Method for mobile robots crossing pedestrian crossing and mobile robots

Abstract

A method for a mobile robot to cross a pedestrian crossing and a mobile robot are disclosed. The method for a mobile robot to cross a pedestrian crossing according to an embodiment of the present invention includes a step of the mobile robot detecting a pedestrian crossing, a step of the mobile robot detecting a movement of at least one pedestrian within a predetermined range from the pedestrian crossing, a step of the mobile robot determining whether or not a traffic light at the pedestrian crossing is a pedestrian signal based on the detected movement of the at least one pedestrian, and a step of the mobile robot crossing the pedestrian crossing if the traffic light is determined to be a pedestrian signal.

Description

[Technical field]

[0001] The present invention relates to a crosswalk crossing method for a mobile robot and a mobile robot, and more particularly to a technical idea that, when a mobile robot traveling toward a destination outdoors needs to cross a crosswalk, even in a situation where the crosswalk traffic light cannot be detected, the mobile robot can determine whether the pedestrian signal at the crosswalk has changed based on the movements of surrounding pedestrians, thereby reducing unnecessary waiting time for the traffic light and improving the efficiency of the mobile robot. [Background technology]

[0002] With the development of autonomous driving and robotics technology, restaurants and other establishments are not only using serving robots to serve food, but are also actively researching using autonomous mobile robots to deliver food and other items (such as parcels).

[0003] Conventional autonomous mobile robots either connect to the communication network of a traffic information control system to perform X2X communication to receive traffic light information, or directly recognize traffic lights using the autonomous mobile robot's own camera sensor system to determine whether the traffic light has changed.

[0004] However, there is a problem that the manufacturing costs of mobile robots increase sharply in order to equip them with a system for X2X communication, and there is also a problem that in the case of a method in which traffic lights are simply recognized directly, due to the characteristics of the cameras and sensors of mobile robots, which are located at a relatively low height, it is difficult for them to recognize traffic lights due to pedestrians, vehicles, and other obstacles.

[0005] Therefore, in the past, if X2X communication was not performed, a mobile robot would not be able to cross the crosswalk until it directly recognized the traffic light, which could result in longer waiting times and longer travel times (delivery times).

[0006] In addition, in conventional methods in which a mobile robot directly recognizes traffic lights, there are often cases in which the robot is unable to correctly recognize traffic lights and / or traffic light changes due to sensor limitations such as the camera sensor's angle of view, resolution, and image sensor saturation state, making it impossible for the robot to cross the crosswalk.

[0007] Even if a mobile robot correctly recognizes the walking signal of a traffic light, it is difficult to know whether there is enough time left for the mobile robot to cross the crosswalk before the walking signal ends. Therefore, in the past, an algorithm has been implemented so that after the mobile robot recognizes the traffic light, it starts crossing the crosswalk at the point when the traffic light changes from a stop signal (red light) to a walking signal (green light).

[0008] This creates the problem that if the mobile robot is unable to recognize when the traffic light will change, for example if a pedestrian moves in front of the mobile robot and blocks the traffic light, it will not be able to start crossing the crosswalk and will have to wait for the next traffic light change, which wastes time crossing one crosswalk and significantly reduces efficiency.

[0009] Therefore, there is a demand for a technical concept that enables a mobile robot to easily determine whether a traffic light's walking signal has changed based on the surrounding environment, for example, the movement of nearby pedestrians, rather than simply waiting until the traffic light is detected when the robot is unable to detect the traffic light at a crosswalk. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Korean patent application number (1020190120039, "Mobile Robot") Summary of the Invention [Problem to be solved by the invention]

[0011] The problem to be solved by the present invention is to provide a technical idea for enabling a mobile robot to smoothly cross a crosswalk by indirectly recognizing changes in traffic lights through the surrounding environment, for example, the movement of surrounding pedestrians, even if the mobile robot cannot directly recognize traffic lights and / or their signals at a crosswalk. [Means for solving the problem]

[0012] A method for a mobile robot crossing a crosswalk according to an embodiment of the present invention for solving the above technical problems may include the steps of: a mobile robot detecting a crosswalk; a mobile robot detecting movement of at least one pedestrian within a predetermined range from the crosswalk; a step of the mobile robot determining whether or not a traffic light at the crosswalk is a pedestrian signal based on the detected movement of the at least one pedestrian; and a step of the mobile robot crossing the crosswalk if the traffic light is determined to be a pedestrian signal.

[0013] The method for crossing a crosswalk by a mobile robot may further include a step of the mobile robot detecting a traffic light at the crosswalk, and if no traffic light is detected, the mobile robot detects pedestrian movement within a predetermined range centered on the crosswalk.

[0014] In addition, the step of the mobile robot determining whether or not a crosswalk traffic light is a pedestrian signal may include a step of the mobile robot detecting whether or not at least one pedestrian who has been stopped starts to move, and a step of the mobile robot determining that the traffic light is a pedestrian signal when at least one pedestrian has started to move.

[0015] In addition, the step of the mobile robot detecting whether or not at least one pedestrian who has been stopped starts moving may include a step of the mobile robot detecting whether or not at least one pedestrian moves along a crosswalk direction.

[0016] In addition, the step of the mobile robot determining whether or not a crosswalk traffic light is a pedestrian signal may include a step of the mobile robot detecting whether or not a plurality of pedestrians start moving, and a step of the mobile robot determining that the traffic light is a pedestrian signal if the movement of the plurality of pedestrians satisfies a predetermined criterion.

[0017] In addition, the step of the mobile robot determining that the traffic light is a pedestrian signal when the movements of a plurality of pedestrians satisfy a predetermined criterion may include a step of the mobile robot determining that the traffic light is a pedestrian signal when a predetermined criterion or more of pedestrians start moving, or a step of the mobile robot determining that the traffic light is a pedestrian signal when a proportion of pedestrians starting to move among a plurality of pedestrians is equal to or greater than a certain percentage.

[0018] In addition, the step of the mobile robot crossing the crosswalk may include a step of interrupting crossing the crosswalk if the mobile robot is unable to enter the crosswalk within a predetermined time after determining that the traffic light is a pedestrian signal, and a step of the mobile robot waiting for the next pedestrian signal from the traffic light.

[0019] The above method can be realized by a computer program stored on a computer-readable recording medium.

[0020] A mobile robot according to an embodiment of the present invention for solving the above technical problems includes a running unit for running the mobile robot, a control unit for controlling the running of the running unit, a detection unit for detecting crosswalks and traffic lights, and a motion detection unit for detecting pedestrian movement, wherein when the crosswalk is detected by the detection unit, the motion detection unit detects the movement of at least one pedestrian within a predetermined range from the crosswalk, and the control unit determines whether the crosswalk traffic light is a pedestrian signal based on the movement of the at least one pedestrian detected by the motion detection unit, and when it is determined that the traffic light is a pedestrian signal, controls the running unit so that the mobile robot crosses the crosswalk.

[0021] The motion detection unit may detect whether or not at least one pedestrian who has been stopped starts moving, and the control unit may determine that the traffic light is a walking signal when at least one pedestrian starts moving.

[0022] The motion detection unit may detect whether or not at least one pedestrian detected by the motion detection unit moves along a crosswalk direction.

[0023] The motion detection unit may detect whether or not multiple pedestrians have started moving when the mobile robot detects this, and the control unit may determine that the traffic light is a pedestrian signal when the movement of the multiple pedestrians detected by the motion detection unit satisfies a predetermined criterion.

[0024] The control unit may also be characterized in determining that the traffic light is a walking signal when a predetermined number of pedestrians or more start moving, or determining that the traffic light is a walking signal when a proportion of pedestrians starting to move among a plurality of pedestrians is a certain level or more.

[0025] In addition, the control unit may control the traveling unit to stop crossing the crosswalk and wait for the next pedestrian signal of the traffic light if the mobile robot fails to enter the crosswalk within a predetermined time after it is determined that the traffic light is a pedestrian signal. Effect of the Invention

[0026] According to one embodiment of the present invention, in a situation where a mobile robot cannot detect a traffic light at a crosswalk, instead of simply waiting until the traffic light is detected, the mobile robot can easily determine whether the traffic light's walking signal has changed based on the surrounding environment, for example the movement of nearby pedestrians, thereby having the effect of greatly improving the traveling efficiency of the mobile robot. [Brief description of the drawings]

[0027] In order to more fully understand the drawings referred to in the detailed description of the present invention, a brief description of each of the drawings is provided. [Figure 1] 1 is a diagram for explaining a method for causing a mobile robot to cross a pedestrian crossing according to an embodiment of the present invention; [Diagram 2] 1 shows a schematic flow of a pedestrian crossing method for a mobile robot according to an embodiment of the present invention. [Diagram 3] 11A to 11C are diagrams for explaining a specific method for a mobile robot crossing a pedestrian crossing according to an embodiment of the present invention. [Figure 4] 11A to 11C are diagrams for explaining a specific method for a mobile robot crossing a pedestrian crossing according to an embodiment of the present invention. [Diagram 5] 1 shows a schematic configuration of a mobile robot according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Since the present invention can be modified in various ways and can have various embodiments, a specific embodiment will be illustrated in the drawings and described in detail in the detailed description. However, this does not limit the present invention to the specific embodiment, and it should be understood that the present invention includes all modifications, equivalents, and alternatives within the spirit and technical scope of the present invention. In describing the present invention, if it is determined that a detailed description of related publicly known technology may obscure the gist of the present invention, the detailed description will be omitted.

[0029] Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only to distinguish one component from another.

[0030] The terms used in this application are merely used to describe specific embodiments and are not intended to limit the present invention. Unless otherwise clearly defined in the context, singular expressions include plural expressions.

[0031] It is to be understood that, in this specification, the terms "comprise" or "have" specify the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but do not preclude the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0032] Also, in this specification, when a component "transmits" data to another component, it may mean that the component can transmit data directly to the other component, or can transmit data to the other component via at least one other component. Conversely, when a component "transmits" data to another component, it may mean that data is transmitted from the component to the other component without passing through any other component.

[0033] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings, in which the same reference numerals in the various drawings denote the same elements.

[0034] FIG. 1 is a diagram for explaining a method for a mobile robot to cross a crosswalk according to an embodiment of the present invention.

[0035] Referring to FIG. 1, a mobile robot 100 is provided for implementing a pedestrian crossing method for a mobile robot according to an embodiment of the present invention.

[0036] The mobile robot 100 may refer to a robot capable of moving including a running part including a drive means necessary for moving or running. For example, the mobile robot 100 may be a robot including an autonomous running function that can set a route according to a destination and run along the set route by itself.

[0037] Hereinafter, in this specification, the mobile robot 100 will be described as a delivery robot that carries a predetermined item and travels along an outdoor route to deliver the item to a predetermined destination, but the scope of the present invention is not necessarily limited to this. For example, the mobile robot 100 can be realized as a robot that travels independently and performs a predetermined task indoors for various purposes (e.g., serving food, making deliveries, cleaning, patrol, etc.). In such a case, the technical idea of ​​the present invention described below can be applied in the same or similar manner in situations such as when the mobile robot 100 crosses an intersection or lobby in an indoor space and / or when it gets on an elevator.

[0038] The mobile robot 100 is also equipped with a predetermined camera sensor system, and can sense and detect various objects such as obstacles, pedestrians, crosswalks, and / or traffic lights while traveling from photographic information captured by the camera system and / or sensing information sensed by the sensor system. As such, the technical idea of ​​detecting a predetermined object from photographic information or sensing information is already widely known, and therefore further detailed description will be omitted in this specification.

[0039] The mobile robot 100 may store data for setting a route to a destination in advance, or may acquire map data from a predetermined external system. The external system may be a server that operates or manages the mobile robot 100.

[0040] Also, referring to the drawings, the mobile robot 100 can detect a crosswalk 10 when it is necessary to cross a road on which the vehicle travels during the determined travel route.

[0041] Conventional autonomous mobile robots either connect to the communication network of a traffic information control system to perform X2X communication to receive traffic light information, or use the autonomous mobile robot's own camera sensor system to directly recognize traffic lights and determine whether the traffic light has changed.

[0042] However, as described above, there is a problem that the manufacturing cost of a mobile robot increases sharply in order to equip the mobile robot with a system for performing X2X communication. In addition, in the case of a method of simply directly recognizing traffic lights, there is a problem that it is difficult to recognize traffic lights due to the characteristics of the cameras and sensors of the mobile robot, which are located at a relatively low height, due to pedestrians, vehicles, and other obstacles.

[0043] Therefore, in the past, if X2X communication was not performed, a mobile robot would not be able to cross the crosswalk until it directly recognized the traffic light, which could result in longer waiting times and longer travel times (delivery times).

[0044] In addition, in conventional methods in which a mobile robot directly recognizes traffic lights, there are often cases in which the robot is unable to correctly recognize traffic lights and / or traffic light changes due to sensor limitations such as the camera sensor's angle of view and resolution, and the image sensor's saturation signal level, making it impossible for the robot to cross the crosswalk.

[0045] Even if a mobile robot correctly recognizes the walking signal of a traffic light, it is difficult to know whether there is enough time left for the mobile robot to cross the crosswalk before the walking signal ends. Therefore, in the past, an algorithm has been implemented so that after the mobile robot recognizes the traffic light, it starts crossing the crosswalk at the point when the traffic light changes from a stop signal (red light) to a walking signal (green light).

[0046] This creates the problem that if the mobile robot is unable to recognize when the traffic light will change, for example if a pedestrian moves in front of the mobile robot and blocks the traffic light, it will not be able to start crossing the crosswalk and will have to wait for the next traffic light change, which wastes time crossing one crosswalk and significantly reduces efficiency.

[0047] Therefore, the present invention aims to provide a technical idea for enabling the mobile robot 100 to smoothly cross the crosswalk 10 by enabling the mobile robot 100 to indirectly recognize the signal change of the traffic light 20 through the surrounding environment, for example, the movement of surrounding pedestrians, even if the mobile robot 100 cannot directly recognize the traffic light 20 and / or the signal of the traffic light 20 at the crosswalk 10.

[0048] FIG. 2 shows a schematic flow of a method for causing a mobile robot to cross a pedestrian crossing according to an embodiment of the present invention.

[0049] Referring to FIG. 2, in the method for crossing a pedestrian crossing by a mobile robot according to an embodiment of the present invention, the mobile robot 100 can detect a pedestrian crossing 10 on a moving path (s100).

[0050] As described above, the mobile robot 100 can identify the location of the crosswalk 10 that the mobile robot 100 should cross by using map data and its own position information, and detect the crosswalk 10. Alternatively, the mobile robot 100 can detect the crosswalk 10 by information photographed and / or sensed by a camera sensor system provided therein. Depending on the embodiment, the mobile robot 100 can detect the crosswalk 10 that the mobile robot 100 should immediately cross by combining the above two methods.

[0051] In either case, when the mobile robot 100 detects the crosswalk 10, it can detect (s110) the traffic light 20 corresponding to the detected crosswalk 10. Such detection of the traffic light 20 can be performed by the camera sensor system described above.

[0052] When the mobile robot 100 detects a traffic light 20 by the camera sensor system, it determines whether the signal of the traffic light 20 has changed (s120), and if the signal has changed (e.g., from a stop signal to a walk signal), it can cross the crosswalk (s150).

[0053] However, when the traffic light 20 is not detected, the mobile robot 100 can detect (s130) at least one pedestrian and / or the movement of at least one pedestrian within a predetermined range from the crosswalk 10. Hereinafter, in this specification, the mobile robot 100 detecting the movement of a pedestrian may mean not only that the mobile robot 100 detects the presence or absence of a pedestrian in the vicinity, but also that the mobile robot 100 detects the movement of a pedestrian (e.g., whether the pedestrian is stopped or moving, etc.).

[0054] According to the technical idea of ​​the present invention, the mobile robot 100 can determine whether the traffic light at the crosswalk 10 is a pedestrian signal or not based on the detected movement of the pedestrian. In one embodiment, the mobile robot 100 determines whether the pedestrian detected in step s130 starts moving (s140), and if the result of the determination is that the stopped pedestrian has started moving, it determines that the traffic light 20 has been changed to a pedestrian signal and is able to cross the crosswalk 10.

[0055] In the case where the mobile robot 100 cannot detect the traffic light 20, various methods and / or criteria may be set for determining whether the pedestrian signal of the traffic light 20 has changed. Hereinafter, the present specification will mainly describe a method based on the movement of pedestrians around the mobile robot 100.

[0056] 3 and 4 are diagrams for explaining a specific method for causing a mobile robot to cross a pedestrian crossing according to an embodiment of the present invention.

[0057] First, referring to FIG. 3, the mobile robot 100 according to an embodiment of the present invention can detect whether there is a crosswalk 10 on the route while traveling, and can detect the traffic light 20 corresponding to the crosswalk 10, as described above.

[0058] However, the mobile robot 100 generally senses and captures the surrounding environment at a lower height than a pedestrian.

[0059] As shown in the figure, when the mobile robot 100 is positioned in front of the crosswalk 10 and a pedestrian P is standing in front of the mobile robot 100, the traffic light 20 may not be detected by the mobile robot 100 because it is hidden by the pedestrian P.

[0060] When there are only one or two pedestrians in front of the crosswalk 10, the mobile robot 100 can detect the traffic light 20 by gradually changing its waiting position. However, when there are many pedestrians P attempting to cross the crosswalk 10, there is a very high possibility that the mobile robot 100 will not detect the traffic light 20 even if it changes its position in front of the crosswalk 10.

[0061] In addition, although not shown in the figure, in addition to pedestrian P, a vehicle that has entered the crosswalk 10 and stopped there and is now stopped in the lane on the sidewalk side may also prevent the mobile robot 100 from detecting the traffic light 20.

[0062] Therefore, as shown in FIG. 4, when a traffic light 20 is not detected at a detected crosswalk 10, the mobile robot 100 according to the technical idea of ​​the present invention can detect the movement of at least one pedestrian P1 and / or pedestrian P2 within a predetermined range from the crosswalk 10, and determine whether the signal of the traffic light 20 has changed based on the detected movement of the at least one pedestrian P1 and / or pedestrian P2.

[0063] The mobile robot 100 may detect the pedestrian P within a predetermined range from the detected crosswalk 10 in order to minimize misjudgment due to the movement of other pedestrians (e.g., pedestrians passing by the crosswalk 10 without crossing it) other than the pedestrian P attempting to cross the crosswalk 10. For example, the mobile robot 100 may only detect the movement of the pedestrian P located within a certain distance in front of the mobile robot 10 itself standing facing the crosswalk 10 at the detected crosswalk 10.

[0064] A pedestrian P attempting to cross the crosswalk 10 waits in front of the crosswalk 10 until the traffic light 20 is changed to a pedestrian signal, and starts moving once the traffic light 20 is changed to a pedestrian signal. Therefore, when the mobile robot 100 does not detect the traffic light 20, it may detect the movement of the pedestrian P waiting in front of the crosswalk 10 in this manner, and determine that the traffic light 20 signal has changed at the time when the stopped pedestrian starts moving to the crosswalk 10, and start crossing the crosswalk 10.

[0065] On the other hand, even if pedestrian P has stopped in front of the crosswalk 10, starting to move does not necessarily mean that he or she will cross the crosswalk 10. Also, even if pedestrian P moves in the direction of crossing the crosswalk 10, it cannot be determined that the signal of the traffic light 20 has changed to a walking signal.

[0066] Therefore, when the traffic light 20 is not detected, the mobile robot 100 detects the movements of multiple pedestrians (e.g., P1, P2) and detects whether or not they start moving from a stopped state, and can determine whether or not the walking signal of the traffic light 20 has changed depending on whether or not the movements (movements) of the multiple pedestrians (e.g., P1, P2) satisfy predetermined criteria.

[0067] If the mobile robot 100 fails to detect a traffic light 20 at a crosswalk 10 with a traffic light 20, this is highly likely to be caused by multiple pedestrians (e.g., P1, P2, etc.) rather than a single pedestrian P, and therefore it may be preferable for the mobile robot 100 to detect the movements of multiple pedestrians (e.g., P1, P2).

[0068] Various criteria may be set for the mobile robot 100 to determine whether the traffic light 20 has changed due to the movements of multiple pedestrians (eg, P1, P2).

[0069] In one embodiment, the mobile robot 100 may determine that the traffic light 20 has changed to a pedestrian signal only when a certain number of pedestrians among multiple stopped pedestrians start moving. For example, it often happens that one or two pedestrians among the pedestrians waiting for the pedestrian signal at the crosswalk 10 try to cross before the traffic light 20 changes to a pedestrian signal, or predict the timing of the signal change and try to cross before the signal changes.

[0070] Therefore, the mobile robot 100 may preset a reference number of people, such as three or five, and determine that the traffic light 20 has been changed to a walking signal when it detects that more than the reference number of pedestrians (e.g., P1, P2) start moving among the multiple detected pedestrians.

[0071] Alternatively, the mobile robot 100 may determine that the traffic light 20 has changed to a walking signal when a certain percentage or more of multiple pedestrians (e.g., P1, P2) start moving, instead of a fixed number of people. For example, the mobile robot 100 may determine whether the walking signal of the traffic light 20 has changed when about 30% to 40% of the detected pedestrians start moving. The above numerical values ​​are one embodiment of the present invention, and it goes without saying that the criteria by which the mobile robot 100 determines whether the walking signal of the traffic light 20 has changed depending on whether a certain percentage or more of multiple pedestrians (e.g., P1, P2) start moving can be set in various ways as necessary.

[0072] Depending on the embodiment, the mobile robot 100 may determine whether the signal of the traffic light 20 has changed by further considering whether the movement of the detected pedestrian (e.g., P1, P2) is in the direction of crossing the crosswalk 10. As described above, since it is not certain that the pedestrian P who has stopped in front of the crosswalk 10 will necessarily cross the crosswalk, when it is detected that the stopped pedestrian P starts to move, the mobile robot 100 may further determine whether the movement direction of the pedestrian P is the direction of crossing the crosswalk 10.

[0073] Meanwhile, the drawings show a case in which the mobile robot 100 determines whether the traffic light 20 is a pedestrian signal based on the movement of a pedestrian (e.g., P1, P2) on the side where the mobile robot 100 is currently located at the crosswalk 10 that the mobile robot 100 is attempting to cross as described above, but according to the technical idea of ​​the present invention, the mobile robot 100 may also determine whether the traffic light 20 has been changed to a pedestrian signal by detecting the movement of a pedestrian located on the opposite side of the crosswalk 10, i.e., a pedestrian moving from the opposite side of the crosswalk 10 toward the mobile robot 100.

[0074] For example, when the mobile robot 100 is unable to detect the traffic light 20 at the crosswalk 10 for various reasons, the mobile robot 100 may detect pedestrians around the crosswalk 10 as described above. At this time, the mobile robot 100 may detect not only pedestrians on the same side of the crosswalk 10 as the mobile robot 100 itself, but also pedestrians on the opposite side of the crosswalk 10 that the mobile robot 100 is attempting to cross, and may determine that the traffic light 20 has been changed to a pedestrian signal when a pedestrian who had stopped as described above starts moving.

[0075] Generally, since the traffic light 20 is located relatively high compared to pedestrians and the detection area is relatively small, even a slight obstruction may cause detection to fail, but since a pedestrian located on the opposite side of the crosswalk 10 is relatively large compared to the traffic light 20, detection may be easier. Therefore, if a pedestrian on the opposite side of the crosswalk 10 can be detected, the movement of the pedestrian on the opposite side of the crosswalk 10 can be used as a criterion for determining whether the pedestrian signal of the traffic light 20 has changed, as well as the movement of pedestrians (e.g., P1, P2) crossing the crosswalk 10 in the same direction as the mobile robot 100. In other words, according to the technical idea of ​​the present invention, as long as the pedestrian is about to cross the crosswalk 10, the mobile robot 100 can use the movement of the pedestrian on the opposite side of the crosswalk 10 as a criterion for determining whether the pedestrian signal of the traffic light 20 has changed, regardless of the crossing direction.

[0076] On the other hand, even if the mobile robot 100 determines whether the signal of the traffic light 20 has changed based on the movement of the pedestrian P in a situation where the traffic light 20 is not detected as described above, there may be a large number of pedestrians ahead of the mobile robot 100 waiting for the pedestrian signal at the crosswalk 10, or the mobile robot 100 may be delayed in entering the crosswalk 10 for various other reasons.

[0077] In this case, if the mobile robot 100 enters the crosswalk 10 some time after the traffic light 20 has been changed to a pedestrian signal, there is a risk that the signal of the traffic light 20 will be changed before the mobile robot 100 has finished crossing the crosswalk 10.

[0078] Therefore, if the mobile robot 100 is unable to enter the crosswalk 10 within a predetermined time from the point at which it is determined that the traffic light 20 is a pedestrian signal based on the movement of the pedestrian P, the mobile robot 100 may stop crossing the crosswalk 10 and wait for the next pedestrian signal from the traffic light 20.

[0079] The configuration of the mobile robot 100 for carrying out the above-mentioned method for crossing a pedestrian crossing by a mobile robot will be described with reference to FIG.

[0080] FIG. 5 shows a schematic configuration of a mobile robot according to an embodiment of the present invention.

[0081] Referring to FIG. 5, the mobile robot 100 according to the embodiment of the present invention may include a running unit 110, a control unit 120, a detection unit 120, and / or a motion detection unit 140.

[0082] The running unit 110 may refer to a driving means necessary for the mobile robot 100 to run.

[0083] The control unit 120 can control the operation and functions of the remaining components of the mobile robot 100 (e.g., the running unit 110, the detection unit 130, and / or the motion detection unit 140), and can also control the operation of the mobile robot 100, such as whether or not it runs, based on the results detected or sensed by the detection unit 130 and / or the motion detection unit 140.

[0084] The control unit 120 may include a processor and a storage medium (or memory) for implementing the functions defined in this specification. The processor means a computing device capable of executing a predetermined program (software code), and examples of data processing devices may be named by various names such as a vendor mobile processor, a microprocessor, a CPU, a single processor, a multiprocessor, a GPU, etc., and may be implemented by one or more processors.

[0085] A person having ordinary skill in the art of the present invention can easily deduce that the processor can run a program and perform data processing necessary for the technical concept of the present invention.

[0086] The memory may refer to a device in which a program for implementing the technical idea of ​​the present invention is stored / installed. Depending on the embodiment, the memory may be divided into multiple different physical devices, and depending on the embodiment, a part of the memory may be inside the processor. Depending on the embodiment, the memory may be embodied as a hard disk, a GPU, a solid state disk (SSD), an optical disk, a random access memory (RAM), and / or various other types of storage media, and the memory may be removable if necessary.

[0087] It goes without saying that the mobile robot 100 according to the technical idea of ​​the present invention can be realized by organically combining a program (or software) stored in a memory with a processor, and a person of average skill in the art of the present invention can easily deduce that the functions and / or operations performed by the mobile robot 100 in this specification can be executed by a program executed by a processor.

[0088] The detection unit 130 and / or the motion detection unit 140 may include at least one camera and / or sensor (e.g., a LiDAR sensor, an infrared sensor, etc.) and may acquire image information and / or sensing information regarding the surrounding environment of the mobile robot 100.

[0089] The control unit 120 can use the information thus obtained by the detection unit 130 and / or the motion detection unit 140 to detect or sense the movement of the crosswalk 10, the traffic light 20, and / or pedestrians, and can use this information to determine whether the walking signal of the traffic light 20 has changed, and control the running unit 110 so that the mobile robot 100 crosses the crosswalk 10.

[0090] Ultimately, according to the technical idea of ​​the present invention, when the mobile robot 100 traveling autonomously to a destination needs to cross the crosswalk 10, it does not simply wait until the traffic light 20 at the crosswalk 10 is detected in a situation where it cannot detect the traffic light 20, but can easily determine whether the signal of the traffic light 20 has changed based on the movements of surrounding pedestrians, thereby improving the efficiency of the mobile robot 100.

[0091] Meanwhile, the method for crossing a crosswalk by a mobile robot according to an embodiment of the present invention may be realized in the form of computer-readable program instructions and stored in a computer-readable recording medium, and the control program and the target program according to the embodiment of the present invention may also be stored in a computer-readable recording medium. The computer-readable recording medium includes any kind of recording device in which data readable by a computer system is stored.

[0092] The program instructions contained on the recording media may be those specially designed and constructed for the purposes of the present invention, or they may be of the type well known and available to those having skill in the software arts.

[0093] Examples of computer readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magnetro-optical media such as floptical disks, and hardware devices specially configured to store and execute program instructions such as ROM, RAM, flash memory, etc. Also, computer readable recording media may be distributed among computer systems connected to a network, so that computer readable code is stored and executed in a distributed manner.

[0094] Examples of program instructions include not only machine code, such as produced by a compiler, but also higher level language codes that may be executed by a device for processing information electronically, such as a computer, using an interpreter or the like.

[0095] Additionally, the hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

[0096] The above description of the present invention is for illustrative purposes only, and a person having ordinary skill in the art to which the present invention pertains can easily understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential features of the present invention. Therefore, it should be understood that the above-described embodiments are illustrative in all respects and are not limiting. For example, each component described as a single type may be implemented in a distributed manner, and similarly, each component described as being distributed may be implemented in a combined form.

[0097] The scope of the present invention is indicated by the claims set forth below rather than by the above detailed description, and all modifications and variations derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included within the scope of the present invention. [Industrial Applicability]

[0098] The present invention can be used in a crosswalk crossing method for a mobile robot and in a mobile robot.

Claims

1. A step of detecting a pedestrian crossing by a mobile robot; detecting a movement of at least one pedestrian within a predetermined range from a pedestrian crossing by the mobile robot; determining whether a crosswalk signal is a pedestrian signal based on the detected movement of at least one pedestrian by the mobile robot; when the traffic light is determined to be a pedestrian crossing light, the mobile robot crosses a pedestrian crossing; A method for causing a mobile robot to cross a pedestrian crossing, comprising:

2. The method further includes a step of detecting a traffic light at a pedestrian crossing by the mobile robot; 2. A method for a mobile robot crossing a pedestrian crossing according to claim 1, wherein, when no traffic light is detected, the mobile robot detects the movement of pedestrians within a predetermined range centered on the pedestrian crossing.

3. The step of the mobile robot determining whether a crosswalk traffic light is a pedestrian crossing signal includes: A step of detecting whether at least one pedestrian who has stopped starts moving by the mobile robot; The pedestrian crossing method for a mobile robot according to claim 1 , further comprising: a step of: the mobile robot determining that the traffic light is a pedestrian signal when at least one pedestrian starts moving.

4. The step of detecting whether or not at least one pedestrian who has been stopped starts moving by the mobile robot includes:

4. The method for crossing a pedestrian crossing by a mobile robot according to claim 3, further comprising the step of: detecting whether at least one pedestrian is moving along a crosswalk direction by the mobile robot.

5. The step of the mobile robot determining whether a crosswalk traffic light is a pedestrian crossing signal includes: a step of detecting whether a plurality of pedestrians start moving by the mobile robot; 4. The method for causing a mobile robot to cross a pedestrian crossing according to claim 3, further comprising a step of: determining, by the mobile robot, that the traffic light is a pedestrian signal when the movement of a plurality of pedestrians satisfies a predetermined criterion.

6. The step of determining that the traffic light is a pedestrian signal when movements of a plurality of pedestrians satisfy a predetermined criterion by the mobile robot includes: A step in which the mobile robot determines that the traffic light is a pedestrian signal when a predetermined reference number or more of pedestrians start moving; or 6. A method for a mobile robot crossing a pedestrian crossing as described in claim 5, further comprising a step of the mobile robot determining that the traffic light is a pedestrian signal when a ratio of pedestrians starting to move among a plurality of pedestrians is equal to or greater than a certain value.

7. The step of the mobile robot crossing a pedestrian crossing includes: A step of suspending crossing the crosswalk if the mobile robot fails to enter the crosswalk within a predetermined time after determining that the traffic light is a pedestrian crossing signal; The method for causing a mobile robot to cross a pedestrian crossing as claimed in claim 1 , further comprising the step of: causing the mobile robot to wait for a next pedestrian signal from the traffic light.

8. A computer program stored on a computer readable recording medium for being provided in a data processing device and for carrying out the method according to any one of claims 1 to 7.

9. a running unit for running the mobile robot; A control unit for controlling the traveling of the traveling unit; A detection unit for detecting a pedestrian crossing and a traffic light; a motion detection unit for detecting a motion of a pedestrian; Including, The motion detection unit is When the crosswalk is detected by the detection unit, the movement of at least one pedestrian is detected within a predetermined range from the crosswalk, The control unit is The mobile robot determines whether a crosswalk signal is a pedestrian signal based on the movement of at least one pedestrian detected by the movement detection unit; A mobile robot, characterized in that, when the traffic light is determined to be a pedestrian signal, the mobile robot controls the running unit so that the mobile robot crosses a pedestrian crossing.

10. The motion detection unit is Detecting whether at least one pedestrian that has been stopped starts moving; The control unit is 10. The mobile robot according to claim 9, wherein the traffic light is determined to be a pedestrian signal when at least one pedestrian starts to move.

11. The motion detection unit is 11. The mobile robot according to claim 10, wherein the mobile robot detects whether or not at least one pedestrian detected by the movement detection unit is moving along a crosswalk direction.

12. The motion detection unit is The mobile robot detects whether a plurality of pedestrians start moving; The control unit is 11. The mobile robot according to claim 10, wherein the traffic light is determined to be a pedestrian signal when the movements of a plurality of pedestrians detected by the movement detection unit satisfy a predetermined criterion.

13. The control unit is When a predetermined number of pedestrians or more start to move, the traffic light is judged to be a pedestrian signal; 13. The mobile robot according to claim 12, wherein the traffic light is determined to be a pedestrian signal when a ratio of pedestrians starting to move among a plurality of pedestrians is equal to or greater than a certain value.

14. The control unit is 10. The mobile robot according to claim 9, wherein, if the mobile robot fails to enter the pedestrian crossing within a predetermined time after it has been determined that the traffic light is a pedestrian signal, the mobile robot controls the traveling unit to stop crossing the pedestrian crossing and wait for the next pedestrian signal of the traffic light.

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