Electronic device and control method thereof

Abstract

An electronic device is disclosed. The electronic device comprises: a communication interface; a memory in which driving map information including space information corresponding to each of a plurality of subspaces in a driving space and at least one instruction are stored; and one or more processors which: receive first sensing information on a first subspace among the plurality of subspaces from a first external device and receive second sensing information on the first subspace from a second external device through the communication interface; and on the basis of first reliability information included in the received first sensing information and second reliability information included in the received second sensing information, update space information corresponding to the first subspace by using first space state information included in the first sensing information and second space state information included in the second sensing information.

Description

Electronic device and method of controlling the same

[0001] The present disclosure relates to an electronic device and a control method thereof, and more particularly, to a method for generating highly accurate driving map information based on sensing information received from a plurality of devices present in a driving space.

[0002] Advances in electronic technology have led to the development and proliferation of various types of electronic devices. Technologies enabling multiple devices within a home to connect to a network and exchange data are actively being developed. Data exchange between multiple devices within the home provides users with high-quality services.

[0003] Meanwhile, devices within the driving space can obtain sensing information about the driving space through sensors embedded within the device. For example, if the device is implemented as a robot, the robot can obtain image information about the driving space through a camera sensor mounted on the robot.

[0004] When multiple devices exist in a driving space, a method is emerging in which an electronic device that is connected to the multiple devices in communication acquires information about the driving space by using sensing data acquired from each of the multiple devices.

[0005] An electronic device according to one embodiment of the present disclosure may include a communication interface, a memory in which driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space and at least one instruction are stored, and one or more processors that update the driving map information using sensing information received through the communication interface by executing the at least one instruction.

[0006] The one or more processors can receive first sensing information about a first sub-space among the plurality of sub-spaces from a first external device through the communication interface and receive second sensing information about the first sub-space from a second external device.

[0007] The one or more processors may update spatial information corresponding to the first sub-space using the first spatial state information included in the first sensing information and the second spatial state information included in the second sensing information, based on the first reliability information included in the received first sensing information and the second reliability information included in the received second sensing information.

[0008] A method for controlling an electronic device according to an embodiment of the present disclosure may include receiving first sensing information about a first sub-space among a plurality of sub-spaces within a driving space from a first external device and receiving second sensing information about the first sub-space from a second external device.

[0009] The control method may include a step of updating spatial information corresponding to the first sub-space among driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space stored in a memory, based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information, using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information.

[0010] In one embodiment of the present disclosure, a non-transitory computer-readable recording medium storing computer instructions that, when executed by a processor of an electronic device, cause the electronic device to perform an operation, the operation may include receiving first sensing information about a first sub-space among a plurality of sub-spaces in a driving space from a first external device and receiving second sensing information about the first sub-space from a second external device.

[0011] The above operation may include a step of updating spatial information corresponding to the first sub-space among driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space stored in a memory, based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information, using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information.

[0012] FIG. 1 is a drawing schematically illustrating a control method of an electronic device according to one embodiment.

[0013] Figure 2 is a block diagram showing the configuration of an electronic device according to one embodiment.

[0014] Figure 3 is a flowchart for explaining a control method of an electronic device according to one embodiment.

[0015] Figures 4a and 4b are drawings for explaining spatial information according to one embodiment.

[0016] FIG. 5 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0017] FIG. 6 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0018] FIG. 7 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0019] FIG. 8 is a diagram illustrating a method for updating object information according to one embodiment.

[0020] FIG. 9 is a diagram illustrating a method for updating object information according to one embodiment.

[0021] FIG. 10 is a diagram illustrating a method for identifying reliability based on feature information according to one embodiment.

[0022] FIG. 11 is a diagram illustrating a method for updating spatial information according to one embodiment.

[0023] Fig. 12 is a block diagram showing a detailed configuration of an electronic device according to one embodiment.

[0024] Hereinafter, the present disclosure will be described in detail with reference to the attached drawings.

[0025] The terms used in this specification will be briefly explained, and the present disclosure will be described in detail.

[0026] The terms used in the embodiments of this disclosure have been selected from widely used, current terms, taking into account the functions of this disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the description of the relevant disclosure. Therefore, the terms used in this disclosure should not be defined simply as names of terms, but rather based on the meanings of the terms and the overall content of this disclosure.

[0027] In this specification, expressions such as “has,” “can have,” “includes,” or “may include” indicate the presence of a feature (e.g., a number, function, operation, or component such as a part), and do not exclude the presence of additional features.

[0028] The expression "at least one of A and / or B" should be understood to mean either "A" or "B" or "A and B".

[0029] As used herein, the expressions “first,” “second,” “first,” or “second,” etc., may describe various components, regardless of order and / or importance, and are only used to distinguish one component from another, but do not limit the components.

[0030] When it is said that a component (e.g., a first component) is “(operatively or communicatively) coupled with / to” or “connected to” another component (e.g., a second component), it should be understood that the component may be directly coupled to the other component, or may be connected through another component (e.g., a third component).

[0031] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "consist of" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0032] In the present disclosure, a "module" or "part" performs at least one function or operation and may be implemented as hardware or software, or as a combination of hardware and software. Furthermore, multiple "modules" or multiple "parts" may be integrated into at least one module and implemented as at least one processor (not shown), excluding any "modules" or "parts" that need to be implemented as specific hardware.

[0033] FIG. 1 is a drawing schematically illustrating a control method of an electronic device according to one embodiment.

[0034] According to FIG. 1, according to one embodiment, an electronic device (10) may receive sensing information about a driving space from a first external device (1) and a second external device (2) existing within the driving space. Here, the information about the driving space may include, for example, image information about the driving space, information about the presence or absence of an object within the driving space, and reliability information corresponding thereto. Meanwhile, the reliability information may be reliability information corresponding to the external device (1) or a sensor included in the external device (1).

[0035] According to one embodiment, the electronic device (10) may update driving map information corresponding to the driving space using respective sensing information received from a first external device and a second external device existing in the driving space. According to one example, as illustrated in FIG. 1, the performance of each of a plurality of external devices (e.g., driving robots) existing in the driving space may be different, and the sensors included in each external device may also be different. Accordingly, the electronic device (10) may obtain different sensing information for a single driving space from the plurality of external devices (1 and 2), and update the driving map information based on the obtained information.

[0036] According to one embodiment, the electronic device (10) can transmit updated driving map information to a plurality of external devices (1 and 2) within a driving space. Accordingly, the electronic device (100) can transmit updated driving map information to a plurality of external devices, and the external devices that have received the driving map information can efficiently perform their functions (e.g., perform the driving function of a driving robot).

[0037] Hereinafter, various embodiments for obtaining (or updating) driving map information with higher accuracy than when using sensing information obtained from a single external device by updating driving map information using sensing information obtained from multiple external devices existing in a driving space will be described.

[0038] Figure 2 is a block diagram showing the configuration of an electronic device according to one embodiment.

[0039] According to FIG. 2, the electronic device (100) may include a communication interface (110), a memory (120), and one or more processors (130).

[0040] The electronic device (100) may be implemented as a device that processes data like a server and communicates with external devices according to one embodiment, but is not limited thereto. For example, the electronic device (100) may be implemented as a cloud server that is connected to a plurality of devices including a robot, but is not limited thereto, and the electronic device (100) may be implemented as various devices such as a smart TV, a tablet, a monitor, a smart phone, a desktop computer, a laptop computer, etc. The electronic device (100) according to one embodiment of the present disclosure is not limited to the above-described devices, and the electronic device (100) may be implemented as an electronic device (100) having the functions of two or more of the above-described devices.

[0041] The external device (not shown) may be implemented as a mobile robot installed in a home according to one embodiment. However, the present invention is not limited thereto, and the external device (not shown) may also be implemented as an IoT device installed in a home according to one embodiment. Alternatively, for example, the IoT device may be implemented in the form of an oven, a microwave, an air conditioner, a washing machine, a TV, a refrigerator, or a mobile robot, and may be a different type of electronic device that communicates with the electronic device (100), but is not limited thereto.

[0042] The external device (not shown) may be implemented as an external device (not shown) having two or more functions of the above-described devices.

[0043] Meanwhile, the electronic device (100) can communicate with an external device (not shown) in various ways. According to one embodiment, a communication module for communication with an external device (not shown) may be implemented in the same manner. For example, the electronic device (100) can communicate with an external device (not shown) using a Bluetooth module.

[0044] The communication interface (110) can input and output various types of data. For example, the communication interface (110) can transmit and receive various types of data to and from an external device (not shown) (e.g., a source device), an external storage medium (e.g., a USB memory), an external server (e.g., a web hard drive) through a communication method such as AP-based Wi-Fi (Wireless LAN network), Bluetooth, Zigbee, wired / wireless LAN (Local Area Network), WAN (Wide Area Network), Ethernet, IEEE 1394, HDMI (High-Definition Multimedia Interface), USB (Universal Serial Bus), MHL (Mobile High-Definition Link), AES / EBU (Audio Engineering Society / European Broadcasting Union), optical, coaxial, etc.

[0045] For example, the communication interface (110) may include a BLE (Bluetooth Low Energy) module. BLE refers to Bluetooth technology that enables transmission and reception of low-power, low-capacity data in the 2.4 GHz frequency band with a range of about 10 m. However, the present invention is not limited thereto, and the communication interface (110) may also include a Wi-Fi communication module. That is, the communication interface (110) may include at least one of a BLE (Bluetooth Low Energy) module or a Wi-Fi communication module.

[0046] The memory (120) can store data required for various embodiments. The memory (120) may be implemented in the form of a memory embedded in the electronic device (100) or may be implemented in the form of a memory that can be detachably attached to the electronic device (100) depending on the purpose of data storage. For example, data for operating the electronic device (100) may be stored in a memory embedded in the electronic device (100), and data for expanding the functions of the electronic device (100) may be stored in a memory that can be detachably attached to the electronic device (100).

[0047] Meanwhile, in the case of memory embedded in the electronic device (100), it may be implemented as at least one of volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD)). In addition, in the case of memory that can be detachably attached to the electronic device (100), it may be implemented as at least one of memory cards (e.g., compact flash (CF), secure digital (SD), micro secure digital (Micro-SD), mini secure digital (Mini-SD), extreme digital (xD), multi-media card (MMC), etc.), external memory that can be connected to a USB port (e.g., USB memory), etc. It can be implemented.

[0048] According to one embodiment, the memory (120) may store driving map information including spatial information corresponding to each of a plurality of sub-spaces within the driving space. The driving space may be divided into a plurality of sub-spaces, and spatial information corresponding to each of the divided sub-spaces may be included. Here, the spatial information corresponding to the sub-space may include spatial state information of the sub-space and information on objects existing in the sub-space. The spatial state information of the sub-space is information for identifying whether an object is included in the sub-space. Information on an object existing in the sub-space may include, for example, information on the type of object included in the sub-space (e.g., whether the object is a towel or a chair). This will be described in detail with reference to FIGS. 4A and 4B.

[0049] One or more processors (130) (hereinafter, “processors”) are electrically connected to the communication interface (110) and the memory (120) to control the overall operation of the electronic device (100). The processor (130) may be composed of one or more processors. Specifically, the processor (130) may perform operations of the electronic device (100) according to various embodiments of the present disclosure by executing at least one instruction stored in the memory (120).

[0050] According to one embodiment, the processor (130) may be implemented as a digital signal processor (DSP), a microprocessor, a graphics processing unit (GPU), an artificial intelligence (AI) processor, a neural processing unit (NPU), or a time controller (TCON) for processing a digital image signal. However, the present invention is not limited thereto, and may include one or more of a central processing unit (CPU), a micro controller unit (MCU), a micro processing unit (MPU), a controller, an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by the relevant terminology. In addition, the processor (130) may be implemented as a system on chip (SoC) or large scale integration (LSI) having a built-in processing algorithm, or may be implemented in the form of an application specific integrated circuit (ASIC), or a field programmable gate array (FPGA).

[0051] According to one embodiment, the processor (130) may receive sensing information from an external device. According to one example, the processor (130) may receive first sensing information for a first sub-space among a plurality of sub-spaces from a first external device through the communication interface (110), and may receive second sensing information for the first sub-space from a second external device. Here, the first external device and the second external device are devices that drive within a driving space. For example, the first external device and the second external device may be implemented as a robot, but are not limited thereto.

[0052] Sensing information refers to sensing data acquired through a sensor included in an external device, including a first external device and a second external device. For example, the sensing information may include image information of a driving space acquired through a camera sensor included in the external device, location information of the external device corresponding to the acquisition time of the image information, time information corresponding to the acquisition time of the image information, and reliability information. The reliability information may be reliability information of a camera sensor included in the external device, but is not limited thereto, and the reliability information may also be reliability information corresponding to the performance of the external device, as an example.

[0053] Meanwhile, according to an example, the sensing information may include spatial state information or object information obtained based on image information of the driving space. The spatial state information may be spatial state information corresponding to a sub-space corresponding to the image information among a plurality of sub-spaces within the driving space, according to an example, and the object information may be information about an object included in a sub-space corresponding to the image information among a plurality of sub-spaces within the driving space.

[0054] According to one embodiment, the processor (130) may update spatial information corresponding to one of a plurality of sub-spaces within the driving space using the received sensing information. According to one example, the processor (130) may update spatial information corresponding to the first sub-space using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information.

[0055] Here, the first reliability information is reliability information corresponding to spatial state information included in the first sensing information received from the first external device, and the second reliability information is reliability information corresponding to spatial state information included in the second sensing information received from the second external device. The first spatial state information is spatial state information included in the first sensing information, and according to an example, the first spatial state information may include spatial state information corresponding to the first sub-space. The second spatial state information is spatial state information included in the second sensing information, and according to an example, the second spatial state information may include spatial state information corresponding to the second sub-space.

[0056] For example, spatial information corresponding to the first sub-space may include spatial state information of the first sub-space. The processor (130) may update the spatial state information of the first sub-space using the received first spatial state information and the second spatial state information. For example, the processor (130) may compare first reliability information corresponding to the received first spatial state information with second reliability information corresponding to the received second spatial state information, identify spatial state information having a relatively large reliability value, and update the spatial state information of the first sub-space with the identified spatial state information. This will be described in detail with reference to FIGS. 5 and 6.

[0057] According to one embodiment, the processor (130) may store driving map information including spatial information of the updated first sub-space in the memory (120). Alternatively, the processor (130) may transmit the updated driving map information to at least one of the first external device or the second external device via the communication interface (110). The first external device or the second external device may perform at least one function based on the updated driving map information.

[0058] Figure 3 is a flowchart for explaining a control method of an electronic device according to one embodiment.

[0059] According to FIG. 3, first, according to one embodiment, the control method may receive first sensing information about a first sub-space among a plurality of sub-spaces within a driving space from a first external device and receive second sensing information about the first sub-space from a second external device (S310).

[0060] According to an example, the processor (130) may receive first sensing information for a first sub-space from a first external device. Here, the first sensing information may include first spatial state information for the first sub-space and first reliability information corresponding to the first spatial state information. In addition, the processor (130) may receive second sensing information for the first sub-space from a second external device. Here, the second sensing information may include second spatial state information for the first sub-space and second reliability information corresponding to the second spatial state information. For example, the first spatial state information and the first reliability information corresponding thereto may be (Occupied, 70%), and the second spatial state information and the second reliability information corresponding thereto may be (Occupied, 85%).

[0061] Next, according to one embodiment, the control method may update spatial information corresponding to the first sub-space among driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space stored in the memory (120) by using the first spatial state information included in the first sensing information and the second spatial state information included in the second sensing information, based on the first reliability information included in the received first sensing information and the second reliability information included in the received second sensing information (S320).

[0062] For example, the processor (130) may compare the first reliability information included in the first sensing information with the second reliability information included in the second sensing information to identify the first sensing information having a relatively large reliability size, and update the spatial state information corresponding to the first sub-space among the driving map information including spatial information corresponding to each of a plurality of sub-spaces within the driving space stored in the memory (120) with the first spatial state information included in the first sensing information.

[0063] According to the above-described example, the electronic device (100) can update driving map information using sensing information acquired from multiple external devices present within the driving space. Accordingly, driving map information with higher accuracy can be acquired compared to when sensing information acquired from a single external device is used. The electronic device (100) can transmit the updated driving map information to multiple external devices, and the external devices receiving the driving map information can perform their functions efficiently.

[0064] Figures 4a and 4b are drawings for explaining spatial information according to one embodiment.

[0065] According to one embodiment, the memory (120) may store driving map information including spatial information corresponding to each of a plurality of sub-spaces within the driving space. According to one example, the memory (120) may include spatial information corresponding to each of a plurality of sub-spaces. Here, the spatial information corresponding to the sub-space may include spatial state information of the sub-space and information (or object information) about an object existing in the sub-space. The spatial state information of the sub-space is information for identifying whether an object is included in the sub-space. The information about an object existing in the sub-space may include, for example, information about the type of the object included in the sub-space (for example, whether the object is a towel or a chair). Hereinafter, spatial state information will be described in FIG. 4A, and object information will be described in FIG. 4B.

[0066] For example, as illustrated in FIG. 4a, the driving space (40) may be divided into a plurality of sub-spaces. As illustrated in FIG. 4a, the driving space (40) may be divided into 3D (Dimension) type sub-spaces, but is not limited thereto, and the driving space may also be divided into 2D (Dimension) type sub-spaces.

[0067] Meanwhile, according to one embodiment, the spatial state of a sub-space included in the driving space (40) may be any one of Unknown, Occupied, or Empty states, and a spatial state corresponding to each of a plurality of sub-spaces included in the driving space (40) may exist. According to one example, spatial information (40-1) corresponding to sub-space A among the plurality of sub-spaces within the driving space (40) may include spatial state information corresponding to 'Unknown'. The 'Unknown' state means that spatial state information corresponding to sub-space A has not yet been acquired. Spatial information (40-2) corresponding to sub-space B among the plurality of sub-spaces within the driving space (40) may include spatial state information corresponding to 'Occupied'. The 'Occupied' state means that an object currently exists in sub-space B. Spatial information (40-3) corresponding to sub-space C among the plurality of sub-spaces within the driving space (40) may include spatial state information corresponding to 'Empty'. The 'Empty' state means that an object currently does not exist in sub-space C.

[0068] Meanwhile, according to an example, spatial information may include spatial state information and reliability information corresponding to the spatial state information. For example, spatial information (40-2) corresponding to sub-space B may include reliability information (70%) corresponding to the spatial state information. Alternatively, for example, spatial information (40-3) corresponding to sub-space C may include reliability information (80%) corresponding to the spatial state information.

[0069] For example, the processor (130) may update spatial information stored in the memory (120) based on sensing information received from an external device. For example, spatial information (40-2) corresponding to the B sub-space may be updated information based on sensing information received from a first external device among a plurality of external devices, and spatial information (40-3) corresponding to the C sub-space may be updated information based on sensing information received from a second external device among a plurality of external devices. However, the present invention is not limited thereto, and it goes without saying that the spatial information stored in the memory (120) may be information that has been previously stored.

[0070] According to FIG. 4B, according to an embodiment, spatial information corresponding to a sub-space may include object information of the sub-space. According to an example, the object information may include type information of the object and reliability information corresponding to the type of the object. Here, the type information of the object may be identification information of the object included in the sub-space (e.g., towel, chair, bag, etc.). For example, spatial information (41-2) corresponding to sub-space D included in driving space (41) may include object information ('towel', '76%'). Here, the type information of the object may be 'towel', and the reliability information corresponding thereto may be '76%'. Meanwhile, according to an example, spatial information corresponding to a sub-space may not include object information of the sub-space. For example, spatial information (41-1) corresponding to sub-space E may include only spatial state information of the sub-space ('Occupied', '70%').

[0071] For example, the processor (130) may update object information stored in the memory (120) based on sensing information received from an external device. For example, the spatial information (41-2) corresponding to the D sub-space may be updated information based on sensing information received from a first external device among a plurality of external devices.

[0072] FIG. 5 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0073] According to FIG. 5, first, according to one embodiment, the control method can identify a first weight to be applied to the first reliability information (S510).

[0074] For example, the processor (130) may first identify whether the first spatial state information and the second spatial state information are of the same type of spatial state information. For example, the processor (130) may identify whether each of the first spatial state information and the second spatial state information corresponds to a spatial state corresponding to 'Occupied'.

[0075] If the first spatial state information and the second spatial state information are the same type of spatial state information, the processor (130) may identify the first weight based on the first reliability information corresponding to the first spatial state information and the second reliability information corresponding to the second spatial state information, according to an example. For example, assume that the size of the first reliability information is 0.6 and the size of the second reliability information is 0.9. The processor (130) may identify the first weight corresponding to the first reliability information as 0.4 (= 0.6 / (0.6 + 0.9)).

[0076] Next, according to one embodiment, the control method can identify a second weight to be applied to the second reliability information (S520). In the above example, the processor (130) can identify the second weight corresponding to the second reliability information as 0.6 (=0.9 / (0.6 + 0.9)).

[0077] Next, according to an embodiment, the control method may update spatial information corresponding to the first sub-space using the first weight, the second weight, the first spatial state information, and the second spatial state information (S530). According to an example, the processor (130) may identify reliability information corresponding to the first sub-space by adding a value obtained by multiplying the identified first weight and the first reliability information and a value obtained by multiplying the identified second weight and the second reliability information. For example, the processor (130) may identify 0.78 (0.4*0.6 + 0.6*0.9) as reliability information corresponding to the first spatial state information included in the first sub-space.

[0078] However, this is not limited thereto, and according to one embodiment, the processor (130) may identify the average value of the first reliability information and the second reliability information as reliability information corresponding to the first sub-space. For example, the processor (130) may identify 0.75 ((0.6+0.9) / 2) as reliability information corresponding to the first spatial state information included in the first sub-space.

[0079] FIG. 6 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0080] According to FIG. 6, according to one embodiment, the control method may identify sensing information to be used for updating using first reliability information and second reliability information (S610). According to one example, the processor (130) may identify reliability information with a relatively high reliability value among the received first and second reliability information, and may identify sensing information corresponding to the identified reliability information as sensing information to be used for updating.

[0081] Next, according to one embodiment, the control method may update the spatial state information included in the spatial information corresponding to the first sub-space using the first spatial state information or the second spatial state information corresponding to the identified sensing information. According to one example, if the first reliability information is identified as being greater than the second reliability information, the processor (130) may identify the first sensing information as the sensing information to be used for the update. Subsequently, the processor (130) may update the spatial state information corresponding to the first sub-space using the first spatial state information included in the first sensing information.

[0082] FIG. 7 is a diagram illustrating a method for updating spatial state information according to one embodiment.

[0083] According to FIG. 7, according to one embodiment, the control method can identify whether the size of the first reliability information exceeds the size of the second reliability information (S710). According to one example, the processor (130) can receive first sensing information including the first reliability information from a first external device, and second sensing information including the second reliability information from a second external device. The processor (130) can compare the received first reliability information and second reliability information to identify whether the size of the first reliability information exceeds the size of the second reliability information.

[0084] Next, according to one embodiment, the control method can identify whether the size of the second reliability information exceeds the size of the first reliability information (S720) if the size of the first reliability information does not exceed the size of the second reliability information (S710: N).

[0085] Next, according to one embodiment, if the size of the second reliability information exceeds the size of the first reliability information (S720: Y), the control method may update the spatial state information corresponding to the first sub-space with the second spatial state information (S740). According to one example, if the size of the second reliability information exceeds the size of the first reliability information, the processor (130) may identify the second sensing information corresponding to the second reliability information, and update the spatial state information corresponding to the first sub-space with the second spatial state information included in the second sensing information.

[0086] Meanwhile, according to one embodiment, the control method may update the spatial state information corresponding to the first sub-space with the first spatial state information (S730) if the size of the first reliability information exceeds the size of the second reliability information (S710: Y). According to one example, if the size of the first reliability information exceeds the size of the second reliability information, the processor (130) may identify the first sensing information corresponding to the first reliability information, and update the spatial state information corresponding to the first sub-space with the first spatial state information included in the first sensing information.

[0087] FIG. 8 is a diagram illustrating a method for updating object information according to one embodiment.

[0088] According to one embodiment, the processor may update object information corresponding to the first sub-space using the first object information and the second object information based on third reliability information included in the received first sensing information and fourth reliability information included in the received second sensing information.

[0089] According to one embodiment, the first sensing information may include first object information within the sub-space and third reliability information corresponding to the first object information, and the second sensing information may include second object information within the sub-space and fourth reliability information corresponding to the second object information.

[0090] Here, the third reliability information is a value related to the performance of the first external device transmitting the first sensing information. In one example, the value related to the performance of the first external device may be a reliability value of the first neural network model used to identify the sensing information. The first neural network model is a neural network model included in the first external device and may output object information based on image information included in the first external device. Similarly, the fourth reliability information is a value related to the performance of the second external device transmitting the second sensing information. In one example, the value related to the performance of the second external device may be a reliability value of the second neural network model used to identify the sensing information. The second neural network model is a neural network model included in the second external device and may output object information based on image information included in the second external device.

[0091] For example, the first sensing information corresponding to the first external device may include first spatial state information, first reliability information corresponding to the first spatial state information, first object information, and third reliability information corresponding to the first object information. In addition, the second sensing information corresponding to the second external device may include second spatial state information, second reliability information corresponding to the second spatial state information, second object information, and fourth reliability information corresponding to the second object information.

[0092] According to FIG. 8, according to one embodiment, the control method can identify a third weight to be applied to the third reliability information (S810). According to one example, the processor (130) can first identify whether the first object information and the second object information are of the same type. For example, if the type corresponding to the first object information is 'towel' and the type corresponding to the second object information is 'towel', the processor (130) can identify that they are of the same type of object information.

[0093] If the first object information and the second object information are object information of the same type, the processor (130) may identify a third weight based on the third reliability information corresponding to the first object information and the fourth reliability information corresponding to the second object information, according to an example. For example, assume that the size of the third reliability information is 0.6 and the size of the fourth reliability information is 0.9. The processor (130) may identify the third weight corresponding to the third reliability information as 0.4 (= 0.6 / (0.6 + 0.9)).

[0094] Next, according to one embodiment, the control method can identify a fourth weight to be applied to the fourth reliability information (S820). In the above-described example, the processor (130) can identify the fourth weight corresponding to the fourth reliability information as 0.6 (=0.9 / (0.6 + 0.9)).

[0095] Next, according to an embodiment, the control method may update spatial information corresponding to the first sub-space using the third weight, the fourth weight, the first object information, and the second object information (S830). According to an example, the processor (130) may identify reliability information corresponding to the first sub-space by adding a value obtained by multiplying the identified third weight and the third reliability information and a value obtained by multiplying the identified fourth weight and the fourth reliability information. For example, the processor (130) may identify 0.78 (0.4*0.6 + 0.6*0.9) as reliability information corresponding to object information included in the first sub-space.

[0096] However, this is not limited thereto, and according to one embodiment, the processor (130) may identify the average value of the third reliability information and the fourth reliability information as reliability information corresponding to the first sub-space. For example, the processor (130) may identify 0.75 ((0.6+0.9) / 2) as reliability information corresponding to object information included in the first sub-space.

[0097] Meanwhile, according to an embodiment, the third reliability information and the fourth reliability information corresponding to the object information may be identified based on the performance information of the external device. According to an example, assume that the first sensing information is received from the first external device and the second sensing information is received from the second external device. The memory (120) may store reliability information corresponding to the object information according to each type of the external device. When the first sensing information is received from the first external device, the processor (130) may identify the third reliability information corresponding to the object information included in the first sensing information based on the information stored in the memory (120). Alternatively, when the second sensing information is received from the second external device, the processor (130) may identify the fourth reliability information corresponding to the object information included in the second sensing information based on the information stored in the memory (120). In other words, the third reliability information and the fourth reliability information may be identified based on the reliability information for each type of external device stored in the memory (120).

[0098] However, it is not limited thereto, and the first sensing information may include third reliability information corresponding to the type of the first external device, and the second sensing information may include fourth reliability information corresponding to the type of the second external device.

[0099] FIG. 9 is a diagram illustrating a method for updating object information according to one embodiment.

[0100] According to FIG. 9, according to one embodiment, the control method can identify whether the size of the third reliability information exceeds the size of the fourth reliability information (S910). According to one example, the processor (130) can receive first sensing information including the third reliability information from a first external device, and receive second sensing information including the fourth reliability information from a second external device. The processor (130) can compare the received third reliability information and the fourth reliability information to identify whether the size of the third reliability information exceeds the size of the fourth reliability information. Here, the third reliability information is reliability information corresponding to the first object information included in the first sensing information, and the fourth reliability information means reliability information corresponding to the second object information included in the second sensing information.

[0101] Next, according to one embodiment, the control method can identify whether the size of the fourth reliability information exceeds the size of the third reliability information (S910: N), if the size of the third reliability information does not exceed the size of the fourth reliability information (S920).

[0102] Next, according to one embodiment, the control method may update the spatial state information corresponding to the first sub-space with the second object information (S940) if the size of the fourth reliability information exceeds the size of the third reliability information (S920: Y). According to one example, if the size of the fourth reliability information exceeds the size of the third reliability information, the processor (130) may identify the second sensing information corresponding to the fourth reliability information, and update the object information corresponding to the first sub-space with the second object information included in the second sensing information.

[0103] Meanwhile, according to one embodiment, the control method may update object information corresponding to the first sub-space with the first object information (S930) if the size of the third reliability information exceeds the size of the fourth reliability information (S910: Y). According to one example, if the size of the third reliability information exceeds the size of the fourth reliability information, the processor (130) may identify the first sensing information corresponding to the third reliability information, and update the object information corresponding to the first sub-space with the first object information included in the first sensing information.

[0104] FIG. 10 is a diagram illustrating a method for identifying reliability based on feature information according to one embodiment.

[0105] According to FIG. 10, according to one embodiment, a control method may identify whether an object in a first sub-space is movable based on feature information (S1010). According to one example, the object information may include type information of the object and feature information of the object. The type information of the object is identification information of the object included in the sub-space (e.g., towel, chair, bag, etc.), and the feature information of the object is information on whether the object included in the sub-space is movable. For example, a flower pot or a refrigerator may be an object that cannot be moved within a home. Alternatively, a towel and a bag may be an object that can be moved within a home. For example, a lookup table in which information on features of objects matching each type of object is mapped may be pre-stored in the memory (120).

[0106] For example, the sensing information received from the external device may include, but is not limited to, object type information and feature information of the object, and the processor (130) may also identify feature information of the object based on the type information of the object included in the received sensing information. For example, the memory (120) may have a lookup table in which information on features of the object matching each type of the object is mapped, and the processor (130) may identify feature information of the object based on the type information of the received object and the information stored in the memory (120).

[0107] For example, when A sensing information is received, the processor (130) may identify whether the object is movable within the first sub-space through the feature information of the object included in the received A sensing information. Meanwhile, according to an example, the feature information of the identified object may be stored in the memory (120).

[0108] Next, according to one embodiment, when an object within a first sub-space is identified as movable (S1010: Y), the control method can identify whether a preset time has elapsed from the time point at which spatial information corresponding to the first sub-space was updated based on information stored in the memory (120) (S1020). According to one example, spatial information corresponding to each sub-space stored in the memory (120) may include information about an update time. Here, the information about the update time is information about the time point at which spatial information corresponding to the sub-space was updated.

[0109] For example, the sensing information may include time information corresponding to the acquisition time of the sensing information. Assume that the spatial information corresponding to the first sub-space is updated based on the A sensing information. The A sensing information may include time information corresponding to the acquisition time of the A sensing information, and in this case, the spatial information corresponding to the first sub-space stored in the memory (120) may include time information corresponding to the acquisition time of the A sensing information. When the processor (130) identifies that an object in the first sub-space is movable, it may identify whether a preset time has passed from the time at which the spatial information corresponding to the first sub-space was updated based on the time information corresponding to the acquisition time of the A sensing information.

[0110] Next, according to one embodiment, if the control method is determined to have passed a preset time (S1020: Y), the reliability included in the spatial information corresponding to the updated first sub-space can be identified as a value obtained by multiplying the reliability included in the spatial information corresponding to the first sub-space by a preset weight (S1030).

[0111] For example, let's assume that a preset amount of time has passed since the time point at which spatial information corresponding to the first sub-space is updated based on time information corresponding to the acquisition time of A sensing information. The processor (130) can identify a value obtained by multiplying the reliability included in the updated spatial information based on A sensing information by a preset weight as the reliability included in the spatial information corresponding to the first sub-space.

[0112] For example, let's assume that the object included in the first sub-space is a 'towel'. The processor (130) can identify that the 'towel', which is an object included in the first sub-space, is a movable object based on information stored in the memory (120). Next, the processor (130) can identify whether a preset time (e.g., 24 hours) has passed from the time point at which the spatial information corresponding to the first sub-space is updated based on time information included in the spatial information corresponding to the first sub-space stored in the memory (120). If the processor (130) identifies that the preset time has passed from the time point at which the object included in the first sub-space is updated to be a 'towel', the processor (130) can identify a value obtained by multiplying a reliability included in the spatial information corresponding to the first sub-space stored in the memory (120) by a preset weight (e.g., 0.5) as the reliability included in the spatial information corresponding to the first sub-space, and update the information stored in the memory (120) with the identified reliability. In this case, the identified reliability may include at least one of 1) spatial state information and 2) reliability information corresponding to each of object information.

[0113] In general, objects that are expected to move within a preset time, such as a 'towel' (or, bags, socks, trash, etc.), may exist within a home. If spatial information for a sub-space containing such objects is not updated even after a preset time has passed, there is a problem that inaccurate object information may be stored even though there is a high possibility that the object contained in the sub-space has moved over time. Accordingly, the electronic device (100) intentionally lowers the reliability of spatial information corresponding to a sub-space in which the object is highly likely to move over time, so that the spatial information can be relatively easily updated based on sensing information received thereafter. Accordingly, the accuracy of driving map information can be improved.

[0114] FIG. 11 is a diagram illustrating a method for updating spatial information according to one embodiment.

[0115] According to one embodiment, the first external device and the second external device may be implemented as robots. According to one example, the processor (130) may receive first sensing information about at least one sub-space among a plurality of sub-spaces from a first robot existing in the driving space through the communication interface (110), and may receive second sensing information about at least one sub-space among the plurality of sub-spaces from a second robot existing in the driving space. Here, the first robot and the second robot may be robots that drive in the driving space.

[0116] Meanwhile, according to one embodiment, the processor (130) may receive driving path information from a robot driving in a driving space. Here, the driving path information refers to information about the robot's movement path within the driving space.

[0117] According to FIG. 11, according to one embodiment, the control method can first identify whether driving path information of the first robot is received (S1110).

[0118] Next, according to one embodiment, when the driving path information of the first robot is received (S1110: Y), the control method can identify a sub-space corresponding to the driving path of the first robot among at least one sub-space (S1120). According to one example, the processor (130) can identify the first sub-space and the third sub-space as sub-spaces corresponding to the driving path of the first robot based on the received driving path information.

[0119] Next, according to one embodiment, the control method may update spatial information of a sub-space corresponding to the driving path of the first robot based on at least one of the first sensing information or the third sensing information received from the first robot (S1130). Here, the third sensing information refers to sensing data acquired through a sensor included in the third robot as sensing information received from the first robot through the communication interface (110). For example, the third sensing information may include spatial information corresponding to at least one sub-space including the third sub-space within the driving space.

[0120] For example, the processor (130) may receive third sensing information from the first robot through the communication interface (110). When the first sub-space and the third sub-space are identified as sub-spaces corresponding to the driving path of the first robot, the processor (130) may update spatial information corresponding to the first sub-space and spatial information corresponding to the third sub-space, respectively, stored in the memory (120) based on the received first sensing information and third sensing information.

[0121] Alternatively, according to an example, when the processor (130) identifies the first sub-space and the fourth sub-space as sub-spaces corresponding to the driving path of the first robot, the processor (130) may update only the spatial information corresponding to the first sub-space stored in the memory (120) based on the received first sensing information.

[0122] Meanwhile, according to one embodiment, the control method can identify whether driving path information of the second robot is received (S1140).

[0123] Next, according to one embodiment, when the driving path information of the second robot is received (S1140: Y), the control method can identify a sub-space corresponding to the driving path of the second robot among at least one sub-space (S1150). According to one example, the processor (130) can identify the first sub-space and the fourth sub-space as sub-spaces corresponding to the driving path of the second robot based on the received driving path information.

[0124] Next, according to one embodiment, the control method may update spatial information of a sub-space corresponding to the driving path of the second robot based on at least one of the second sensing information or the fourth sensing information received from the second robot (S1160). Here, the fourth sensing information refers to sensing data acquired through a sensor included in the third robot as sensing information received from the second robot through the communication interface (110). For example, the fourth sensing information may include spatial information corresponding to at least one sub-space including the fourth sub-space within the driving space.

[0125] For example, the processor (130) may receive fourth sensing information from the second robot through the communication interface (110). When the first sub-space and the fourth sub-space are identified as sub-spaces corresponding to the driving path of the second robot, the processor (130) may update spatial information corresponding to the first sub-space and spatial information corresponding to the fourth sub-space, respectively, stored in the memory (120) based on the received second sensing information and the fourth sensing information.

[0126] Alternatively, according to an example, when the third sub-space and the fourth sub-space are identified as sub-spaces corresponding to the driving path of the second robot, the processor (130) may update only the spatial information corresponding to the fourth sub-space stored in the memory (120) based on the received fourth sensing information.

[0127] According to the example described above, the electronic device (100) can only update spatial information in the sub-space corresponding to the driving path of the robot transmitting sensing information. Accordingly, only the sub-spaces requiring updating can be selectively updated, enabling efficient driving map updates.

[0128] FIG. 12 is a block diagram showing a detailed configuration of an electronic device according to one embodiment.

[0129] According to FIG. 12, the electronic device (100') may include a communication interface (110), a memory (120), one or more processors (130), a display (140), a microphone (150), a speaker (160), at least one sensor (170), and a user interface (180). Among the configurations illustrated in FIG. 12, a detailed description of configurations that overlap with those illustrated in FIG. 2 will be omitted.

[0130] The display (140) may be implemented as a display including a self-luminous element or a display including a non-luminous element and a backlight. For example, it may be implemented as various types of displays such as an LCD (Liquid Crystal Display), an OLED (Organic Light Emitting Diodes) display, an LED (Light Emitting Diodes), a micro LED, a Mini LED, a PDP (Plasma Display Panel), a QD (Quantum dot) display, a QLED (Quantum dot light-emitting diodes), etc. The display (140) may also include a driving circuit, a backlight unit, etc., which may be implemented in a form such as an a-si TFT, an LTPS (low temperature poly silicon) TFT, an OTFT (organic TFT), etc. Meanwhile, the display (140) may be implemented as a touch screen combined with a touch sensor, a flexible display, a rollable display, a 3D display, a display in which a plurality of display modules are physically connected, etc. The processor (130) can control the display (140) to output an output image obtained according to the various embodiments described above. Here, the output image can be a high-resolution image of 4K or 8K or higher.

[0131] Meanwhile, according to another embodiment, the electronic device (100') may not include a display (140). The electronic device (100') may be connected to an external display device and may transmit images or content stored in the electronic device (100') to the external display device. Specifically, the electronic device (100') may transmit images or content to the external display device together with a control signal for controlling the display of the images or content on the external display device.

[0132] Here, the external display device can be connected to the electronic device (100') via a communication interface (110) or an input / output interface (not shown). For example, the electronic device (100') may not include a display, such as a set-top box (STB). In addition, the electronic device (100') may include only a small display that can display only simple information, such as text information. Here, the electronic device (100') can transmit images or contents to the external display device via the communication interface (110) wired or wirelessly, or transmit them to the external display device via the input / output interface (not shown).

[0133] A microphone (150) may refer to a module that acquires sound and converts it into an electrical signal, and may be a condenser microphone, a ribbon microphone, a moving coil microphone, a piezoelectric element microphone, a carbon microphone, or a MEMS (Micro Electro Mechanical System) microphone. In addition, it may be implemented in an omnidirectional, bidirectional, unidirectional, subcardioid, supercardioid, or hypercardioid manner.

[0134] The speaker (160) may be composed of a tweeter for reproducing high-frequency sounds, a midrange for reproducing mid-frequency sounds, a woofer for reproducing low-frequency sounds, a subwoofer for reproducing ultra-low-frequency sounds, an enclosure for controlling resonance, and a crossover network for dividing the frequency of an electric signal input to the speaker into bands.

[0135] The speaker (160) can output an audio signal to the outside of the electronic device (100'). The speaker (160) can output multimedia playback, recording playback, various notification sounds, voice messages, etc. The electronic device (100') may include an audio output device such as the speaker (160), but may also include an output device such as an audio output terminal. In particular, the speaker (160) can provide acquired information, information processed and produced based on acquired information, response results to user voice, operation results, etc. in voice form.

[0136] At least one sensor (170, hereinafter referred to as a sensor) may include a plurality of sensors of various types. The sensor (170) may measure a physical quantity or detect an operating state of an electronic device (100') and convert the measured or detected information into an electrical signal. The sensor (170) may include a camera, and the camera may include a lens that focuses visible light or other optical signals reflected by an object and received onto an image sensor, and an image sensor that may detect visible light or other optical signals. Here, the image sensor may include a 2D pixel array divided into a plurality of pixels. Alternatively, at least one sensor (170) may include a temperature sensor or an infrared sensor.

[0137] The user interface (180) is a configuration for the electronic device (100') to interact with the user. For example, the user interface (180) may include, but is not limited to, at least one of a touch sensor, a motion sensor, a button, a jog dial, a switch, a microphone, or a speaker.

[0138] According to the above-described example, the electronic device (100') can update driving map information using sensing information acquired from multiple external devices existing within the driving space. Accordingly, driving map information with higher accuracy can be acquired compared to when sensing information acquired from a single external device is used. The electronic device (100') can transmit the updated driving map information to multiple external devices, and the external devices receiving the driving map information can perform their functions efficiently.

[0139] Meanwhile, the methods according to the various embodiments of the present disclosure described above may be implemented in the form of applications that can be installed on existing electronic devices. Alternatively, the methods according to the various embodiments of the present disclosure described above may be performed using a deep learning-based trained neural network (or a deep learned neural network), i.e., a learning network model. Furthermore, the methods according to the various embodiments of the present disclosure described above may be implemented only through a software upgrade or a hardware upgrade of an existing electronic device. Furthermore, the various embodiments of the present disclosure described above may also be performed through an embedded server provided in an electronic device or an external server of the electronic device.

[0140] Meanwhile, according to a temporary example of the present disclosure, the various embodiments described above can be implemented as software including commands stored in a machine-readable storage medium that can be read by a machine (e.g., a computer). The machine is a device that can call commands stored from the storage medium and operate according to the called commands, and may include a display device (e.g., display device (A)) according to the disclosed embodiments. When a command is executed by a processor, the processor can perform a function corresponding to the command directly or by using other components under the control of the processor. The command may include code provided or executed by a compiler or interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' means that the storage medium does not contain a signal and is tangible, but does not distinguish between data being stored semi-permanently or temporarily in the storage medium.

[0141] Furthermore, according to one embodiment, the method according to the various embodiments described above may be provided as included in a computer program product. The computer program product may be traded as a product between a seller and a buyer. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily provided in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0142] In addition, each of the components (e.g., modules or programs) according to the various embodiments described above may be composed of a single or multiple entities, and some of the corresponding sub-components described above may be omitted, or other sub-components may be further included in various embodiments. Alternatively or additionally, some components (e.g., modules or programs) may be integrated into a single entity, which may perform the same or similar functions as those performed by each of the corresponding components prior to integration. Operations performed by modules, programs or other components according to various embodiments may be executed sequentially, in parallel, iteratively or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added.

[0143] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In electronic devices, communication interface; A memory storing driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space and at least one instruction; and comprising one or more processors for updating the driving map information by using sensing information received through the communication interface by executing at least one instruction; One or more of the above processors, Receive first sensing information about a first sub-space among the plurality of sub-spaces from a first external device through the communication interface, and receive second sensing information about the first sub-space from a second external device, An electronic device that updates spatial information corresponding to the first sub-space by using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information, based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information.

2. In paragraph 1, One or more of the above processors, Identify a first weight to be applied to the first reliability information and identify a second weight to be applied to the second reliability information, An electronic device that updates spatial information corresponding to the first sub-space by using the first weight, the second weight, the first spatial state information, and the second spatial state information.

3. In paragraph 1, One or more of the above processors, Identify sensing information to be used for update using the first reliability information and the second reliability information, An electronic device that updates spatial state information included in spatial information corresponding to the first sub-space by using first spatial state information or second spatial state information corresponding to the identified sensing information.

4. In paragraph 3, One or more of the above processors, If the size of the first reliability information is identified as exceeding the size of the second reliability information, the spatial state information corresponding to the first sub-space is updated with the first spatial state information, An electronic device that updates spatial state information corresponding to the first sub-space with the second spatial state information when the size of the second reliability information is identified as exceeding the size of the first reliability information.

5. In paragraph 1, The above first sensing information is, Contains first object information within the above sub-space and third reliability information corresponding to the first object information, The above second sensing information is, Contains second object information within the above sub-space and fourth reliability information corresponding to the second object information, One or more of the above processors, An electronic device that updates object information corresponding to the first sub-space using the first object information and the second object information based on third reliability information included in the received first sensing information and fourth reliability information included in the received second sensing information.

6. In paragraph 5, One or more of the above processors, Identify a third weight to be applied to the third reliability information, and identify a fourth weight to be applied to the fourth reliability information. An electronic device that updates spatial information corresponding to the first sub-space by using the third weight, the fourth weight, the first object information, and the second object information.

7. In paragraph 5, One or more of the above processors, If the size of the third reliability information is identified as exceeding the size of the fourth reliability information, the object information corresponding to the first sub-space is updated with the first object information, An electronic device that updates object information corresponding to the first sub-space with the second object information when the size of the fourth reliability information is identified as exceeding the size of the third reliability information.

8. In paragraph 5, The above object information is, Contains more feature information of the object, One or more of the above processors, Based on the above feature information, identify whether the object within the first subspace is movable, When an object within the first sub-space is identified as movable, it is identified whether a preset amount of time has passed since the time at which spatial information corresponding to the first sub-space was updated based on the information stored in the memory, An electronic device that identifies a value obtained by multiplying a reliability included in spatial information corresponding to the first sub-space by a preset weight when the preset time has elapsed as the reliability included in spatial information corresponding to the first sub-space.

9. In paragraph 1, One or more of the above processors, Receive first sensing information for at least one of the plurality of sub-spaces from a first robot existing in the driving space through the communication interface, An electronic device that receives second sensing information for at least one of the plurality of sub-spaces from a second robot existing in the driving space through the communication interface.

10. In paragraph 9, One or more of the above processors, When the driving path information of the first robot is received through the communication interface, the sub-space corresponding to the driving path of the first robot among the at least one sub-space is identified, Update spatial information of a sub-space corresponding to the driving path of the first robot based on at least one of the first sensing information or the third sensing information received from the first robot through the communication interface, When the driving path information of the second robot is received through the communication interface, the sub-space corresponding to the driving path of the second robot among the at least one sub-space is identified, An electronic device that updates spatial information of a sub-space corresponding to a driving path of the second robot based on at least one of the second sensing information or the fourth sensing information received from the second robot through the communication interface.

11. In a method for controlling an electronic device, A step of receiving first sensing information about a first sub-space among a plurality of sub-spaces in a driving space from a first external device and receiving second sensing information about the first sub-space from a second external device; and A control method, comprising: a step of updating spatial information corresponding to the first sub-space among driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space stored in a memory, based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information, by using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information.

12. In paragraph 11, The above control method is, a step of identifying a first weight to be applied to the first reliability information; and A step of identifying a second weight to be applied to the second reliability information is further included; The steps for updating the above spatial information are: A control method, comprising: a step of updating spatial information corresponding to the first sub-space by using the first weight, the second weight, the first spatial state information, and the second spatial state information.

13. In paragraph 11, It further includes a step of identifying sensing information to be used for update using the first reliability information and the second reliability information; The above updating steps are: A control method, comprising: a step of updating spatial state information included in spatial information corresponding to the first sub-space by using first spatial state information or second spatial state information corresponding to the identified sensing information.

14. In paragraph 13, The step of updating the above space status information is: If the size of the first reliability information is identified as exceeding the size of the second reliability information, a step of updating the spatial state information corresponding to the first sub-space with the first spatial state information; and A control method, comprising: a step of updating spatial state information corresponding to the first sub-space with the second spatial state information when the size of the second reliability information is identified as exceeding the size of the first reliability information; 15. A non-transitory computer-readable medium storing computer instructions that, when executed by a processor of an electronic device, cause the electronic device to perform an operation, The above actions are, A step of receiving first sensing information about a first sub-space among a plurality of sub-spaces in a driving space from a first external device and receiving second sensing information about the first sub-space from a second external device; and A non-transitory computer-readable medium comprising: a step of updating spatial information corresponding to the first sub-space among driving map information including spatial information corresponding to each of a plurality of sub-spaces within a driving space stored in a memory, based on first reliability information included in the received first sensing information and second reliability information included in the received second sensing information, by using first spatial state information included in the first sensing information and second spatial state information included in the second sensing information.

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