Autonomous driving guide robot and method for controlling moving speed thereof

Abstract

Provided are an autonomous driving guide robot and a method for controlling the moving speed thereof. Provided are: an autonomous driving guide robot capable of analyzing the age and gender of a user who wants to use an accompanying service of the robot and autonomously adjusting the moving speed of the robot in consideration of the moving speed of the user when accompanied by the robot; and a method for controlling the speed control thereof.

Description

Autonomous driving guide robot and method for controlling its movement speed

[0001] The present invention relates to an autonomous driving guide robot and a method for controlling the movement speed thereof.

[0002] Typically, in places such as exhibition halls, shopping malls, and airports, information desks are set up in specific locations to provide guidance services to users, either by staff stationed there or by installing kiosks.

[0003] However, because the number of guides is limited, there are many cases where users cannot find the staff and ask questions, and it takes a lot of time for users to find their desired destinations in large stores or large public facilities.

[0004] Recently, guide robots have been introduced to replace human operators who provide convenience or guidance to users. The adoption of autonomous robots is rapidly increasing across social facilities, including airports, large shopping centers, cultural facilities, and public facilities. Among the functions of these autonomous robots is a companion service that guides users to their desired locations.

[0005] However, autonomous robots accompany users and move to specific locations without consideration for the user. For example, the robot's speed is adjusted based on camera footage. However, this adjustment simply reflects the camera footage, rather than adapting to the user's movements. This makes it unsuitable for accompanying guidance services. Furthermore, for autonomous robot companion services such as civil complaint guidance, a function that automatically adjusts the distance between the robot and the user is required to ensure smooth accompaniment.

[0006] The present invention is intended to solve the above problem, and provides an autonomous driving guide robot and a method for controlling the movement speed thereof, which analyzes the age and gender of a user who wishes to use a robot companion service and autonomously adjusts the movement speed of the robot by considering the movement speed of the user when accompanying the robot.

[0007] The problems to be solved by the present invention are not limited to the problems mentioned above, and other problems not mentioned will be clearly understood by those skilled in the art from the description below.

[0008] According to one embodiment of the present invention for achieving the above object, a self-driving guide robot for accompanying and guiding a user includes: an autonomous driving unit for accompanying and autonomously driving a user according to a guidance command from the user; a voice acquisition unit for acquiring the user's voice; an image acquisition unit for photographing the user to acquire an image of the user; a user analysis unit for analyzing the user's voice and image to determine the user's gender and age; a robot control unit for setting a moving speed of the guide robot based on the user's gender and age and controlling the autonomous driving unit to accompany and guide the user according to the set moving speed; and a distance analysis unit for analyzing and determining a distance between the guide robot and the user while accompanying and moving the user, wherein the robot control unit can adjust the moving speed of the guide robot based on the distance to the user determined by the distance analysis unit.

[0009] In addition, the user analysis unit may include a voice recognition module that estimates the user's gender and age based on the frequency range of the user's voice, a face recognition module that detects a face in an image of the user and estimates the user's gender and age corresponding to the face based on a deep learning model, and a comparison module that compares the user's gender and age estimated by the voice recognition module and the face recognition module, respectively, to determine the user's gender and age.

[0010] Additionally, the robot may further include a storage unit for storing a lookup table in which reference speeds corresponding to gender and age are recorded.

[0011] In addition, the robot control unit can control the autonomous driving unit to accompany and guide the user according to the reference speed.

[0012] In addition, the start of guidance accompanied by the user may be selected by touch input, and a display unit may be further included to display route information, expected arrival time, etc. to the destination while driving according to the start of guidance.

[0013] Additionally, the robot control unit can display related guidance information on the display unit to induce input from the user when the user approaches.

[0014] In addition, the distance analysis unit can determine the distance between the guide robot and the user by analyzing the image acquired by the image acquisition unit while moving along with the user.

[0015] In addition, the distance analysis unit processes a first image captured at an arbitrary point in time and a second image captured at a preset time cycle of the user, and detects a displacement between a pixel of the first image and a pixel of the second image among any pixels having similar characteristics in the first and second images, where a displacement has occurred, thereby determining the distance between the guide robot and the user.

[0016] In addition, the image acquisition unit may include a front camera module for recognizing the user's face and photographing the front while moving, and a rear camera module for accompanying the user and photographing the user while moving.

[0017] A method for controlling the movement speed of an autonomous driving guide robot according to an embodiment of the present invention for achieving the above task may include the steps of: acquiring voice and video of a user for moving together with the autonomous driving guide robot; analyzing the voice and video of the user to determine the gender and age of the user; setting the movement speed of the guide robot based on the gender and age of the user so that the guide robot moves autonomously; analyzing and determining the distance between the guide robot and the user while the guide robot moves together with the user; and adjusting the movement speed of the guide robot based on the distance between the guide robot and the user.

[0018] Other specific details of the present invention are included in the detailed description and drawings.

[0019] According to the present invention, the age and gender of the user can be identified based on voice recognition and facial recognition, and the speed of the robot can be autonomously controlled in a companion service for guiding the user.

[0020] In addition, when a user and a robot are together, the distance between the user and the robot can be calculated, and the robot's movement speed can be automatically adjusted to increase user convenience.

[0021] Accordingly, in the case of autonomous driving guide robot companion services, autonomous driving guide robots can adaptively meet users' needs, thereby increasing user satisfaction, and it is expected that they can also be utilized in autonomous driving robots in other fields.

[0022] FIG. 1 is a schematic diagram illustrating the configuration of an entire system for performing a companion guidance service using an autonomous driving guidance robot according to one embodiment of the present invention.

[0023] FIG. 2 is a drawing showing the front and side of an autonomous driving guidance robot according to one embodiment of the present invention.

[0024] FIG. 3 is a drawing showing the rear and side of an autonomous driving guidance robot according to one embodiment of the present invention.

[0025] FIG. 4 is a drawing illustrating the configuration of an autonomous driving guidance robot according to one embodiment of the present invention.

[0026] FIG. 5 is a drawing showing a detailed configuration of a user analysis unit of an autonomous driving guidance robot according to one embodiment of the present invention.

[0027] FIG. 6 is a diagram illustrating a facial recognition process of an autonomous driving guide robot according to one embodiment of the present invention.

[0028] FIG. 7 is a diagram illustrating a sequence of a method for controlling the movement speed of an autonomous driving guide robot according to one embodiment of the present invention.

[0029] According to one embodiment of the present invention, a self-driving guide robot for accompanying and guiding a user includes: an autonomous driving unit for accompanying and autonomously driving a user according to a guidance command from the user; a voice acquisition unit for acquiring the user's voice; an image acquisition unit for photographing the user to acquire an image of the user; a user analysis unit for analyzing the user's voice and image to determine the user's gender and age; a robot control unit for setting a moving speed of the guide robot based on the user's gender and age and controlling the autonomous driving unit to accompany and guide the user according to the set moving speed; and a distance analysis unit for analyzing and determining a distance between the guide robot and the user while accompanying and moving the user, wherein the robot control unit can adjust the moving speed of the guide robot based on the distance to the user determined by the distance analysis unit.

[0030] The purposes and effects of the present invention, as well as the technical configurations for achieving them, will become clearer with reference to the embodiments described in detail below, along with the accompanying drawings. In describing the present invention, detailed descriptions of known functions or configurations will be omitted if they are deemed to unnecessarily obscure the gist of the invention.

[0031] And the terms described below are terms defined in consideration of the functions in the present invention, and these may vary depending on the intention or custom of the user or operator.

[0032] However, the present invention is not limited to the embodiments disclosed below and can be implemented in various different forms. These embodiments are provided solely to ensure complete disclosure of the present invention and to fully inform those skilled in the art of the invention of the scope of the invention. The present invention is defined solely by the scope of the claims. Therefore, such definitions should be based on the contents of this specification.

[0033] Although the terms first, second, etc. are used to describe various elements, components, and / or sections, these elements, components, and / or sections are not limited by these terms. These terms are only used to distinguish one element, component, or section from other elements, components, or sections. Accordingly, it should be understood that a first element, a first component, or a first section referred to below may also be a second element, a second component, or a second section within the technical spirit of the present invention.

[0034] The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the present invention. In this specification, the singular also includes the plural unless the context clearly dictates otherwise. As used herein, the terms "comprises" and / or "made of" do not exclude the presence or addition of one or more other components, steps, operations, and / or elements.

[0035] In this specification, terms such as "unit," "module," "device," or "system" may refer to a combination of hardware and software driven by the hardware. For example, the hardware may be a data processing-capable computing device including a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), or another processor. Furthermore, the software may refer to a running process, object, executable, thread of execution, program, etc.

[0036] Hereinafter, the present invention will be described in more detail based on the embodiments illustrated in the drawings.

[0037] FIG. 1 is a schematic diagram illustrating the configuration of an entire system for performing a companion guidance service using an autonomous driving guidance robot according to one embodiment of the present invention.

[0038] Referring to Fig. 1, the entire system can be configured including an autonomous driving guide robot (100) for accompanying and guiding a user, a control server (10), etc.

[0039] The control server (10) manages and controls the autonomous driving guide robot (100), and the control server (10) and the autonomous driving guide robot (100) can be connected through a network (50).

[0040] Here, the network may include a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), the Internet, 2G, 3G, 4G, 5G mobile networks, Wi-Fi, Wibro, Bluetooth, etc.

[0041] Here, the control server (10) may be a number of computer systems or computer software implemented as network servers. Here, the network server may be a network server program that is connected to a sub-device capable of communicating with other network servers via a network, such as an intranet or the Internet, receives requests, performs tasks on them, and provides results. In addition to this network server program, the network server may also include a series of application programs running on the network server and various databases built internally.

[0042] The control server (10) monitors the overall status of the autonomous driving guide robot (100), including the driving status, power status, operating status, location, and damage of the autonomous driving guide robot (100), and receives and analyzes various data and information from the autonomous driving guide robot (100), thereby identifying and managing the running status of the autonomous driving guide robot (100).

[0043] For example, the control server (10) checks the current location and movement of the autonomous driving guide robot (100) in real time to determine whether it is operating normally, and in case of an abnormality, notifies the manager of the autonomous driving guide robot (100) of this, so that the abnormal operation of the autonomous driving guide robot (100) can be dealt with.

[0044] Normally, the autonomous driving guide robot (100) is managed and controlled by the control server (10), but when a user requests guidance from the autonomous driving guide robot (100), the autonomous driving guide robot (100) can autonomously provide guidance services to the user regardless of the connection status of the control server (10), except in an emergency.

[0045] The autonomous driving guide robot (100) is intended to accompany and guide the user. When a guidance command is received from the user through voice or touch of the display, the autonomous driving guide robot (100) drives autonomously and accompanies and guides the user to the destination.

[0046] For example, the autonomous driving guide robot (100) accompanies the user and drives autonomously according to the user's guidance commands, acquires the user's voice and / or image, analyzes the same to determine the user's gender and age, sets the moving speed of the autonomous driving guide robot (100) based on the user's gender and age, and accompanies and guides the user according to the set moving speed.

[0047] In addition, the autonomous driving guide robot (100) can analyze the distance between the autonomous driving guide robot (100) and the user while moving along with the user, and adjust the moving speed of the autonomous driving guide robot (100) based on the distance between the autonomous driving guide robot (100) and the user.

[0048] Below, the specific configuration and functions of the autonomous driving guidance robot (100) will be examined in more detail.

[0049] FIG. 2 is a front and side view of an autonomous driving guide robot according to an embodiment of the present invention. FIG. 3 is a rear and side view of an autonomous driving guide robot according to an embodiment of the present invention. FIG. 4 is a diagram illustrating the configuration of an autonomous driving guide robot according to an embodiment of the present invention. FIG. 5 is a diagram illustrating a detailed configuration of a user analysis unit of an autonomous driving guide robot according to an embodiment of the present invention. FIG. 6 is a diagram illustrating a facial recognition process of an autonomous driving guide robot according to an embodiment of the present invention.

[0050] Referring to FIGS. 2 to 4, an autonomous driving guide robot (100) according to one embodiment of the present invention includes an autonomous driving unit (110), a voice acquisition unit (120), an image acquisition unit (130), a user analysis unit (140), a robot control unit (150), a distance analysis unit (160), a robot storage unit (170), a display unit (180), a robot communication unit (190), a voice output unit (200), a robot sensor unit (210), an additional device unit (120), etc.

[0051] As shown in FIGS. 2 and 3, the autonomous driving guidance robot (100) has a body for performing autonomous driving, and although the specific shape is not limited, it may be equipped with a large-screen display on the front in a shape similar to a human body.

[0052] The autonomous driving unit (110) accompanies the user and moves the autonomous driving guide robot (100) according to the user's guidance commands. The autonomous driving unit (110) includes various elements necessary for autonomous driving, such as a driving motor, wheels, a drive shaft, brakes, and gears. By operating according to control signals for autonomous driving, the autonomous driving unit can drive along a driving route to the user's destination and avoid obstacles by utilizing information obtained from various cameras and sensors.

[0053] The autonomous driving unit (110) moves the guide robot (100) according to the control command of the robot control unit (150) or the control command received from the control server (10), and when the movement path to the destination is set according to the control command, the autonomous driving guide robot (100) moves from the current location to the destination according to the operation of the autonomous driving unit (110).

[0054] The voice acquisition unit (120) acquires the user's voice. To acquire the user's voice, it may be installed on the front of the autonomous driving guidance robot (100). In addition, the voice acquisition unit (120) may include a voice recognition microphone (122) for recognizing the user's voice and a security microphone (124) for recognizing emergency situations.

[0055] The image acquisition unit (130) captures a user's image by photographing the user. The image acquisition unit (130) may be equipped with cameras on both the front and rear sides to accurately recognize the accompanying user. For example, the image acquisition unit (130) may include a front camera module (122) installed on the front side to recognize the user's face for facial recognition and to photograph the front while the user is moving, and a rear camera module (126) to accompany the user and photograph the user while the user is moving.

[0056] In addition, the image acquisition unit (130) may further include an object recognition camera module (124) to capture the front while the autonomous driving guidance robot (100) is moving and to recognize moving objects in the surroundings.

[0057] By analyzing the images obtained from the front camera module (122) and the object recognition camera module (124), objects around the autonomous driving guidance robot (100) can be recognized.

[0058] In addition, the autonomous driving guide robot (100) can operate by combining various sensors such as a Lidar sensor (212), an ultrasonic sensor (214), etc., with multiple camera modules to more accurately recognize surrounding objects.

[0059] In particular, a sensor platform is configured to classify objects through image vision recognition technology, precisely identify the movement information and location of a moving object using a lidar sensor (212), and accurately measure and identify the classification and movement information of an object through integrated analysis of information.

[0060] The user analysis unit (140) analyzes the user's voice and video to determine the user's gender and age. The user's voice can be analyzed to determine the user's gender and age, and the video can be analyzed to determine the user's gender and age.

[0061] Referring to FIG. 5, the user analysis unit (140) may include a voice recognition module (142), a facial recognition module (144), and a comparison module (146).

[0062] The voice recognition module (142) can estimate the gender and age of the user based on the frequency range of the user's voice. For example, the gender, age, etc. of the user who spoke can be identified by analyzing the frequency band.

[0063] By applying a frequency band analysis process to voice data obtained from users, features can be extracted. These features include gender, age, and pronunciation tone. By additionally considering the user's voice tone, gender and age can be more accurately distinguished.

[0064] The facial recognition module (144) can detect a face in a user's video and estimate the user's gender and age corresponding to the face based on a deep learning model. Various known artificial intelligence (AI) algorithms can be applied, but deep learning is preferred.

[0065] For example, a CNN model consisting of an LB (Low-level Block) layer, an HB (High-level Block) layer, an FA (Feature Attention) layer, and an FC (Fully Connected) layer can be applied.

[0066] Here, the LB (Low-level Block) layer extracts general features from the input image data. For example, it can extract the face region from a user's image.

[0067] The HB (High-level Block) layer extracts specific features from the features extracted from the LB (Low-level Block) layer. For example, it can extract areas such as the eyes, eyebrows, nose, mouth, and chin from the face region.

[0068] The FA (Feature Attention) layer assigns higher weights to important features, allowing for more accurate feature extraction. For example, weights can be given to features such as eye shape, eyebrow shape, nose shape, and lip shape.

[0069] Attention is learning to focus on important information by considering context. For facial recognition in video, it's important to identify facial contours, eyes, eyebrows, nose, and mouth. Therefore, training can be performed to focus on areas like the eyes, eyebrows, nose, mouth, and chin.

[0070] The FC (Fully Connected) layer can predict classes from extracted features. It can predict eyes, eyebrows, nose, mouth, and other features from multiple extracted features, improving facial recognition accuracy.

[0071] The comparison module (146) can determine the gender and age of the user by comparing the gender and age of the user estimated by the voice recognition module (142) and the facial recognition module (144), respectively.

[0072] The voice recognition module (142) can analyze the user's voice to determine the user's gender and age, and the facial recognition module (144) can analyze the user's image to determine the user's gender and age. By comparing the user's gender and age estimated through analysis by the two recognition modules (142, 144), the user's gender and age can be accurately determined.

[0073] The robot control unit (150) controls the autonomous driving guide robot (100). The robot control unit (150) can set the movement speed of the guide robot (100) based on the user's gender and age, and control the autonomous driving unit (110) to accompany and guide the user according to the set movement speed. In addition, the robot control unit (150) can adjust the movement speed of the guide robot (100) based on the distance from the user determined by the distance analysis unit (160).

[0074] The robot control unit (150) can control not only the autonomous driving unit (110), but also the voice acquisition unit (120), the image acquisition unit (130), the user analysis unit (140), the distance analysis unit (160), the robot storage unit (170), the display unit (180), the robot communication unit (190), the voice output unit (200), the robot sensor unit (210), the additional device unit (120), etc.

[0075] The robot control unit (150) can control the autonomous driving unit (110) to accompany and guide the user according to a reference speed. Here, the reference speed is a speed set in accordance with the user's gender and age. This reference speed is pre-stored in the autonomous driving guidance robot (100), and the robot control unit (150) can accompany and move the user by referring to the reference speed.

[0076] Additionally, when a user approaches, the robot control unit (150) may display relevant guidance information on the display unit (180) to prompt the user to enter an input. For example, information regarding whether or not companionship is required, information regarding the destination, etc. may be displayed on the display unit (180).

[0077] The distance analysis unit (160) can analyze and determine the distance between the guide robot (100) and the user while moving along with the user.

[0078] Specifically, the distance analysis unit (160) can determine the distance between the autonomous driving guide robot (100) and the user by analyzing the images acquired by the image acquisition unit (130) while the robot is moving along with the user. To this end, the distance analysis unit (160) analyzes the images acquired from the rear camera module (136) that accompanies the user and captures the user while the robot is moving.

[0079] For example, the distance analysis unit (160) processes a first image captured at an arbitrary point in time and a second image captured at a preset time cycle, and detects a displacement between a pixel of the first image and a pixel of the second image among any pixels having similar characteristics in the first and second images, where displacement has occurred, to determine the distance between the guide robot (100) and the user.

[0080] In addition, the distance analysis unit (160) can calculate the user's moving speed based on the user's moving distance according to the frame interval in the input image received from the rear camera module (136) in real time. The moving speed is calculated by extracting the moving distance and moving time from image information continuously photographing the user, and by analyzing the user's gender or age from the moving speed, the moving speed of the guide robot (100) can be adaptively adjusted.

[0081] The robot storage unit (170) can store various types of information and data, and can store programs for analyzing audio and / or video. For example, the robot storage unit (170) can store frequency band analysis processes, CNN models, etc.

[0082] Additionally, the robot storage unit (170) stores a lookup table in which the standard speed corresponding to gender and age is recorded.

[0083] For example, the standard speed corresponding to gender and age as shown in Table 1 below can be recorded and stored in the robot storage unit (170). Here, since it is common for children under 6 years of age to move with a guardian such as a parent, they can be excluded from the standard speed.

[0084] Speed ​​by age (m / s) Male Female 6 years and under 7~9 years 1.000 95 10~12 years 1.05 1.00 13~19 years 1.10 1.05 20~39 years 1.15 1.10 40~49 years 1.10 1.05 50~59 years 1.05 1.00 60~69 years 1.000 95 70~79 years 0.95 0.90 80 years and older 0.90 0.85

[0085] The display unit (180) can select the start of guidance accompanying the user by touch input, and display route information, expected arrival time, etc. to the destination while driving according to the start of guidance. For example, a route set by the user or a set route to the target location can be displayed based on the user's current location.

[0086] This display unit (180) may include a touch screen module (182) located on the front of the guide robot (100), an LCD module (184) located on the head of the guide robot (100), etc.

[0087] The touch screen module (182) can be touched by the user to input commands, etc., and can display information to provide it to the user. In addition, the LCD module (184) can be installed in the guide robot (100) so as to look similar to the human eye.

[0088] The robot communication unit (190) provides a communication interface for communicating with the control server (10) via a network (50), and can communicate with the user's terminal (not shown) when connected to the user's terminal. The robot communication unit (190) may include a known communication module (not shown), such as a mobile communication module, a wireless Internet module, or a short-range communication module.

[0089] The voice output unit (200) can provide information to the user in voice form. The voice output unit (200) can include a speaker module (202) for outputting voice.

[0090] The robot sensor unit (210) may include various sensors for recognizing the situation surrounding the guide robot (100). The robot sensor unit (210) may include a lidar sensor (212), an ultrasonic sensor (214), etc.

[0091] By using a lidar sensor (212), an ultrasonic sensor (214), etc., the front, up, down, left, and right directions can be recognized, and collision with objects can be prevented during movement of the guide robot (100). For example, by recognizing a predetermined range through a lidar sensor (212) and an ultrasonic sensor (214), the guide robot (100) can be moved without colliding with fixed and / or moving objects.

[0092] The additional device unit (220) can perform additional functions to enable smooth and convenient operation of the guide robot (100). For example, the additional device unit (220) can include a switch module (222) for turning the guide robot (100) on and off, a light module (224) for generating light, a wireless charging module (226) for wireless charging, etc.

[0093] FIG. 7 is a diagram illustrating a sequence of a method for controlling the movement speed of an autonomous driving guide robot according to one embodiment of the present invention.

[0094] Referring to FIG. 7, a method for controlling the movement speed of an autonomous driving guide robot according to an embodiment of the present invention acquires the voice and image of a user for moving along with the autonomous driving guide robot (S110), analyzes the voice and image of the user to determine the gender and age of the user (S120), sets the movement speed of the guide robot based on the gender and age of the user so that the guide robot drives autonomously (S130), analyzes and determines the distance between the guide robot and the user while the guide robot moves along with the user (S140), and adjusts the movement speed of the guide robot based on the distance between the guide robot and the user (S150).

[0095] Although steps S110 to S150 are described as being executed sequentially in FIG. 7, this is merely an illustrative description of the technical idea of ​​one embodiment of the present invention. That is, a person having ordinary skill in the art to which one embodiment of the present invention pertains may change and execute the order described in FIG. 7 without departing from the essential characteristics of one embodiment of the present invention, or may apply various modifications and variations such as executing one or more of the steps S110 to S150 in parallel, and is not limited to the chronological order in FIG. 7.

[0096] Meanwhile, a method for controlling the movement speed of an autonomous driving guide robot according to an embodiment of the present invention can be implemented as a single module by at least one of software, firmware, and hardware, and the above-described embodiments of the present invention can be written as a program that can be executed on a computer, and can be implemented in a general-purpose computer that runs the program using a computer-readable recording medium. The computer-readable recording medium is implemented as a magnetic medium such as a ROM, a floppy disk, a hard disk, or an optical medium such as a CD or DVD. In addition, the computer-readable recording medium can be distributed in a computer system connected to a network, so that the computer-readable code can be stored and executed in a distributed manner.

[0097] While the present invention has been described with reference to the illustrated embodiments as described above, these are merely exemplary, and it will be apparent to those skilled in the art that various modifications, changes, and equivalent other embodiments are possible without departing from the spirit and scope of the present invention. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

[0098] It can be used in the field of autonomous robots that provide guidance services such as civil complaint guidance services, docent services, and concierge services.

Claims

1. In an autonomous guide robot that accompanies and guides users, An autonomous driving unit that accompanies the user and drives autonomously according to the user's guidance commands; A voice acquisition unit for acquiring the user's voice; An image acquisition unit that photographs the user to obtain an image of the user; A user analysis unit that analyzes the user's voice and video to determine the user's gender and age; A robot control unit that sets the moving speed of the guide robot based on the gender and age of the user and controls the autonomous driving unit to guide the user by accompanying him / her according to the set moving speed; and It includes a distance analysis unit that analyzes and determines the distance between the guide robot and the user while moving along with the user. An autonomous driving guide robot, wherein the robot control unit adjusts the moving speed of the guide robot based on the distance from the user determined by the distance analysis unit.

2. In paragraph 1, The above user analysis section, A voice recognition module that estimates the gender and age of the user based on the frequency range of the user's voice, A facial recognition module that detects a face in the image of the user and estimates the gender and age of the user corresponding to the face based on a deep learning model; An autonomous driving guide robot, comprising a comparison module that determines the gender and age of the user by comparing the gender and age of the user estimated by the voice recognition module and the facial recognition module, respectively.

3. In paragraph 1, An autonomous driving guide robot further comprising a robot storage unit storing a lookup table in which a reference speed corresponding to gender and age is recorded.

4. In paragraph 3, The above robot control unit, An autonomous driving guide robot that controls the autonomous driving unit to accompany and guide the user according to the above-mentioned standard speed.

5. In paragraph 1, An autonomous driving guidance robot, comprising: a display unit for selecting the start of guidance with the user by touch input, and displaying route information, expected time of arrival, etc. to the destination while driving according to the start of guidance.

6. In paragraph 5, The above robot control unit, An autonomous driving guide robot that displays relevant guidance information on the display unit to induce input from the user when the user approaches.

7. In paragraph 1, The above distance analysis section, An autonomous driving guide robot that analyzes images acquired from the image acquisition unit while moving along with the user to determine the distance between the guide robot and the user.

8. In paragraph 7, The above distance analysis section, An autonomous driving guide robot that processes a first image of the user captured at an arbitrary point in time and a second image captured at a preset time cycle, detects displacement between pixels of the first image and pixels of the second image among any pixels having similar characteristics in the first and second images, and determines the distance between the guide robot and the user.

9. In paragraph 1, The above image acquisition unit, A front camera module for recognizing the user's face and taking pictures of the front while moving, An autonomous driving guide robot including a rear camera module for accompanying the user and photographing the user while moving.

10. Step of acquiring the user's voice and video for moving together with an autonomous driving guide robot; A step of analyzing the user's voice and image to determine the user's gender and age; A step of setting the moving speed of the guide robot based on the gender and age of the user so that the guide robot can drive autonomously; A step of analyzing and determining the distance between the guide robot and the user while the guide robot moves along with the user; and A method for controlling the movement speed of an autonomous driving guide robot, comprising a step of adjusting the movement speed of the guide robot based on the distance between the guide robot and the user.

Images