Method and system for determining situation of robot on basis of results, stored in queue, of detecting identifiers by robot, and controlling robot on basis of situation

Abstract

Provided is a robot control method performed by a robot moving in a space or by a robot control system for controlling the robot. The robot control method comprises a step of storing, in a pre-defined queue, a result of detecting an identifier arranged in a space, from the robot, while the robot is driven, and controlling an action of the robot on the basis of the results of detecting the identifiers, stored in the queue.

Description

A method and system for judging the situation of a robot based on detection results for identifiers stored in a queue and controlling the robot based on the situation.

[0001] The description below relates to a technology for judging the status or situation of a robot and controlling the robot based on the detection results for identifiers within a space, and to a technology for judging abnormal situations of the robot and controlling the robot appropriately based on the detection results for identifiers stored within a predefined queue.

[0002] Autonomous robots are robots that can independently navigate their surroundings, detect obstacles, and use wheels or legs to find the optimal route to their destination. They are being developed and utilized in various fields, including autonomous vehicles, logistics, hotel services, and robot vacuum cleaners.

[0003] When operating a robot that navigates within a space, such as a building, and is used to provide services within that space, it is crucial to appropriately control the robot by identifying abnormal situations, such as entering restricted areas within the space, entering caution areas like stairs or thresholds, or entering areas with risk of falling. For example, in such abnormal situations, the robot needs to be controlled to halt its movement or other actions.

[0004] Determining whether a robot is in an abnormal situation can be accomplished by having the robot's onboard sensors perceive its surroundings, or by having the robot recognize specific markers placed within the space. However, such assessments of abnormal situations based on the robot's perception are often inaccurate due to factors such as the robot's misrecognition of the surroundings and markers, as well as noise.

[0005] Korean Patent Publication No. 10-2005-0024840 is a technology regarding a path planning method for an autonomous mobile robot, and discloses a method for planning an optimal path for a mobile robot moving autonomously at home or in the office to safely and quickly reach a target point while avoiding obstacles.

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

[0007] A robot control method can be provided that stores detection results for identifiers placed in space from the robot during the robot's movement in a predefined queue and controls the robot's actions based on at least two detection results for the identifiers stored in the queue.

[0008] A robot control method can be provided that stores detection results indicating either recognition or non-recognition of an identifier by using a FIFO (First-in-First-out) that sequentially stores detection results for identifiers in a space, and determines that the robot is in an abnormal situation when a detection result indicating recognition of the identifier among the detection results stored in the queue is greater than or equal to a certain level, and controls the robot according to the abnormal situation.

[0009] In one aspect, a robot control method performed by a robot moving in a space or a robot control system controlling a robot is provided, the method comprising: a step of storing a detection result for an identifier placed in the space from the robot in a predefined queue while the robot is moving; and a step of controlling an action of the robot based on at least two detection results for the identifier stored in the queue.

[0010] The above identifier is placed in an area where the robot's entry is restricted or the robot's movement is restricted within the space, and the controlling step can control the robot to stop or to move to a predetermined location within the space.

[0011] The above controlling step controls the robot to move to a predetermined location within the space, and the predetermined location may be a predefined location within the space or a location within the space indicated by the identifier.

[0012] The above identifier may include a marker that is not identifiable by the naked eye of a person within the space and is recognizable only by the robot.

[0013] The above marker may be inserted into an image placed within the space so as not to be identifiable by the human eye.

[0014] The above queue is a FIFO (First-in-First-out) queue, and can be configured to sequentially store detection results for the identifiers, but can store detection results for a predetermined number of the identifiers.

[0015] The detection result for the identifier may be either recognition or non-recognition of the identifier, and the controlling step may include a step of determining that the robot is in a first situation when a first number of detection results indicating recognition of the identifier among detection results for the identifier stored in the queue is greater than a second number of detection results indicating non-recognition of the identifier, or when the first number is equal to or greater than a predetermined first value; and a step of controlling the robot so that the robot performs an action for the first situation.

[0016] The detection result for the above identifier is obtained at a predetermined first time interval and stored in the queue, and the judging step can determine that the robot is in the first situation when the first number in the queue is greater than or equal to the first value.

[0017] The above first situation is an abnormal situation of the robot, and the controlling step may include a step of determining that the robot is in a normal situation again when a predetermined third or more number of detection results indicating non-recognition of the identifier are continuously stored in the queue after the robot is determined to be in the first situation, which is the abnormal situation; and a step of controlling the robot so that the robot operates normally.

[0018] The step of controlling the robot to perform the above action may include the step of controlling the robot to stop the robot; and the step of calling the manager of the robot.

[0019] The identifier is a first identifier, the queue is a first queue configured to store a detection result for the first identifier indicating either recognition or non-recognition of the first identifier, and a detection result for the second identifier indicating either recognition or non-recognition of a second identifier different from the first identifier arranged in the space is stored in a second queue different from the first queue, and the action of the robot can be further controlled based on at least two detection results for the second identifier stored in the second queue.

[0020] The above identifier is a first identifier, and the determining step determines that the robot is in the first situation when a first number of detection results indicating recognition of the first identifier stored in the queue is greater than a second number of detection results indicating non-recognition of the first identifier, or when the first number is equal to or greater than the first value, and the controlling step of the robot to perform the action can control the robot to perform the action for the first situation.

[0021] The detection result for the second identifier, which indicates either recognition or non-recognition of the second identifier different from the first identifier arranged in the space, may be stored in the queue as a different value from the detection result for the first identifier.

[0022] The controlling step may include: determining that the robot is in a second situation when a fourth number of detection results indicating recognition of the second identifier stored in the queue is greater than a fifth number of detection results indicating non-recognition of the second identifier, or when the fourth number is greater than or equal to the first value; and controlling the robot so that the robot performs an action for the second situation.

[0023] In another aspect, a computer system for controlling a robot moving in a space is provided, comprising at least one processor implemented to execute commands readable by the computer system, wherein the at least one processor stores, during the movement of the robot, a detection result for an identifier placed in the space from the robot in a predefined queue, and controls an action of the robot based on at least two detection results for the identifier stored in the queue.

[0024] In another aspect, a robot is provided, which comprises at least one processor configured to execute commands readable by a computer system included in the robot, wherein the at least one processor stores, during the movement of the robot, a detection result for an identifier placed in the space in a predefined queue, and controls an action of the robot based on at least two detection results for the identifier stored in the queue.

[0025] By using a FIFO (First-in-First-out) that sequentially stores detection results for identifiers within a space, detection results indicating either recognition or non-recognition of the identifier are stored, and if the number of detection results indicating recognition of the identifier among the detection results stored in the queue is greater than or equal to a certain level, it is determined that the robot is in an abnormal situation, thereby accurately determining whether the robot is in an abnormal situation. In other words, when determining an abnormal situation of the robot, misjudgment due to the robot's misrecognition of the surrounding situation and identifier, noise, etc. can be prevented, and the robot can be precisely controlled according to the situation.

[0026] FIG. 1 illustrates a method for controlling a robot using detection results for identifiers placed within a space stored in a queue, according to one embodiment.

[0027] FIG. 2 is a block diagram illustrating a robot moving within a space to be controlled according to one embodiment.

[0028] FIG. 3 is a block diagram illustrating a robot control system that controls a robot moving within a space according to one embodiment.

[0029] FIGS. 4 to 6 are block diagrams illustrating a method for controlling a robot using detection results for identifiers placed within a space stored in a queue, according to an example.

[0030] FIG. 7 illustrates a method for identifying abnormal situations of a robot and for the robot to avoid caution or danger zones by recognizing identifiers placed within a space, according to an example.

[0031] Figures 8a and 8b illustrate identifiers placed within a space according to an example.

[0032] FIG. 9 illustrates queues, each configured to store detection results for each of a plurality of identifiers, according to an example.

[0033] Figure 10 illustrates a queue configured to store detection results for multiple identifiers.

[0034] Hereinafter, the detailed description will be given with reference to the attached drawings.

[0035]

[0036] FIG. 1 illustrates a method for controlling a robot using detection results for identifiers placed within a space stored in a queue, according to one embodiment.

[0037] Below, first, a robot (100) configured to recognize an identifier (20) placed within a space (10) such as a building and moving within the space (10) is described.

[0038] The robot (100) illustrated in FIG. 1 may be a service robot configured to provide a service within a space (10), such as a building (or buildings), an indoor space, or other open area.

[0039] The space in which the robot (100) moves is a place where the robot (100) moves and provides services, and may represent, for example, a building or at least a portion of the building. This space (10) is a space where multiple people (hereinafter referred to as "users") work or reside, and may include multiple partitioned sub-spaces. The space (10) in which the robot (100) moves may represent a specific floor or a subspace within the specific floor as part of the building. The robot (100), which is a service robot, may be configured to provide services on at least one floor of the space (10).

[0040] The services provided by the robot (100) may include, for example, at least one of a parcel delivery service, a beverage (coffee, etc.) delivery service according to order, a cleaning service, and other information / content provision services.

[0041] The robot (100) can provide services at a predetermined location in space or to a predetermined user through autonomous driving.

[0042] The robot (100) may be configured to perform a specific function or perform a task related to the provision of a service under the control of the robot control system (120), which will be described later with reference to FIGS. 2 and 3. The robot (100) may move to a specific location under the control of the robot control system (120) or perform other tasks or functions required for the provision of a service. The robot control system (120) may also be configured to control each of a plurality of robots. In this case, each of the robots may move within a space to provide a service to an appropriate location within the space or to an appropriate user.

[0043] The robot (100) may be a brainless robot that is driven by executing low-level control commands from a robot control system (120). In this case, the robot control system (120) may be implemented as a robot brain (brain system) that controls such a brainless robot. Accordingly, the robot (100) may only include a configuration for transmitting collected sensing data (raw sensing data) to the robot control system (120) and receiving low-level control commands from the robot control system (120) to operate a driving unit, and may not include a configuration such as a complex onboard computer system.

[0044] The structure and specific operation of the robot (100) and the robot control system (120) will be described in more detail with reference to FIGS. 2 and 3, which will be described later.

[0045] The space (10) in which the robot (100) moves may include a restricted area (30) in which the robot (100) is restricted from moving or entering. The restricted area (30) may be a prohibited area into which the robot (100) cannot enter, or may include a caution area such as a staircase or threshold, a railing, or other risk area of ​​falling. The robot (100) must be controlled to avoid entering such restricted areas (30) when moving.

[0046] In the space (10) of the embodiment, an identifier (20) indicating a restricted area (30) may be placed within the restricted area (30) or around the restricted area (30). As illustrated, the identifier (20) may be placed on at least one of the ceiling, wall, and floor of the space (10). Alternatively, the identifier (20) may be placed at another location within the space (10) to facilitate recognition by the robot (100), as needed.

[0047] The identifier (20) may be a marker or pattern that can be identified, detected or recognized by the robot (100).

[0048] The robot (100) is controlled by a robot control system (120), and while moving within a space (10), it can detect an identifier (20) placed within the space (10). If the identifier (20) is detected, the robot (100) can be identified as being in an abnormal situation. For example, if the identifier (20) is detected, it can indicate that the robot (100) is located within a restricted area (30), and is not operating normally. An abnormal situation can indicate that the robot (100) is not operating normally, such as by entering a restricted area (30).

[0049] In an embodiment, the robot control system (120) can determine whether the robot (100) is in an abnormal situation based on the detection result for the identifier (20) by the robot (100), and can control the action of the robot (100) based on this determination.

[0050] The robot control system (120) may utilize a predefined queue (50) to determine whether the robot (100) is in an abnormal situation. This queue (50) may be configured to store detection results for identifiers (20) placed in a space (10) from the robot (100) while the robot (100) is moving. As in the illustrated example, detection of the identifier (20) may be stored in the queue (50) with a value of '1', and non-detection of the identifier (20) may be stored in the queue (50) with a value of '0'. The queue (50) may sequentially store detection results for identifiers (20) from the robot (100). For example, the queue (50) may be a First-in-First-out (FIFO) queue. The robot control system (120) can determine whether the robot (100) is in an abnormal situation based on the detection results for the identifiers (20) which are values ​​stored in the queue (50), and can control the robot (100) to take appropriate action based on the results of this determination.

[0051] In the embodiment, rather than simply determining that the robot (100) is in an abnormal situation by detecting a single identifier (20), it can be determined whether the robot (100) is in an abnormal situation based on detection results for multiple identifiers (20) stored in a queue (50). Therefore, in the embodiment, when determining the abnormal situation of the robot (100), misrecognition of the surrounding situation and identifier by the robot (100) or misjudgment due to noise, etc. can be prevented, and the robot (100) can be precisely controlled according to the determined situation of the robot (100).

[0052] A specific method for determining whether the robot (100) is in an abnormal situation based on the detection results for the identifier (20) stored in the queue (50) and controlling the robot (100) will be described in more detail with reference to FIGS. 2 to 10, which will be described later.

[0053]

[0054] FIG. 2 is a block diagram illustrating a robot moving within a space to be controlled according to one embodiment.

[0055] As described above, the robot (100) may be a service robot used to provide a service within a space (10). The robot (100) may be configured to provide a service at a predetermined location within the space (10) or to a predetermined user through autonomous driving.

[0056] The robot (100) may be a physical device and may include a control unit (104), a driving unit (108), a sensor unit (106), and a communication unit (102), as illustrated.

[0057] The control unit (104) may be a physical processor or an onboard computer system built into the robot (100). The control unit (104) may include only the components necessary for the robot (100) implemented as a brainless robot to communicate with the robot control system (120), transmit data to the robot control system (120), and process commands received from the robot control system (120) (e.g., transmit them to the drive unit (108) and / or the sensor unit (106).

[0058] For example, the control unit (104) may only include a configuration for transmitting raw sensing data collected through the sensor unit (106) to the robot control system (120) and receiving low-level control commands from the robot control system (120) to operate the driving unit (108). In other words, the control unit (104) may not include a complex configuration (e.g., GPU, etc.) for interpreting and processing sensing data and control commands.

[0059] The control unit (104) may include a sensor driver for the sensor unit (106) and a drive unit driver for the drive unit (108).

[0060] The communication unit (102) may be a configuration for the robot (100) to communicate with another device (such as a robot control system (120)). In other words, the communication unit (102) may be a hardware module, such as an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot (100), or a software module, such as a network device driver or a networking program, that transmits / receives data and / or information to / from another device, such as the robot control system (120).

[0061] For example, the communication unit (102) is a wireless communication unit for communicating with the robot control system (120), and can transmit raw data including (raw) sensing data to the robot control system (120) and receive a control command for the driving unit (108) from the robot control system (120).

[0062] The sensor unit (106) may be configured to collect data required for autonomous driving and service provision of the robot (100). The sensor unit (106) may not include expensive sensing equipment, but may only include sensors such as low-cost ultrasonic sensors and / or low-cost cameras.

[0063] The sensor unit (106) may include sensors for identifying objects such as other robots, people, obstacles, etc. in front and / or behind. For example, other robots, people, and other objects may be identified through the camera of the sensor unit (106). Alternatively, the sensor unit (106) may include an infrared sensor (or an infrared camera). In addition to the camera, the sensor unit (106) may further include sensors for recognizing / identifying users, other robots, or objects in the vicinity. In addition, the sensor unit (106) may include at least one distance sensor for identifying the distance to object(s) existing in the vicinity. In addition, the sensor unit may include sensors for determining the status of the robot (100) and recognizing the environment, such as an odometer. The robot (100) may recognize the above-described identifier (20) using the sensor unit (106). For example, the robot (100) can recognize (or detect) an identifier (20) (which may be a marker or pattern placed within the space (10)) using an infrared sensor (or infrared camera).

[0064] (Raw) sensing data from the sensors of the sensor unit (106) can be transmitted to the robot control system (120) via the communication unit (102). For example, the sensing data can be transmitted to the robot control system (120) via the communication unit (102) via the sensor driver (or sensor hub) of the control unit (104).

[0065] The driving unit (108) controls the movement of the robot (100) and may include equipment (hardware) for performing the movement as a component that enables the movement. In addition, the driving unit (108) may include equipment (hardware) for performing functions necessary for the robot (100) to perform tasks related to the requested service.

[0066] For example, the driving unit (108) may include at least one motor and / or at least one actuator for operating wheels, caterpillar wheels, legs, etc. for movement of the robot (100).

[0067] Additionally, the driving unit (108) may include equipment related to the service provided by the robot (100). For example, to perform a food / delivery delivery service, the driving unit (108) of the robot (100) may include a configuration for loading food / delivery or a configuration (e.g., a robot arm) for delivering food / delivery to a user. Additionally, the robot (100) may further include a speaker and / or a display for providing information / content.

[0068] The driving unit (108) can be controlled according to a control command from the robot control system (120). The driving unit (108) can execute a low-level control command received from the robot control system (120) and perform an operation corresponding to the control command. For example, when a low-level control command from the robot control system (120) is input to the driving unit (108), the driving unit (108) can perform an operation indicated by the control command.

[0069] A control command from the robot control system (120) can be transmitted to the drive unit (108) via the communication unit (102). For example, the control command from the robot control system (120) can be received via the communication unit (102) and transmitted to each component (e.g., each motor and / or actuator) of the drive unit (108) by the drive unit driver of the control unit (104).

[0070] The robot (100) can detect the identifier (20) by the sensor unit (106) and transmit the detection result to the robot control system (120), and the robot control system (120) can determine whether the robot (100) is in an abnormal situation based on the detection result for the identifier (20). Specifically, the robot control system (120) can store the detection result from the robot (100) in a queue (50), and can determine whether the robot (100) is in an abnormal situation based on the detection results stored in the queue (50). The robot control system (120) can transmit a command to the robot (100) for controlling the posture and / or position of the robot (100) or a command for moving to a specific position based on the result of the determination, and the robot (100) can be controlled based on the received command.

[0071] As described, the robot (100) is controlled by transmitting sensing data from the sensor unit (106) to the robot control system (120) and receiving control commands from the robot control system (120), and thus can be a brainless robot (controlled by the robot control system (120) corresponding to the brain).

[0072] Meanwhile, each of the robots (100) may have different sizes and shapes (i.e., different types of sensor units (106) and / or driving units (108)) depending on the type of robot or the service provided.

[0073] However, depending on the embodiment, the robot (100), rather than the robot control system (120), may determine whether the robot (100) is in an abnormal situation based on the detection result for the identifier (20). In this case, the robot (100) is not a brainless robot. In this case, the robot (120) may store the detection result from the sensor unit (106) in a queue (50), and may determine whether the robot (100) is in an abnormal situation based on the detection results stored in the queue (50). The robot (100) may be controlled by itself based on this determination result.

[0074] The configuration and operation of the robot control system (120) that controls the robot (100) will be described in more detail with reference to FIG. 3, which will be described later.

[0075] The description of the technical features described above with reference to FIG. 1 can also be applied to FIG. 2, so any redundant description will be omitted.

[0076]

[0077] FIG. 3 is a block diagram illustrating a robot control system that controls a robot moving within a space according to one embodiment.

[0078] The robot control system (120) may be a device that controls the movement (i.e., driving) of the aforementioned robot (100) within the space (10) and the provision of services by the robot (100) within the space (10). When there are multiple robots (100), the robot control system (120) may control the movement of each of the multiple robots and the provision of services by each of the robots (100).

[0079] The robot control system (120) can plan and set a path for the robot (100) to move to provide a service through communication with the robot (100), and transmit control commands for movement along this path to the robot (100). The robot (100) can move to a predetermined location or a predetermined user according to the received control commands. Furthermore, the robot (100) can provide a service (perform tasks related to the service) at a predetermined location or to a predetermined user under the control of the robot control system (120).

[0080] The robot control system (120) may include at least one computing device.

[0081] The robot control system (120) may be a device that plans and sets a path for the robot (100) to travel and controls the movement of the robot (100) as described above. The robot control system (120) may include at least one computing device and may be implemented as at least one server (or cloud server) located within the space (10) in which the robot (100) travels or outside the space (10).

[0082] The robot control system (120) may include a memory (330), a processor (320), a communication unit (310), and an input / output interface (340), as illustrated.

[0083] The memory (330) is a computer-readable recording medium, and may include a random access memory (RAM), a read only memory (ROM), and a permanent mass storage device such as a disk drive. Here, the ROM and the permanent mass storage device may be included as a separate permanent storage device separate from the memory (330). In addition, the memory (330) may store an operating system and at least one program code. These software components may be loaded from a computer-readable recording medium separate from the memory (330). This separate computer-readable recording medium may include a computer-readable recording medium such as a floppy drive, a disk, a tape, a DVD / CD-ROM drive, a memory card, etc. In another embodiment, the software components may be loaded into the memory (330) through the communication unit (310) rather than the computer-readable recording medium.

[0084] The processor (320) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. Instructions may be provided to the processor (320) by the memory (330) or the communication unit (310). For example, the processor (320) may be configured to execute instructions received according to program code loaded into the memory (330).

[0085] The communication unit (310) may be a configuration for the robot control system (120) to communicate with other devices (such as the robot (100) or another server). In other words, the communication unit (310) may be a hardware module, such as an antenna, a data bus, a network interface card, a network interface chip, and a networking interface port of the robot control system (120), or a software module, such as a network device driver or a networking program, that transmits / receives data and / or information to / from other devices.

[0086] For example, the communication unit (310) is a wireless communication unit for communicating with the robot (100), and can receive raw data including (raw) sensing data from the robot (100) and transmit control commands for the drive unit (108) to the robot (100). In other words, the robot (100) and the robot control system (120) can transmit and receive data and commands by communicating through their respective wireless communication units (102, 310).

[0087] The input / output interface (340) may be a means for interfacing with an input device such as a keyboard or mouse and an output device such as a display or speaker.

[0088] Additionally, in other embodiments, the robot control system (120) and processor (320) may include more components than those illustrated.

[0089] In an embodiment, raw data including raw sensing data collected by the sensor unit (106) of the robot (100) may be received by the processor (320) from the robot (100) through the communication unit (310), and the processor (320) may generate a control command (e.g., a low-level control command) for the drive unit (108) of the robot (100) based on the sensing data received from the robot (100). The processor (320) may transmit the control command to the robot (100) through the communication unit (310), and thus, the drive unit (108) may be controlled according to the transmitted control command. The communication unit (310) may utilize socket communication, a stream, a message queue, etc. for communication with the robot (100).

[0090] Meanwhile, as described above, the robot control system (120) can receive the detection result for the identifier (20) from the robot (100) and transmit it to the robot control system (120), and the robot control system (120) can determine whether the robot (100) is in an abnormal situation based on the received detection result for the identifier (20). Specifically, the robot control system (120) can store the detection result from the robot (100) in a queue (50), and can determine whether the robot (100) is in an abnormal situation based on the detection results stored in the queue (50). The robot control system (120) can transmit a command to the robot (100) for controlling the posture and / or position of the robot (100) or a command for moving to a specific position based on the result of the determination, and the robot (100) can be controlled based on the received command.

[0091] The description of the technical features described above with reference to FIGS. 1 and 2 can also be applied to FIG. 3, so any redundant description will be omitted.

[0092]

[0093] In the detailed description to be given later, the operations performed by the components (e.g., control unit, processor, etc.) of the robot control system (120) or the robot (100) may be described as operations performed by the robot control system (120) or the robot (100) for convenience of explanation.

[0094] In addition, the operations or steps performed for determining the situation of the robot (100) or controlling the operation (or action) of the robot (100) to be described later with reference to FIGS. 4 to 6 may be performed by the robot control system (120), and, depending on the embodiment, at least some of them may be performed by the robot (100). Below, the embodiment will be described with a focus on the operations or steps being performed by the robot control system (120), and overlapping descriptions of these being performed by the robot (100) may be omitted. Even if the content of the operations or steps being performed by the robot (100) is omitted, it can be understood that the corresponding operations or steps can also be performed by the robot (100).

[0095]

[0096] FIGS. 4 to 6 are block diagrams illustrating a method for controlling a robot using detection results for identifiers placed within a space stored in a queue, according to an example.

[0097] As described above, the method of controlling the robot (100) described with reference to FIGS. 4 to 6 can be performed by the robot (100) or the robot control system (120).

[0098] In step (410), the robot control system (120) can obtain a detection result for an identifier (20) placed in a space (10) from the robot (100). The identifier (20) may include a tag, marker, or pattern in a form that can be detected (or recognized) by the robot (100) placed in the space (10). The robot control system (120) can obtain a detection result for the identifier (20) from the robot (100) based on data collected through the sensor unit (106) of the robot (100) while the robot (100) is moving. The identifier (20) may be placed in the aforementioned restricted area (30), which is an area in which the robot (100) has restricted entry within the space (10) or an area in which the robot (100) has restricted movement. In other words, the identifier (20) may be placed inside or around the restricted area (30).

[0099] Meanwhile, if the robot (100) performs the method of the embodiment, step (410) may be that the robot (100) obtains a detection result for the identifier (20) from the sensor unit (106) or generates the detection result based on data from the sensor unit (106).

[0100] In step (420), the robot control system (120) may store the detection results for the identifier (100) from the robot (100) obtained during the movement of the robot (100) in a predefined queue (50). This queue (50) may be a First-in-First-out (FIFO) queue. The queue (50) may be configured to sequentially store the detection results for the identifier (20) by the robot (100). The queue (50) may have a predetermined size, and thus may be configured to store detection results for a predetermined number of identifiers (20). For example, as illustrated in FIG. 1, the queue (50) may be configured to store 10 detection results. The queue (50) may be predefined within the robot control system (120), or may be predefined in another computer system accessible to the robot control system (120).

[0101] Meanwhile, if the robot (100) performs the method of the embodiment, step (420) may be storing the detection result obtained by the robot (100) in a queue (50). At this time, the queue (50) may be predefined within the robot (100), or may be predefined in another computer system that the robot (100) can access (or communicate with).

[0102] In step (430), the robot control system (120) can control the action of the robot (100) based on at least two detection results for the identifier (20) stored in the queue (50). Controlling the action of the robot (100) means controlling the operation of the robot (100), and may be controlling at least one of the movement and function of the robot (100). For example, the robot control system (120) can control the robot (100) to stop, or control the robot (100) to move to a predetermined position within the space (10).

[0103] For example, as in step (432), the robot control system (120) can determine the current status of the robot (100), i.e., whether it is a normal status or an abnormal status, based on at least two detection results for the identifier (20) stored in the queue (50). In step (434), the robot control system (120) can control the robot (100) so that the robot (100) performs an appropriate action based on the determined status of the robot (100).

[0104] For example, the robot control system (120) can control the robot (100) to move to a predetermined position within a space (100). At this time, the predetermined position is a predefined position within the space (100), and may be a position for the robot (100) to wait, a predetermined position within the space (10) to which the robot (100) moves while avoiding a restricted area (30). In addition, the predetermined position may be a position within the space indicated by the identifier (20). At this time, the identifier (20) may include information indicating movement of the robot (100) to the predetermined position, and the robot (100) that detects the identifier (20) (i.e., is determined to be in a predetermined situation (e.g., an abnormal situation) based on the detection) may be controlled to move to the predetermined position.

[0105] Meanwhile, if the robot (100) performs the method of the embodiment, step (430) may be that the robot (100) performs control on its own based on the detection results stored in the queue (50).

[0106] Below, with reference to FIGS. 5 and 6, a method for determining the current situation of the robot (100), i.e., whether it is a normal situation or an abnormal situation, based on at least two detection results for an identifier (20) stored in a queue (50) is described in more detail.

[0107] With respect to FIGS. 5 and 6, redundant descriptions of steps (410, 420) are omitted. Meanwhile, in step (420), storing the detection result for the identifier (20) in the queue (50) may be updating the queue (50). The queue (50) is configured to sequentially store the detection results, and thus, the most recently acquired detection result may be stored, for example, at the leftmost side of the queue (50), but the detection result stored at the rightmost side of the queue (50) may be discarded.

[0108] Referring to FIG. 5, a method for determining that a robot (100) is in an abnormal situation will be described in more detail.

[0109] The detection result for the identifier (20) stored in the queue (50) may be either recognition or non-recognition of the identifier.

[0110] In step (510), the robot control system (120) can determine whether a first number of detection results (e.g., '1') indicating recognition of the identifier (20) among the detection results for the identifier (20) stored in the queue (50) is greater than or equal to a predetermined first value (e.g., a natural number N). In step (520), the robot control system (120) can determine that the robot (100) is in a first situation if the first number is greater than or equal to the predetermined first value. The first situation may be the above-described abnormal situation. Here, the first number may be the sum of the values ​​in the queue (50). Therefore, the robot control system (120) can determine whether the robot (100) is in the first situation by determining whether the sum of the values ​​indicating the detection results for the identifier (20) in the queue (50) is greater than or equal to the first value.

[0111] Alternatively, the robot control system (120) may determine whether the first number is greater than the second number of detection results (e.g., '0') indicating non-recognition of the identifier (20) among the detection results for the identifier (20) stored in (50), and if the first number is greater than the second number, the robot (100) may be determined to be in the first situation.

[0112] Alternatively, the robot control system (120) can determine whether the ratio of the first number to the second number within the queue (50) is above a certain level, and if it is above the certain level, can determine that the robot (100) is in the first situation.

[0113] In step (434), if the robot control system (120) determines that the robot (100) is in the first situation, the robot control system (120) can control the robot (100) to perform actions for the first situation. For example, if the robot (100) is in an abnormal situation where it has entered a restricted area (30), the robot control system (120) can stop the operation (movement and / or function) of the robot (100) or call the manager of the robot (100). For example, when the robot control system (120) controls the robot (100) to perform actions according to whether the robot (100) is in the first situation, the robot control system (120) can first control the robot (100) to stop, and then call the manager of the robot (100). The call from the manager can be to transmit the location (i.e., the stop location) of the robot (100) to the manager terminal carried by the manager. The location of the robot (100) can be determined through communication with the robot (100), or can be determined based on the location of the identifier (20) detected by the robot (100).

[0114] Meanwhile, the detection result for the identifier (20) may be acquired at a predetermined first time interval and stored in the queue (50). That is, the robot (100) may acquire the detection result for the identifier (20) at a predetermined first time interval while driving, and the queue (50) may be updated at a predetermined first time interval. The robot control system (120) may monitor the queue (50) that is updated periodically in this manner, and may determine that the robot (100) is in a first situation (e.g., an abnormal situation) when the first number (the number of detection results indicating recognition of the identifier (20)) in the queue (50) (or the sum of the values ​​in the queue (50)) becomes greater than or equal to the first value (N).

[0115] In this embodiment, rather than simply determining that the robot (100) is in an abnormal situation based on the detection results of a plurality of identifiers (20) stored in the queue (50), it is possible to determine whether the robot (100) is in an abnormal situation based on the detection results of a plurality of identifiers (20) stored in the queue (50). Therefore, in the embodiment, when determining the abnormal situation of the robot (100), misrecognition of the surrounding situation and identifier by the robot (100) or misjudgment due to noise, etc. can be prevented.

[0116] Next, with reference to FIG. 6, an example of determining that a robot (100) is in a normal situation will be described. For example, a method of determining that a robot (100) is in a normal situation again after it has been determined that the robot (100) is in a first abnormal situation as described in FIG. 5 will be described.

[0117] For example, as in step (610), the robot control system (120) can determine whether a predetermined third number (e.g., a natural number 'M') or more of detection results indicating non-recognition of the identifier (20) are stored in the queue (50) consecutively (after the robot (100) is determined to be in the first abnormal situation). In step (620), if the predetermined third number or more of detection results indicating non-recognition of the identifier (20) are stored in the queue (50) consecutively, the robot control system (120) can determine that the robot (100) is in a normal situation again.

[0118] For example, even when the robot (100) is determined to be in an abnormal situation and its movement and / or function are stopped, the robot (100) can obtain a detection result for the identifier (20) by recognizing the surroundings through the sensor unit (106). At this time, if the most recent detection results obtained continuously indicate non-recognition ('0') of the identifier (20), the robot control system (120) can determine that the robot (100) is in a normal situation. In other words, the robot control system (120) can revoke the previous determination that the robot (100) is in an abnormal situation and determine that the robot (100) is in a normal situation again.

[0119] In step (434), if the robot control system (120) determines that the robot (100) is in a normal state, the robot control system (120) may control the robot (100) to perform actions for the normal state. For example, the robot control system (120) may normalize the operation (movement and / or function) of the robot (100). Accordingly, the robot (100) may operate normally again.

[0120] According to the embodiment described with reference to FIG. 6, it can be more precisely determined whether the robot (100) is in a normal situation or an abnormal situation.

[0121] The description of the technical features described above with reference to FIGS. 1 to 3 can also be applied to FIGS. 4 to 6, so redundant descriptions are omitted.

[0122]

[0123] FIG. 7 illustrates a method for identifying abnormal situations of a robot and for the robot to avoid caution or danger zones by recognizing identifiers placed within a space, according to an example.

[0124] As illustrated, the robot (100) can detect an identifier (20) arranged in the form of a marker or pattern within a space (10). The detection result for the identifier (20) can be stored in a queue (50), and the robot control system (120) can determine that the robot (100) is in an abnormal situation of entering a restricted area (30) based on the detection results stored in the queue (50).

[0125] The robot control system (120) can take appropriate action for an abnormal situation by stopping the operation of the robot (100), moving the robot (100) to a specific location, and calling the manager of the robot (100) for the robot (100) determined to be in an abnormal situation.

[0126] The description of the technical features described above with reference to FIGS. 1 to 6 can also be applied to FIG. 7, so redundant descriptions are omitted.

[0127]

[0128] Figures 8a and 8b illustrate identifiers placed within a space according to an example.

[0129] It can be placed in the form of a marker or pattern within the space (10).

[0130] The identifier (20) may be configured to include information related to a location to which the robot (100) is to move. For example, the robot (100) may be controlled to recognize the identifier (20) and move to a location associated with the identifier (20). The identifier (20) may be placed on a ceiling, wall, floor, or the like of the space (10), as described above with reference to FIG. 1.

[0131] In an embodiment, the identifier (20) may include a marker that is not visible to the naked eye of a person within the space (10) but is recognizable only by the robot (100). The marker may be an infrared (IR) pattern, and the pattern may be projected onto a floor, wall, or ceiling surface within the space (10) by a pattern projection device provided within the space (10). Since the identifier (20) is not visible to the naked eye, space efficiency can be achieved in the space design within the space (10) and the aesthetics of the space can be improved. The sensor unit (106) of the robot (100) may include an IR sensor to enable recognition of the IR pattern.

[0132] Alternatively, the identifier (20) may be a predetermined code or tag. For example, the identifier (20) may be in the form of an April tag.

[0133] The identifier (20) may have a size sufficiently large to be recognized by a robot (100) located at a certain distance or more.

[0134] As illustrated in FIG. 8A, the identifier (20) may be a signage or sign placed within a space. For example, a stop sign (800) as illustrated may serve as the identifier (20). The robot control system (120) may consider the detection result of the sign (800) by the robot (100) (e.g., through vision recognition, etc.) as the detection result for the identifier (20) described above. In this way, a sign (800) placed for guidance within a space (10) may also serve as the identifier (20) of the embodiment.

[0135] Alternatively, as illustrated in FIG. 8B, the identifier (20) may be included in an image (810) placed within a space. For example, the identifier (20) may be encoded in the image (810) in a form that is not identifiable to the naked eye by a human, for example, in the form of a watermark. In other words, the marker, which is the identifier (20), may be inserted into the image (810) placed within the space (10) so as not to be identifiable to the naked eye by a human. The image (810) may be placed within the space (10) for purposes such as decoration, guidance, or information transmission. Alternatively, in a similar manner, the marker, which is the identifier (20), may be inserted into a facility placed within the space (10) so as not to be identifiable to a human (for example, a decoration installed on a wall, floor, or ceiling).

[0136] The description of the technical features described above with reference to FIGS. 1 to 7 can also be applied to FIGS. 8a and 8b, so redundant descriptions are omitted.

[0137]

[0138] FIG. 9 illustrates queues, each configured to store detection results for each of a plurality of identifiers, according to an example.

[0139] A plurality of identifiers (910-1 to 910-N) may be arranged within a space (10). At this time, each identifier may represent a different type of restricted space (30) or a different situation of the robot (100). Each of the illustrated identifiers (910-1 to 910-N) may represent a different type of identifier.

[0140] As in FIG. 9, the aforementioned queue (50) may exist for each of these different types of identifiers (910-1 to 910-N).

[0141] For example, as illustrated, each of the identifiers (910-1 to 910-N) may correspond to each of the queues (920-1 to 920-N).

[0142] For example, in the above-described embodiment, the identifier (20) may be a first identifier (910-1), and the queue (50) may be a first queue (920-1) configured to store a detection result for the first identifier (910-1) indicating either recognition or non-recognition of the first identifier (910-1). Meanwhile, a detection result for a second identifier (920-2) indicating either recognition or non-recognition of a second identifier (920-2) different from the first identifier (920-1) arranged in the space (10) (i.e., an identifier indicating a different type of restricted space or a different situation than the first identifier (920-1)) (a detection result indicating recognition of the second identifier (920-2)) may be stored in the second queue (920-2) different from the first queue (920-1).

[0143] The actions of the robot (100) can also be further controlled based on at least two detection results for the second identifier (920-2) stored in the second queue (920-2).

[0144] For example, in a case where a plurality of identifiers (910-1 to 910-N) exist within a detectable range of a robot (100) within a space (10), a detection result ('1') indicating that each identifier has been recognized may be stored in a queue corresponding to the identifier. Meanwhile, a detection result ('1') indicating that an identifier has been recognized at a specific point in time may be stored in a queue corresponding to the identifier, but in the remaining queues other than the corresponding queue, a detection result ('0') indicating that the identifier has not been recognized may be stored.

[0145] In this way, in the embodiment, since each of the plurality of queues (920-1 to 920-N) exists corresponding to each of the identifiers (910-1 to 910-N), the detection results for each identifier can be stored and managed in individual queues. Accordingly, the robot control system (120) analyzes the detection results for the plurality of identifiers (910-1 to 910-N) of the robot (10) in the space (10) where the plurality of identifiers (910-1 to 910-N) exist, determines the situation of the robot (100) according to the recognition of each identifier, and can control the robot appropriately according to the situation.

[0146] The description of the technical features described above with reference to FIGS. 1 to 8 can also be applied to FIG. 9, so any duplicate description will be omitted.

[0147]

[0148] Figure 10 illustrates a queue configured to store detection results for multiple identifiers.

[0149] As described with reference to FIG. 9, a plurality of identifiers (910-1 to 910-N) may be arranged within a space (10). At this time, each identifier may represent a different type of restricted space (30) or a different situation of the robot (100). Each of the illustrated identifiers (910-1 to 910-N) may represent an identifier of a different type.

[0150] As in FIG. 10, the aforementioned queue (50) may be a queue (1020) (i.e., an integrated queue) configured to store detection results for these different types of identifiers (910-1 to 910-N).

[0151] For example, as illustrated, in the queue (1020), as detection results for identifiers (910-1 to 910-N), a detection result (x) indicating recognition of a first identifier (910-1), a detection result (y) indicating recognition of a second identifier (910-2), and a detection result (z) indicating recognition of an Nth identifier (910-N) may be stored as distinct values. A detection result indicating non-recognition of an identifier may be stored as 0 in the queue (1020).

[0152] The robot control system (120) can count the number of detection results indicating recognition of the identifier for each identifier, and based on this, determine the situation of the robot (100) and appropriately control the robot (100) according to the determined situation.

[0153] For example, if the above-described identifier (20) is the first identifier (910-1), the robot control system (120) can determine that the robot (100) is in the first situation if the first number of detection results (x) indicating recognition of the first identifier (910-1) stored in the queue (1020) is greater than the second number of detection results (values ​​other than x) indicating non-recognition of the first identifier (910-1), or if the first number is equal to or greater than the above-described first value. Here, the first situation may be a type of abnormal situation indicated by the first identifier (910-1) and may be a first abnormal situation.

[0154] The robot control system (120) can control the robot (100) to perform an action associated with the determined first situation (or the first identifier (910-1)). The robot control system (120) can control the robot (100) to perform an action for the first situation. Accordingly, the robot (100) can be appropriately controlled according to the determined first situation.

[0155] Meanwhile, a detection result for a second identifier (910-2) that is different from a first identifier (910-1) placed in a space (10) and indicates either recognition or non-recognition of the second identifier (910-2) (e.g., a detection result (y) indicating recognition of the second identifier (910-2)) may be stored in a queue (1020) as a different value from a detection result for the first identifier (910-) (e.g., a detection result (x) indicating recognition of the first identifier (910-1)).

[0156] At this time, if the fourth number of detection results (y) indicating recognition of the second identifier stored in the queue (1020) is greater than the fifth number of detection results (values ​​other than y) indicating non-recognition of the second identifier, or if the fourth number is greater than or equal to the first value described above, it can be determined that the robot (100) is in the second situation. The second situation may be a type of abnormal situation indicated by the second identifier (910-2) that is distinct from the first situation, and may be a second abnormal situation. Since the method for determining whether the robot (100) is in the first situation described above can be similarly applied to determining whether the robot (100) is in the second situation, a duplicate description will be omitted.

[0157] The robot control system (120) can control the robot (100) to perform an action associated with the determined second situation (or second identifier (910-2)). The robot control system (120) can control the robot (100) to perform an action for the second situation. Accordingly, the robot (100) can be appropriately controlled according to the determined second situation.

[0158] In this way, in the embodiment, the detection results (i.e., detection results indicating 'recognition') for each of the identifiers (910-1 to 910-N) can be stored and managed separately in the queue (1020). Accordingly, the robot control system (120) analyzes the detection results for the multiple identifiers (910-1 to 910-N) of the robot (10) in the space (10) where the multiple identifiers (910-1 to 910-N) exist, determines the situation of the robot (100) according to the recognition of each identifier, and can control the robot appropriately according to the situation.

[0159] The description of the technical features described above with reference to FIGS. 1 to 9 can also be applied to FIG. 10, so redundant descriptions are omitted.

[0160] The systems or devices described above may be implemented as hardware components, software components, or a combination of hardware components and software components. For example, the devices and components described in the embodiments may be implemented using one or more general-purpose computers or special-purpose computers, such as, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate array (FPGA), a programmable logic unit (PLU), a microprocessor, or any other device capable of executing instructions and responding to them. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to the execution of the software. For ease of understanding, the processing device is sometimes described as being used alone; however, one of ordinary skill in the art will recognize that the processing device may include multiple processing elements and / or multiple types of processing elements. For example, a processing unit may include multiple processors, or a processor and a controller. Other processing configurations, such as parallel processors, are also possible.

[0161] Software may include computer programs, codes, instructions, or a combination of one or more of these, which may configure a processing device to perform a desired operation or may, independently or collectively, command the processing device. The software and / or data may be permanently or temporarily embodied in any type of machine, component, physical device, virtual equipment, computer storage medium, or device for interpretation by the processing device or for providing instructions or data to the processing device. The software may also be distributed over networked computer systems and stored or executed in a distributed manner. The software and data may be stored on one or more computer-readable recording media.

[0162] The method according to the embodiment may be implemented in the form of program commands that can be executed through various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., alone or in combination. The program commands recorded on the medium may be those specially designed and configured for the embodiment or may be those known and available to those skilled in the art of computer software. Examples of the computer-readable recording medium include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and hardware devices specially configured to store and execute program commands such as ROMs, RAMs, and flash memories. Examples of program commands include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter, etc.

[0163] Although the embodiments described above have been described by way of limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can still be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents.

[0164] Therefore, other implementations, other embodiments, and equivalents to the claims also fall within the scope of the claims described below.

Claims

1. A robot control method performed by a robot moving in space or a robot control system controlling a robot, During the driving of the robot, a step of storing the detection results for the identifiers placed in the space from the robot in a predefined queue; and A step of controlling the action of the robot based on at least two detection results for the identifier stored in the queue. A robot control method comprising:

2. In paragraph 1, The above identifier is placed in an area where the robot's entry is restricted or the robot's movement is restricted within the space, The above controlling step is, A robot control method for controlling the robot to stop or to move the robot to a predetermined position within the space.

3. In paragraph 1, The above controlling step is, Controlling the robot so that the robot moves to a predetermined location within the space, A robot control method, wherein the above-described predetermined location is a predefined location within the space or a location within the space indicated by the identifier.

4. In paragraph 1, A robot control method, wherein the identifier includes a marker that is not identifiable by the naked eye of a person within the space and is recognizable only by the robot.

5. In paragraph 4, A robot control method, wherein the marker is inserted into an image placed within the space so as not to be identifiable by the human eye.

6. In paragraph 1, A robot control method, wherein the above queue is a FIFO (First-in-First-out) queue and is configured to sequentially store detection results for the above identifiers, but is configured to be able to store detection results for a predetermined number of the above identifiers.

7. In paragraph 6, The detection result for the above identifier is either recognition or non-recognition of the above identifier, The above controlling step is, A step of determining that the robot is in a first situation when a first number of detection results indicating recognition of the identifier among detection results for the identifier stored in the queue is greater than a second number of detection results indicating non-recognition of the identifier, or when the first number is equal to or greater than a predetermined first value; and A step of controlling the robot so that the robot performs an action for the first situation. A robot control method comprising:

8. In paragraph 7, The detection results for the above identifier are obtained at predetermined intervals and stored in the queue. The above judging step is, A robot control method, wherein the robot is determined to be in a first situation when the first number within the queue is greater than or equal to the first value.

9. In paragraph 7, The above first situation is an abnormal situation of the robot, The above controlling step is, After the robot is determined to be in the first situation, which is the abnormal situation, if a predetermined third number or more of detection results indicating non-recognition of the identifier are continuously stored in the queue, the step of determining that the robot is in a normal situation again; and A step for controlling the robot so that the robot operates normally. A robot control method comprising:

10. In paragraph 7, The step of controlling the robot to perform the above actions is: a step of controlling the robot to stop the robot; and Step for calling the manager of the above robot A robot control method comprising:

11. In paragraph 7, The above identifier is the first identifier, The above queue is a first queue configured to store a detection result for the first identifier, wherein the detection result indicates either recognition or non-recognition of the first identifier; The detection result for the second identifier, which indicates either recognition or non-recognition of the second identifier different from the first identifier arranged in the space, is stored in a second queue different from the first queue, A robot control method, wherein the action of the robot is further controlled based on at least two detection results for the second identifier stored in the second queue.

12. In paragraph 7, The above identifier is the first identifier, The above judging step is, If the first number of detection results indicating recognition of the first identifier stored in the queue is greater than the second number of detection results indicating non-recognition of the first identifier, or if the first number is greater than or equal to the first value, the robot is determined to be in the first situation, The step of controlling the robot to perform the above actions is: A robot control method for controlling the robot to perform actions for the first situation.

13. In paragraph 12, A robot control method, wherein the detection result for the second identifier, which indicates either recognition or non-recognition of the second identifier different from the first identifier arranged in the space, is stored in the queue as a different value from the detection result for the first identifier.

14. In paragraph 13, The above controlling step is, A step of determining that the robot is in a second situation when the fourth number of detection results indicating recognition of the second identifier stored in the queue is greater than the fifth number of detection results indicating non-recognition of the second identifier, or when the fourth number is greater than or equal to the first value; and A step of controlling the robot so that the robot performs an action for the second situation. A robot control method comprising:

15. In a computer system for controlling a robot moving within space, At least one processor implemented to execute instructions readable by said computer system Including, At least one processor of the above, During the driving of the robot, the detection results for the identifiers placed in the space from the robot are stored in a predefined queue, A computer system that controls the action of the robot based on at least two detection results for the identifier stored in the queue.

16. For robots moving within space, At least one processor implemented to execute instructions readable by a computer system included in said robot Including, At least one processor of the above, During the driving of the above robot, the detection results for the identifiers placed in the above space are stored in a predefined queue, A robot that controls the action of the robot based on at least two detection results for the identifier stored in the above queue.

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