terms. The terms are only used to distinguish one constituent element from other constituent elements.

[0050] When it is mentioned that a certain component is “connected” or “linked” to another component, it should be understood that it can be directly connected or linked to another component, but other components may also exist between them. On the contrary, when it is mentioned that a certain component is “directly connected” or “directly linked” to another component, it should be understood that there are no other components between them.

[0051] Unless clearly indicated otherwise in the context, an expression in the singular includes an expression in the plural.

[0052] In the present application, it should be understood that terms such as “including” or “having” are intended to indicate the existence of the features, numbers, steps, actions, constituent elements, parts or combinations thereof recorded in the specification, and do not preclude the possibility of the existence or increase of one or more other features or numbers, steps, actions, constituent elements, parts or combinations thereof.

[0053] On the other hand, the "guidance robot" disclosed in this specification refers to a robot that can provide users with a variety of information such as welcome greetings, route guidance, product guidance, product retrieval, parking guidance, airport information, docent information, library guidance, etc. in various public places such as airports, shopping centers such as department stores, accommodation facilities such as hotels, art galleries, and cultural spaces such as libraries.

[0054] In addition, the "guidance robot" disclosed in this specification can perform autonomous driving by itself in order to guide the user to a route, a specific place, etc.

[0055] In addition, when the “guide robot” disclosed in this specification travels in a designated space, objects moving in the designated space may be referred to as visitors, users, obstacles, and the like.

[0056] In addition, the "guidance robot" disclosed in this specification may include various output mechanisms related to a touch screen, a sound output unit, an LED (light emitting diode), a tactile sensor, etc., in order to provide information or guidance to the user in various ways (visually, auditorily, and tactilely).

[0057] Figure 1 is a diagram showing an example of a guide robot 100 related to the present invention.

[0058] Reference Figure 1 The guide robot 100 of the present invention may include a head 102, a camera 121, a speaker 152, a voice recognition unit (not shown), a display 151, and a travel unit 130. However, depending on the situation, the guide robot 100 of the present invention may be implemented by removing part of the mechanisms disclosed in the present invention or including other mechanisms.

[0059] The appearance of the guide robot 100 of the present invention is roughly formed by a head 102, an upper module including a display 151, and a lower module including a travel portion 130. The upper module and the lower module may be provided to be attachable to and detachable from each other.

[0060] The upper module provides a user interface that can be changed according to the service environment. The lower module provides a driving function for guiding the movement of the robot body.

[0061] The upper module may also form a main body and may be divided into a main body provided with a display 151 and a head 102 provided with a camera 121, etc. However, depending on circumstances, a camera may be provided in the main body or a touch screen may be configured in the head 102.

[0062] The camera 121 may be disposed on one side of the housing of the head 102 or on one side of the housing of the main body. In addition, a plurality of cameras 121 may be provided. In this case, one camera may be disposed on the front of the main body and face forward, and another camera may be disposed on the side or back and face sideways / backward. Thus, a 360-degree field of view may be formed.

[0063] In the case where a plurality of cameras 121 are provided, the first camera may include, for example, a 3D stereo camera. The 3D stereo camera may perform functions such as obstacle sensing, user facial recognition, and stereo image acquisition. The guiding robot 100 may use the first camera to sense and avoid obstacles in its own moving direction, and may recognize the user and perform various control actions. In addition, the second camera may include, for example, a Simultaneous Localization And Mapping (SLAM) camera. The SLAM camera tracks the current position of the camera by matching specific points, and based on this, performs the function of making a three-dimensional map. The guiding robot 100 may use the second camera to confirm its current position.

[0064] In addition, the camera 121 can identify objects within the field of view, and can perform the function of taking photos and videos. In this regard, the camera 121 may include at least one of a camera sensor (e.g., a charge-coupled device (CCD), a complementary metal oxide semiconductor (CMOS), etc.), a light sensor (or an image sensor), and a laser sensor. The camera 121 and the laser sensor can be combined with each other and sense the touch of a sensing object of a three-dimensional stereoscopic image. The light sensor can be stacked on the display device, and such a light sensor is formed to scan the movement of a sensing object close to the touch screen. More specifically, the light sensor scans the content placed on the light sensor by installing photodiodes (Photo Diode) and transistors (Transistor; TR) in rows / columns and using an electrical signal that changes according to the amount of light applied to the photodiode (Photo Diode). That is, the light sensor can calculate the coordinates of the sensing object based on the amount of light change, thereby obtaining the position information of the sensing object.

[0065] The sound output unit 152 can perform a function of notifying the information provided to the user in a voice manner, and can be, for example, a speaker. Specifically, the sound output unit 152 outputs a response or a search result corresponding to the user's voice received by the sound receiving unit 122 and the voice recognition unit (not shown) provided in the guide robot 100 in a voice manner. Such a sound output unit 152 can be provided on the head 102 or the outer peripheral surface of the main body provided with the display 151. In addition, the sound output unit 152 can output voice information related to the screen displayed on the display 151 (for example, a menu screen, an advertisement screen, etc.).

[0066] In addition, in the guide robot 100 of the present invention, a first speaker 152a may be provided on the front of the main body and a second speaker may be provided on the back of the main body. Alternatively, in order to create a sense of space, an array speaker that can output sound in multiple directions may be provided on one side of the main body.

[0067] The sound receiving unit 122 can perform a function of receiving the user's voice, etc., for example, it can be a microphone. The sound receiving unit 122 can process an external sound signal into electrical voice data, and can implement various noise removal algorithms for removing noise generated during the process of receiving the external sound signal.

[0068] The display 151 may be located in a longitudinal direction of the main body and may display a picture in order to provide visual information, for example, guide information. In addition, the display 151 may include a display module, a touch sensor, and a pressure sensor.

[0069] The display 151 may be implemented, for example, to be combined with the movement guide mechanism and to open and close the interior of the main body. In addition, the display 151 may also be implemented, for example, to be fastened and fixed to the main body by using a fixing member.

[0070] In addition, although not shown in detail, considering the situation that the guide robot 100 moves in a straight line along a set path in order to guide the user, the display 151 can be set at the rear of the head 102, or can be set at the rear in addition to the front. Alternatively, before moving in a straight line along the set path, the head 102 can be rotated 180 degrees to change the appearance, as if the display 151 is located at the rear.

[0071] In this case, the display 151 performs a function of displaying visual information related to the currently provided service (eg, route guide information, question information). The user can watch the display 151 provided at the rear of the guide robot 100 while following the movement of the guide robot 100 .

[0072] In addition, the display 151 can be respectively arranged on the front and back sides of the main body. In this case, the first display arranged on the front side of the main body and the second display arranged on the back side of the main body can display different pictures from each other (for example, the first display displays a picture for interaction with the user, and the second display displays an advertisement picture, etc.).

[0073] The display 151 may include a first touch screen 151a and a second touch screen 151b. Specifically, the display 151 may be implemented by a touch screen, and in the case where they are respectively arranged on the front and back of the main body, the first touch screen 151a may be arranged on the front of the main body, and the second touch screen 151b may be arranged on the back of the main body.

[0074] In addition, a display unit for outputting various facial expression changes of the guiding robot may be provided on the front side of the head 102 .

[0075] The travel unit 130 guides the movement and rotation of the main body of the robot 100. To this end, the travel unit 130 may include a plurality of wheels and a drive motor. The driving of the travel unit 130 may be controlled according to the control instruction received by the processor, and a notification may be provided through the LED output mechanism 153 before and after the driving.

[0076] Figure 2 is a block diagram showing an exemplary detailed configuration of a guide robot related to the present invention.

[0077] The guide robot 100 of the present invention may include a communication unit 110 , an input unit 120 , a travel unit 130 , a detection unit 140 , an output unit 150 , a memory 170 , a processor 180 , a power supply unit 190 , and the like. Figure 2 The components shown in the figure are not essential for realizing the guiding robot, and the components of the guiding robot described in this specification may be more or less than the components listed above.

[0078] The communication unit 110 may include at least one module capable of wirelessly communicating between the guide robot 100 and an external server, such as an artificial intelligence server, or an external terminal. In addition, the communication unit 110 may include at least one module for connecting the guide robot 100 to at least one network.

[0079] The communication unit 110 can communicate with the artificial intelligence server, etc. by using wireless Internet communication technologies such as Wireless LAN (WLAN), Wireless-Fidelity (Wi-Fi), Wi-Fi Direct, Digital Living Network Alliance (DLNA), Wireless Broadband (WiBro), World Interoperability for Microwave Access (WiMAX), High Speed ​​Downlink Packet Access (HSDPA), High Speed ​​Uplink Packet Access (HSUPA), Long Term Evolution (LTE), LTE-Advanced, etc. In addition, the communication unit 110 can use Bluetooth (Bluetooth TM ), Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) and other short-range communication technologies to communicate with external terminals.

[0080] The input unit 120 may include a camera 121 or an image input unit for image signal input, a sound receiving unit 122 for audio signal input, such as a microphone, and a user input unit for receiving information from a user (not shown, such as a touch key, a mechanical key, etc.). The signal data, voice data, and image data collected from the input unit 120 may be analyzed and processed into control instructions.

[0081] The travel unit 130 can guide the movement and rotation of the main body of the robot 100. To this end, the travel unit 130 may include a plurality of wheels and a drive motor. The driving of the travel unit 130 can be controlled according to the control instructions received by the processor 180, and before and after the driving, a notification can be provided through the light output unit 153 such as an LED.

[0082] The detection unit 140 may include at least one sensor for detecting at least one of information in the guide robot, information about the surrounding environment surrounding the guide robot, and user information. For example, the detection unit 140 may include at least one of a proximity sensor 141, an illumination sensor, a touch sensor, an acceleration sensor, a magnetic sensor, a gravity sensor (G-sensor), a gyroscope sensor, a motion sensor, an RGB sensor, an infrared sensor (IR sensor: infrared sensor), a fingerprint sensor, an ultrasonic sensor, an optical sensor (for example, a camera (refer to reference numeral 121)), a microphone, a battery gauge, an environmental sensor (for example, a barometer, a hygrometer, a thermometer, a radiation sensing sensor, a heat sensing sensor, a gas sensing sensor, etc.), and a chemical sensor (for example, an electronic nose, a health sensor, a biosensor, etc.). On the other hand, the guide robot disclosed in the present specification may combine and use information detected from at least two of such sensors. In addition, the detection unit 140 may include a driving-related sensor 142 for sensing obstacles, ground conditions, and the like.

[0083] Examples of the proximity sensor 141 include a light-transmitting photoelectric sensor, a direct reflection photoelectric sensor, a mirror reflection photoelectric sensor, a high-frequency oscillation proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, an infrared proximity sensor, etc. In addition, the proximity sensor 141 may include at least one of a navigation camera, an ultrasonic sensor, a lidar, and a time-of-flight (ToF) sensor, thereby identifying the proximity and position of a sensing object (e.g., a user).

[0084] In addition, the detection unit 140 may include at least one sensor for collecting information about the surroundings. As an example, it may include one or more sensors selected from a camera, a 3D depth camera, a laser radar, a speed sensor, a distance sensor, an obstacle sensor, and a proximity sensor 141. The detection unit 140 may sense whether there is a user in the driving space, whether a tourist is approaching or moving away, and the approach direction by using one or more sensors.

[0085] The information collected by the detection unit 140 may be provided to the processor 180 or stored in the memory 170 .

[0086] The processor 180 may sense the user's approach through the detecting portion 140 , and may recognize a use request of the display 151 through touch sensing of the display 151 .

[0087] The processor 180 may change the pre-set screen information (e.g., the first advertisement screen) output on the first touch screen 151a to the first screen information (e.g., the menu screen) according to the use request of the first touch screen 151a. In addition, the processor 180 may change the pre-set screen information (e.g., the second advertisement screen) output on the second touch screen 151b to the second screen information (e.g., the menu screen) according to the use request of the second touch screen 151b.

[0088] The processor 180 may determine whether there is a use request for the first touch screen 151a before the use request for the second touch screen 151b, or in the opposite case, may determine the screen information to be output to the touch screen that triggers the use request later according to the state of the job input to the touch screen that previously triggered the use request. At this time, the determined screen information may be different from the previous advertising screen or the usual menu screen.

[0089] The output unit 150 is used to generate output related to vision, hearing or touch, and may include at least one of a display 151, a sound output unit 152, and a light output unit 153. The display 151 may form a layer structure or be integrated with a touch sensor to realize a touch screen. Such a touch screen may function as a user input unit that provides an input interface between the guiding robot 100 and the user, while providing an output interface.

[0090] The light output unit 153 outputs a signal for notifying the occurrence of an event to the guide robot 100 using light from a light source. For example, when a movement instruction is transmitted to the travel unit 130 of the guide robot 100, the signal for notifying the movement is outputted by the light output unit 153.

[0091] In order to perform actions related to the artificial intelligence technology of the guide robot, the processor 180 may include an AI learning unit 181 (not shown). The AI ​​learning unit 181 may be configured to receive, classify, store, and output information applied to data mining, data analysis, intelligent decision-making, and machine learning algorithms and technologies. The AI ​​learning unit 181 may include at least one memory unit, which is configured to store information received, detected, sensed, generated, pre-defined by the guide robot or information output by the guide robot in other ways, or configured to store data received, detected, sensed, generated, pre-defined, and output by other components, devices, and terminals.

[0092] In one embodiment, the AI ​​learning unit 181 may be integrated into the guide robot, or may include a memory. In one embodiment, the AI ​​learning unit 181 may be implemented by the memory 170. However, not limited thereto, the AI ​​learning unit 181 may be implemented in an external memory associated with the guide robot 100, or may be implemented by a memory included in a server capable of communicating with the guide robot 100. In another embodiment, the AI ​​learning unit 181 may be implemented by a memory maintained in a cloud computing environment, or may be implemented by other remote memories that can be accessed by the guide robot using a communication method such as a network.

[0093] In order to identify, index, classify, manipulate, store, retrieve and output data for supervised or unsupervised learning, data mining, predictive analysis and other machine learning techniques, the AI ​​learning unit 181 is generally implemented to store the data in at least one database. The information stored in the AI ​​learning unit 181 can be used by the processor 180 or a plurality of processors (processors) included in the guiding robot, which use at least one of different types of data analysis, machine learning algorithms and machine learning techniques.Examples of such algorithms and techniques are k-nearest neighbor systems, fuzzy logic (e.g., possibility theory), neural networks, Boltzmann machines, vector quantization, pulsed neural nets, support vector machines, maximum margin classifiers, hill-climbing, inductive logic systems, Bayesian networks, petri nets (e.g., finite state machines, mealy machines, Moore finite state machines), classifier trees (e.g., perceptron trees, support vector trees, Markov trees, decision tree forests, random forests), pandemonium models and systems. and systems), clustering, artificially intelligent planning, artificially intelligent forecasting, data fusion, sensor fusion, image fusion, reinforcement learning, augmented reality, pattern recognition, automated planning, etc.

[0094] The processor 180 can determine or predict executable actions to guide the robot based on information determined or generated using data analysis, machine learning algorithms, and machine learning techniques. To this end, the processor 180 can request, retrieve, receive, or use data from the AI ​​learning unit 181. The processor 180 can perform various functions for implementing knowledge-based systems, reasoning systems, and knowledge acquisition systems, and can perform various functions including systems for uncertain reasoning (e.g., fuzzy logic systems), adaptive systems, machine learning systems, artificial neural networks, etc.

[0095] In addition, the processor 180 may include a plurality of submodules that can process speech and natural language, such as an input / output (I / O) processing module, an environmental condition module, a speech-to-text (STT) processing module, a natural language processing module, a task flow processing module, and a service processing module. Each of the plurality of submodules may have access rights to at least one system, data, and model that guides the robot, or a subset or superset thereof. Here, each of the plurality of submodules may have access rights to a scheduling, vocabulary index, user data, task flow model, service model, and automatic speech recognition (ASR) system.

[0096] In some embodiments, based on the data in the AI ​​learning unit 181, the processor 180 can be configured to detect and sense the user's needs based on the contextual conditions or the user's intention expressed by the user input or natural language input. Based on the data analysis, machine learning algorithm and machine learning technology performed by the AI ​​learning unit 181, if the action of the guide robot is determined, the processor 180 controls the components of the guide robot in order to perform the determined action. The processor 180 can control the guide robot according to the control instruction to perform the determined action.

[0097] The memory 170 stores data supporting various functions of the guide robot 100. The memory 170 may store a plurality of application programs (executable programs or application software) driven in the guide robot 100 and data and instructions for guiding the actions of the robot 100. In addition, the memory 170 may store a variable call word for performing a voice dialogue function with a user.

[0098] The memory 170 may include, for example, at least one type of storage medium selected from a flash memory type, a hard disk type, a solid state disk type, a silicon disk drive type, a multimedia card micro type, a card type memory (e.g., a secure digital (SD) memory or an extreme digital-picture (XD) memory, etc.), a random access memory (RAM), a static random access memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a disk, and an optical disk.

[0099] In addition to the actions related to the application, the processor 180 generally controls the overall actions of the robot 100. The processor 180 can process signals, data, information, etc. input or output through the above-described components, or drive the application stored in the memory 170, or control the travel unit 130, thereby providing or processing appropriate information or functions to the user.

[0100] Under the control of the processor 180, the power supply unit 190 receives external power and internal power to supply power to each component included in the guide robot 100. The power supply unit 190 may include a battery, which may be a built-in battery or a replaceable battery.

[0101] In order to realize the actions, controls, and control methods of the guide robot in various embodiments described below, at least a portion of the components may cooperate with each other and operate. In addition, the actions, controls, and control methods of the guide robot may be realized on the guide robot by driving at least one application program stored in the memory 170.

[0102] In addition, various embodiments disclosed below can be implemented in a recording medium that can be read by a computer or a device similar thereto by using, for example, software, hardware, or a combination thereof.

[0103] Figure 3 2 is a diagram showing a guidance robot having a plurality of displays related to the present invention.

[0104] like Figure 3 As shown, in a guiding robot 100 according to another embodiment of the present invention, a first touch screen 151a may be provided on the front side 103a of the main body between the head 102 and the traveling part 130, and a second touch screen 151b may be provided on the back side 103b of the main body.

[0105] The guide robot 100 can display different screen information on the first touch screen 151a and the second touch screen 151b when driving. For example, when executing the signboard advertising function, the processor 180 of the guide robot 100 can display a first advertising screen on the first touch screen 151a and a second advertising screen (different from the first advertising screen) on the second touch screen 151b.

[0106] In the case of using only one of the first touch screen 151a and the second touch screen 151b, there is no particular restriction on the executable functions. However, in the case where a part of the components (e.g., the camera 121, the microphone 122) is only provided on the front of the main body, when the use request of the second touch screen 151b is triggered, the first touch screen 151a can be guided to use more functions (e.g., taking photos, observing facial expressions, performing voice interaction, etc.), or the guiding robot 100 can be rotated in place after completing the guidance. However, if the same components are also applied to the back of the main body, the operation is performed in a manner that keeps using the second touch screen 151b.

[0107] On the other hand, in the case where the first touch screen 151a and the second touch screen 151b display different advertising screens from each other, one speaker 152 may be used to output sound related to the advertising screen displayed on the second touch screen 151b, or one of the plurality of speakers may be selected and the sound may be output.

[0108] Figure 4 1 is a diagram showing a case where a plurality of displays, ie, a first touch screen 151a and a second touch screen 151b trigger a use request in the guide robot 100 related to the present invention.

[0109] The guide robot 100 may recognize a user's request to trigger the use of the first touch screen 151 a and / or the second touch screen 151 b based on, for example, a touch input of the proximity sensor 141 and the display 151 .

[0110] Specifically, if the user P1, P2 approaching the first touch screen 151a touches the first touch screen 151a, the guide robot 100 will recognize it as a request to use the first touch screen 151a. In addition, if the user P3 approaching the second touch screen 151b touches the second touch screen 151b, the guide robot 100 will recognize it as a request to use the second touch screen 151b.

[0111] According to an embodiment, if either the first touch screen 151a or the second touch screen 151b is in use and a request to use the remaining touch screen is recognized, the screen changes corresponding to the use request will change according to the operating status of the touch screen in use, thereby limiting a portion of the executable functions / actions.

[0112] For example, if the first touch screen 151a is being used and a use request of the second touch screen 151b is triggered, a screen (eg, a use guide screen, a menu screen) output to the second touch screen 151b may be provided in a reading mode.

[0113] According to an embodiment, if either the first touch screen 151a or the second touch screen 151b is in use and a request to use the remaining touch screen is recognized, a portion of the functions of the touch screen in use (for example, the driving function) will be restricted or temporarily paused (or, put on standby) based on the request to use the display on the opposite side.

[0114] For example, if the first touch screen 151a is being used and a use request of the second touch screen 151b is triggered, the first touch screen 151a outputs information triggering the use request of the second touch screen 151b and informing that the movement of the guide robot 100 is restricted.

[0115] The following specifically describes the method for guiding the robot according to the embodiment of the present invention. On the other hand, in the following embodiment, for ease of description, the description is mainly based on the case where the use request of the second touch screen 151b is triggered when the first touch screen 151a is in use. However, it is explained in advance that, unless the function is limited due to the installation position of the component, it can also be applied to the case where the use request of the first touch screen 151a is triggered when the second touch screen 151b is in use.

[0116] Figure 5 is a representative flow chart of a method 500 for guiding a robot according to the present invention. Unless otherwise specified, Figure 5Each step can be implemented by the processor 180 of the guide robot 100. In addition, the guide robot 100 can travel in a designated space, and can display a preset advertising screen through the display 151, and can output a sound related to the displayed advertising screen through the sound output unit 152 (e.g., a speaker).

[0117] The guide robot 100 can display different images on the first touch screen 151a and the second touch screen 151b provided on the front and back of the main body respectively while traveling or in situ.

[0118] Here, the different screens may be different advertising contents that perform the signboard advertising function of the guide robot 100. At this time, the different advertising contents may be related to the points of interest (POI) in the direction of the corresponding touch screen. For example, the first touch screen 151a may display advertising contents related to the POI located in the driving direction of the guide robot 100 (in the case of driving forward). And, the second touch screen 151b may display advertising contents related to the POI located in the opposite direction of the driving direction of the guide robot 100 (in the case of driving forward).

[0119] As described above, in a state where the first touch screen 151a and the second touch screen 151b display advertisement contents different from each other, first screen information corresponding to a first job using the first touch screen 151a may be output on the first touch screen 151a (S10).

[0120] For example, as the user touches the first touch screen 151a sensed by the proximity sensor, it may be recognized that the first touch screen 151a is used.

[0121] The first operation may include a specific function received by using the screen displayed on the first touch screen 151a or an action of executing a specific function corresponding to the guiding robot 100. For example, the first operation may refer to a menu screen request, a photo shooting request, a function corresponding to a route guidance request, and an action of executing the function.

[0122] The first screen information may be a response screen of the guiding robot 100 requesting the first operation and a guidance screen including the response screen (e.g., a guidance screen related to the use of the activated function as requested by the first operation). For example, a 'menu screen' requesting a menu screen, a 'preview screen and a shooting guidance screen' requesting photo shooting, and a 'navigation screen and a guidance screen' requesting route guidance may be output as the first screen information.

[0123] Next, while the first touch screen 151 a displays the first screen information, the guide robot 100 may recognize a request to use the second touch screen 151 b ( S20 ).

[0124] For example, as the user touches the second touch screen 151b sensed by the proximity sensor, it can be recognized that the second touch screen 151b is used. When the guide robot 100 recognizes the use request of the second touch screen 151b, it can confirm the use status of the first touch screen 151a (e.g., continue to use, whether to end, etc.).

[0125] Then, the guiding robot 100 can determine the second screen information (S30) corresponding to the use request of the second touch screen 151b based on the status of the first job performed through the first touch screen 151a (for example, whether executed / ended, execution progress, function activated for performing the first job, etc.).

[0126] The request to use the second touch screen 151b may include a simple touch of the second touch screen 151b. In this case, the second advertisement content displayed on the second touch screen 151b is changed to the second screen information. That is, even if the first touch screen 151a is being used, the guide robot will not ignore the input of the second touch screen 151b.

[0127] The second screen information indicates that the use range of the second touch screen 151b is limited by the first touch screen 151a based on the state of the first job executed by the first touch screen 151a. However, the user of the second touch screen 151b can continue to use the second touch screen 151b within the guided limited use range.

[0128] In addition, determining the second screen information according to the state of the first operation means that the degree of restriction of the use range of the second touch screen 151b can be changed by confirming the current state of the first operation. For example, in the case where the driving function is accompanied by the execution of the first operation, the use time of the second touch screen 151b will be limited. Or, when the state of the first operation is in progress, when using the second touch screen 151b, the input of a part of the control instructions will be restricted, or the use method will be restricted, such as switching to the reading mode.

[0129] As described above, if the second screen information is determined, the guide robot 100 may output the determined second screen information to the second touch screen 151b (S40).

[0130] According to an embodiment, the second screen information may display a usage range limited by the state of the first job. For example, the display may simultaneously output information indicating a usage time limit of the second touch screen 151b and information indicating that the second touch screen 151b is provided in a reading mode.

[0131] According to an embodiment, if the state of the first job executed through the first touch screen 151a changes or it is recognized that the first touch screen 151a is no longer used, the second screen information displayed on the second touch screen 151b can be changed to screen information after the usage scope restriction is changed, or can be changed to screen information without the usage scope restriction.

[0132] As described above, according to the method of guiding the robot's movements disclosed in this specification, even if there is a request to use the rear display while the front display is in use, the use request will not be ignored, and restrictive use such as reading mode is allowed, thereby enabling more efficient use of the display and expanding usability.

[0133] Figure 6a and Figure 6b 1 is an example of a screen showing a use request of the second touch screen 151b and a reading mode providing the use request when the first touch screen 151a is used in the guide robot related to the present invention.

[0134] When the processor 180 of the guiding robot 100 displays predetermined screen information (e.g., predetermined advertising content) on the second touch screen, it identifies a request to use the second touch screen 151b based on, for example, user sensing of the second touch screen 151b through the proximity sensor 141 and sensing of touch input applied to the second touch screen 151b.

[0135] For example, Figure 6a As shown, when the first touch screen 151a displays the menu screen 611, a request for use of the second touch screen 151b may be sensed by sensing a touch input of the second touch screen 151b displaying a preset signage screen 620.

[0136] If a use request of the second touch screen 151b is sensed, the guide robot will continue to maintain the use of the first touch screen 151a and control the screen change of the second touch screen 151b within the limited use range.

[0137] When a request to use the second touch screen 151b is triggered, the guide robot 100 can confirm the status of the requested first job through the first touch screen 151a. If it is a confirmation result execution status, it responds to the request to use the second touch screen 151b and determines the use of the guide screen or the read-only menu screen as the second screen information.

[0138] Reference Figure 6b , the menu screen 611 may continue to be displayed indefinitely on the first touch screen 151 a , and the preset signage screen 620 displayed on the second touch screen 151 b may be converted to use the guide screen or the reading mode menu screen 621 .

[0139] The use guidance screen may be, for example, a guidance screen for use in the first touch screen 151a (e.g., 'Please go to the front of the robot to use'). In this case, the user of the second touch screen 151b may move to the first touch screen 151a side and wait for use. Afterwards, the pre-set sign screen 620 may be displayed again in the second touch screen 151b.

[0140] The reading mode menu screen may be, for example, a menu screen in which a function that cannot be used in the second touch screen 151b (e.g., a function including a driving function, a function including a camera function) is displayed in an inactive state. In this case, the user of the second touch screen 151b can use only menu functions other than the menu displayed in an inactive state.

[0141] Regarding this, Figure 7 A screen example of the second touch screen 151b is shown when a function that cannot be executed in the second touch screen 151b is requested while using the first touch screen 151a in the guide robot related to the present invention.

[0142] If it is determined that the function corresponding to the use request of the second touch screen 151b cannot be executed according to the state of the first operation performed through the first touch screen 151a, the processor 180 of the guide robot 100 will output information that the guide cannot execute the requested function to the second touch screen 151b.

[0143] For example, in the case where the first touch screen 151a is being used and the camera 121 is only located on the front side of the guiding robot, in the case where the second touch screen 151b triggers a photo taking request from the user, such as Figure 7 As shown, a guidance screen 722 such as 'This function cannot be used in the reading mode, please use it from the front' is provided to the second touch screen 151b.

[0144] In this case, although the photo shooting function requested by the user of the second touch screen 151b cannot be immediately executed, at least the reason why the photo shooting function cannot be executed can be known.

[0145] In the prior art, when the first touch screen 151a is used, even if the second touch screen 151b is touched, there will be no screen change or repeated playback of pre-set advertising content, so the user using the second touch screen 151b will be in a panic and not know what to do. However, at this time, the user can choose whether to wait until the first touch screen 151a is finished or leave without using the second touch screen 151b.

[0146] On the other hand, when a request to use the second touch screen 151b is triggered, the status result of the first job requested through the first touch screen 151a can be confirmed. If the first job is completed and the first touch screen 151a is no longer used, a screen corresponding to the request to use the second touch screen 151b is output.

[0147] At this time, if the second touch screen 151b has restricted functions due to the installation position of some components, the guide robot 100 will provide guidance to guide the user of the second touch screen 151b to move to the first touch screen 151a and use it, or after the guidance, the guide robot 100 will rotate and move so that the user comes to the front of the first touch screen 151a.

[0148] Hereinafter, an example of screen changes of the second touch screens 151a and 151b according to a state change of a first job executed through the first touch screen 151a when both the first touch screen 151a and the second touch screen 151b are used will be described in detail.

[0149] Here, the state change of the first job may include: the first job includes multiple functions and after executing one function (for example, providing a navigation screen), another function (for example, route guidance driving) is then executed; in order to execute the first job, a newly activated function is executed (for example, confirmation through camera photography, etc.); and the end of the first job, determining that the user who requested the first job has no intention of using it, etc.

[0150] Regarding this, Figure 8a is a diagram showing an example of a screen in which a notification is provided on a second touch screen when the first operation includes a driving function in the guide robot related to the present invention, Figure 8b 2 is a diagram showing an example of screen change of the second touch screen when it is confirmed that there is no intention to use the first touch screen.

[0151] In the case where the first operation includes using the driving function of the guide robot 100, if the state of the first operation changes to using the driving function, the guide robot 100 controls the display 151, and the second screen information displayed on the second touch screen displays guidance information related to the execution of the driving function.

[0152] Since the first touch screen 151a was being used before the use request of the second touch screen 151b, this is a result of giving the control priority to the first touch screen 151a.

[0153] Therefore, when the first operation requested by the user of the first touch screen 151a includes the execution of the travel function, the use time of the second touch screen 151b can be limited. As described above, if the remaining usable time of the second touch screen 151b is made known, even if the guide robot 100 moves suddenly, the safety problem (e.g., fall, etc.) of the user of the second touch screen 151b will not occur or panic will not occur.

[0154] Reference Figure 8a , by guiding the first touch screen 151a of the robot 100 to receive, for example, a route guidance request 811, and then while the second touch screen 151b displays a usage guidance screen or a reading mode menu screen 821, before guiding the robot 100 to move according to the route guidance request 811, the remaining usage time information can be output on the second touch screen 151b, for example, an image screen 822 of 'move after 5 seconds'.

[0155] At this time, displaying the remaining usage time on the second touch screen 151b and guiding the robot 100 to start moving according to the route guidance request 811 of the first touch screen 151a may be performed synchronously (sync.).

[0156] If the guide robot 100 starts driving after the remaining usage time on the second touch screen 151b has passed, it is recognized that the guide robot 100 is not using the second touch screen 151b at this time, so that the pre-set screen information (for example, the second advertising content) 820 can be displayed on the second touch screen 151b and drive.

[0157] When guiding the robot 100 to travel, the user of the first touch screen 151a will not use the first touch screen 151a, and it is not processed as having no intention of use, unless the route guidance request 811 ends and the first touch screen 151a is identified as a situation of continued use.

[0158] On the other hand, if it is confirmed that there is no intention to use the first touch screen 151a, then there is no need to perform the first job at this time, and therefore there is no need to limit the use range of the second touch screen 151b.

[0159] Thus, while the second touch screen 151b is displaying the second screen information, the processor 180 of the guiding robot 100 can respond to the situation where it recognizes that there is no intention to use the first touch screen 151a and converts the first screen information of the first touch screen 151a into pre-set screen information, at which time the third screen information corresponding to the second operation of using the second touch screen 151b can be output.

[0160] Here, the third screen information may be a screen whose use range is not limited depending on the state of the first job (for example, a normal menu screen).

[0161] Here, no use intention may mean that when the guide robot 100 is not traveling, there is no touch input on the first touch screen 151a for more than a specified time, for example, it is confirmed that the user is not sensed by the proximity sensor 141 or the camera 121.

[0162] 8 , a menu screen 811 is displayed on the first touch screen 151a, and then, based on a request to use the second touch screen 151b, when the second touch screen 151b displays a use guide screen or a reading mode menu screen 821, if it is confirmed that there is no intention to use the first touch screen 151a, the display of the use guide screen or the reading mode menu screen 821 is suspended.

[0163] Afterwards, the first touch screen 151a may output predetermined screen information (eg, first advertising content) 810, and the second touch screen 151b may output a menu screen 811 whose usage scope is not restricted, that is, the same menu screen as that displayed on the first touch screen 151a may be output.

[0164] In another embodiment, if it is confirmed that there is no intention to use the first touch screen 151a, guidance information is output to enable the user of the second touch screen 151b to use the robot through the first touch screen 151a, or the body can be rotated 180 degrees after guidance to use the first touch screen 151a as the main screen.

[0165] As described above, according to the guide robot of the present invention, when the use of the front display includes the driving function, the situation can be notified to the user of the rear display or the driving function can be temporarily restricted, thereby enabling users of both displays to safely use the guide robot.

[0166] The above describes an embodiment in which only the use range of the second touch screen 151b is limited when the use request of the second touch screen 151b is triggered by the use of the first touch screen 151a. The following describes an embodiment in which the use of a part of the first touch screen 151a is limited due to the use request of the second touch screen 151b.

[0167] In addition, for the sake of convenience, the following embodiments are mainly described based on the premise that the use request of the second touch screen 151b is triggered when the first touch screen 151a is in use. However, unless the function is limited due to the installation position of the component, the same can also be applied to the case where the use request of the first touch screen 151a is triggered when the second touch screen 151b is in use.

[0168] Fig. 9 is an exemplary flow chart of another method 900 for guiding a robot related to the present invention. Unless otherwise specified, Fig. 9 Each step can be implemented by guiding the processor 180 of the robot 100.

[0169] First, in a state where the first touch screen 151a and the second touch screen 151b display advertisement contents different from each other, first screen information corresponding to a first job using the first touch screen 151a may be output to the first touch screen 151a (S910).

[0170] The first operation may include a specific function received using the screen displayed on the first touch screen 151a or an action of guiding the robot 100 to perform a specific function. For example, the first operation may refer to a function corresponding to a menu screen request, a photo shooting request, a route guidance request, or an action of performing the function.

[0171] The first screen information may be a response screen of the guide robot 100 requesting the first operation and a guide screen including the response screen (e.g., a guide screen related to the use of the function activated according to the request of the first operation). For example, a 'menu screen' requesting a menu screen, a 'preview screen and a shooting guide screen' requesting photo shooting, and a 'navigation screen and a guide screen' requesting route guidance may be output as the first screen information.

[0172] In this state, the processor 180 of the guide robot 100 may recognize a request for a second job using the second touch screen 151b (S920).

[0173] Here, the second operation may include the same function as the first operation, and / or include the use of a completely different function. For example, in the case where the first operation is a route guidance request and the second operation is a photo shooting (e.g., photo shooting with a robot) request, it can be said that the 'driving function use' is included as the same function and the 'camera activation function' is included as a different function.

[0174] Then, the guide robot 100 may determine whether to perform the second job received from the second touch screen 151b based on the first job in the first touch screen 151a (S930).

[0175] Determining whether to perform the second job based on the first job means that the use of the second touch screen 151b is affected by the use of the first touch screen 151a.

[0176] Specifically, if the function included in the first operation is an operation that has the characteristic that it cannot be executed simultaneously with the second operation (for example, route guidance including a driving function, etc.), the second operation is not executed and the standby state is maintained. On the contrary, if the function included in the first operation is an operation that has the characteristic that it can be executed simultaneously with the second operation (for example, guidance of a specific POI in a map screen, etc.) and the function included in the second operation is an operation that has the characteristic that it can be executed independently of the first operation (for example, guidance screen, guidance of a specific POI in a map screen, etc.), it is determined to execute the second operation.

[0177] When it is determined that the second job is not to be executed, it does not mean that the second touch screen 151b is converted into the preset screen information (for example, the second advertisement content).

[0178] In other words, while the second job remains in standby mode, at least a portion of the second job can be executed by guiding the user of the second touch screen 151b to take the next action or identifying status changes (for example, changing the job execution priority, pausing / ending the first job, identifying the part of the job that is common with the first job, etc.).

[0179] On the other hand, the guide robot 100 may change the execution state of the first job of the first touch screen 151a based on the second job received from the second touch screen 151b (S940).

[0180] The execution state of the first job based on the second job means that the use of the first touch screen 151a is affected by the use of the second touch screen 151b.

[0181] Specifically, if the second task and the first task are both tasks that have characteristics that cannot be performed independently (for example, route guidance including a driving function), the first task is not performed and remains in a standby state, or the execution of the first task is temporarily suspended.

[0182] Afterwards, if the job processing method is set according to the pre-set benchmark of the guide robot 100 (for example, setting the job execution priority, pausing / ending the second job, identifying the part that works together with the second job), the execution status of the first job will be released from the standby state of the first job and converted to execution according to the set job processing method.

[0183] With the aforementioned Fig. 9 The action method is related to Fig.10a and Fig.10b The diagram shows an example in which, when the jobs received from the first touch screen 151a and the second touch screen 151b include functions that cannot be executed simultaneously, the screen processes of the respective touch screens are different from each other.

[0184] first, Fig.10a An example is shown in which the use mode of the first touch screen 151 a is converted from the cruise mode (Cruise Mode) to the stand mode (Stand Mode) according to a job request of the second touch screen 151 b.

[0185] The cruise mode is an operation mode in which the robot 100 is guided to travel along a designated path while displaying a screen on the display 151. The stand mode is an operation mode in which the robot 100 is guided to stand at a designated position while displaying a screen on the display 151.

[0186] In the case where the first work includes the traveling function of the guide robot, the processor 180 of the guide robot 100 performs the first work in a state where the traveling function is suspended based on the second work.

[0187] exist Fig.10a As shown in FIG. 1 , if a touch input is applied to the second touch screen 151b when the user of the first touch screen 151a has control and uses the first touch screen 151a, the signage screen 1020 displayed on the second touch screen 151b is converted into a menu screen 1021.

[0188] At this time, the menu screen 1011 displayed on the first touch screen 151a is now displayed as a menu screen 1012 that is converted from the cruise mode (Cruise Mode) to the stand mode (Stand Mode). Although the menu screen 1011 of the cruise mode (Cruise Mode) and the menu screen 1012 of the stand mode (Stand Mode) do not change visually, the guide robot 100 will stop driving or stop at the current position and control the display 151.

[0189] The menu screen 1021 displayed on the second touch screen 151b is also executed in the stand mode. Therefore, each user can use the guide robot in the stand mode while continuing to use the first touch screen 151a and the second touch screen 151b.

[0190] Then, Fig.10b An example is shown in which a job (first job) of the first touch screen 151a and a job (second job) of the second touch screen 151b are both converted to a delay / standby state according to a job request of the second touch screen 151b.

[0191] When the first and second tasks both include functions that affect each other when executed or cannot be executed simultaneously, guide robot 100 may convert the processing of the tasks to a delay / standby state (hereinafter, 'Delay Mode').

[0192] In an embodiment, the delay mode may be continued until the guidance robot 100 determines a priority order for performing the tasks (the first task and the second task).

[0193] exist Fig.10b As shown in the figure, if the user of the first touch screen 151a has control and uses the first touch screen 151a, and applies touch input to the second touch screen 151b, the sign screen 1020 displayed on the second touch screen 151b will be converted into a menu screen 1022 and processed as a delay mode operation.

[0194] At this time, the menu screen 1011 displayed on the first touch screen 151a displays the menu screen 1013 that is not in the delay mode (DelayMode). According to the pre-set benchmark of the guide robot 100, the function input through the menu screen 1013 of the first touch screen 151a or the menu screen 1022 of the second touch screen 151b will be processed and delayed (Delay) until the execution priority is determined.

[0195] On the other hand, in the delay mode, when it is confirmed that the user of either the first touch screen 151a or the second touch screen 151b disappears and is not in use, the delay mode can be released, the function of the delayed job can be activated, and the job requested by the user of the other touch screen can be executed immediately.

[0196] As described above, according to the embodiments of the present invention, by enabling users of both displays to use the guidance robot safely and fairly, the use experience and use satisfaction of the guidance robot provided with both displays can be improved at the same time.

[0197] As described above, in order to enable users of both displays to use the guide robot safely and fairly, in a case where each of the first touch screen and the second touch screen limits a portion of use, the user may be curious about the reason why the guide robot does not move and the reason why the requested job is processed as delayed.

[0198] Regarding this, Fig.11a , Fig.11b as well as Fig.11c 1 is a diagram showing examples of different screens for notifying the first touch screen of the usage status of the second touch screen in the guidance robot related to the present invention. Fig.11a , Fig.11b as well as Fig.11c In the description, a case where the use status of the second touch screen is provided to the first touch screen is described as an example, but conversely, the use status of the first touch screen may be provided to the second touch screen.

[0199] If a use request of the second touch screen 151b is sensed while the first touch screen 151a is being used, the processor 180 of the guide robot 100 may control the display 151 to display notification information corresponding to the use request of the second touch screen 151b in an area of ​​the first touch screen 151a. Thus, the user of the first touch screen 151a may sense a change in the existing control right (or, use range).

[0200] The notification information may be text, an icon, or a graphic image indicating that the second touch screen 151 b is being used by the user.

[0201] For example, refer to Fig.11a If a request to use the second touch screen 151b is recognized, a human-shaped image icon 1111 indicating that the second touch screen 151b is ready for use by other users may be displayed in an area of ​​the first touch screen 151a, for example, at the upper right end.

[0202] Although not shown, the notification information may simultaneously display the time when the request to use the second touch screen 151b is received (eg, the time when the second touch screen 151b is touched) and the type of job received through the second touch screen 151b and detailed information of the job.

[0203] On the other hand, the notification information displayed on the first touch screen 151a may be changed according to the use status of the second touch screen 151b. The use status of the second touch screen 151b may include no user / use end, new job request, job change request, etc.

[0204] Reference Fig.11bAs the second touch screen 151b is sensed to be not in use (no user), it can be confirmed that the human-shaped image icon 1111 displayed on the first touch screen 151a disappears and a blank icon 1110 is displayed. Thus, the user of the first touch screen 151a can recognize that the first touch screen 151a is used without usage restrictions.

[0205] Not using the second touch screen 151b (no user) can be equivalent to satisfying the request for an operation without the second touch screen 151b and after a specified time (for example, more than five seconds) there is no touch input on the second touch screen 151b and the user can no longer be sensed on the second touch screen 151b through the proximity sensor 141.

[0206] According to an embodiment, when the human-shaped image icon 1111 is displayed or disappears, a corresponding sound (eg, a login / logout sound) may be output through the sound output unit 152 .

[0207] Reference Fig.11c As the second touch screen 151b is used, a function display icon 1112 indicating the use state of the second touch screen 151b and detailed information 1113 of the received job may be displayed so that the user of the first touch screen 151a can confirm the activated function. According to an embodiment, the detailed information 1113 may be output only when a touch input is applied to the function display icon 1112.

[0208] The function display icon 1112 may display a representative image corresponding to the function included in the second operation through the second touch screen 151b. For example, in the case where the second operation includes a photo shooting function, a camera may be displayed as a representative image on the function display icon 1112, and in the case where the second operation includes a route guidance function, a pin or a flag may be displayed as a representative image on the function display icon 1112.

[0209] On the other hand, although not shown in the figure, according to an embodiment, before the guiding robot 100 senses that the second touch screen 151b is not being used, the control right (right to use) of the first touch screen 151a can be quickly restored by touch input of an icon displayed in an area of ​​the first touch screen 151a (for example, touching the icon and exiting the process).

[0210] However, in this case, the second touch screen 151b at least provides notification information for confirming whether it is not in use (for example, "Are you not going to use it anymore?"), and if there is no response within a specified time, it can be processed as the second touch screen 151b is not in use. This can save the time required for the guidance robot 100 to recognize that it is not directly in use and enable the user of the first touch screen 151a to obtain control rights (use rights) more quickly.

[0211] In addition, according to an embodiment, the user of the second touch screen 151b may request not to display detailed information of the requested job by using a touch input of the second touch screen 151b so that the user of the first touch screen 151a cannot know the detailed information of the requested job.

[0212] As described above, according to the present invention, each user of the two-sided display can confirm whether the opposite side display is used and the usage status. Regardless of which display is used, if it is confirmed that there is no intention to use the opposite side display, the display can be used without restriction, thereby maximizing the usability of the two-sided display for different users.

[0213] Hereinafter, a specific example of guiding the robot 100 to set the priority of task execution in a state where the first task and the second task cannot be executed simultaneously and the mode is switched to the delay mode will be described.

[0214] Fig.12 , Fig.13 as well as Fig.14 An example is shown of a situation in which, in a guiding robot related to the present invention, operations of processing a first touch screen and a second touch screen cannot be performed simultaneously with each other, for example, a diagram showing an example of processing different usage requests of a second touch screen while requesting route guidance as an operation of the first touch screen.

[0215] exist Fig.12 , Fig.13 , Fig.14 For ease of explanation, the route guidance request is described as an example of the first job received, that is, the first job, but is not limited to this. It can also be applied to other jobs that include driving functions, or to other jobs that do not include driving functions but cannot be performed simultaneously.

[0216] In an embodiment, when jobs (a first job and a second job) that cannot be executed simultaneously are requested through the first touch screen 151a and the second touch screen 151b respectively, the processor 180 of the guide robot 100 can determine the execution priority of the first job and the second job based on the job request time of the first job and the second job.

[0217] Specifically, the guide robot 100 may set a higher execution priority of the job that will be requested first according to a queue method. Afterwards, the guide robot 100 may output the job processing information including the determined execution priority to the first touch screen 151a and the second touch screen 151b, and may control the action of the guide robot based on the job processing information.

[0218] According to an embodiment, when a request to use the second touch screen 151b is detected while the first touch screen 151a is being used, but the job request of the second touch screen 151b has higher priority, the guiding robot 100 can set a higher execution priority for the job of the second touch screen 151b whose request time has higher priority.

[0219] For example, refer to Fig.12 A request to use the second touch screen 151b on the back can be displayed in an area of ​​the first touch screen 151a (for example, the upper right end) as well as a first graphic object 1212 representing a received job (for example, route guidance) and a second graphic object 1213 ('route guidance to A') with detailed information on the job.

[0220] As described above, when the first graphic object 1212 and the second graphic object 1213 are displayed, the screen information 1211 indicating the job (e.g., route guidance) received through the second touch screen 151b can be displayed. The guidance robot 100 converts the job received from the first touch screen 151a and the second touch screen 151b into the standby mode (Delay Mode), sets the execution priority of the received job in a manner corresponding to the job request order, and provides a job processing method.

[0221] Thus, the second graphic object 1213 and the third graphic object 1211 indicating the detailed information of the received job are displayed on the first touch screen 151a according to the job request order (i.e., the later executed job is located at the bottom). And, as a job processing method, the plurality of position information 1215 received from the first touch screen 151a and the second touch screen 151b includes the current position and the path and is displayed. At this time, the position corresponding to the first received job can be accessed first (i.e., set as the via point), and the position corresponding to the job received later can be set as the destination (i.e., set as the final destination), thereby setting the route guidance path.

[0222] If the travel for route guidance starts, the screen information 1216 as the first touch screen 151a displays the notification information notifying the start of the travel and the execution order of the work (route guidance) at the same time.

[0223] According to an embodiment, during a period when the execution of the first job and the second job is delayed, or during a period when an action is performed based on the job processing information, if the intention to use either the first touch screen 151a or the second touch screen 151b is sensed, the processor 180 of the guide robot 100 will then execute the other job.

[0224] For example, in Fig.12As shown in FIG. 1 , when the route guidance request for position A is suspended, the guidance robot 100 may delete the previous task in a queue manner and immediately perform the route guidance to position B as the next task.

[0225] On the other hand, the job processing method for a plurality of jobs that cannot be executed simultaneously can be modified in various ways.

[0226] According to an embodiment, in the case where the first job and the second job include a common job part, the processor 180 of the guide robot 100 may output job processing information including the common job to the first touch screen and the second touch screen, and during the action of the guide robot performing the common job, the processor 180 of the guide robot 100 may provide information on the remaining part of the job to the respective touch screens.

[0227] For example, refer to Fig.13 (a), according to the A route guidance request and the B route guidance request received from the first touch screen 151a and the second touch screen 151b, the first touch screen 151a can display a first graphic object 1312 representing the function of the job (e.g., route guidance request) received through the second touch screen 151b, a second graphic object 1313 representing detailed information of the job (e.g., route guidance to position A), and a third graphic object 1311 representing the content of the job received through the first touch screen 151a (e.g., route guidance to position B), and can output screen information 1315 that first guides the user to a common path (e.g., from the current position P to the position M).

[0228] Or, for example, refer to Fig.13 (b), the guiding robot 100 may output a guiding screen 1315′, which shows a guiding route (①) from the current position P of the robot to a nearby position D, and then a route guidance (②) to a further position C. At this time, the touch screen of the user who requested the route guidance to the position C may output a notification message informing that the user is first guided to the position D with a shorter path and then returns, and the operation request will continue unless the route guidance request for the position C is canceled.

[0229] On the other hand, according to an embodiment, when a preset condition is met, the processor 180 of the guide robot 100 can change the execution priority of the first job and the second job, and can temporarily suspend the previously executed job according to the change. Subsequently, the guide robot 100 can output the change of the execution priority and the guidance information related to the next action on at least one of the first touch screen and the second touch screen where the job is suspended.

[0230] Here, the pre-set conditions may be conditions related to an estimated completion time of the work, whether the work includes a driving function, and whether the work is identified as an emergency.

[0231] Specifically, for example, refer to Fig.14 When the first touch screen 151a receives a route guidance request 1411 for the value A position and outputs a route guidance screen 1412 corresponding to the request, the second touch screen 151b can receive a photo shooting request 1421 for a job that meets pre-set conditions and can be performed at the current position and has a short estimated completion time.

[0232] In this case, although the route guidance request 1411 to the A position is received first, an execution screen 1422 corresponding to the photo shooting request 1421 that can be performed at the current position and has a shorter estimated completion time is output on the second touch screen 151b.

[0233] On the other hand, the first touch screen 151a may output screen information 1413 notifying the standby state, and after the photo shooting is completed, the notification information 1414 notifying the start of the route guidance may be output. If the photo shooting of the first touch screen 151a is completed, the first touch screen 151a notifies this, and the driving for the route guidance to the A position will then start (see reference numeral 1415).

[0234] As described above, according to the guide robot and its action method of some embodiments of the present invention, when there is a request to use the back display while the front display is being used, the request to use can be ignored, and restrictive use such as reading mode can be allowed, so that the two-sided display can be further effectively used and the usability can be expanded. In addition, when the use of the front display includes a driving function, the user of the back display can be notified of the situation, or the driving function can be temporarily restricted, so that the users of the two-sided display can all use the guide robot safely. Further, each user of the two-sided display can confirm whether the opposite side display is used and the use status. Regardless of which display, if it is confirmed that there is no intention to use the opposite side display, the display can be used without restriction, so that the usability of the two-sided display used by different users can be maximized. On the other hand, even if it is impossible to simultaneously or independently execute a plurality of operations received by the two-sided display, it is possible to more effectively process a plurality of operations based on the request order of the operation, the detection of the common operation part, the estimated completion time of the operation, and other benchmarks, so that the use experience and use satisfaction of different users can be greatly improved.

[0235] The additional scope to which the present invention can be applied will become clearer through the following detailed description. However, those skilled in the art can clearly understand the various changes and modifications within the thought and scope of the present invention, and therefore it should be understood that the detailed description and the specific implementation of the preferred embodiment of the present invention are only exemplary.

[0236] The features, structures, effects, etc. described in the above embodiments are included in at least one embodiment of the present invention, and are not necessarily limited to only one embodiment. Further, the features, structures, effects, etc. exemplified in each embodiment can be combined or deformed and implemented in other embodiments by a person of ordinary skill in the art to which the embodiments belong. Therefore, the contents related to such combinations and deformations should be interpreted as being included in the scope of the present invention.

[0237] In addition, the above description is centered on the embodiment, but this is only an example and does not limit the present invention. For those skilled in the art to which the present invention belongs, various modifications and applications not exemplified above can be made within the scope of the essential characteristics of the present embodiment. For example, the embodiments specifically show that individual constituent elements can be modified and implemented. Moreover, the differences related to such modifications and applications should be interpreted as being included within the scope of the present invention as defined in the appended claims.

Claims

1. A guiding robot, wherein: include: A traveling unit, which moves the guide robot; A display unit, comprising a first touch screen disposed on the front side of the main body of the guide robot and a second touch screen disposed on the back side of the main body; as well as a processor, electrically connected to the display unit, and outputting first screen information corresponding to a first operation using the first touch screen to the first touch screen; While the first touch screen displays the first screen information, the processor identifies a request to use the second touch screen, determines second screen information corresponding to the request to use the second touch screen based on a state of the first job, and outputs the second screen information to the second touch screen.

2. The guiding robot according to claim 1, wherein: While the second touch screen displays preset screen information, based on a user of the second touch screen sensed by a proximity sensor and a touch input applied to the second touch screen, a request to recognize the use of the second touch screen is performed.

3. The guiding robot according to claim 1, wherein: If the first job is in the execution state, in response to a request to use the second touch screen, a read-only menu screen is determined as the second screen information.

4. The guiding robot according to claim 1, wherein: The processor outputs guidance information that the requested function cannot be executed to the second touch screen in response to determining that a function corresponding to the use request of the second touch screen cannot be executed according to the state of the first job.

5. The guiding robot according to claim 1, wherein: In a case where the first task includes guiding a traveling function of the robot, the processor includes guidance information related to executing the traveling function in the second screen information and outputs the information to the second touch screen.

6. The guiding robot according to claim 1, wherein: The processor responds by recognizing that there is no intention to use the first touch screen while the second touch screen displays the second screen information, converting the first screen information into pre-set screen information, and outputting third screen information corresponding to a second operation using the second touch screen.

7. The guiding robot according to claim 1, wherein: While displaying first screen information corresponding to the first job, the processor recognizes a request for a second job using the second touch screen, determines whether to execute the second job based on a status of the first job, and changes an execution status of the first job based on the second job.

8. The guiding robot according to claim 7, wherein: In a case where the first task includes a travel function of the guide robot, the processor executes the first task in a state where the travel function is suspended based on the second task.

9. The guiding robot according to claim 7, wherein: In a case where the first job and the second job include functions that cannot be executed simultaneously, the processor delays execution of the first job and the second job until a priority order for executing the jobs is determined.

10. The guiding robot according to claim 9, wherein: the processor displays notification information corresponding to the request for use of the second touch screen on an area of ​​the first touch screen, The notification information changes according to a usage state of the second touch screen.

11. The guiding robot according to claim 9, wherein: The processor determines a priority order for executing the first job and the second job based on job request times of the first job and the second job, The operation processing information including the determined execution priority order is output to the first touch screen and the second touch screen, and the action of guiding the robot is executed based on the operation processing information.

12. The guiding robot according to claim 11, wherein: During a period in which execution of the first job and the second job is delayed or during a period in which an action is performed based on the job processing information, The processor, in response to sensing that there is no intention to use one of the first touch screen and the second touch screen, then executes a task of the other touch screen.

13. The guiding robot according to claim 9, wherein: in a case where the first job and the second job include a common job part, the processor outputs job processing information including the common job to the first touch screen and the second touch screen, During the execution of the action of the guiding robot of the common task, information of the remaining part of the task is provided to each touch screen.

14. The guiding robot according to claim 11, wherein: If the pre-set conditions are met, the processor changes the priority of executing the first job and the second job, and based on the change, temporarily suspends the previously executed job, and outputs the change in execution priority and guidance information related to the next action on the side of the first touch screen and the second touch screen where the job is suspended.

15. The guiding robot according to claim 14, wherein: The pre-set conditions are related to the estimated completion time of the operation, whether the operation includes a driving function, and whether the operation is an emergency operation.

16. A method for guiding the movement of a robot, wherein: include: The step of displaying different images on a first touch screen disposed on the front side of the main body of the guide robot and a second touch screen disposed on the back side of the main body; a step of outputting first screen information corresponding to a first job using the first touch screen to the first touch screen; During the period when the first touch screen displays the first screen information, a step of identifying a request for using the second touch screen; as well as A step of determining, based on a state of the first job, second screen information corresponding to a request for use of the second touch screen and outputting the second screen information to the second touch screen.

Images