Electronic device for acquiring position information of robot and method for controlling same

Abstract

An electronic device is disclosed. The electronic device identifies a first robot among a plurality of robots as a target robot of which location information requires updating, on the basis of one or more signals received from one or more of the plurality of robots; if an update to the location information of at least one first robot among the plurality of robots is required on the basis of the signals received from each of the plurality of robots, identifies the at least one first robot as the target robot; transmits a control signal for sensing the target robot to at least one second robot among the plurality of remaining robots; if sensing data is received from at least one second robot, updates the location information of the target robot within a space where the plurality of robots are located, on the basis of the sensing data; and controls a communication interface to transmit the updated location information to the target robot.

Description

Electronic device for acquiring location information of a robot and its control method

[0001] The present invention relates to an electronic device and a control method thereof, and more particularly, to an electronic device for obtaining position information of each of a plurality of robots and a control method thereof.

[0002] Recently, the proliferation of robots to support humans in various fields is accelerating. For example, unmanned factories (or smart factories) that operate solely with robots, with minimal or no human intervention, are also rapidly increasing.

[0003] When a robot is autonomously navigating within a factory, it needs to sense its surroundings with high accuracy to enable the robot to move more easily.

[0004] In addition, the location of a robot moving within a space must be identified (or tracked) with high accuracy to prevent potential hazards that may occur while the robot is moving or performing an action.

[0005] However, using conventional methods to identify a robot's initial location can be difficult. Furthermore, if the robot operates for extended periods, accurately tracking its location can be difficult.

[0006] Therefore, there is a need for a method to accurately identify the initial location of a robot deployed in a new space. Furthermore, there is a need for a method to track the location of a robot that has moved for a long period of time with high accuracy.

[0007] An electronic device according to an embodiment of the present disclosure includes a communication interface, a memory storing one or more commands, and one or more processors operatively connected to the communication interface and the memory, wherein the one or more processors, by executing the one or more commands, identify a first robot among a plurality of robots as a target robot requiring location information update based on one or more signals received from one or more of the plurality of robots, transmit a control signal for sensing the target robot to at least one second robot among the plurality of robots, and, when sensing data is received from the at least one second robot, update location information of the target robot within a space where the plurality of robots are located, and control the communication interface to transmit the updated location information to the target robot.

[0008] A method for controlling an electronic device according to an embodiment of the present disclosure may include an operation of identifying a first robot among a plurality of robots as a target robot requiring location information update based on one or more signals received from one or more of a plurality of robots, an operation of transmitting a control signal for sensing the target robot to at least one second robot among the plurality of robots, an operation of updating location information of the target robot within a space where the plurality of robots are located when sensing data is received from the at least one second robot, and an operation of transmitting the updated location information to the target robot.

[0009] These features, aspects and advantages of the present disclosure will be better understood when the following detailed description is read in conjunction with the accompanying drawings, wherein like letters represent like elements throughout the drawings.

[0010] FIG. 1 is a drawing for explaining an electronic device communicating with a plurality of robots according to an embodiment of the present disclosure.

[0011] FIG. 2 is a block diagram illustrating an electronic device according to an embodiment of the present disclosure.

[0012] FIG. 3 is a drawing for explaining a target robot and at least one robot sensing the target robot according to an embodiment of the present disclosure.

[0013] FIG. 4 is a drawing for explaining an electronic device for updating position information of at least one robot according to an embodiment of the present disclosure.

[0014] FIG. 5 is a diagram illustrating a method for identifying at least one robot for which location information is required to be updated based on map information according to an embodiment of the present disclosure.

[0015] FIG. 6 is a diagram illustrating a method for identifying at least one robot for which location information is required to be updated based on a signal received at a preset time interval according to an embodiment of the present disclosure.

[0016] FIGS. 7A and 7B are diagrams for explaining a method for updating position information of at least one robot among a plurality of robots according to an embodiment of the present disclosure.

[0017] FIGS. 8A and 8B are diagrams illustrating an electronic device for controlling movement of a target robot in a situation where the target robot cannot be sensed according to an embodiment of the present disclosure.

[0018] FIG. 9 is a diagram illustrating a method for sharing identification information between robot devices connected to the same network according to an embodiment of the present disclosure.

[0019] FIG. 10 is a block diagram illustrating a robot according to an embodiment of the present disclosure.

[0020] FIG. 11 is a flowchart for explaining a method for controlling an electronic device according to an embodiment of the present disclosure.

[0021] Hereinafter, the present disclosure will be described in detail with reference to the attached drawings.

[0022] The terms used in the embodiments of this disclosure have been selected from widely used, current terms, taking into account the functions of this disclosure. However, these terms may vary depending on the intentions of those skilled in the art, precedents, the emergence of new technologies, etc. Furthermore, in certain cases, terms may be arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the description of the relevant disclosure. Therefore, the terms used in this disclosure should not be defined simply as names of terms, but rather based on the meanings of the terms and the overall content of this disclosure.

[0023] In this specification, expressions such as “has,” “can have,” “includes,” or “may include” indicate the presence of a feature (e.g., a number, function, operation, or component such as a part), and do not exclude the presence of additional features.

[0024] The expression "at least one of A and / or B" should be understood to mean either "A" or "B" or "A and B".

[0025] As used herein, the expressions “first,” “second,” “first,” or “second,” etc., may describe various components, regardless of order and / or importance, and are only used to distinguish one component from another, but do not limit the components.

[0026] When it is said that a component (e.g., a first component) is “(operatively or communicatively) coupled with / to” or “connected to” another component (e.g., a second component), it should be understood that the component may be directly coupled to the other component, or may be connected through another component (e.g., a third component).

[0027] Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "consist of" are intended to indicate the presence of a feature, number, step, operation, component, part, or combination thereof described in the specification, but should be understood not to preclude the presence or addition of one or more other features, numbers, steps, operations, components, parts, or combinations thereof.

[0028] In the present disclosure, a block, a "module," a "unit," or a "part," performs at least one function or operation, and may be implemented in hardware or software, or a combination of hardware and software. Furthermore, a plurality of "modules" or a plurality of "parts" may be integrated into at least one module and implemented as at least one processor, excluding any "modules" or "parts" that need to be implemented as specific hardware.

[0029] In this specification, the term user may refer to a person using an electronic device or a device using an electronic device (e.g., an artificial intelligence electronic device).

[0030] An embodiment of the present disclosure will be described in more detail with reference to the attached drawings below.

[0031] FIG. 1 is a drawing for explaining an electronic device communicating with a plurality of robots according to an embodiment of the present disclosure.

[0032] An electronic device (100) according to an embodiment of the present disclosure can communicate with a plurality of robots (200) and exchange various data with the plurality of robots (200). For example, the electronic device (100) can transmit one or more data to the plurality of robots (200) and receive one or more data from the plurality of robots (200). The one or more data may include various types of data. The plurality of robots (200) may include a first robot (200-1), a second robot (200-2), a third robot (200-3), a fourth robot (200-4), and a fifth robot (200-5). However, the present disclosure is not limited thereto, and the number of robots may be different from five according to other embodiments.

[0033] According to an embodiment, the electronic device (100) can control one or more of a plurality of robots (200). According to an embodiment, the electronic device (100) can control each of the plurality of robots (200). For example, the electronic device (100) can monitor the location of each of the plurality of robots (200). According to an embodiment, the electronic device (100) can control collaboration among the plurality of robots (200) to perform a task, and can schedule the operations of each of the plurality of robots (200).

[0034] According to an embodiment, one or more of the plurality of robots (200) may move under the control of the electronic device (100). However, the present disclosure is not limited thereto, and one or more of the plurality of robots (200) may also move autonomously. According to an embodiment, each of the plurality of robots (200) may move within a space under the control of the electronic device (100) or autonomously.

[0035] For example, when a first robot (200-1) among a plurality of robots (200) performs a movement requiring movement, the first robot (200-1) can move within a space by controlling a driving mechanism including a wheel, a brake, a motor, etc. According to an embodiment, the electronic device (100) can monitor in real time the change in position according to the movement of the first robot (200-1). However, the present disclosure is not limited thereto, and according to another embodiment, the electronic device (100) can monitor the change in position according to the movement of the first robot (200-1) within a reference time interval. The reference time interval may be a preset time interval.

[0036] According to an embodiment, the electronic device (100) may receive signals from one or more robots among a plurality of robots (200) and obtain location information of one or more robots based on the received signals. For example, the electronic device (100) may receive signals from each of the plurality of robots (200) and obtain location information of each of the plurality of robots (200) based on the received signals.

[0037] For example, each of the plurality of robots (200) can perform SLAM (simultaneous localization and mapping) operations. For example, each of the plurality of robots (200) can identify its own location through the SLAM operation and transmit a signal including the identified location to the electronic device (100). The electronic device (100) according to the embodiment can obtain location information corresponding to each of the plurality of robots (200) in space by collaborating with the locations included in the signals received from each of the plurality of robots (200).

[0038] According to an embodiment, one or more of the plurality of robots (200) may sense the surrounding environment and transmit a signal including information related to the surrounding environment. For example, one or more of the plurality of robots (200) may sense or acquire one or more characteristics of the surrounding environment and transmit a signal including information related to the surrounding environment. According to an embodiment, each of the plurality of robots (200) may transmit a signal including sensed data acquired by sensing the surrounding environment. For example, the electronic device (100) may analyze sensed data included in a signal received from one or more of the plurality of robots (200) and obtain location information corresponding to one or more of the plurality of robots (200). For example, the electronic device (100) may analyze sensed data included in a signal received from each of the plurality of robots (200) and obtain location information corresponding to each of the plurality of robots (200) within the space.

[0039] For example, among the plurality of robots (200), the first robot (200-1) can transmit sensing data to the electronic device (100). The sensing data may include, but is not limited to, a distance from another robot, a arrangement relationship between the first robot (200-1) and the other robots, a distance from an object, a size and position of an object, and the like. For example, the other robot may be a second robot (200-2) adjacent to the first robot (200-1) or a robot that can be detected through a sensor mounted on the first robot (200-1). The arrangement relationship between the first robot (200-1) and the other robots may be a placement direction (or orientation) of the second robot (200-2) with respect to the first robot (200-1). The object may be an obstacle adjacent to or near the first robot (200-1). The size and position of the object may be the size or position of the obstacle.

[0040] According to an embodiment, the electronic device (100) can obtain location information corresponding to each of the plurality of robots (200) by considering the distance between the plurality of robots (200) and the arrangement relationship between the plurality of robots (200) using sensing data received from each of the plurality of robots (200).

[0041] Meanwhile, in order to prevent or reduce safety issues that may occur during the movement of each of the plurality of robots (200) and to appropriately control the movement path (or movement route) of each of the plurality of robots (200), it is necessary to accurately identify the location of each of the plurality of robots (200). However, there is a problem that it is difficult to accurately identify the location of each of the plurality of robots (200) for various reasons. The various reasons include, but are not limited to, a problem that it is difficult to accurately identify the location of each of the plurality of robots (200) for reasons such as an excessively large area of ​​the space where the plurality of robots (200) are located, an absence of a reference object (e.g., a landmark) used as a standard for determining the location within the space, the performance of a sensor (e.g., a Lidar sensor) equipped on each of the plurality of robots (200), or a featureless space.

[0042] For example, there was a problem in which the difference between the actual position of a first robot (200-1) among multiple robots (200) and the position according to a signal (e.g., position information) received from the first robot (200-1) gradually increased over time.

[0043] According to various embodiments of the present disclosure, the electronic device (100) can identify a first robot (200-1) requiring location information updates. For example, the electronic device (100) can identify a first robot (200-1) requiring location information with high accuracy (or high reliability).

[0044] For example, the electronic device (100) can obtain location information of the first robot (200-1) not only by using sensing data received from the first robot (200-1) but also by using data from other robots surrounding the first robot (200-1). For example, the electronic device (100) can control at least one of the remaining robots (e.g., the second to fifth robots (200-2 to 200-5)) to detect the first robot (200-1), and can obtain (or update) location information corresponding to the first robot (200-1) by using data detected by the robots and transmit the same to the first robot (200-1).

[0045] According to an embodiment, the electronic device (100) obtains location information corresponding to the first robot (200-1) based on sensing data received from the first robot (200-1) and sensing data received from at least one second robot (200-2) among the remaining robots that sensed the first robot (200-1), so that location information of the first robot (200-1) can be obtained with high accuracy.

[0046] FIG. 2 is a block diagram illustrating an electronic device according to an embodiment of the present disclosure.

[0047] Referring to FIG. 2, the electronic device (100) includes a communication interface (110), a memory (120), and one or more processors (130).

[0048] It goes without saying that, depending on the embodiment, the communication interface (110) may be implemented as various interfaces depending on the implementation example of the electronic device (100). For example, the communication interface (110) may communicate with a plurality of robots (200) through a communication method such as Bluetooth, AP-based Wi-Fi (Wireless LAN network), Zigbee, wired / wireless LAN (Local Area Network), WAN (Wide Area Network), Ethernet, IEEE 1394, HDMI (High-Definition Multimedia Interface), USB (Universal Serial Bus), MHL (Mobile High-Definition Link), AES / EBU (Audio Engineering Society / European Broadcasting Union), optical, coaxial, etc. According to an example, the communication interface (110) may communicate with other electronic devices, external servers, and / or remote control devices.

[0049] According to an embodiment, the memory (120) may store data required for various embodiments of the present disclosure. Depending on the purpose of data storage, the memory (120) may be implemented as a memory embedded in the electronic device (100) or may be implemented as a memory detachable from the electronic device (100).

[0050] For example, data for driving an electronic device (100) may be stored in a memory embedded in the electronic device (100), and data for an extended function of the electronic device (100) may be stored in a memory that can be attached or detached to the electronic device (100).

[0051] In the case of memory embedded in the electronic device (100) according to an embodiment, it may be implemented in the form of, but is not limited to, volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM)), non-volatile memory (e.g., one time programmable ROM (OTPROM), programmable ROM (PROM), erasable and programmable ROM (EPROM), electrically erasable and programmable ROM (EEPROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), hard drive, or solid state drive (SSD).

[0052] In the case of a memory that can be attached or detached to an electronic device (100), it can be implemented in the form of a memory card (e.g., CF (compact flash), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), an external memory that can be connected to a USB port (e.g., USB memory), etc.

[0053] According to an embodiment, the memory (120) may store a computer program including at least one instruction or instructions for controlling the electronic device (100).

[0054] In an embodiment, one or more processors (130) control the overall operation of the electronic device (100). Specifically, one or more processors (130) may be connected to each component of the electronic device (100) to control the overall operation of the electronic device (100).

[0055] One or more processors (130) may perform operations of the electronic device (100) according to various embodiments by executing at least one instruction stored in the memory (120).

[0056] The one or more processors (130) may include one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Accelerated Processing Unit (APU), a Many Integrated Core (MIC), a Digital Signal Processor (DSP), a Neural Processing Unit (NPU), a hardware accelerator, or a machine learning accelerator. The one or more processors (130) may control one or any combination of other components of the electronic device, and may perform operations related to communication or data processing. The one or more processors (130) may execute one or more programs or instructions stored in the memory (120). For example, the one or more processors (130) may perform a method according to an embodiment of the present disclosure by executing one or more instructions stored in the memory (120).

[0057] When a method according to an embodiment of the present disclosure includes multiple operations, the multiple operations may be performed by one processor or by multiple processors. For example, when a first operation, a second operation, and a third operation are performed by a method according to an embodiment, the first operation, the second operation, and the third operation may all be performed by the first processor, or the first operation and the second operation may be performed by the first processor (e.g., a general-purpose processor) and the third operation may be performed by the second processor (e.g., an artificial intelligence-dedicated processor).

[0058] One or more processors (130) may be implemented as a single core processor including one core, or may be implemented as one or more multicore processors including multiple cores (e.g., homogeneous multicores or heterogeneous multicores). When one or more processors (130) are implemented as a multicore processor, each of the multiple cores included in the multicore processor may include an internal processor memory, such as a cache memory or an on-chip memory, and a common cache shared by the multiple cores may be included in the multicore processor. In addition, each of the multiple cores (or some of the multiple cores) included in the multicore processor may independently read and execute a program instruction for implementing a method according to an embodiment of the present disclosure, or all (or some) of the multiple cores may be linked to read and execute a program instruction for implementing a method according to an embodiment of the present disclosure.

[0059] When a method according to an embodiment of the present disclosure includes a plurality of operations, the plurality of operations may be performed by one core among a plurality of cores included in a multi-core processor, or may be performed by a plurality of cores. For example, when a first operation, a second operation, and a third operation are performed by a method according to an embodiment, the first operation, the second operation, and the third operation may all be performed by a first core included in the multi-core processor, or the first operation and the second operation may be performed by a first core included in the multi-core processor, and the third operation may be performed by a second core included in the multi-core processor.

[0060] In embodiments of the present disclosure, a processor may mean a system on a chip (SoC) in which one or more processors and other electronic components are integrated, a single-core processor, a multi-core processor, or a core included in a single-core processor or a multi-core processor, wherein the core may be implemented as a CPU, a GPU, an APU, a MIC, a DSP, an NPU, a hardware accelerator, or a machine learning accelerator, but embodiments of the present disclosure are not limited thereto.

[0061] FIG. 3 is a drawing for explaining a target robot and at least one robot sensing the target robot according to an embodiment of the present disclosure.

[0062] Referring to FIG. 3, one or more processors (130) according to an embodiment may obtain location information (10) of a plurality of robots (200) based on signals received from each of the plurality of robots (200). According to the embodiment illustrated in FIG. 3, the plurality of robots (200) include a first robot (200-1), a second robot (200-2), and a third robot (200-3). However, the present disclosure is not limited thereto, and the number of robots may be different from three.

[0063] One or more processors (130) according to an embodiment can identify a first robot (200-1) for which an update of location information (10) is required based on location information (10) corresponding to each of a plurality of robots (200).

[0064] For example, if one or more processors (130) identify that the location information (10-1) of the first robot (200-1) requires an update, the first robot (200-1) may be identified as a target robot.

[0065] In another embodiment, at least one processor (130) may transmit a control signal for detecting a target robot to one or more of the remaining robots. For example, at least one processor (130) may transmit a control signal for sensing the target robot to a second robot (200-2) and a third robot (200-3) among the remaining robots. However, the present disclosure is not limited thereto, and in an embodiment, at least one processor (130) may transmit a control signal for detecting a target robot to all of the remaining robots.

[0066] For example, one or more processors (130) may identify a second robot (200-2) and / or a third robot (200-3) located within a reference distance from the first robot (200-1) among the remaining robots based on the pre-update position information (10-1) of the first robot (200-1), which is the target robot (e.g., the initial position information of the first robot (200-1) or the final position information of the first robot (200-1)). The reference distance may be a threshold distance or a predetermined distance.

[0067] According to an embodiment, one or more processors (130) may transmit a control signal including identification information of the first robot (200-1) and pre-update position information (10-1) of the first robot (200-1) to the second robot (200-2) and the third robot (200-3).

[0068] According to an embodiment, each of the second robot (200-2) and the third robot (200-3) can identify the first robot (200-1) among the plurality of robots (200) based on the identification information of the first robot (200-1).

[0069] Here, the identification information may include various types of information that can identify the first robot (200-1) among the plurality of robots (200). For example, the identification information of the first robot (200-1) may include unique form information of the first robot (200-1) that differentiates it from the other robots. However, the present invention is not limited thereto, and the identification information may also include identifier information, QR (Quick Response) code information, etc., shown on the surface of the main body of the first robot (200-1).

[0070] However, this is not limited thereto, and it goes without saying that the identification information may include authentication information that can communicate with a corresponding robot (e.g., the first robot (200-1)) among the plurality of robots (200). For example, it goes without saying that the remaining robots may communicate (e.g., Wi-Fi Direct communication) with the first robot (200-1) through the authentication information included in the identification information.

[0071] According to an embodiment, each of the second robot (200-2) and the third robot (200-3) can identify the first robot (200-1) more quickly by using the location information (10-1) before the update in addition to the identification information.

[0072] For example, although the location information (10-1) before the update does not correspond exactly to the actual location of the first robot (200-1), the location information (10-1) indicates the approximate location of the first robot (200-1) or a location adjacent to the actual location of the first robot (200-1), so that the second robot (200-2) and the third robot (200-3) do not sense the entire space to identify the first robot (200-1), but set the sensing range of the sensor based on the location information (10-1) before the update, so that the second robot (200-2) and the third robot (200-3) can identify the first robot (200-1) more quickly.

[0073] For example, each of the second robot (200-2) and the third robot (200-3) can sense the first robot (200-1) (i.e., the target robot).

[0074] Each of the second robot (200-2) and the third robot (200-3) can sense the target robot and transmit the acquired sensing data to the electronic device (100). For example, each of the second robot (200-2) and the third robot (200-3) includes a sensor and can sense the target robot through the sensor according to a control signal.

[0075] In some embodiments, the sensors may include a LiDAR (Light Detection And Ranging) sensor, a depth camera (e.g., ToF (Time of Flight)), an RGB camera, etc.

[0076] For example, the sensing data may include distance data to the target robot obtained through a lidar sensor, a depth camera, etc., equipped in each of the second robot (200-2) and the third robot (200-3). For example, the lidar sensor equipped in each of the second robot (200-2) and the third robot (200-3) may use a light source to fire (or emit) light toward a target object (e.g., a target robot) and detect the reflected light with a sensor around the light source. Then, the lidar sensor may measure the time taken for the light to return and, using the speed of light, which is always constant, may calculate the distance to the target object (e.g., the target robot) with high accuracy and reliability.

[0077] For example, the sensing data may include pose data of the target robot acquired through an RGB camera, etc., sensing direction data of the target robot (e.g., arrangement relationship data between the second robot (200-2) and the third robot (200-3) and the target robot).

[0078] For example, the sensing data may include images of a target robot and objects adjacent to the target robot (or in the target robot's surroundings).

[0079] However, the present invention is not limited thereto, and the sensing data may include sensing direction data of the target robot according to the angle at which the main body of each of the second robot (200-2) and the third robot (200-3) rotates to detect the target robot. For example, each of the second robot (200-2) and the third robot (200-3) includes a sensor (e.g., a lidar sensor, an RGB camera, etc.) arranged to sense the front, and the angle at which the main body of each of the second robot (200-2) and the third robot (200-3) rotates to detect the target robot can be obtained as sensing direction data.

[0080] According to an embodiment, when sensing data is received from a second robot (200-2) and a third robot (200-3), one or more processors (130) may update the position information of the target robot based on the position information (10-2) of the second robot (200-2) and the position information (10-3) of the third robot (200-3) and the received sensing data.

[0081] However, this is an example, and the sensor may include an inertial measurement unit (hereinafter, IMU) including at least one of a gyroscope sensor, an accelerometer sensor, or a magnetometer or compass sensor.

[0082] FIG. 4 is a drawing for explaining an electronic device for updating position information of at least one robot according to an embodiment of the present disclosure.

[0083] Referring to FIG. 4, an electronic device (100) according to an embodiment of the present disclosure may include a memory (110) in which map information (1) corresponding to a space where a plurality of robots (200) are located is previously stored. However, the present disclosure is not limited thereto, and the electronic device (100) may also obtain map information (1) corresponding to a space based on signals received from each of the plurality of robots (200).

[0084] As illustrated in FIG. 3, a difference occurs between the position information (10-1) corresponding to the first robot (200-1) obtained based on a signal received from the first robot (200-1) and the actual position of the first robot (200-1) in space, and one or more processors (130) can update the position information (10-1) corresponding to the first robot (200-1) based on sensing data received from the second robot (200-2) and the third robot (200-3) that sensed the target robot.

[0085] For example, one or more processors (130) can identify candidate locations where the target robot can be located based on distance data to the target robot included in sensing data received from the second robot (200-2) and the third robot (200-3) that sensed the target robot.

[0086] Next, one or more processors (130) can identify one of the candidate locations as the location of the target robot based on sensing direction data of the target robot included in sensing data received from the second robot (200-2) and the third robot (200-3) that sensed the target robot.

[0087] However, the present invention is not limited thereto, and one or more processors (130) may identify the position of the target robot based on pose data of the target robot included in sensing data received from the second robot (200-2) and the third robot (200-3) that sensed the target robot, or an image captured by an RGB camera of the target robot.

[0088] For example, one or more processors (130) may analyze images included in sensing data received from the second robot (200-2) and the third robot (200-3) to identify a target robot, an object (e.g., a reference object (e.g., a landmark, a charging station, a marker, etc.), an obstacle, etc.) adjacent to the target robot (or according to the surrounding environment of the target robot), and may also identify the location of the target robot based on the distance and arrangement relationship between the target robot and the object.

[0089] According to an embodiment, one or more processors (130) may update the location information (10-1) of the target robot based on the identified location.

[0090] According to an embodiment, one or more processors (130) may transmit map information (1') including updated location information (10-1') to the first robot (200-1).

[0091] FIG. 5 is a diagram illustrating a method for identifying at least one robot for which location information is required to be updated based on map information according to an embodiment of the present disclosure.

[0092] For example, one or more processors (130) may identify the first robot (200-1) as a target robot if no signal is received from the first robot (200-1) or if acquisition of location information (10-1) of the first robot (200-1) based on a signal received from the first robot (200-1) fails.

[0093] For example, if the elapsed time after acquiring the location information (10-1) of the first robot (200-1) exceeds a threshold time, one or more processors (130) may identify that an update of the location information (10-1) of the first robot (200-1) is required.

[0094] For example, if the elapsed time after acquiring the location information (10-1) of the first robot (200-1) exceeds a threshold time, the location information (10-1) needs to be updated to reflect the movement of the first robot (200-1), so the first robot (200-1) can be identified as a target robot.

[0095] According to an embodiment, the electronic device (100) includes map information (1) corresponding to a space, and the map information (1) can divide the space into a plurality of sub-areas. For example, the map information (1) can divide the space into a movable area and a non-movable area, thereby dividing the space into a plurality of sub-areas.

[0096] For example, one or more processors (130) may obtain map information corresponding to space based on signals received from each of the plurality of robots (200) according to simultaneous localization and mapping (SLAM) operations of each of the plurality of robots (200), and may identify the current location of the robot device (100) within the map information.

[0097] One or more processors (130) can identify the location, size, and shape of obstacles (e.g., factory equipment (e.g., production machines), furniture, home appliances, walls, etc.) in a space based on signals received from each of a plurality of robots (200), and can identify areas where movement is impossible due to obstacles in the space.

[0098] For example, if one or more processors (130) identify that the location of the first robot (200-1) is included in an immovable area on the map information (1) based on the location information (10-1) of the first robot (200-1), the one or more processors (130) may identify that the location information (10-1) of the first robot (200-1) requires an update. According to an embodiment, one or more processors (130) may identify the first robot (200-1) as a target robot.

[0099] FIG. 6 is a diagram illustrating a method for identifying at least one robot for which location information is required to be updated based on a signal received at a preset time interval according to one embodiment of the present disclosure.

[0100] Referring to FIG. 6, one or more processors (130) can obtain location information (10) corresponding to each of the plurality of robots (200) based on signals received in real time (or at preset time intervals) from the plurality of robots (200) in order to monitor the location of each of the plurality of robots (200).

[0101] According to an embodiment, one or more processors (130) may track changes in the positions of each of the plurality of robots (200) based on signals received at preset time intervals.

[0102] For example, one or more processors (130) may track changes in the position of the first robot (200-1) based on signals received from the first robot (200-1) at preset time intervals. In an embodiment, if it is determined that the position of the first robot (200-1) is abnormally changed, it may be determined that the position information of the first robot (200-1) requires an update.

[0103] For example, the position of the first robot (200-1) cannot be changed beyond the 'movement speed of the first robot (200-1) corresponding to time X'. For example, if one or more processors (130) identify that the position of the first robot (200-1) has changed beyond the movement speed of the first robot (200-1), they can identify that the position information of the first robot (200-1) requires an update.

[0104] However, this is not limited thereto, and according to an embodiment, one or more processors (130) may identify that the location information of the first robot (200-1) requires an update when the first robot (200-1) is repeatedly moving to a specific location within a space or stays at a specific location for a time greater than a threshold time.

[0105] FIGS. 7A and 7B are diagrams illustrating a method for updating position information of at least one robot among a plurality of robots according to one embodiment of the present disclosure.

[0106] Referring to FIG. 7A, at least one processor (130) can identify the first robot (200-1) most recently (or lastly) connected to the electronic device (100) among a plurality of robots (200) (e.g., the first robot (200-1) to the fifth robot (200-5)) as a target device according to the order in which each robot is connected to the electronic device (100) through the communication interface (110).

[0107] For example, when a first robot (200-1) among a plurality of robots (200) is newly placed in space to perform an action and connected to an electronic device (100), the location information (10-1) of the first robot (200-1) obtained by the electronic device (100) based on a signal received from the first robot (200-1) may be somewhat inaccurate, or it may not be easy for the electronic device (100) to obtain the location information (10-1) of the first robot (200-1).

[0108] For example, if a first robot (200-1) among multiple robots (200) is reset (or restarted) due to an event occurring, the location information (10-1) of the first robot (200-1) may be somewhat inaccurate, or it may not be easy to obtain the location information (10-1) of the first robot (200-1).

[0109] Here, events may include, but are not limited to, the occurrence of an error, receipt of a reset (or restart) command, or user action to manually change a location.

[0110] According to an embodiment, one or more processors (130) may update the location information (10-1) of the first robot (200-1) using the remaining robots.

[0111] For example, as illustrated in operation 1 of FIG. 7b, one or more processors (130) can identify candidate locations (20-1, 20-2, 20-3, 20-4) corresponding to the first robot (200-1) based on a signal received from the first robot (200-1).

[0112] For example, one or more processors (130) may identify candidate locations (20-1, 20-2, 20-3, 20-4) corresponding to the first robot (200-1) based only on signals received from the first robot (200-1) without considering the relationship (e.g., separation distance, etc.) between the first robot (200-1) and the other robots, or may identify candidate locations (20-1, 20-2, 20-3, 20-4) corresponding to the first robot (200-1) based on the location history of the first robot (200-1) (e.g., locations of the first robot (200-1) previously identified by the electronic device (100), the final location of the first robot (200-1)), etc.

[0113] As illustrated in operation 2 of FIG. 7, one or more processors (130) can identify movable areas and non-movable areas based on map information corresponding to the space. According to an embodiment, one or more processors (130) can exclude the first candidate location (20-1) and the fourth candidate location (20-4) included in the non-movable area from among the candidate locations (20-1, 20-2, 20-3, 20-4) corresponding to the first robot (200-1).

[0114] As illustrated in operation 3 of FIG. 7C, one or more processors (130) can identify at least one second robot (200-2) located within a threshold distance from at least one of the second candidate location (20-2) or the third candidate location (20-3) corresponding to the first robot (200-1) based on location information (10-2, 10-3, 10-4, 10-5) corresponding to each of the remaining robots.

[0115] Next, one or more processors (130) can control at least one second robot (200-2) to sense the first robot (200-1).

[0116] For example, when one or more processors (130) receive sensing data from at least one second robot (200-2) that sensed a first robot (200-1), the one or more processors (130) can obtain location information (10-1) corresponding to the first robot (200-1) based on the sensing data.

[0117] For example, one or more processors (130) can obtain one of the second candidate location (20-2) and the third candidate location (20-3) as location information (10-1) corresponding to the first robot (200-1) based on sensing data received from at least one second robot (200-2).

[0118] However, the present invention is not limited thereto, and one or more processors (130) may obtain position information (10-1) of the first robot (200-1) based on at least one of distance data between the first robot (200-1), pose data of the first robot (200-1), or sensing direction data of the first robot (200-1), which are included in sensing data received from at least one second robot (200-2). Here, the position information (10-1) of the first robot (200-1) may not correspond to either the second candidate position (20-2) or the third candidate position (20-3).

[0119] As illustrated in operation 4 of FIG. 7D, when one or more processors (130) obtain location information (10-1) corresponding to the first robot (200-1), they can transmit the location information (10-1) to the first robot (200-1).

[0120] According to an embodiment, the first robot (200-1) receives location information (10-1) and can set a movement path or perform SLAM operation based on the location information (10-1).

[0121] According to an embodiment, each of a plurality of robots (200) within a space can obtain corresponding position information with high accuracy or receive it from an electronic device (100) and perform SLAM operations using the corresponding position information.

[0122] FIGS. 8A and 8B are diagrams illustrating an electronic device for controlling movement of a target robot in a situation where the target robot cannot be sensed according to an embodiment of the present disclosure.

[0123] Referring to FIG. 8a, while multiple robots are operating (or moving), each of the multiple robots (200) in the space may not be able to sense other robots.

[0124] For example, when one or more processors (130) identify at least one first robot as a target robot (200-1), the target robot can be controlled to identify a second robot (200-2) and a third robot (200-3) adjacent to the target robot.

[0125] According to an embodiment, the target robot can sense a second robot (200-2) and a third robot (200-3) adjacent to the target robot through sensors included in the target robot.

[0126] For example, when the target robot senses the second robot (200-2) and the third robot (200-3), one or more processors (130) can control the second robot (200-2) and the third robot (200-3) to sense the target robot because the second robot (200-2) and the third robot (200-3) are adjacent to the target robot. For example, one or more processors (130) can update the location information of the target robot based on the sensing data received from the second robot (200-2) and the third robot (200-3).

[0127] In some embodiments, the sensors included in the target robot may not be able to sense the second robot (200-2) and the third robot (200-3) adjacent to the target robot. For example, if the sensors included in the target robot cannot reliably sense (or are unable to sense) the second robot (200-2) and the third robot (200-3) due to an obstacle (e.g., a wall, equipment) adjacent to the target robot, one or more processors (130) may limit the movement range of the target robot until the location information of the target robot is updated.

[0128] For example, if the sensors included in the target robot cannot reliably sense (or are unable to sense) the second robot (200-2) and the third robot (200-3) adjacent to the target robot, the second robot (200-2) and the third robot (200-3) adjacent to the target robot may also not sense the target robot, and before updating the position information of the target robot based on the sensing data received from the second robot (200-2) and the third robot (200-3) that sensed the target robot, the one or more processors (130) may limit the movement of the target robot because the one or more processors (130) have not identified the exact position of the target robot. For example, the one or more processors (130) may limit the movement speed of the target robot or limit the movement range of the target robot to within a preset radius.

[0129] As another example, one or more processors (130) may, of course, restrict the movement of the target robot until the position information of the target robot is updated if the sensors included in each of the second robot (200-2) and the third robot (200-3) adjacent to the target robot fail to sense the target robot.

[0130] As illustrated in FIG. 8b, when the second robot (200-2) and the third robot (200-3) adjacent to the target robot move and the sensors included in the target robot sense the second robot (200-2) and the third robot (200-3), one or more processors (130) can transmit a control signal to the second robot (200-2) and the third robot (200-3) so that they sense the target robot.

[0131] According to an embodiment, when sensing data is received from the second robot (200-2) and the third robot (200-3), one or more processors (130) may update position information of the target robot within the space based on the received sensing data. For example, although FIG. 8 illustrates an example in which the second robot (200-2) and the third robot (200-3) detect the target robot, the present disclosure is not limited thereto, and according to an embodiment, one or more of the remaining robots may be used to detect the target robot. For example, either the second robot (200-2) or the third robot (200-3) may be used to detect the target robot.

[0132] FIG. 9 is a diagram illustrating a method for sharing identification information between robot devices connected to the same network according to an embodiment of the present disclosure.

[0133] Referring to FIG. 9, multiple APs (Access Points) (1000-1, 1000-2) can be provided within a space.

[0134] According to an embodiment, each of a plurality of robots (200) may be connected to one of a plurality of APs (1000-1, 1000-2) and communicate with the electronic device (100).

[0135] According to an embodiment, one or more processors (130) may group robots connected to the same AP.

[0136] For example, if a second robot (200-2) and a third robot (200-3) are connected to a first AP (1000-1), and a fourth robot (200-4) and a fifth robot (200-5) are connected to the second AP (1000-2), one or more processors (130) can control the second robot (200-2) and the third robot (200-3) connected to the same first AP (1000-1) to sense each other, and can control the fourth robot (200-4) and the fifth robot (200-5) connected to the same second AP (1000-2) to sense each other.

[0137] According to an embodiment, when a new robot (hereinafter, a first robot (200-1)) is placed in a space and connected to the first AP (1000-1) among the first AP (1000-1) and the second AP (1000-2), one or more processors (130) can control the second robot (200-2) and the third robot (200-3) connected to the first AP (1000-1) to sense the first robot (200-1).

[0138] According to an embodiment, when the first robot (200-1) moves and is disconnected from the first AP (1000-1) and connected to the second AP (1000-2), one or more processors (130) can control the fourth robot (200-4) and the fifth robot (200-5) connected to the second AP (1000-2) to sense the first robot (200-1).

[0139] However, it is not limited thereto, and it is of course possible for one or more processors (130) to update the location information of the first robot (200-1) using various indoor positioning technologies.

[0140] For example, one or more processors (130) can obtain location information corresponding to the location of the first robot (200-1) based on the strength and latency of the Wi-Fi signal of the first robot (200-1) connected to the first AP (1000-1).

[0141] For example, one or more processors (130) may identify the location of the first robot (200-1) based on a Bluetooth low energy (BLE) signal of a beacon.

[0142] According to an embodiment, one or more processors (130) may identify the location of the first robot (200-1) based on the tagging of the RFID equipped in the first robot (200-1), or may identify the location of the first robot (200-1) based on an ultra-wideband (UWB) signal.

[0143] FIG. 10 is a block diagram illustrating a robot according to an embodiment of the present disclosure.

[0144] Referring to FIG. 10, each of the plurality of robots (200) includes a sensor (210), a driving unit (220), and a main module (230).

[0145] According to an embodiment, the sensor (210) includes a lidar sensor (211) and a camera (212), and the main module (230) includes a communication interface (231), a memory (232), one or more processors (233), and a control unit (234).

[0146] The sensor (210) is configured to sense various information. According to an embodiment, one or more processors (233) may obtain various information based on the sensing values ​​of the sensor (210). For example, the information obtained by the sensor (210) may include image and depth information. The image may include RGB values ​​of each of a plurality of pixels included in the image. The depth information may include a depth map including depth values ​​of each of a plurality of pixels.

[0147] The lidar sensor (211) can emit light toward a target object using a light source and detect light reflected from the target object. One or more processors (233) can identify the distance to the target object based on the time it takes for the light to be reflected from the target object (e.g., a target robot) and detected after the light is emitted from the lidar sensor (211).

[0148] According to an embodiment of the present disclosure, a lidar sensor (211) may be provided to detect a first direction (or emit light in the first direction) with respect to the robot (200). Here, the first direction may be the driving direction of the robot (200) or the direction toward the front of the robot (200) when the robot (200) is moving forward.

[0149] For example, the lidar sensor (211) can detect the distance to an obstacle located in front of the robot (200) when the robot (200) moves forward. However, this is an example, and the first direction may correspond to the side of the robot (200) (e.g., the right side, the left side, etc.).

[0150] According to an embodiment, the robot (200) includes a plurality of lidar sensors (211), and the plurality of lidar sensors (211) may include a first lidar sensor equipped to detect a first direction, and a second lidar sensor equipped to detect a second direction opposite to the first direction (or to emit light in the second direction).

[0151] Here, the second direction may be a direction opposite to the driving direction of the robot (200) when the robot (200) is moving forward or a direction corresponding to the rear of the robot (200).

[0152] For example, the second lidar sensor (212) can detect the distance to an obstacle located at the rear of the robot (200) when the robot (200) moves forward. However, this is an example, and the second direction may correspond to the side of the robot (200) (for example, the right side, the left side, etc.). In addition, the first direction and the second direction may be implemented as opposite directions, but are not necessarily limited thereto, and may be implemented as two different directions that differ by a certain angle or more.

[0153] In one example, the sensor (210) may include a camera (212). The camera (212) may include a stereo camera, an RGB-D camera, a ToF (Time of Flight) camera, etc. However, the present invention is not limited to this example, and the sensor (210) may include various sensors capable of acquiring images and depth information.

[0154] The driving unit (220) can control the movement of the robot (200). For example, the driving unit (220) can move the robot (200), stop the moving robot (200), and control the moving speed and / or moving direction of the robot (200).

[0155] For example, the movement type of the robot (200) may be wheel type movement or walking type movement.

[0156] For example, wheel-type movement may refer to a method in which a robot (200) moves by rotating a wheel. If the robot (200) is a wheel-type robot, the robot (200) may include one or more wheels. The driving unit (220) may include a device that generates power to rotate the wheel. For example, the driving unit (220) may be implemented as a gasoline engine, a diesel engine, an LPG (liquefied petroleum gas) engine, or an electric motor, depending on the fuel (or energy source) used.

[0157] Walking type movement refers to the way a robot (200) moves through the movement of its legs. For example, if the robot (200) is a walking type (e.g., a bipedal walking robot, a triped walking robot, a quadruped walking robot, etc.), the robot (200) may include two or more legs that support the robot (200). The legs may include a plurality of links and joints connected to the links. The driving unit (220) may include a device that generates power to raise or lower the legs by rotating the links around the joints. For example, the driving unit (220) may be implemented with a motor and / or an actuator.

[0158] Additionally, the driving unit (220) can control the movement of a part of the robot (200). The driving unit (220) can be coupled between a first part (e.g., body) and a second part (e.g., head, arm, etc.) of the robot (200). The driving unit (220) can rotate the second part. For example, the driving unit (220) can be implemented with a motor and / or an actuator.

[0159] The main module (230) is implemented in hardware and may include a communication interface (231), memory (232), one or more processors (233), and a control unit (234).

[0160] The communication interface (231) can perform data communication with electronic devices under the control of one or more processors (233). For example, the communication interface (231) can include a communication circuit that can perform data communication between the robot device (200) and the electronic devices by using at least one of data communication methods including wired LAN, wireless LAN, Wi-Fi, Bluetooth, ZigBee, Wi-Fi Direct (WFD), infrared Data Association (IrDA), Bluetooth Low Energy (BLE), Near Field Communication (NFC), Wireless Broadband Internet (Wibro), World Interoperability for Microwave Access (WiMAX), Shared Wireless Access Protocol (SWAP), Wireless Gigabit Alliances (WiGig), and RF communication.

[0161] Memory (232) may store instructions, data structures, and program codes that can be read by one or more processors (233). Operations performed by one or more processors (233) may be implemented by executing instructions or codes of a program stored in memory (232).

[0162] The memory (232) may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory, etc.), and may include a non-volatile memory including at least one of a ROM (Read-Only Memory), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a PROM (Programmable Read-Only Memory), a magnetic memory, a magnetic disk, and an optical disk, and a volatile memory such as a RAM (Random Access Memory) or an SRAM (Static Random Access Memory).

[0163] According to an embodiment, one or more processors (233) control the overall operation of the electronic device (200). Specifically, one or more processors (233) may be connected to each component of the electronic device (200) to control the overall operation of the electronic device (200).

[0164] One or more processors (233) may perform operations of the electronic device (200) according to various embodiments by executing at least one instruction stored in the memory (232).

[0165] The one or more processors (233) may include one or more of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Accelerated Processing Unit (APU), a Many Integrated Core (MIC), a Digital Signal Processor (DSP), a Neural Processing Unit (NPU), a hardware accelerator, or a machine learning accelerator. The one or more processors (233) may control one or any combination of other components of the electronic device, and may perform operations related to communication or data processing. The one or more processors (233) may execute one or more programs or instructions stored in the memory (232). For example, the one or more processors (233) may perform a method according to an embodiment of the present disclosure by executing one or more instructions stored in the memory (232).

[0166] According to an embodiment, one or more processors (233) may sense a target robot based on a control signal received from an electronic device (100), and transmit sensing data obtained by sensing the target robot through a sensor (210) to the electronic device (100).

[0167] The control unit (234) can control components of the robot (200). The control unit (234) can control components of the robot (200) (e.g., sensors (210) and actuators (220), etc.) based on signals provided from one or more processors (233). For example, the control unit (234) can generate a control signal using signals provided from one or more processors (233) and provide the control signal to components of the robot (200). Accordingly, the components of the robot (200) can perform operations corresponding to the operation results of one or more processors (233). The control unit (234) can be implemented with one or more ICs (e.g., controller ICs).

[0168] FIG. 11 is a flowchart for explaining a method for controlling an electronic device according to an embodiment of the present disclosure.

[0169] In operation S1110, the method of the present disclosure may include an operation of identifying at least one first robot as a target robot. For example, the method of the present disclosure may include an operation of receiving a signal from one or more of a plurality of robots and identifying at least one first robot as a target robot based on the received signal. However, the present disclosure is not limited thereto, and according to an embodiment, the method of the present disclosure may include an operation of identifying at least one first robot as a target robot based on a signal received from each of the plurality of robots and a location information update request of at least one first robot among the plurality of robots.

[0170] In operation S1110, the method of the present disclosure may include transmitting a control signal for sensing a target robot to at least one second robot among the remaining robots. For example, the electronic device may transmit the control signal for sensing the target robot.

[0171] In operation S1130, the method of the present disclosure may include updating position information of a target robot based on sensing data received from at least one second robot. For example, when sensing data is received from at least one second robot, position information of the target robot within a space where multiple robots are located may be updated based on the sensing data.

[0172] In operation S1140, the method of the present disclosure may include transmitting updated location information to the target robot. For example, the electronic device may transmit the updated location information to the target robot.

[0173] A control method according to an embodiment of the present disclosure further includes an operation of acquiring position information of each of a plurality of robots based on signals received from each of the plurality of robots, and the updating operation S1130 may include an operation of updating position information of a target robot based on position information and sensing data of at least one second robot.

[0174] The sensing data according to the embodiment may include at least one of distance data between at least one second robot and a target robot, pose data of the target robot, or sensing direction data of the target robot.

[0175] The identifying operation S1110 according to the embodiment may include an operation of identifying that an update of the position information of the at least one first robot is required if the acquisition of the position information of the at least one first robot fails based on a signal received from the at least one first robot, or if the elapsed time after the acquisition of the position information of the at least one first robot exceeds a threshold time.

[0176] The identifying operation S1110 according to the embodiment may include an operation of identifying that an update of the position information of at least one first robot is required when the position of at least one first robot is identified as being included in a no-movement area on map information corresponding to a space where a plurality of robots are located based on position information of at least one first robot.

[0177] The identifying operation S1110 according to the embodiment may include an operation of identifying that an update of position information of at least one first robot is required when the position of at least one first robot is identified as abnormally changing according to a signal received from at least one first robot at a preset time interval.

[0178] The identifying operation S1110 according to the embodiment may include an operation of identifying at least one first robot that is last connected to the electronic device among the plurality of robots as the target robot based on the order in which each of the plurality of robots is connected to the electronic device through the communication interface, or an operation of identifying at least one first robot that is newly connected to the electronic device among the plurality of robots as the target robot.

[0179] The operation S1120 of transmitting to at least one second robot according to an embodiment may include an operation of identifying at least one second robot located within a threshold distance from the target robot among the remaining robots and an operation of transmitting a control signal for sensing the target robot to at least one second robot.

[0180] A control signal for sensing a target robot according to an embodiment includes position information of at least one first robot obtained based on a signal received from at least one first robot, and the operation S1120 of transmitting the signal to at least one second robot may include an operation of transmitting a control signal to at least one second robot to control the at least one second robot to sense the at least one first robot based on the position information of the at least one first robot.

[0181] A control method according to an embodiment may include an operation of controlling each of a plurality of robots so that each of the plurality of robots senses other robots, an operation of obtaining location information of each of the plurality of robots located in a space based on the plurality of sensing data when sensing data is received from each of the plurality of robots, and an operation of transmitting map information corresponding to the space and corresponding location information to each of the plurality of robots.

[0182] However, it goes without saying that the various embodiments of the present disclosure can be applied not only to electronic devices, but also to all types of electronic devices capable of communicating with robots.

[0183] Meanwhile, the various embodiments described above may be implemented in a computer-readable recording medium or similar device using software, hardware, or a combination thereof. In some cases, the embodiments described herein may be implemented by the processor itself. In a software implementation, embodiments, such as the procedures and functions described herein, may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein.

[0184] Meanwhile, computer instructions for performing processing operations of an electronic device according to various embodiments of the present disclosure described above may be stored in a non-transitory computer-readable medium. When the computer instructions stored in such a non-transitory computer-readable medium are executed by a processor of a specific device, the computer instructions cause the specific device to perform processing operations in a display device (100) according to various embodiments described above.

[0185] A non-transitory computer-readable medium refers to a medium that permanently stores data and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, cache, or memory. Specific examples of non-transitory computer-readable media include CDs, DVDs, hard disks, Blu-ray discs, USBs, memory cards, and ROMs.

[0186] Although the preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and various modifications may be made by a person skilled in the art to which the present disclosure pertains without departing from the gist of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the present disclosure.

Claims

1. In electronic devices, communication interface; A memory storing one or more instructions; and comprising one or more processors operatively connected to the communication interface and the memory; The one or more processors, by executing the one or more instructions, Based on one or more signals received from one or more of the plurality of robots, a first robot among the plurality of robots is identified as a target robot whose location information requires an update, A control signal for sensing the target robot is transmitted to at least one second robot among the plurality of robots, When sensing data is received from at least one of the second robots, the location information of the target robot is updated within the space where the plurality of robots are located, An electronic device that controls the communication interface to transmit the updated location information to the target robot.

2. In paragraph 1, One or more of the above processors, Obtaining position information of at least one second robot, An electronic device that updates location information of the target robot based on location information of at least one second robot and the sensing data.

3. In paragraph 2, The above sensing data is, An electronic device comprising at least one of distance data between at least one second robot and the target robot, pose data of the target robot, or sensing direction data of the target robot.

4. In paragraph 2, One or more of the above processors, An electronic device that identifies that an update of the location information of the first robot is required if acquisition of the location information of the first robot fails based on a signal received from the first robot, or if the elapsed time after acquisition of the location information of the first robot exceeds a threshold time.

5. In paragraph 2, The above memory stores map information corresponding to the space where the plurality of robots are located. One or more of the above processors, An electronic device that identifies that an update of location information of the first robot is required when the location of the first robot is identified as being included in a no-movement area on the map information.

6. In paragraph 2, One or more of the above processors, An electronic device that identifies that an update of position information of the first robot is required when the position of the first robot is identified as abnormally changing according to the signal received from the first robot within a time interval.

7. In paragraph 1, One or more of the above processors, An electronic device that identifies the first robot most recently connected to the electronic device among the plurality of robots as the target robot based on the order in which each of the plurality of robots is connected to the electronic device through the communication interface, or identifies the first robot newly connected to the electronic device among the plurality of robots as the target robot.

8. In paragraph 1, An electronic device wherein at least one of the second robots is located within a threshold distance from the target robot.

9. In paragraph 8, The control signal for sensing the above target robot is: Contains first location information of the first robot obtained based on a first signal received from the first robot, One or more of the above processors, An electronic device that transmits a control signal to at least one second robot to control the at least one second robot to sense the first robot based on the first position information of the first robot.

10. In paragraph 1, One or more of the above processors, Controlling each of the plurality of robots so that at least one of the plurality of robots senses another robot, When multiple sensing data are received from each of the multiple robots, location information of each of the multiple robots located within the space is acquired based on the multiple sensing data. An electronic device that transmits map information and corresponding location information corresponding to the space to each of the plurality of robots.

11. In a method for controlling an electronic device, An operation of identifying a first robot among the plurality of robots as a target robot whose location information requires updating, based on one or more signals received from one or more of the plurality of robots; An operation of transmitting a control signal for sensing the target robot to at least one second robot among the plurality of robots; An operation of updating the location information of the target robot within the space where the plurality of robots are located when sensing data is received from at least one second robot; and A control method comprising: an operation of transmitting the updated location information to the target robot.

12. In paragraph 11, The above control method is, An operation of obtaining position information of at least one second robot; and A control method, comprising: an operation of updating position information of the target robot based on position information of at least one second robot and the sensing data.

13. In paragraph 12, The above sensing data is, A control method comprising at least one of distance data between at least one second robot and the target robot, pose data of the target robot, or sensing direction data of the target robot.

14. In paragraph 12, The above identifying action is, A control method, comprising: an operation for identifying that an update of the position information of the first robot is required if acquisition of the position information of the first robot fails based on a signal received from the first robot, or if the elapsed time after acquisition of the position information of the first robot exceeds a threshold time; 15. In paragraph 12, The above identifying action is, A control method, comprising: an operation of identifying that an update of location information of the first robot is required when the location of the first robot is identified as being included in a no-movement area on map information corresponding to a space where the plurality of robots are located;

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