Robot including sensor unit configured to be extendable and retractable, and control method thereof

Abstract

Provided is a robot which has a sensor unit provided at the top thereof and configured to acquire sensing information of a surrounding environment, and has a driving unit provided at the bottom thereof to drive the robot for autonomous driving of the robot, based on the sensing information. The sensor unit is configured to be extendable or retractable on the basis of the size of a payload with which the robot is loaded, and has a sensing range for the surrounding environment that varies according as the sensor unit is extended and retracted.

Description

A robot including a sensor unit configured to be expandable and contractible, and a control method thereof

[0001] The description below relates to a robot including a sensor unit and a driving unit, and a method for controlling the robot.

[0002] Robots, including autonomous robots, are being used to provide a variety of services in indoor and outdoor spaces. These robots are designed to autonomously navigate within a space to perform specific tasks or provide services.

[0003] Robots can load objects (hereinafter referred to as "payloads") internally to perform a given task or provide a service. Typically, due to their size constraints, robots can only load payloads of a limited size. They cannot load payloads larger than the robot itself, such as those that protrude from the outside of the robot. If such payloads are loaded, the field of view (FOV) of the robot's sensors may be obstructed. If the robot's sensors cannot secure a sufficient FOV, the robot cannot properly navigate autonomously.

[0004] Therefore, a technology is required that enables a robot to carry a relatively large payload and ensures that the robot's sensor can secure a sufficient FOV even when such a large payload is carried.

[0005] Korean Patent No. 10-1231771 discloses a method for dynamically reconfiguring a robot software component by downloading and dynamically reconfiguring a software component installed inside the robot or downloaded from an external server to enable the robot to autonomously perform appropriate actions and reactions appropriate to external or internal environmental changes and situational conditions that change due to movement or internal failure.

[0006] The information described above is for the purpose of understanding only and may contain matters that do not form part of the prior art and may not contain what the prior art would suggest to a person skilled in the art.

[0007] By providing a sensor unit configured to acquire sensing information about the surrounding environment for autonomous driving of the robot at the top and a driving unit configured to drive the robot for autonomous driving of the robot at the bottom, it is possible to provide a robot capable of securing a sufficient detection range of the sensor unit for autonomous driving of the robot.

[0008] A robot can be provided that includes a sensor unit that recognizes a payload loaded on the robot and can be appropriately expanded (deployed) or reduced according to its size.

[0009] A method can be provided for updating the robot's driving path and controlling the robot to drive along the updated path by considering the robot's collision radius changed as the sensor unit expands or contracts.

[0010] In one aspect, a robot is provided that autonomously navigates a space, the robot comprising: a sensor unit provided on the top of the robot, configured to obtain sensing information about a surrounding environment for autonomous navigation of the robot; and a driving unit that drives the robot for autonomous navigation of the robot based on the sensing information, wherein the sensor unit is configured to be expandable or contractible based on the size of a payload loaded on the robot, and a detection range of the sensor unit for the surrounding environment changes as the sensor unit expands or contracts.

[0011] The payload is an object loaded in a storage space below the sensor unit of the robot, and the sensor unit can be controlled by a robot control system that controls the robot or the robot to expand in an outward direction of the robot so that the detection range is not obscured by the payload as the payload is recognized by the sensor unit.

[0012] The sensor unit includes at least one sensor configured to detect a front lower side of the robot, and the sensor unit can be controlled to expand outwardly of the robot until a side of the payload is recognized if the side of the payload is not recognized by the sensor.

[0013] The sensor unit includes at least one sensor configured to detect the front lower side of the robot, and the sensor unit can be controlled to expand in the outward direction of the robot until the height of the robot corresponding to the preset value is measured when the height of the robot corresponding to the preset value is not measured by the sensor.

[0014] The sensor unit includes at least one sensor configured to detect the front lower side of the robot, and the sensor unit can be controlled to expand in an outward direction of the robot until the floor of the space is recognized at a preset level or higher when the floor of the space is not recognized at a preset level or higher by the sensor.

[0015] The sensor unit includes at least one sensor configured to detect the front lower side of the robot, and the sensor unit can be controlled to expand in the outward direction of the robot until at least one of the first condition to the third condition is satisfied, if, as a first condition, a height of the robot corresponding to a preset value is not measured by the sensor, and further, as a second condition, a side of the payload is not recognized by the sensor, and further, as a third condition, a floor surface of the space is not recognized by the sensor above a preset level.

[0016] The sensor unit may be configured to expand radially in the robot's direction and contract in the opposite direction based on recognition of the payload.

[0017] The sensor unit includes a plurality of legs, and includes at least one sensor configured to detect a front lower side of the robot at an end side of each of the legs, and based on the payload being recognized by the sensor, each of the legs can be configured to expand in a radial direction of the robot and contract in an opposite direction.

[0018] The sensor unit includes at least one sensor configured to detect the front lower side of the robot, and the sensor may include at least one of a distance sensor for measuring a distance to an object existing in the surrounding environment and an optical sensor for vision recognition of the object.

[0019] The robot is controlled to autonomously drive in the space based on the changed driving parameters as the sensor unit expands or contracts, and the driving parameters are changed by a robot control system that controls the robot or steps performed by the robot, and the steps may include: a step of identifying a change value indicating the degree to which the sensor unit expands or contracts; a step of calculating a changed collision radius and inertial information of the robot based on the change value; and a step of changing the driving parameters based on the calculated collision radius and inertial information.

[0020] The calculating step may include: converting the change value into a sensor displacement matrix associated with the robot; and calculating the changed collision radius based on the sensor displacement matrix and IMU (Inertial Measurement Unit) sensing information from the sensor unit, and calculating the inertial information by applying the sensor displacement matrix and the IMU sensing information to an inertial model associated with the robot.

[0021] The robot is configured to autonomously drive along a path within the space under control from the robot control system, and the robot control system identifies a changed collision radius of the robot as the sensor unit expands or contracts, updates the path based on the changed collision radius, and allows the robot to autonomously drive based on the updated path.

[0022] The update of the above path is performed while the robot is autonomously driving, and when the collision radius of the robot changes as the sensor unit expands and becomes larger, the path is updated to include an area in which the robot can drive, and when the collision radius of the robot changes as the sensor unit shrinks and becomes smaller, the path can be updated to include an area in which the robot can reach the destination more quickly.

[0023] The above sensor unit includes a plurality of sensors configured to detect the front lower side of the robot, and the detection range can correspond to each FOV (Field of view) of the sensors.

[0024] In another aspect, a robot control method is provided, which is performed by a robot moving in space or a robot control system controlling the robot, wherein the robot comprises: a sensor unit provided on an upper portion of the robot, configured to obtain sensing information about a surrounding environment for autonomous navigation; and a driving unit that drives the robot for autonomous navigation of the robot based on the sensing information; and a step of expanding or contracting the sensor unit based on a size of a payload loaded on the robot, wherein a sensing range of the sensor unit for the surrounding environment changes as the sensor unit expands or contracts; and a step of controlling autonomous navigation of the robot based on the sensing information obtained by the expanded or contracted sensor unit.

[0025] The sensor unit may include at least one sensor configured to detect a front lower side of the robot, and the step of expanding or contracting the sensor unit may include: if the side of the payload is not recognized by the sensor, expanding the sensor unit in an outward direction of the robot until the side of the payload is recognized; if the height of the robot corresponding to a preset value is not measured by the sensor, expanding the sensor unit in an outward direction of the robot until the height of the robot corresponding to the preset value is measured; or if the floor surface of the space is not recognized by the sensor above a preset level, expanding the sensor unit in an outward direction of the robot until the floor surface of the space is recognized above a preset level.

[0026] The sensor unit may include at least one sensor configured to detect a front lower side of the robot, and the step of expanding or contracting the sensor unit may include a step of expanding the sensor unit in an outward direction of the robot until at least one of the first condition to the third condition is satisfied, if, as a first condition, a height of the robot corresponding to a preset value is not measured by the sensor, and further, as a second condition, a side surface of the payload is not recognized by the sensor, and further, as a third condition, a floor surface of the space is not recognized by the sensor above a preset level.

[0027] The step of controlling the autonomous driving may include: controlling the autonomous driving of the robot based on the driving parameters changed as the sensor unit expands or contracts; identifying a change value indicating the degree to which the sensor unit expands or contracts; calculating a changed collision radius and inertial information of the robot based on the change value; and changing the driving parameters based on the calculated collision radius and inertial information.

[0028] The step of controlling the autonomous driving may include: controlling the autonomous driving of the robot along a path within the space; and the step of controlling the autonomous driving may include: identifying a changed collision radius of the robot that has changed as the sensor unit expands or contracts; updating the path based on the changed collision radius; and controlling the autonomous driving of the robot based on the updated path.

[0029] By providing a sensor unit configured to acquire sensing information about the surrounding environment for autonomous driving of the robot at the top of the robot, an autonomous driving robot having a structure that enables the robot to more effectively acquire information about the floor surface on which it autonomously drives (e.g., cliff detection, etc.) can be provided.

[0030] By implementing a robot that includes a sensor section that can be appropriately expanded or contracted depending on the size of the recognized payload, it is possible to load larger payloads protruding from the outer perimeter of the robot, and the autonomous navigation of the robot can be performed without being hindered even when such larger payloads are loaded.

[0031] By dynamically updating the robot's path based on the robot's changing collision radius as the sensor unit expands or contracts, the robot can be controlled to autonomously navigate along an optimal path. Therefore, as the sensor unit expands, the robot can avoid impassable areas, and as the sensor unit contracts, the robot can dynamically navigate along a "small dedicated path" within which it can navigate.

[0032] FIG. 1A illustrates a robot and a control method thereof, including a sensor unit configured to be expandable or contractible based on the size of a payload loaded on the robot, according to one embodiment.

[0033] FIG. 1b illustrates a robot including an autonomous driving module including a sensor unit, a service module, and a driving platform according to one embodiment.

[0034] Figure 1c shows a robot with sensors placed at the bottom.

[0035] FIG. 2 is a block diagram illustrating a robot moving within space according to one embodiment.

[0036] FIGS. 3 and 4 are block diagrams showing a robot control system for controlling a robot according to one embodiment.

[0037] FIG. 5 is a flowchart illustrating a method for controlling a robot including a sensor unit configured to be expandable or contractible based on the size of a payload loaded on the robot, according to an example.

[0038] FIG. 6 and FIG. 9 are flowcharts illustrating a method for controlling a sensor section of a robot to expand or contract according to an example.

[0039] FIG. 7 and FIG. 10 are flowcharts illustrating a method for changing the driving parameters of a robot according to expansion or contraction of a sensor section of the robot, according to an example.

[0040] FIG. 8 and FIG. 11 are flowcharts illustrating a method for controlling autonomous driving of a robot by considering a collision radius of the robot that changes according to expansion or contraction of the sensor part of the robot, according to an example.

[0041] FIGS. 12 and 13 illustrate a sensor unit configured to be expandable or contractible based on the size of a payload loaded on a robot, according to an example.

[0042] Figure 14 shows the detection range of a sensor unit provided on the top of a robot according to an example.

[0043] Hereinafter, the detailed description will be given with reference to the attached drawings.

[0044]

[0045] FIG. 1A illustrates a robot including a sensor unit configured to be expandable or contractible based on the size of a payload loaded on the robot, according to one embodiment, and a control method thereof. FIG. 1B illustrates a robot including an autonomous driving module including a sensor unit, a service module, and a driving platform, according to one embodiment.

[0046] In FIG. 1a and FIG. 1b, a robot (100) is shown in which a sensor unit (106) is placed on the top of the robot (100).

[0047] Meanwhile, Fig. 1c illustrates a robot with a sensor positioned at the bottom. That is, Fig. 1c illustrates a robot (70) with a sensor unit (and a sensor (72) included in the sensor unit) positioned at the bottom, unlike the embodiments of Figs. 1a and 1b.

[0048] The robot (100) illustrated in FIGS. 1A and 1B can move within a space. The robot (100) may be, for example, a robot configured to provide services in an indoor or outdoor space, such as a building. Alternatively, the robot (100) may be any type of vehicle or moving object capable of moving (or autonomously driving) within an indoor or outdoor space, such as a vehicle or cart. As illustrated, the robot (100) can move within a space under the control of a (robot) control system (120).

[0049] The space in which the robot (100) moves (or drives) is a location where the robot (100) provides services, and may represent, for example, an indoor and / or outdoor space within a building or premises. The building or premises includes a space where multiple people (hereinafter referred to as "users") work or reside, and may include, for example, multiple partitioned spaces. The space may represent a portion of the building (a specific floor or a partial space within that floor).

[0050] If the robot (100) is a service robot, the robot (100) may be configured to provide services on at least one floor of a space. While only one robot (100) is illustrated in FIG. 1, multiple robots (100) may be positioned and operated within the space. Within the space, each robot (100) may move to provide services to an appropriate location within the space or to an appropriate user.

[0051] The service provided by the robot (100) may include, for example, at least one of a parcel delivery service, a beverage (coffee, etc.) delivery service according to order, a cleaning service, and other information / content provision services.

[0052] The robot (100) can be configured to provide a service at a predetermined location in space or to a predetermined user through autonomous driving, and the (respective) movement and provision of the service of the robot (100) can be controlled by a robot control system (120).

[0053] As illustrated, the robot (100) may be configured to include a sensor unit (106) and a driving unit (108). The sensor unit (106) may be provided at the top of the robot (100), and the driving unit (108) may be provided at the bottom of the robot (100). The sensor unit (106) may be configured to acquire sensing information about the surrounding environment within a space for autonomous navigation of the robot (100) within the space. The sensor unit (106) may include at least one sensor (20). The sensor (20) may be configured to detect at least the front lower side of the robot (100), as illustrated. In addition, although not illustrated, the sensor (20) may be configured to detect the surrounding environment from the top of the robot (100) (including the upper side thereof).

[0054] In this way, the sensor unit (106) may be configured to include a sensor (20) for the purpose of detecting the surrounding environment of the robot (100) so that the robot (100) can avoid obstacles and drive autonomously, and a computing module (not shown) associated with the sensor (20). A module including the sensor (20) and the computing module may be referred to as an autonomous driving module (12), as illustrated in FIG. 1B. The robot (100) of the embodiment may include the autonomous driving module (12) at the top.

[0055] The driving unit (108) may be a device that drives the robot (100) for autonomous driving of the robot (100) based on sensing information from the sensor unit (106). The driving unit (108) may include equipment for controlling the movement of the robot (100) and enabling the movement, and may include a configuration for performing this. The driving unit (108) may include at least one motor, a motor driver, and other mechanical devices that operate for driving the robot (100). For example, the robot (100) may drive in space by operating wheels by a motor. In addition, the driving unit (108) may include a battery for operating the robot (100).

[0056] This driving unit (108) is a configuration that is placed at the bottom of the robot (100) and includes devices related to the driving of the robot (100), and may be referred to as a driving platform (16), as in FIG. 1b. Meanwhile, the driving unit (108) and the driving platform (16) may correspond to the driving unit (108) described below with reference to FIG. 2.

[0057] The robot (100) may have a structure in which a sensor unit (106) is arranged at the top and a driving unit (108) is arranged at the bottom, and a payload (30) is loaded between the sensor unit (106) and the driving unit (108).

[0058] The payload (30) may represent cargo or objects to be loaded and stored on the robot (100), and may be, for example, related to services provided by the robot (100), such as food, parcels, cleaning supplies or trash to be picked up by the cleaning robot, etc. The payload (30) may have various shapes and sizes. In other words, the payload (30) may represent objects loaded in the storage space below the sensor unit (106) of the robot (100).

[0059] The robot (100) may provide a space for loading such a payload (30) between the autonomous driving module (12) and the driving platform (16). The configuration of the robot (100) including such a space may be referred to as a service module (14). The service module (14) may further include not only a space (the storage space) in which the payload (30) is loaded, but also a mechanism of the robot (100) for loading the payload (30) onto the robot (100) (e.g., other hardware having a specific function, such as a robot arm not shown).

[0060] In the embodiment, since the sensor unit (106) is arranged at the top of the robot (100), information about the surrounding environment required for autonomous driving (particularly, information about the floor surface of a space) can be detected more effectively than in a robot (70) in which the sensor (72) is arranged at the bottom. For example, the robot (100) can more effectively detect curves, ledges, cliffs, etc. existing on the floor surface of a space than in the robot (70), and can more easily identify dynamic and / or static obstacles located on the floor surface.

[0061] Meanwhile, in the case of the robot (70), if there is a protruding part (74) due to a payload or the like loaded on the robot (70), the detection range of the sensor (72) may be significantly limited. For example, as illustrated, a covered range (76) may exist in the detection range of the sensor (72). In this covered range (76), information about the surrounding environment is not detected, and thus the robot (70) cannot be properly controlled for autonomous driving. In addition, the robot (70) requires an additional short-range sensor to detect the floor or a cliff in front, and it is difficult to keep the lower part where the sensor (72) is placed clean, which makes maintenance of the robot (70) difficult.

[0062] The robot (100) of the embodiment may include a sensor unit (106) configured to be expandable or contractible based on the size of a payload (30) loaded on the robot (100) to ensure a sufficient detection range (60-2) of the sensor (20). The detection range of the sensor unit (106) with respect to the surrounding environment may change as the sensor unit (106) expands or contracts.

[0063] For example, as illustrated in FIG. 1A, in the reduced state (50-1), the detection range of the sensor unit (106) (i.e., the detection range (60-1) of the sensor (20) included in the sensor unit (106)) may be limited by the range (70-2) covered by the protruding payload (30). In contrast, in the expanded state (50-2), the range covered by the protruding payload (30) does not exist, and therefore, the detection range of the sensor unit (106) (i.e., the detection range (60-2) of the sensor (20)) may not be limited. In other words, the sensor unit (106) of the robot (100) may change by a certain value ( ) can be expanded, and as the sensor unit (106) is expanded, the detection range of the sensor (20) can be changed (i.e., detection range (60-1) -> detection range (60-2)).

[0064] Specifically, the sensor unit (106) can be controlled to expand in the outer direction of the robot (100) so that the detection range of the sensor (20) is not obscured by the payload (30) by the robot control system (120) that controls the robot (100) or the robot (100) as the payload (30) is recognized by the sensor unit (106).

[0065] In this way, the robot (100) of the embodiment can safely and autonomously drive within a space even when loading a larger payload (30) that protrudes beyond the outer perimeter of the robot (100) or when loading payloads (30) of various sizes or shapes.

[0066] Meanwhile, as illustrated, the sensor portion (106) can extend outward in all directions when the payload (30) protrudes from the robot (100), i.e., even if it protrudes only from a portion of the outer perimeter of the robot (100) (see FIG. 1a).

[0067] Alternatively, unlike what is shown, the sensor unit (106) may expand outward only in response to the protruding portion when the payload (30) protrudes from the robot (100). For example, as shown in FIG. 1A, when the payload (30) protrudes only in one direction (e.g., forward) of the robot (100), the sensor unit (106) may be controlled to expand only in response to that one direction. In other words, a sensor (not shown) portion of the sensor unit (106) disposed on the opposite side (rear side) of the illustrated sensor (20) may not expand outward because the payload (30) does not protrude to the rear. In this way, when the sensor unit (106) is configured to include a plurality of sensors, the portion corresponding to each sensor may be individually controlled to expand and / or contract depending on the size and shape of the payload (30) loaded on the robot (100).

[0068] In this embodiment, by placing an intelligently variable sensor unit (106) (i.e., an autonomous driving module (12)) on top of the robot (100), the constraints on the service module (14) and payload (30) placed underneath can be relaxed. Accordingly, loading of a payload (30) onto the robot (100) without being restricted by the shape of the robot (100) (e.g., cylindrical) can be enabled.

[0069] In addition, considering the variable sensor unit (106) (i.e., considering the loaded payload (30)), the autonomous driving of the robot (100) can be adaptively controlled. Therefore, in the embodiment, even if a payload (30) larger than the robot (100) is loaded onto the robot (100), the possibility of collision of the payload (30) with an obstacle can be minimized.

[0070] A more specific method of expanding or contracting the sensor unit (106) based on the size of the payload (30) loaded on the robot (100) will be described in more detail with reference to FIGS. 2 to 14, which will be described later.

[0071]

[0072] FIG. 2 is a block diagram illustrating a robot moving within space according to one embodiment.

[0073] As described above, the robot (100) may be a service robot used to provide services within a space. The robot (100) may provide services at a predetermined location within a space or to a predetermined user through autonomous driving.

[0074] The robot (100) may be a physical device and may include a control unit (104), a driving unit (108), a sensor unit (106), and a communication unit (102), as illustrated.

[0075] The control unit (104) may be a physical processor built into the robot (100), and although not separately illustrated, may include a path planning processing module, a mapping processing module, a driving control module, a localization processing module, a data processing module, and a service processing module. In this case, the path planning processing module, the mapping processing module, and the localization processing module may be selectively included in the control unit (104) according to an embodiment so that indoor autonomous driving of the robot (100) can be performed even when communication with the control system (120) is not performed. At least a part of the control unit (104) may be included in the autonomous driving module (12) provided on the top of the robot (100) described above.

[0076] The communication unit (102) may be a configuration for the robot (100) to communicate with other devices (such as other robots / robots or control systems (120)). In other words, the communication unit (102) may be a hardware module, such as an antenna, data bus, network interface card, network interface chip, and networking interface port of the robot (100), or a software module, such as a network device driver or networking program, that transmits / receives data and / or information to / from other devices.

[0077] The driving unit (108) controls the movement of the robot (100) and may include equipment for performing the movement as a component that enables the movement. The driving unit (108) may include at least one motor as an electronic and / or mechanical device that operates for the movement of the robot (100). For example, the robot (100) may move in space by operating wheels by the motor. The driving unit (108) may be a component corresponding to the aforementioned driving unit (108) and may be a component included in the driving platform (16) provided at the bottom of the robot (100).

[0078] The sensor unit (106) may be configured to collect data required for autonomous driving and service provision of the robot (100). The sensor unit (106) may be configured to correspond to the sensor unit (106) described above with reference to FIG. 1A, and may include at least one sensor (20). The sensor unit (106) may be included in the autonomous driving module (12) described above, and may be configured to include a computing module corresponding to at least a portion of the control unit (104) described above.

[0079] The sensor unit (106) may not include expensive sensing equipment, but may include only sensors such as low-cost ultrasonic sensors and / or low-cost cameras. The sensor unit (106) may include sensors for identifying other robots or people in front and / or behind, and obstacles in the surroundings (such as the floor in the space). For example, the sensor unit (106) may include at least one of a vision sensor (such as an optical sensor for vision recognition) and a distance sensor, such as a sensor (20), a depth camera, an infrared camera or sensor, an RGB camera, etc. Through the sensor (20), other robots, people, and other objects in the surroundings, or a payload (30) loaded on the robot (100) can be recognized. The sensor (20) may be selected as having high resolution and one that allows for a rich amount of information to be acquired about the surrounding environment.

[0080] The robot (100) can receive commands from the robot control system (120) through the service processing module of the aforementioned control unit (104) via the communication unit (102) or through the communication unit (102) and the data processing module to operate the drive unit (108) and the robot arm (not shown) to provide a service. The service processing module can transmit a drive command for a service to be provided to the drive control module, and the drive control module can control the configuration of the drive unit (108) and the robot arm of the robot (100) according to the drive command so that the service can be provided. In addition, the robot (100) may further include a speaker and / or a display for outputting information / content required for providing a service.

[0081] Meanwhile, the robot (100) may be distinct from a mapping robot (i.e., a mapping robot) used to create an indoor map within a space. Since the robot (100) does not include expensive sensing equipment, it can process indoor autonomous driving using the output values ​​of sensors such as low-cost ultrasonic sensors and / or low-cost cameras. Meanwhile, if the robot (100) has previously processed indoor autonomous driving through communication with a robot control system (120), it may further utilize mapping data, etc. included in the route data (e.g., data about the route) previously received from the control system (120), thereby enabling more accurate indoor autonomous driving using low-cost sensors. However, depending on the embodiment, the robot (100) may also function as the mapping robot.

[0082] As described above, if the robot (100) only provides sensing information for controlling the robot (100) to the robot control system (120), and the algorithm for controlling the robot (100) is executed in the robot control system (120), the robot (100) may correspond to a brainless robot.

[0083] Meanwhile, each robot (100) may have a different size and shape depending on the model or service provided, and is not limited to the shape shown in the drawing.

[0084] The configuration and operation of the robot control system (120) that controls the robot (100) will be described in more detail with reference to FIGS. 3 and 4, which will be described later.

[0085] The description of the technical features described above with reference to FIG. 1 can also be applied to FIG. 2, so any redundant description will be omitted.

[0086]

[0087] FIGS. 3 and 4 are block diagrams showing a robot control system for controlling a robot according to one embodiment.

[0088] The robot control system (120) may be a device that controls the movement of the robot (100) within a space (i.e., autonomous driving) and the operation of the components of the robot (100) for providing a service within a space (e.g., the operation of expanding or contracting the sensor unit (106) described above). The robot control system (120) may control the movement of each of the plurality of robots (100) and the provision of a service by each of the robots (100). The robot control system (120) may establish a path to a destination where the robot (100) provides a service through communication with the robot (100) and transmit information about the path to the robot (100). The robot (100) may drive according to the information about the received path and control the arm (20) at a predetermined location or at a predetermined user location to provide a service.

[0089] The robot control system (120) may include at least one computing device.

[0090] The robot control system (120) may be a device that sets a path for the robot (100) to travel and controls the movement of the robot (100), as described above. The robot control system (120) may include at least one computing device and may be implemented as a server located within or outside the space.

[0091] The robot control system (120) may include a memory (330), a processor (320), a communication unit (310), and an input / output interface (340), as illustrated.

[0092] The memory (330) is a computer-readable recording medium, and may include a random access memory (RAM), a read only memory (ROM), and a permanent mass storage device such as a disk drive. Here, the ROM and the permanent mass storage device may be included as a separate permanent storage device separate from the memory (330). In addition, the memory (330) may store an operating system and at least one program code. These software components may be loaded from a computer-readable recording medium separate from the memory (330). This separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. In another embodiment, the software components may be loaded into the memory (330) through the communication unit (310) rather than the computer-readable recording medium.

[0093] The processor (320) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Instructions may be provided to the processor (320) by the memory (330) or the communication unit (310). For example, the processor (320) may be configured to execute instructions received according to program code loaded into the memory (330). Such a processor (320) may include components (410 to 440) as illustrated in FIG. 4 .

[0094] Each of the components (410 to 440) of the processor (320) may be a software and / or hardware module as part of the processor (320) and may represent a function (functional block) implemented by the processor. The components (410 to 440) of the processor (320) will be described below with reference to FIG. 4.

[0095] The communication unit (310) may be a configuration for the robot control system (120) to communicate with other devices (such as the robot (100) or another server). In other words, the communication unit (310) may be a hardware module, such as an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot control system (120), or a software module, such as a network device driver or a networking program, that transmits / receives data and / or information to / from other devices.

[0096] The input / output interface (340) may be a means for interfacing with an input device such as a keyboard or mouse and an output device such as a display or speaker.

[0097] Additionally, in other embodiments, the robot control system (120) may include more components than those illustrated.

[0098] Referring to FIG. 4, the components (410 to 440) of the processor (320) will be described in more detail. The processor (320) may include a map generation module (410), a localization processing module (420), a path planning processing module (430), and a service operation module (440), as illustrated. The components included in the processor (320) may be representations of different functions performed by at least one processor included in the processor (320) according to control instructions based on the code of an operating system or the code of at least one computer program.

[0099] The map generation module (410) may be a component for a mapping robot (not shown) autonomously driving inside a space to generate an indoor map of a target facility (e.g., using sensing information generated about the inside of the space).

[0100] At this time, the localization processing module (420) can determine the location of the robot (100) inside the target facility by using sensing information received from the robot (100) through the network and the indoor map of the target facility generated through the map generation module (410).

[0101] The path planning processing module (430) can generate a control signal for controlling indoor autonomous driving of the robot (100) using the sensing information received from the robot (100) described above and the generated indoor map. For example, the path planning processing module (430) can generate a path (i.e., path data) of the robot (100). The generated path data can be set for the robot (100) for driving the robot (100) along the path. The robot control system (120) can transmit information about the generated path to the robot (100) via a network. For example, the path information can include information indicating the current location of the robot (100), information for mapping the current location with the indoor map, and path planning information. The path information can include information about a destination of a space where the robot (100) must drive from a predetermined location within the space or to provide a service to a predetermined user. The path planning processing module (430) can set a path for the robot (100). The robot control system (120) can control the movement of the robot (100) so that the robot (100) moves according to the set path (i.e., along the set path).

[0102] The service operation module (440) may include a function for controlling the service provided by the robot (100) within the space. For example, the robot control system (120) or the service provider operating the space may provide an Integrated Development Environment (IDE) for the service (e.g., cloud service) provided by the robot control system (120) to the user or manufacturer of the robot (100). In this case, the user or manufacturer of the robot (100) may create software for controlling the service provided by the robot (100) within the space through the IDE and register the software with the robot control system (120). In this case, the service operation module (440) may control the service provided by the robot (100) using the software registered in connection with the robot (100). As a specific example, assuming that a robot (100) provides a service of delivering a payload (e.g., food or a package) (30) requested by a user to the location of the user, the robot control system (120) can control the indoor autonomous driving of the robot (100) so that the robot (100) moves to the location of the user, and, when it arrives at the destination location, can deliver the object to the user by controlling the robot arm, etc., and can transmit related commands to the robot (100) so that the robot (100) provides a series of services of outputting a user response voice.

[0103] The robot control system (120) may be a server, a computer system for controlling the robot (100). The robot control system (120) may be a server placed outside a space or building, such as a cloud server. Alternatively, depending on the embodiment, the robot control system (120) may be placed inside a space or building.

[0104] In the detailed description to be given later, the operations performed by the components (e.g., control unit, processor, etc.) of the robot control system (120) or the robot (100) may be described as operations performed by the robot control system (120) or the robot (100) for convenience of explanation.

[0105] In addition, the operations or steps, including the control of the sensor unit (106) to be described later with reference to FIGS. 5 to 14, may be performed by the robot control system (120), and, depending on the embodiment, at least some of them may be performed by the robot (100). Below, the embodiment will be described with a focus on the operations or steps being performed by the robot control system (120), and in some cases, overlapping descriptions of the operations or steps being performed by the robot (100) will be omitted.

[0106] The description of the technical features described above with reference to FIGS. 1 and 2 can also be applied to FIGS. 3 and 4, so redundant descriptions are omitted.

[0107]

[0108] FIG. 5 is a flowchart illustrating a method for controlling a robot including a sensor unit configured to be expandable or contractible based on the size of a payload loaded on the robot, according to an example.

[0109] The robot (100) may include a sensor unit (106) (or autonomous driving module (12)) provided on the top of the robot (100) to obtain sensing information about the surrounding environment for autonomous driving, as described above with reference to FIG. 1A, and a driving unit (108) (or driving platform (16)) that drives the robot (100) for autonomous driving of the robot (100) based on the sensing information by the sensor unit (106). Here, the sensor unit (106) may include at least one sensor (20) configured to detect the front lower side of the robot (100).

[0110] In step (510), the robot (100) can expand or contract the sensor unit (106) based on the size of the payload (30) loaded on the robot (100). In other words, the robot control system (120) can control the robot (100) to expand or contract the sensor unit (106) based on the size of the payload (30). At this time, the detection range of the sensor unit (106) with respect to the surrounding environment can change as the sensor unit (106) expands or contracts.

[0111] In step (520), the robot control system (120) can control autonomous driving of the robot (100) based on the sensing information acquired by the sensor unit (106) expanded or reduced by step (510). That is, as the sensor unit (106) expands or reduces, the detection range of the sensor (20) included in the sensor unit (106) changes, and thus, the sensing information acquired by the sensor unit (106) can also change. The robot control system (120) can change the driving parameters for controlling autonomous driving of the robot (100) based on the changed sensing information, and further, can update the path on which the robot (100) will drive.

[0112] A more specific method of controlling the robot (100) to expand or contract the sensor unit (106) based on the size of the payload (30) will be described in more detail with reference to FIGS. 6 to 11, which will be described later.

[0113] The description of the technical features described above with reference to FIGS. 1 to 4 can also be applied to FIG. 5, so any duplicate description will be omitted.

[0114]

[0115] FIG. 6 and FIG. 9 are flowcharts illustrating a method for controlling a sensor section of a robot to expand or contract according to an example.

[0116] As described above, the sensor unit (106) may include at least one sensor (20) configured to detect the front lower side of the robot (100). This sensor (20) is located below the sensor unit (106) and can recognize a payload (30) protruding outside the perimeter of the robot (100).

[0117] In step (610), the robot control system (120) can determine whether the height of the robot (100) corresponding to the preset value is measured by the sensor (20), and if the height of the robot (100) of the preset value is not measured, that is, if the measured height is less than the height of the robot (100) of the preset value, the sensor unit (106) can be extended outwardly of the robot (100) until the measured height becomes the height of the robot (100) of the preset value. At this time, the sensor (20) can include a distance sensor. The 'preset value' corresponding to the height of the robot (100) can be a value that the robot (100) and / or the robot control system (120) already knows. In a state where the distance to the floor of the space can be measured by the sensor (20), the measured distance to the floor can be equal to the height of the robot (100) of the preset value. In contrast, when the payload (30) protrudes, the height of the robot (100) set by the sensor (20) cannot be measured, and only the distance from the sensor (20) to the payload (30) may be measured. In this case, the detection range of the sensor (20) may be limited by the aforementioned covered area (70-2). The robot control system (120) may control the robot (100) to expand the sensor unit (106) so that the detection range of the sensor (20) is not limited.

[0118] In step (620), the robot control system (120) can determine whether the side of the payload (30) is recognized by the sensor (20), and if the side of the payload (30) is not recognized, i.e., if only the upper surface of the payload (30) is recognized, the sensor unit (106) can be extended outwardly of the robot (100) until the side of the payload (30) is recognized. At this time, the sensor (20) may include an optical sensor, such as a camera. For example, the sensor (20) may have a detection range (or FOV of the camera) exceeding 90 degrees, and accordingly, even when the payload (30) is protruding, the sensor (20) can recognize the side of the payload (30) in the extended state (50-2) illustrated in FIG. 1A. In a state where the side of the payload (30) is recognized, the detection area of ​​the sensor (20) may not be limited. In contrast, when the side of the payload (30) is not recognized, the detection range of the sensor (20) may be limited by the covered area (70-2). Therefore, the robot control system (120) may control the robot (100) to expand the sensor unit (106) so that the detection range of the sensor (20) is not limited.

[0119] Meanwhile, an object recognition algorithm may be applied to the recognition of a payload (30) by a sensor (20). For example, the robot control system (120) may determine whether a side of a payload (30) is recognized by the sensor (20) using the results of learning various types and shapes of payloads (30) through an object recognition algorithm.

[0120] In step (630), the robot control system (120) can determine whether the floor of the space is recognized by the sensor (20) above a preset level, and if the floor of the space is not recognized above the preset level, that is, if the floor of the space is not recognized above a certain level because it is covered by the payload (30), the sensor unit (106) can be extended outwardly of the robot (100) until the floor of the space is recognized above the preset level. At this time, the sensor (20) may include an optical sensor, such as a camera. For example, if the payload (30) protrudes, the sensor (30) may not be able to sufficiently recognize the floor of the space due to the protruding portion of the payload (30), and the detection range of the sensor (20) may be limited by the area (70-2) covered by the payload (30). Accordingly, the robot control system (120) can control the robot (100) to expand the sensor unit (106) so that the detection range of the sensor (20) is not limited. 'Recognizing a floor surface above a preset level' may mean 'recognizing a floor surface above a predetermined ratio compared to a case where the detection range of the sensor (20) is not limited.'

[0121] Meanwhile, a segmentation algorithm may be used to determine whether a floor surface above a preset level is recognized by the sensor (20). For example, the robot control system (120) can recognize and segment the floor surface of a space using a segmentation algorithm, and determine whether the recognized floor surface is above a preset level.

[0122] The above-described steps (610 to 630) can be combined to determine whether expansion of the sensor unit (106) is necessary and used to control the robot (100) to expand the sensor unit (106).

[0123] For example, the robot control system (120) can control the robot (100) to expand the sensor unit (106) (step (940)) when, as a first condition, the height of the robot corresponding to a preset value is not measured by the sensor (20) (step (910)), and, as a second condition, the side of the payload (30) is not recognized by the sensor (20) (step (920)), and, as a third condition, the floor surface of the space is not recognized by the sensor (30) above a preset level.

[0124] At this time, the robot control system (120) can extend the sensor unit (106) in the outward direction of the robot (100) until at least one of the first to third conditions is satisfied, and when at least one of the first to third conditions is satisfied, the setting of the sensor unit (106) can be completed (step (950)).

[0125] In this way, the robot control system (120) (or robot (100)) of the embodiment can expand the sensor unit (106) to ensure that the detection range of the sensor (20) is not limited by using various conditions such as the first to third conditions.

[0126] As the setting of the sensor unit (106) is completed, the robot control system (120) changes the value of the sensor unit (106) ) can control the autonomous driving of the robot (100) based on (960). The change value of the sensor unit (106) ( ) is described in more detail with reference to FIGS. 7 and 10 for a more specific method of controlling autonomous driving of a robot (100).

[0127] In relation to this, FIGS. 7 and 10 are flowcharts illustrating a method for changing the driving parameters of a robot according to expansion or contraction of a sensor section of the robot, according to an example.

[0128] The robot (100) may have its driving parameters changed as its sensor unit (106) expands or contracts. For example, the expansion or contraction of the sensor unit (106) may be equivalent to a transition of sensors, including a camera, of the robot (100) in the expanded or contracted direction, and accordingly, the driving parameters of the robot (100) may be changed. The robot (100) may be controlled to autonomously drive through space based on the changed driving parameters. In other words, the changed driving parameters may reflect the changed size of the sensor unit (106) (autonomous driving module (12)).

[0129] Steps (710 to 730, and 1010 to 1070) to be described below represent a method of changing driving parameter(s) of the robot (100) and controlling autonomous driving of the robot (100) by the robot control system (120) that controls the robot (100) or the robot (100).

[0130] In step (710), the robot control system (120) changes the value ( ) can be identified. For example, the robot control system (120) can identify the change value of the sensor unit (106) ) exists (step (1010)), and the change value ( ) can be received from the robot (100) or identified (step (1020)).

[0131] In step (720), the robot control system (120) identifies the change value ( ), the changed collision radius and inertial information of the robot (100) can be calculated. For example, as the sensor unit (106) of the robot (100) expands, the collision radius may become larger, and the inertial information may also change according to the movement of the robot (100). The robot control system (120) can calculate the collision radius and inertial information of the robot (100) according to the change of the sensor unit (106). The inertial information may include, for example, information on the center of gravity of the robot (100) that has changed according to the change of the sensor unit (106) of the robot (100).

[0132] Specifically, in step (722), the robot control system (120) identifies the change value ( ) is a sensor displacement matrix associated with the robot (100). ) can be converted into (step (1030)).

[0133] In step (724), the robot control system (120) changes the collision radius (based on the sensor displacement matrix and the IMU (Inertial Measurement Unit) sensing information from the sensor unit (106). ) can be calculated, and the inertial information of the robot (100) can be calculated by applying the sensor displacement matrix and the IMU sensing information to the inertial model associated with the robot (step (1040)). The IMU sensing information may be a value obtained by or calculated from at least one of the acceleration sensor, the gyroscope, and the geomagnetic sensor included in the sensor unit (106).

[0134] At step (730), the robot control system (120) calculates the calculated collision radius ( ) and the driving parameters of the robot (100) can be changed based on the inertial information. That is to say, the robot control system (120) can change the calculated collision radius ( ) and the acceleration / deceleration of the robot (100) by the inertial information can be considered to modify the driving parameter(s) of the robot (step (1050)). By the inertial information, the inertia caused by the payload (30) (and / or the changed sensor unit (106)) during the driving of the robot (100) can be corrected and reflected in the driving parameters. The modification of the driving parameters by the correction of such inertia can be done by modeling the center of gravity of the robot (100) based on the IMU sensing information and applying it to the driving parameters.

[0135] The robot control system (120) can control autonomous driving of the robot (100) based on these changed driving parameters (step (1070)).

[0136] Meanwhile, the calculated collision radius ( ) can be used to update the driving path of the robot (100), and for this purpose, can be used in the robot control system (120). In addition, the calculated collision radius ( ) may be transmitted to a separate control server and utilized (step (1070)).

[0137] Calculated collision radius ( ) and a method for updating the driving path of a robot (100) based on the calculated collision radius ( ) is described in more detail with reference to FIG. 8 and FIG. 11.

[0138] In relation to this, FIGS. 8 and 11 are flowcharts showing a method for controlling autonomous driving of a robot by considering a collision radius of the robot that changes according to expansion or contraction of the sensor part of the robot, according to an example.

[0139] The robot (100) can be controlled to autonomously drive along a path within a space. The path may be a driving path of the robot (100) to a predetermined destination (e.g., a destination or stopover related to the service provided by the robot (100). This driving path (hereinafter, "path") of the robot (100) can be determined by the robot control system (120) and dynamically updated by the robot control system (120).

[0140] In step (810), the robot control system (120) determines the changed collision radius of the robot (100) as the sensor unit (106) expands or contracts. ) can be identified. For example, the robot control system (120) can recognize or monitor changes in the collision radius as the sensor unit (106) expands or contracts.

[0141] At step (820), the robot control system (120) can update the path along which the robot (100) travels based on the changed collision radius.

[0142] Such route updates can be performed dynamically while the robot (100) is autonomously driving. In other words, the route updates can be performed dynamically as the payload (30) loaded onto the robot (100) changes, i.e., as the size of the payload (30) loaded onto the robot (100) changes.

[0143] For example, as the sensor unit (106) expands and the collision radius of the robot (100) becomes larger, the path along which the robot (100) travels can be updated to include an area in which the robot (100) can travel. In other words, as the collision radius of the robot (100) becomes larger, narrow areas (such as passageways) that the robot (100) cannot pass through can be excluded from the path along which the robot (100) travels, and wide areas (such as doors with large gates through which the robot (100) can pass, wide passageways, and larger freight elevators) that the robot (100) can travel through can be included in the path along which the robot (100) travels.

[0144] Alternatively, as the sensor unit (106) shrinks, the collision radius of the robot (100) becomes smaller, the path along which the robot (100) travels may be updated to include an area in which the robot (100) can reach its destination more quickly. For example, the path along which the robot (100) travels may be updated to include an area in which a relatively small robot (100) can pass, a smaller passenger elevator, etc.

[0145] At step (830), the robot control system (120) can control autonomous driving of the robot based on the updated path.

[0146] In this way, the robot control system (120) can operate as a control server (system) that dynamically updates the path of the robot (100). The robot control system (120) can determine whether the robot (100) can drive on the existing path by considering the collision radius of the robot (100) changed according to the settings of the sensor unit (106), and can update the path accordingly and transmit the updated path to the robot (100).

[0147] Accordingly, even if the sensor unit (106) is expanded, the risk of collision of the robot (100) can be preemptively reduced, and the efficiency of autonomous driving of the robot (100) can be increased. In addition, the user operating the robot (100) does not need to worry about the size of the payload (30) and the path of the robot (100), and the robot control system (120) can determine the optimal path for the robot (100). Accordingly, in the embodiment, the occurrence rate of human error can be reduced.

[0148] In an embodiment, the robot control system (120) can monitor the size of the payload (30) in real time, so that when the size of the payload (30) becomes small, the robot (100) can be controlled to drive on a small dedicated path, and when a change occurs during driving, such as when the payload (30) is loaded onto or unloaded from the robot (100), the path of the robot (100) can be adaptively updated. In other words, depending on a change in the payload (30), the driving algorithm associated with the robot (100) can be modified and the search for a target area in which the robot (100) can drive can be dynamically performed.

[0149] Below, with reference to Fig. 11, the changed collision radius of the robot (100) ) is described in more detail.

[0150] At step (1110), the robot control system (120) (or a separate control server) determines the changed collision radius of the robot (100). ) can be received. In steps (1120 and 1130), the robot control system (120) refers to the databases (1134 to 1138) to determine the collision radius ( ) can perform operations based on the information. Here, the robot control system (120) may be referred to as a control server, which may be referred to as a payload adaptive robot control server (1132) as illustrated. The control server (1132) may include a collision-prone obstacle DB (1134), a rideable facility and path DB (1136), and a robot and building environment DB (1138), or may be configured to communicate with these DBs (1134 to 1138). These DBs (1134 to 1138) may store information collected from space (e.g., by a mapping robot). The robot control system (120) may refer to the information stored in these DBs (1134 to 1138) to determine a collision radius ( ) can be used to perform an operation to update the path of the robot (100). In step (1140), the robot control system (120) refers to the DBs (1134 to 1138) to determine the collision radius ( ) can be used to check obstacles to the robot (100) and facilities and passageways within a space that the robot (100) can board and pass through, and based on the checked facilities and passageways, the path for the robot (100) can be updated.

[0151] Meanwhile, in step (1150), the robot control system (120) collects information (e.g., sensing information, collision radius) from the robot (100). ), information on the center of gravity of the robot (100), and other environmental information, etc.) can be stored. This stored information can be used as traceable monitoring information for the robot (100) and as data for maintaining the robot (100) or equipment within the space.

[0152] The description of the technical features described above with reference to FIGS. 1 to 5 can also be applied to FIGS. 6 to 11, so redundant descriptions are omitted.

[0153]

[0154] FIGS. 12 and 13 illustrate a sensor unit configured to be expandable or contractible based on the size of a payload loaded on a robot, according to an example.

[0155] FIG. 12 shows a reduced state (1210) and an expanded state (1220) of a sensor unit (106) according to an example.

[0156] As illustrated, the sensor unit (106) may be configured to expand radially (e.g., in an expanded state (1220)) and contract in the opposite direction (e.g., in a contracted state (1210)) of the robot (100) based on the recognition of the payload (30).

[0157] The sensor unit (106) may include a plurality of legs (1212). In the example illustrated in FIG. 12, the sensor unit (106) is illustrated as including four legs (1212).

[0158] Each end of the legs (1212) may include at least one sensor (1214) configured to detect the forward lower side of the robot. Each of the legs (1212) may be retractable or retractable to change the detection range of the sensor (1214).

[0159] The sensor (1214) may include at least one of a distance sensor for measuring the distance to an object in the surrounding environment (from the robot (100) or the sensor (1214)) and an optical sensor for vision recognition of the object.

[0160] Based on the recognition of the payload (30) by the sensor (1214), each of the legs (1212) can be configured to expand radially of the robot (100) and also contract in the opposite direction. For example, the legs (1212) can be configured to expand in a manner similar to an umbrella opening and also contract in the opposite direction.

[0161] The contraction and expansion of the legs (1212) can be performed by the control unit (104) of the robot (100) or the robot control system (120). The contraction and expansion of these legs (1212) can be performed by the operation of at least one actuator, motor, or other driving unit, not shown, which is performed by the control unit (104) of the robot (100) or the robot control system (120).

[0162] Meanwhile, the legs (1212) may be controlled to expand and contract collectively, but depending on the embodiment, each of the legs (1212) may be controlled to expand and contract individually. For example, as described above with reference to FIG. 1A, if the payload (30) protrudes only in one direction (e.g., forward) of the robot (100), only the first leg corresponding to the corresponding direction among the legs (1212) may be controlled to expand. In other words, if the payload (30) does not protrude from under the remaining legs other than the first leg, the remaining legs may not expand outward. In this way, if the sensor unit (106) is configured to include a plurality of sensors (1214) and legs (1212), the leg corresponding to each sensor may be individually controlled to expand and / or contract depending on the size and shape of the payload (30) loaded on the robot (100).

[0163] Fig. 13 illustrates a reduced state (1310) and an expanded state (1320) of a sensor unit (106) according to an example different from that of Fig. 12. The sensor (1330) may be positioned at the end of each leg. In the reduced state (1310), the sensor (1330) attached to each leg may not protrude from the outer perimeter of the robot (100), but in the expanded state (1320), the sensor (1330) attached to each leg may protrude from the outer perimeter of the robot (100). Accordingly, even if the payload (30) protrudes from the outer perimeter of the robot (100), the detection range of the sensor (1330) may not be limited.

[0164] Unlike in FIG. 12, in FIG. 13, eight legs are shown as being included in the sensor unit (106), but the number of legs may vary depending on the detection range or performance of the sensor (1330).

[0165] The description of the technical features described above with reference to FIGS. 1 to 11 can also be applied to FIGS. 12 and 13, so redundant descriptions are omitted.

[0166]

[0167] Figure 14 shows the detection range of a sensor unit provided on the top of a robot according to an example.

[0168] Fig. 14a is a side view showing the detection range of a sensor included in the sensor unit (106) of the robot (100). Fig. 14b is a top view showing the detection range of a sensor included in the sensor unit (106) of the robot (100).

[0169] As illustrated, the sensor unit (106) may include a plurality of sensors (20) configured to detect at least the front lower side of the robot (100). Additionally, each of the sensors (20) may be configured to detect the surrounding environment from the top of the robot (100) (including the upper side thereof).

[0170] The detection range of each of the sensors (20) can correspond to each FOV (Field of view) of the sensors (20).

[0171] The number of sensors (20) arranged in the sensor unit (106) may vary depending on the detection range of each sensor (20).

[0172] Each sensor (20) has a minimum range (as shown in Figs. 14a and 14b) , ), ideal range( , ), or maximum range ( , ) can have a detection range. Here, the minimum range may be the detection range of the sensor (20) that enables the robot (100) to avoid a minimum number of obstacles while preventing collisions during driving. In the minimum range, the sensor (20) can detect a cliff on the floor. For example, this minimum range may be 90 degrees or less based on a top view, and 45 degrees or less based on a side view. The ideal range may be the detection range of the sensor (20) required to recognize an object in front of the robot (100) and perform various functions of the robot (100). For example, this ideal range may be 90 degrees or more and 180 degrees or less based on a top view, and 45 degrees or more and 90 degrees or less based on a side view. The maximum range may be the detection range of the sensor (20) that enables detection of the upper area of ​​the robot (100) and upper interaction with the sensor unit (106). For example, this maximum range may be 180 degrees or more and 270 degrees or less based on a top view, and 90 degrees or more and 270 degrees or less based on a side view.

[0173] The arrangement and number of sensors (20) can be determined to satisfy the above minimum range, ideal range, or maximum range.

[0174] The description of the technical features described above with reference to FIGS. 1 to 13 can also be applied to FIG. 14, so redundant descriptions are omitted.

[0175] The systems or devices described above may be implemented as hardware components, software components, or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0176] Software may include computer programs, codes, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0177] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0178] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0179] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. In a robot that can autonomously navigate through space, A sensor unit provided on the top of the robot, configured to obtain sensing information about the surrounding environment for autonomous driving of the robot; and A driving unit that drives the robot for autonomous driving of the robot based on the sensing information. Including, The above sensor unit is configured to be expandable or contractible based on the size of the payload loaded on the robot, A robot in which the detection range of the above sensor unit with respect to the surrounding environment changes as the above sensor unit expands or contracts.

2. In paragraph 1, The above payload is an object loaded in the storage space below the sensor section of the robot, A robot in which the sensor unit is controlled to expand in an outer direction of the robot so that the detection range is not obscured by the payload, by a robot control system that controls the robot or the robot, as the payload is recognized by the sensor unit.

3. In paragraph 2, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, A robot in which the sensor section is controlled to expand outwardly of the robot until the side of the payload is recognized, if the side of the payload is not recognized by the sensor.

4. In paragraph 2, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, A robot in which the sensor unit is controlled to expand outwardly of the robot until the height of the robot corresponding to the preset value is measured, if the height of the robot corresponding to the preset value is not measured by the sensor.

5. In paragraph 2, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, A robot in which the sensor unit is controlled to expand in the outward direction of the robot until the floor of the space is recognized above the preset level if the floor of the space is not recognized above the preset level by the sensor.

6. In paragraph 2, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, The above sensor part, As a first condition, the height of the robot corresponding to the preset value by the sensor is not measured, and further, As a second condition, the side of the payload is not recognized by the sensor, and also, As a third condition, if the floor surface of the space is not recognized by the sensor above a preset level, A robot controlled to expand outwardly of the robot until at least one of the first to third conditions is satisfied.

7. In paragraph 1, A robot wherein the sensor unit is configured to expand radially in the robot's direction and contract in the opposite direction based on recognition of the payload.

8. In paragraph 7, The above sensor unit includes a plurality of legs, At least one sensor configured to detect the front lower side of the robot at each end side of the legs, A robot, wherein each of the legs is configured to extend in the radial direction of the robot and contract in the opposite direction based on the recognition of the payload by the sensor.

9. In paragraph 1, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, A robot, wherein the sensor includes at least one of a distance sensor for measuring a distance to an object existing in the surrounding environment and an optical sensor for vision recognition of the object.

10. In paragraph 1, The robot is controlled to autonomously drive through the space based on the changed driving parameters as the sensor unit expands or contracts. The above driving parameters are changed by a robot control system that controls the robot or by steps performed by the robot, The above steps are, A step of identifying a change value indicating the degree to which the sensor unit has expanded or contracted; A step of calculating the changed collision radius and inertial information of the robot based on the above change value; and A step of changing the driving parameters based on the calculated collision radius and inertia information. A robot, including:

11. In paragraph 10, The above calculation steps are: A step of converting the above change value into a sensor displacement matrix associated with the robot; and A step of calculating the changed collision radius based on the sensor displacement matrix and the IMU (Inertial Measurement Unit) sensing information from the sensor unit, and calculating the inertial information by applying the sensor displacement matrix and the IMU sensing information to an inertial model associated with the robot. A robot, including:

12. In paragraph 1, The robot is configured to autonomously drive along a path within the space under control from the robot control system, By the above robot control system, As the sensor part expands or contracts, the changed collision radius of the robot is identified, Based on the changed collision radius, the path is updated, A robot that autonomously drives based on the updated above route.

13. In paragraph 12, The above path update is performed while the robot is driving autonomously, As the collision radius of the robot increases as the sensor unit expands, the path is updated to include the area in which the robot can drive. A robot in which, as the collision radius of the robot changes as the sensor unit shrinks, the path is updated to include an area in which the robot can reach the destination more quickly.

14. In paragraph 1, The sensor unit includes a plurality of sensors configured to detect the front lower side of the robot, The above detection range corresponds to the FOV (Field of view) of each of the above sensors.

15. A robot control method performed by a robot moving in space or a robot control system controlling the robot, The robot comprises a sensor unit provided on the top of the robot, configured to obtain sensing information about the surrounding environment for autonomous driving; and a driving unit that drives the robot for autonomous driving of the robot based on the sensing information. A step of expanding or contracting the sensor unit based on the size of the payload loaded on the robot, wherein the detection range of the sensor unit with respect to the surrounding environment changes as the sensor unit expands or contracts; and A step of controlling autonomous driving of the robot based on the sensing information obtained by the expanded or reduced sensor unit. A robot control method comprising:

16. In paragraph 15, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, The step of expanding or reducing the above sensor part is: If the side of the payload is not recognized by the sensor, a step of extending the sensor unit in an outward direction of the robot until the side of the payload is recognized; If the height of the robot corresponding to the preset value is not measured by the sensor, a step of extending the sensor unit in the outward direction of the robot until the height of the robot corresponding to the preset value is measured; or If the floor surface of the space is not recognized by the sensor above a preset level, a step of extending the sensor unit in the outward direction of the robot until the floor surface of the space is recognized above a preset level. A robot control method comprising:

17. In paragraph 16, The sensor unit includes at least one sensor configured to detect the front lower side of the robot, The step of expanding or reducing the above sensor part is: As a first condition, the height of the robot corresponding to the preset value by the sensor is not measured, and further, As a second condition, the side of the payload is not recognized by the sensor, and also, As a third condition, if the floor surface of the space is not recognized by the sensor above a preset level, A step of extending the sensor unit in the outward direction of the robot until at least one of the first to third conditions is satisfied. A robot control method comprising:

18. In paragraph 16, The step of controlling the autonomous driving is to control the autonomous driving of the robot based on the driving parameters changed as the sensor unit expands or contracts. The step of controlling the above autonomous driving is: A step of identifying a change value indicating the degree to which the sensor unit has expanded or contracted; A step of calculating the changed collision radius and inertial information of the robot based on the above change value; and A step of changing the driving parameters based on the calculated collision radius and inertia information. A robot control method comprising:

19. In paragraph 16, The step of controlling the autonomous driving comprises controlling the autonomous driving of the robot along a path within the space, The step of controlling the above autonomous driving is: A step of identifying a changed collision radius of the robot as the sensor part expands or contracts; a step of updating the path based on the changed collision radius; and A step of controlling autonomous driving of the robot based on the updated above path. A robot control method comprising:

20. A computer program stored in a non-transitory computer-readable recording medium for executing the method of Article 15 on a computer.

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