Electronic device and control method therefor

Abstract

This electronic device comprises: a memory for storing instructions; at least one sensor for sensing the space around the electronic device; and at least one processor including processing circuitry, wherein, when individually or collectively executed by the at least one processor, the instructions instruct the electronic device to acquire first sensing data by sensing, through the at least one sensor, a task space corresponding to predetermined task information in the space, and, if it is identified on the basis of the first sensing data that a predetermined target object is not present within a threshold distance from a first target position included in the predetermined task information, acquire a second target position within the threshold distance from the position of the predetermined target object on the basis of second sensing data acquired by sensing a travel space different from the task space.

Description

Electronic device and control method thereof

[0001] The present disclosure relates to an electronic device and a method for controlling the same, and more specifically, to an electronic device and a method for controlling the same that detects the environment around a destination of the electronic device and acquires a new destination.

[0002] With the advancement of electronic technology, various types of electronic devices are being developed and distributed.

[0003] In particular, when a user instructs a specific task, the use of electronic products that can autonomously move to a destination without separate user operation is increasing.

[0004] Recently, electronic products are being developed that generate a new path in advance or move along a self-generated path when a destination is designated to perform a specific task and the environment around that destination changes.

[0005] An electronic device according to one embodiment of the present disclosure comprises a memory for storing instructions, at least one sensor for sensing a space surrounding the electronic device, and at least one processor including a processing circuitry. When the instructions are executed individually or collectively by the at least one processor, the electronic device acquires first sensing data by sensing a workspace corresponding to a predetermined work information among the spaces through the at least one sensor. If, based on the first sensing data, it is identified that a predetermined target object does not exist within a threshold distance from a first target position included in the predetermined work information, the electronic device acquires a second target position within the threshold distance from the position of the predetermined target object based on second sensing data acquired by sensing a driving space different from the workspace.

[0006] The electronic device comprises a first sensor for sensing the workspace and a second sensor positioned at a different height from the first sensor, wherein when the instructions are executed individually or collectively by the at least one processor, the electronic device senses the workspace at a different height from the driving space through the first sensor and senses the driving space through the second sensor to acquire the second target position based on the second sensing data obtained.

[0007] The electronic device further includes a moving device for moving the electronic device, and when the instructions are executed individually or collectively by the at least one processor, the moving device may be controlled to move the electronic device to the first target location, and the electronic device may be able to sense the workspace through the at least one sensor while moving.

[0008] When the above instructions are executed individually or collectively by the at least one processor, the electronic device acquires the first target location based on previous sensing data acquired through the at least one sensor and the predetermined work information, and when the electronic device moves to the first target location and identifies that the predetermined target object is not present within a threshold distance from the first target location based on first sensing data different from the previous sensing data, the second target location can be acquired.

[0009] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may identify at least one obstacle object within a target area within a threshold distance from the location of the predetermined target object based on at least one of the first sensing data and the second sensing data, identify the remaining area of ​​the target area excluding the area occupied by the identified at least one obstacle object within the target area, and obtain the second target location included in the remaining area.

[0010] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may identify at least one driving obstacle object located in the driving space based on the second sensing data, and identify the remaining area of ​​the driving space excluding the area occupied by the identified at least one driving obstacle object in the driving space.

[0011] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may acquire a plurality of candidate locations within the remaining area, acquire a plurality of scores based on destination characteristic information acquired from at least one of the first sensing data and the second sensing data, and acquire the second target location among a plurality of candidate locations included in the remaining area of ​​the target area based on the plurality of scores.

[0012] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may acquire destination characteristic information including information classified according to a plurality of types for each of the plurality of candidate locations from at least one of the first sensing data and the second sensing data, and acquire a score for each of the candidate locations based on a plurality of weights set for each of the plurality of types.

[0013] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may acquire path information having the acquired second target location as a destination based on the second sensing data, and update the predetermined work information based on the acquired path information and the second target location.

[0014] When the above instructions are executed individually or collectively by the at least one processor, the electronic device may acquire motion information based on at least one driving obstacle object identified from the second sensing data and acquire path information including the acquired motion information.

[0015] A method for controlling an electronic device according to one embodiment of the present disclosure comprises: a step of acquiring first sensing data by sensing a work space corresponding to predetermined work information among the spaces surrounding the electronic device; a step of identifying whether a predetermined target object exists within a threshold distance from a first target location included in the predetermined work information based on the first sensing data; and a step of, if it is identified that the predetermined target object does not exist within the threshold distance, acquiring a second target location within the threshold distance from the location of the predetermined target object based on second sensing data acquired by sensing a driving space different from the work space.

[0016] The step of acquiring the first sensing data involves acquiring the first sensing data by sensing the workspace at a height different from the driving space through a first sensor for sensing the workspace, and the step of acquiring the second target position involves acquiring the second target position based on the second sensing data acquired by sensing the workspace through a second sensor positioned at a height different from the first sensor.

[0017] The above control method further includes a step of controlling to move to the first target position, and the step of acquiring the second target position may include a step of acquiring the second target position based on second sensing data acquired by sensing the workspace while the electronic device moves.

[0018] The above control method further includes the step of acquiring the first target position based on previous sensing data and the predetermined operation information, and the step of identifying whether the predetermined target object exists within the threshold distance can identify whether the predetermined target object exists within the threshold distance from the first target position based on first sensing data different from the previous sensing data while the electronic device moves to the first target position.

[0019] The step of acquiring the second target location may include, based on at least one of the first sensing data and the second sensing data, identifying at least one obstacle object included in a target area within a threshold distance from the location of the target object, identifying the remaining area of ​​the target area excluding the area occupied by the identified at least one obstacle object, and acquiring the second target location included in the remaining area.

[0020] The step of identifying at least one obstacle object identifies at least one driving obstacle object located in the driving space based on the second sensing data, and the step of identifying the remaining area can identify the remaining area of ​​the driving space excluding the area occupied by the identified at least one driving obstacle object in the driving space.

[0021] The step of acquiring the second target location included in the remaining area may include the step of acquiring a plurality of candidate locations within the remaining area, the step of acquiring a plurality of scores based on destination characteristic information acquired from at least one of the first sensing data and the second sensing data, and the step of acquiring the second target location among a plurality of candidate locations included in the remaining area of ​​the target area based on the plurality of scores.

[0022] The step of obtaining the plurality of scores may involve obtaining destination characteristic information including information classified according to a plurality of types for each of the plurality of candidate locations from at least one of the first sensing data and the second sensing data, and obtaining a score for each of the candidate locations based on a plurality of weights set for each of the plurality of types.

[0023] The above control method may further include the step of obtaining path information having the obtained second target location as a destination based on the second sensing data, and the step of updating the determined work information based on the obtained path information and the second target location.

[0024] A non-transient computer-readable recording medium storing computer instructions that cause the electronic device to perform an operation when executed by a processor of an electronic device according to one embodiment of the present disclosure, wherein the operation comprises: a step of acquiring first sensing data by sensing a workspace corresponding to predetermined work information among the spaces surrounding the electronic device; a step of identifying whether a predetermined target object exists within a threshold distance from a first target location included in the predetermined work information based on the first sensing data; and a step of, if it is identified that the predetermined target object does not exist within the threshold distance, acquiring a second target location within the threshold distance from the location of the predetermined target object based on second sensing data acquired by sensing a driving space different from the workspace.

[0025] FIG. 1 is a diagram for schematically illustrating the operation of an electronic device according to one or more embodiments of the present disclosure.

[0026] FIG. 2 is a block diagram for explaining the configuration of an electronic device according to one or more embodiments of the present disclosure.

[0027] FIG. 3 is a detailed block diagram for explaining the detailed configuration of an electronic device according to one or more embodiments of the present disclosure.

[0028] FIG. 4 is a drawing for explaining the operation of an electronic device according to one or more embodiments of the present disclosure.

[0029] FIG. 5 is a flowchart for explaining the operation of an electronic device according to one or more embodiments of the present disclosure.

[0030] FIG. 6 is a flowchart illustrating an operation to modify a destination according to one or more embodiments of the present disclosure.

[0031] FIG. 7 is a flowchart for explaining an operation based on an upper map according to one or more embodiments of the present disclosure.

[0032] FIG. 8 is a flowchart for explaining in detail the operation of modifying a destination according to one or more embodiments of the present disclosure.

[0033] FIG. 9 is a flowchart illustrating the operation of acquiring a new destination according to a score according to one or more embodiments of the present disclosure.

[0034] FIG. 10 is a drawing for explaining weights according to one or more embodiments of the present disclosure.

[0035] The embodiments described herein are subject to various modifications and may have various forms; specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the scope of specific embodiments and should be understood to include various modifications, equivalents, and / or alternatives of the embodiments of the present disclosure. In relation to the description of the drawings, similar reference numerals may be used for similar components.

[0036] In describing the present disclosure, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the present disclosure, such detailed description is omitted.

[0037] Additionally, the following embodiments may be modified in various other forms, and the scope of the technical concept of the present disclosure is not limited to the following embodiments. Rather, these embodiments are provided to make the present disclosure more faithful and complete and to fully convey the technical concept of the present disclosure to those skilled in the art.

[0038] The terms used in this disclosure are used merely to describe specific embodiments and are not intended to limit the scope of the rights. The singular expression includes the plural expression unless the context clearly indicates otherwise.

[0039] In the present disclosure, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of such features (e.g., numerical values, functions, actions, or components such as parts) and do not exclude the presence of additional features.

[0040] In the present disclosure, expressions such as “A or B,” “at least one of A or / and B,” or “one or more of A or / and B” may include all possible combinations of items listed together. For example, “A or B,” “at least one of A and B,” or “at least one of A or B” may refer to cases including (1) at least one A, (2) at least one B, or (3) both at least one A and at least one B.

[0041] Expressions such as "first," "second," "first," or "second" used in this disclosure may modify various components regardless of order and / or importance, and are used only to distinguish one component from another and do not limit said components.

[0042] When it is stated that a certain 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 said certain component may be directly connected to the said other component or connected through another component (e.g., a third component).

[0043] On the other hand, when it is stated that a certain component (e.g., a first component) is "directly connected" or "directly coupled" to another component (e.g., a second component), it may be understood that no other component (e.g., a third component) exists between said certain component and said other component.

[0044] As used in this disclosure, the expression “configured to” may be replaced, depending on the context, with, for example, “suitable for,” “having the capacity to,” “designed to,” “adapted to,” “made to,” or “capable of.” The term “configured to” may not necessarily mean only “specifically designed to” in hardware.

[0045] Instead, in some situations, the expression “device configured to do something” may mean that the device is “capable of doing something” in conjunction with other devices or components. For example, the phrase “processor configured (or set) to perform A, B, and C” may refer to a dedicated processor for performing those operations (e.g., an embedded processor), or a generic-purpose processor (e.g., a CPU or application processor) capable of performing those operations by executing one or more software programs stored in a memory device.

[0046] In the embodiments, a 'module' or 'part' performs at least one function or operation and may be implemented in hardware or software, or a combination of hardware and software. Additionally, a plurality of 'modules' or a plurality of 'parts' may be integrated into at least one module and implemented by at least one processor, except for the 'module' or 'part' that needs to be implemented in specific hardware.

[0047] Meanwhile, various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present disclosure is not limited by the relative sizes or spacing depicted in the attached drawings.

[0048] Hereinafter, embodiments according to the present disclosure are described in detail with reference to the attached drawings so that those skilled in the art can easily implement them.

[0049] FIG. 1 is a diagram for schematically illustrating the operation of an electronic device according to one or more embodiments of the present disclosure.

[0050] According to FIG. 1, an electronic device (100), a workspace (10), and a target (11) are shown.

[0051] Here, the electronic device (100), workspace (10), and target (11) can each be implemented in the form shown in FIG. 1, but are not necessarily limited thereto and can be implemented in various forms.

[0052] The electronic device (100) may be implemented as at least one of a smartphone, a tablet PC (Personal computer), a desktop PC, a laptop PC, a PC, a set-top box, an OTT service (Over-the-top media service) server, a console (video game console), a Blu-ray player, a DVD (Digital Video Disc or Digital Versatile Disc) player, a home automation control panel, a security control panel, a media box (e.g., Samsung HomeSync™, Apple TV™, or Google TV™), or a game console (e.g., Xbox™, PlayStation™). However, it is not limited thereto.

[0053] For example, the electronic device (100) may be implemented as a server capable of controlling a movable external device. Here, the movable external device may correspond to a device capable of receiving a control signal from the electronic device (100) and performing a specific operation.

[0054] Here, the control signal may correspond to a signal generated by the electronic device (100) to cause an external device to perform a specific action. For example, the electronic device (100) may generate a control signal to perform a specific action using information provided by the external device (e.g., the current location of the external device, a set destination, etc.).

[0055] Here, a specific action may refer to an action in which the electronic device (100) drives to a specific location or performs a specific task at a specific location. However, it is not limited thereto.

[0056] Meanwhile, the electronic device (100) may also be implemented as a device capable of driving itself. For example, the electronic device (100) may be implemented as a driving robot. A driving robot may mean a device capable of moving on its own along a ground or a specific surface using wheels, legs, or other means of locomotion.

[0057] When the electronic device (100) is implemented as a driving robot, the electronic device (100) may correspond to a robot located in a home. For example, the electronic device (100) may provide various services to the user, such as housework, education, and healthcare. However, this is an example, and the electronic device (100) is not limited to such a home service robot.

[0058] Meanwhile, the electronic device (100) may correspond to a robot located in an office, shop, warehouse, etc. In this case, the electronic device (100) can perform the task of moving a specific object. For example, the electronic device (100) can perform various functions such as carrying a user's object and following the user, or carrying an object placed in a specific location and moving it to a designated location.

[0059] As described above, when the electronic device (100) is implemented as a movable driving robot, the electronic device (100) can drive using map information about the space (e.g., warehouse) where the electronic device (100) is located. Here, the map information may refer to data about the space where the electronic device (100) is located.

[0060] For example, the electronic device (100) may use map information including the structure, obstacles, terrain information, etc. of the surrounding environment used to perform path planning and movement. Here, the surrounding environment may refer to the space around the electronic device (100).

[0061] Here, the surrounding space may include a driving space for the electronic device (100) to move and a separate workspace (10) for performing specific tasks (tasks other than driving).

[0062] The workspace (10) may refer to a space where objects related to the work performed by the electronic device (100) are placed. That is, the workspace (10) may refer to a space located on a structure such as a desk, shelf, etc., when the electronic device (100) performs a specific task (e.g., moving an object placed on a specific structure).

[0063] Meanwhile, the driving space may refer to a space in which the electronic device (100) can move, separate from the work space (10). That is, the driving space may refer to a space located on a floor surface used by the electronic device (100) to move. Additionally, the driving space may include an area in which the electronic device (100) can physically move.

[0064] For example, unlike the workspace (10), the driving space may refer to a space where direct interaction with a specific object (an object related to a specific task) does not take place.

[0065] Meanwhile, the electronic device (100) can perform work on a target (11) located on the workspace (10). Here, the target (11) may refer to an object that is the subject of the work to be performed by the electronic device (100) in the workspace (10).

[0066] That is, the target (11) may refer to an object selected for a specific task, such as movement or manipulation. For example, the target (11) may correspond to a box placed on a workspace (10), such as a shelf. However, it is not limited thereto.

[0067] For example, the electronic device (100) can perform the task of moving a target (11) located on the workspace (10) to another location.

[0068] Here, another location may refer to a location other than the space (driving space and work space (10)) located around the electronic device (100). However, it is not limited to this, and another location may refer to a location (place) different from the original location of the target (11) within the work space (10).

[0069] The electronic device (100) can move to the vicinity of the original location of the target (11) to perform the above operation. Here, the original location of the target (11) may correspond to information included in the map information. That is, the electronic device (100) can identify the location of the target (11) using the map information and move to the vicinity of that location.

[0070] Meanwhile, if the electronic device (100) moves near the original location of the target (11), the operation may fail. For example, while the electronic device (100) moves near the original location, the target (11) may disappear from the original location.

[0071] Here, the electronic device (100) may not be able to detect that the target (11) has disappeared from its original position. That is, the electronic device (100) may be able to sense the driving space, but may not be able to sense the work space (11). For example, if the work space (11) is located higher than the driving space, the work space (10) may not be able to be sensed due to the sensing range of the electronic device (100).

[0072] Here, the sensing range may refer to the sensing field of view and the sensing distance. Here, the field of view (FOV) may refer to the angle of sight through which the sensor can detect the surrounding environment. The sensing distance may refer to the maximum distance at which the sensor can recognize a specific object or environment or collect data.

[0073] If the electronic device (100) cannot sense the workspace (10) due to the sensing range, it cannot detect changes in the workspace (10).

[0074] In this case, the electronic device (100) can move near a new location and perform operations on the moved target (11'). For example, the electronic device (100) can generate a path to get near the new location of the moved target (11'). Here, the electronic device (100) can generate the path using map information about the driving space.

[0075] At this time, if the electronic device (100) cannot sense the workspace (10) as described above, it may obtain information about the new location of the moved target (11') from an external device, etc. However, it is not limited to this, and the electronic device (100) may move to a location where it can sense the workspace (10) on its own and sense the workspace (10) to detect the new location.

[0076] In this way, when the target (11) is moved from its original location to a new location, the electronic device (100) may not be able to perform a specific operation at the original location of the target (11). In this case, the electronic device (100) may move to a new location (near the location of the moved target (11')) to perform the specific operation on the moved target (11'). To this end, the electronic device (100) may create a path to move to the new location.

[0077] If the electronic device (100) cannot detect changes in the environment of the workspace (10) due to limitations such as the sensing range, it can move to a new location by creating a new path from the existing location of the target (11).

[0078] To this end, the electronic device (100) must perform the path-generating operation twice (or more) and move additionally to perform the operation on the target (11).

[0079] However, if the electronic device (100) can recognize the environment of the workspace (10) in advance, it can create a new path before arriving near the existing location of the target (11) (original destination). That is, the electronic device (100) can acquire a new destination by continuously detecting the environment of the workspace (10) while moving toward the original destination. This will be explained in detail below.

[0080] FIG. 2 is a block diagram for explaining the configuration of an electronic device according to one or more embodiments of the present disclosure.

[0081] According to FIG. 2, the electronic device (100) may include a memory (110), a sensor (120), and a processor (130).

[0082] As the electronic device (100) has been described in FIG. 1, a redundant description will be omitted.

[0083] In the case of memory embedded in the electronic device (100), it may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM), etc.), non-volatile memory (e.g., OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g., NAND flash or NOR flash), etc.), hard drive, or solid state drive (SSD), and in the case of memory that is detachable from the electronic device (100), it may 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.), external memory that can be connected to a USB port (e.g., USB memory).

[0084] Memory (110) may include one or more storage media (or one or more storage devices). For example, memory (110) may include a memory assembly comprising one or more storage media. For example, one or more storage media may include a hard drive, flash memory, permanent memory (e.g., non-volatile memory) such as ROM (read-only memory), semi-permanent memory (e.g., volatile memory) such as RAM (random access memory), any other suitable type of storage (or storage assembly), or any combination thereof. Memory (110) may include cache memory, which is one or more different types of memory used to temporarily store data for a function or feature of the electronic device (100). As an example, but not limited to, cache memory may be included within the processor (130). The memory (110) can be fixedly embedded in the electronic device (100) or incorporated into one or more suitable types of components (e.g., a SIM (subscriber identity module) card and / or an SD (secure digital) card) that can be repeatedly inserted into and removed from the electronic device (100).

[0085] For example, memory (110) may store one or more software applications, such as operating system (or system) software applications, firmware software applications, driver software applications, plugin (e.g., add-in, add-on, and / or applet) software applications, and / or any other suitable software applications. For example, one or more software applications may include instructions executable by the processor (110). For example, memory (110) may store instructions that can be called by an application programming interface (API). For example, memory (110) may store instructions within a library.

[0086] In the present disclosure, the term memory (110) may be used to include a storage unit, a ROM (not shown), a RAM (not shown) within at least one processor (130), or a memory card (not shown) (e.g., a micro SD card, a memory stick) mounted in an electronic device (100).

[0087] A memory (110) according to one or more embodiments may store at least one instruction. When the at least one instruction stored in the memory (110) is executed individually or collectively by the processor (130), the electronic device (100) may be able to perform operations.

[0088] Here, at least one instruction may correspond to at least one command for the electronic device (100) to sense the surrounding space of the electronic device (100) to acquire a second target location. In addition, the memory (110) may store information necessary for the operation of the electronic device (100).

[0089] The sensor (120) can sense the surrounding space of the electronic device (100). The sensor (120) may include at least one of an image sensor, a LiDAR sensor, an obstacle detection sensor, and a driving detection sensor. The sensor (120) can sense the surrounding space of the electronic device (100) to generate sensing data.

[0090] The electronic device (100) may include one sensor (120), but is not limited thereto and may be implemented with a plurality of sensors (120). For convenience, the following description assumes a case where the sensor (120) is implemented as at least one sensor (120).

[0091] According to one embodiment, the sensor (120) may include a first sensor and a second sensor. Here, the first sensor and the second sensor may correspond to sensors placed at different locations of the electronic device (100). This will be described in detail later in FIG. 3.

[0092] The processor (130) can perform overall control operations of the electronic device (100).

[0093] The processor (130) may be implemented as a digital signal processor (DSP), microprocessor, or time controller (TCON) that processes digital signals. However, it is not limited thereto, and may include or be defined by one or more of a central processing unit (CPU), microcontroller unit (MCU), microprocessing unit (MPU), controller, application processor (AP), graphics-processing unit (GPU), communication processor (CP), or ARM processor. Additionally, the processor (130) may be implemented as a System on Chip (SoC) or large-scale integration (LSI) with built-in processing algorithms, or may be implemented in the form of a Field Programmable Gate Array (FPGA). Furthermore, the processor (130) can perform various functions by executing computer executable instructions stored in memory. Meanwhile, although FIG. 2 illustrates that the electronic device (100) includes only one processor, in implementation, multiple processors may be included. It may also include processors (e.g., CPU + GPU, CPU + DSP).

[0094] Meanwhile, when the instructions stored in the memory (110) described above are executed individually or collectively by the processor (130), the electronic device (100) may be made to perform the following operations.

[0095] According to one or more embodiments, the electronic device (100) can acquire first sensing data by sensing a workspace through at least one sensor (120). Here, since the workspace has been described in detail above, a redundant description will be omitted.

[0096] Here, the workspace may correspond to a space corresponding to predetermined work information among the spaces surrounding the electronic device (100). Here, the work information may correspond to information containing the content of the work that the electronic device (100) must perform on a target in a specific space.

[0097] Specifically, the work information may include the target and location of the work to be performed by the electronic device (100). Here, the work space may refer to the space where the target (object) of the work to be performed among the above work information exists. Here, the space where the target exists may refer to the space on a specific structure where the target is placed. However, it is not limited thereto.

[0098] Here, the sensing data may correspond to data obtained by the electronic device (100) sensing the surrounding space through at least one sensor (120).

[0099] Here, if at least one sensor (120) is implemented as an image sensor, the sensing data may correspond to data (digital data) from visual information of the surrounding environment captured through a camera. For example, the sensing data may correspond to data including pixel information of the captured workspace (brightness and color values ​​of each pixel).

[0100] Meanwhile, if at least one sensor (120) is implemented as a LiDAR sensor, the sensing data may correspond to data representing the distance (or 3D position) to an object based on the reflection time of a laser pulse. In this case, the sensing data may correspond to point cloud data.

[0101] Here, point cloud data may correspond to data that represents the shape of an object or environment in a digital form by collecting the coordinates (x, y, z) of each point in 3D space.

[0102] For example, sensing data may include distance values ​​(or points representing distance values) at each point collected to determine the location of obstacles in the space.

[0103] The sensing data is not limited to the examples described above, and can be implemented in various forms of data if at least one sensor (120) is implemented as a different type of sensor.

[0104] Meanwhile, the first sensing data may correspond to sensing data obtained by the electronic device (100) sensing the workspace. That is, the first sensing data may include information about the workspace (such as the distance or location of obstacles or targets).

[0105] According to one or more embodiments, the electronic device (100) can identify whether a target object is present within a threshold distance from a first target position included in the work information based on the first sensing data.

[0106] Here, the first target location may correspond to a destination to which the electronic device (100) must move to perform a specific task. Here, information regarding the destination (e.g., location and path, etc.) may correspond to information included in the aforementioned task information.

[0107] Here, the target object may refer to the aforementioned target. That is, the target object may refer to a target located in the workspace.

[0108] Here, the target may correspond to an object for which the electronic device (100) performs a specific task. For example, if the electronic device (100) performs a task to move a delivery box, the target object may correspond to a delivery box.

[0109] Here, the critical distance may correspond to a distance according to the operating range in which the electronic device (100) can perform a task. Here, the operating range may refer to a range of distances or angles in which the electronic device (100) can perform a task at a specific location. Here, the distance corresponding to the operating range may correspond to a distance in which the electronic device (100) can perform a task at a specific location.

[0110] For example, the electronic device (100) may include a robotic arm. In this case, the electronic device (100) may perform tasks using the robotic arm. Here, the robotic arm may correspond to a device for the electronic device (100) to perform tasks such as grasping or moving an object (e.g., a target object).

[0111] For example, a robot arm may include movable joints and links. Here, movable joints can provide rotational capabilities by connecting links within the robot arm. Here, a link may refer to a fixed-length structure that connects joints within the robot arm.

[0112] Meanwhile, a robot arm may be positioned on the upper part of the electronic device (100). For example, if the electronic device (100) performs a specific task in a workspace located higher than the driving space, the electronic device (100) may perform the task using a robot arm positioned on the upper part of the electronic device (100) (i.e., at the same height as the workspace). However, it is not limited thereto.

[0113] Here, the electronic device (100) can perform work using a robot arm positioned at a different height from the moving device. In this case, the electronic device (100) can sense the workspace using a sensor attached to the robot arm. Further details regarding this will be explained in detail in the following section.

[0114] In this way, when the electronic device (100) includes a robot arm, the critical distance may correspond to a distance according to the operating range of the robot arm. Here, the operating range of the robot arm may refer to the range of the maximum distance (or angle) that the robot arm can move or work. In this case, the critical distance may refer to the maximum distance described above.

[0115] Meanwhile, the electronic device (100) can identify that the target object is not present at a threshold distance from the first target location based on the first sensing data.

[0116] For example, the electronic device (100) may use map information of a workspace obtained through the first sensing data. Here, the map information of the workspace may include information about the structure of the workspace, the locations of objects, etc.

[0117] The electronic device (100) can identify the location of a target object by using map information of the workspace. The electronic device (100) can also identify whether the identified target object is within a threshold distance from a first target location.

[0118] The electronic device (100) can identify that the target object is not located within the critical distance if it is identified that the target object is not located within the critical distance.

[0119] According to one or more embodiments, if the electronic device (100) identifies that a predetermined target object is not present within a threshold distance, it can obtain a second target location located within a threshold distance from the location of the target object based on the second sensing data.

[0120] Here, the second sensing data may correspond to sensing data obtained by the electronic device (100) sensing the driving space. Here, the driving space may correspond to a space different from the work space among the spaces around the electronic device (100). Since the sensing data, etc. have been explained previously, a redundant explanation will be omitted.

[0121] The location of the target object may correspond to a location identified based on the first sensing data. That is, the electronic device (100) can identify the location of the target object based on the map information of the workspace described above. The location of the target object may be located on the workspace.

[0122] If the electronic device (100) identifies that the target object is not present in the workspace based on the first sensing data, it can identify that the operation has failed.

[0123] Meanwhile, the electronic device (100) can acquire a second target location located within a critical distance from the location of the identified target object. That is, the electronic device (100) can acquire a second target location where operations can be performed on the target object.

[0124] Here, the second target location may correspond to a location in the driving space obtained by the electronic device (100) based on the second sensing data. The second target location may correspond to a location where work can be performed on a target object located in the work space. That is, the second target location may correspond to a location updated from the first target location to a location where the electronic device (100) can perform work.

[0125] According to one embodiment, the electronic device (100) can identify at least one obstacle object based on at least one of the first sensing data and the second sensing data.

[0126] Here, at least one obstacle object can identify at least one obstacle object included in the target area of ​​the target object. Here, the target area may correspond to an area within a threshold distance from the location of the target object.

[0127] Specifically, the target area may correspond to an area belonging to the driving space among the areas within a threshold distance from the location of the target object. However, it is not limited thereto.

[0128] Here, an obstacle object refers to an object that can hinder the robot's movement or operation in a driving or workspace, and may mean an object identified through sensing data. In this context, the obstacle object may correspond to an object distinct from the target object.

[0129] Specifically, the electronic device (100) can identify an obstacle object based on at least one of the first sensing data and the second sensing data.

[0130] For example, the electronic device (100) can identify obstacle objects located in the workspace using map information of the workspace obtained based on the first sensing data. However, it is not limited thereto, and the electronic device (100) can also identify obstacle objects located in the driving space using map information of the workspace.

[0131] Meanwhile, the electronic device (100) can identify obstacle objects located in the driving space using map information of the driving space obtained based on the second sensing data. However, it is not limited thereto, and the electronic device (100) can also identify obstacle objects located in the work space using map information of the driving space.

[0132] That is, when the workspace and the driving space are in close proximity, an obstacle object located in the driving space may be identified through the first sensing data. Additionally, when the workspace and the driving space are in close proximity, an obstacle object located in the workspace may be identified through the second sensing data.

[0133] Additionally, the electronic device (100) may identify at least one obstacle object located in at least one of the workspace and the driving space by utilizing both the map information of the workspace and the map information of the driving space described above. That is, the electronic device (100) may consider all obstacle objects that may be located in both the workspace and the driving space in order to identify a second target location.

[0134] Meanwhile, the electronic device (100) can identify the remaining area excluding the area occupied by at least one identified obstacle object among the target areas. Here, the remaining area may correspond to an area located in the driving space.

[0135] According to one example, the electronic device (100) can identify at least one driving obstacle object based on second sensing data. Here, the driving obstacle object may mean an obstacle object located in the driving space.

[0136] For example, obstacle objects can be objects such as boxes dropped in the driving space, like the floor, or trash cans that can block the driving path.

[0137] The electronic device (100) can identify the remaining area excluding the area occupied by at least one identified driving obstacle object among the target areas.

[0138] Meanwhile, the electronic device (100) can obtain a second target location included in the remaining area.

[0139] According to one example, the electronic device (100) may obtain a plurality of candidate locations included in the remaining area. Here, the plurality of candidate locations are included in the remaining area and may correspond to a fixed number of candidate locations. Here, the fixed number may be set based on the size of the remaining area. However, it is not limited thereto, and the fixed number may also be set by user operation input for selecting the number of candidate locations.

[0140] Meanwhile, multiple scores can be obtained based on destination characteristic information of the electronic device (100).

[0141] Here, destination characteristic information may refer to environmental information around the destination obtained through sensing data. For example, destination characteristic information may include the type, location, size, etc. of obstacle objects located in the driving space or work space. However, it is not limited thereto, and destination characteristic information may include the distance to each candidate location based on the current electronic device (100).

[0142] Here, the electronic device (100) can obtain destination characteristic information from at least one of the first sensing data and the second sensing data. For example, the destination characteristic information may include information distinguished according to a plurality of types for a plurality of candidate locations.

[0143] Here, multiple types may include types regarding the types and locations of the aforementioned obstacle objects, and types regarding the distances to each candidate site. However, this is not limited thereto, and multiple types may include types regarding the range within which the robot arm must operate for each candidate site.

[0144] Here, the range in which the robot arm must operate may refer to the range in which the electronic device (100) must operate to perform work at a specific candidate location (e.g., the distance the robot arm is extended, the angle range, etc.).

[0145] The electronic device (100) can obtain a score for each candidate location based on multiple weights set for multiple types. Here, the weights may correspond to values ​​set for multiple types included in the destination characteristic information.

[0146] Here, weights may correspond to values ​​set for each type of destination characteristic information for score calculation. In this context, importance may represent the degree to which each type of information influences the selection of the optimal candidate location.

[0147] Meanwhile, the electronic device (100) can obtain a second target location among a plurality of candidate locations included in the remaining area based on a plurality of scores. For example, the electronic device (100) can obtain a candidate location corresponding to the maximum score among the plurality of scores as the second target location.

[0148] Accordingly, the electronic device (100) calculates a score based on the surrounding environment of each candidate location and can obtain a final destination based on the score calculated for each candidate location. Through this, the electronic device (100) can efficiently obtain a final destination that minimizes power consumption.

[0149] According to one embodiment, the electronic device (100) can obtain path information with a second target location obtained based on second sensing data as the destination.

[0150] For example, the electronic device (100) may use map information of the driving space obtained based on the second sensing data. Specifically, the electronic device (100) may identify an obstacle object (e.g., a driving obstacle object) located between the electronic device (100) and the second target location from the map information of the driving space.

[0151] The electronic device (100) can obtain path information based on the location and size of the identified obstacle object. Here, the path information may refer to information about the optimal movement path that the electronic device (100) must follow to move to a second target location.

[0152] Here, path information may include the direction of movement, intermediate waypoints, obstacle avoidance path, distance traveled, and estimated time.

[0153] For example, the electronic device (100) can acquire motion information based on at least one driving obstacle object identified from the second sensing data. Here, the motion information may refer to information about the posture of the electronic device (100) for moving along a path or performing a task.

[0154] For example, motion information may include the rotation angle of each joint of the robot arm, the driving speed, and the rotation angle of the electronic device (100) for obstacle avoidance. However, it is not limited thereto.

[0155] The electronic device (100) can acquire path information including acquired motion information. Meanwhile, the electronic device (100) can update work information based on the acquired path information and a second target location.

[0156] Subsequently, the electronic device (100) may repeat the above-described processes according to the updated work information. For example, the electronic device (100) may update the existing work information to work information including a second target location. That is, the electronic device (100) may update the second target location to a new first target location.

[0157] Accordingly, the electronic device (100) can identify that an environmental change (e.g., movement of a target object) around a first target location has occurred based on the new first sensing data obtained by sensing the workspace again. In this case, the electronic device (100) can obtain a new second target location based on the newly obtained second sensing data.

[0158] Although the electronic device (100) in FIG. 2 is illustrated as having only a basic configuration, the electronic device (100) may include various additional configurations in addition to the configuration described above.

[0159] FIG. 3 is a detailed block diagram for explaining the detailed configuration of an electronic device according to one or more embodiments of the present disclosure.

[0160] According to FIG. 3, the electronic device (100) may include a memory (110), a first sensor (121), a second sensor (122), a processor (130), and a moving device (140). Here, since the memory (110) and the processor (130) have already been described, they will be described without redundant explanations.

[0161] The electronic device (100) may include a first sensor (121) and a second sensor (122).

[0162] According to one embodiment, the first sensor (121) may correspond to a sensor for sensing a workspace. For example, the first sensor (121) may be positioned at a height below a threshold range from the height of the workspace. Here, the workspace may be located at a height different from that of the driving space. Here, the threshold range may be determined according to the sensing angle range of the first sensor (121).

[0163] Here, if the electronic device (100) further includes the aforementioned robot arm, the first sensor (121) may be located on the robot arm. For example, the first sensor (121) may be located at the end of the robot arm. Here, the end may correspond to the part where the robot arm and the object come into contact when the electronic device (100) performs tasks such as lifting an object using the robot arm.

[0164] In this case, the electronic device (100) can sense a workspace located within the same or critical range as the robot arm through the first sensor (121). Accordingly, the electronic device (100) can sense the surrounding environment (workspace) related to the specific task while performing the specific task, without the need for a separate additional sensor (such as a sensing device outside the electronic device (100)), through the first sensor (121) separately attached to the robot arm.

[0165] Meanwhile, the second sensor (122) may correspond to a sensor for sensing the driving space. For example, the second sensor (122) may be positioned at a different height from the first sensor (121). Additionally, the second sensor (122) may be positioned at a height below a critical range from the height of the driving space.

[0166] Each of the first sensor (121) and the second sensor (122) described above may be placed at a fixed position of the electronic device (100) and may have their position changed through a separately provided driving device, etc. For example, the electronic device (100) may sense the space around the electronic device (100) by adjusting the position of at least one of the first sensor (121) and the second sensor (122) through a driving device.

[0167] According to one embodiment, the electronic device (100) can sense a workspace at a different height from the driving space through the first sensor (122). The electronic device (100) can acquire a second target location based on second sensing data obtained by sensing the driving space through the second sensor (122).

[0168] Here, the operation of the electronic device (100) acquiring a second target position based on second sensing data has been previously described, so a redundant description will be omitted.

[0169] Meanwhile, the electronic device (100) may include a moving device (140). Here, the moving device (140) may correspond to a configuration for moving the electronic device (100). For example, the moving device (140) may include wheels, a drive motor, a suspension, etc.

[0170] According to one embodiment, the electronic device (100) can control a moving device so that the electronic device (100) moves to a first target position.

[0171] For example, the electronic device (100) can acquire a first target location based on previous sensing data and work information.

[0172] Here, the prior sensing data may correspond to sensing data obtained through at least one sensor (e.g., at least one of the first sensor (121) and the second sensor (122)) before the electronic device (100) obtains the first target location. Here, the prior sensing data may correspond to sensing data obtained by the electronic device (100) sensing the workspace.

[0173] The electronic device (100) can identify a first target location based on previous map information and work information obtained through previous sensing data. For example, the electronic device (100) can identify a first target location using information of a target object included in the work information (e.g., size, shape, or (existing) location of the target object, etc.).

[0174] Here, the first target location may correspond to a location within a threshold distance from the target object's existing location. Here, a location within the threshold distance may correspond to a location in the driving space. Since the threshold distance and similar details have been explained in detail previously, a redundant explanation will be omitted.

[0175] According to one embodiment, the electronic device (100) can sense the workspace through a sensor while moving. The electronic device (100) can acquire first sensing data by sensing the workspace while moving.

[0176] According to one example, the electronic device (100) can identify whether a defined target object exists within a threshold distance from the first target location based on first sensing data as the electronic device (100) moves to a first target location. Here, the first sensing data may correspond to data different from previous sensing data.

[0177] The electronic device (100) can acquire a second target location if it is identified that a target object does not exist within a critical distance. Since the operation of acquiring the second target location has been described in detail above, a redundant description will be omitted.

[0178] Accordingly, the electronic device (100) can detect changes in the environment of the existing destination (e.g., a first target location) while moving to the existing destination according to the predetermined work information. That is, the electronic device (100) can recognize changes in the environment, such as whether the target object has moved, while acquiring new sensing data (first sensing data) that is different from the previous sensing data.

[0179] Through this, the electronic device (100) can continuously modify the path by sensing the surrounding environment in real time while driving, thereby obtaining an optimal destination and path that minimizes power consumption.

[0180] Meanwhile, although the electronic device (100) including various additional configurations is illustrated in FIGS. 2 and 3, some of the illustrated configurations may be omitted. Additionally, other configurations that are not illustrated may also be included.

[0181] For example, the electronic device (100) may include a robot arm for performing a task. Here, the operation of the robot arm has been described in detail previously, so a redundant description will be omitted.

[0182] FIG. 4 is a drawing for explaining the operation of an electronic device according to one or more embodiments of the present disclosure.

[0183] According to FIG. 4, an electronic device (100), a surrounding space (410), a workspace (420), a first path (411), a second path (411'), a target object (421), etc. are illustrated.

[0184] The electronic device (100) can travel in the surrounding space (410) of the electronic device (100). For example, the electronic device (100) can travel in the driving space excluding the work space (420) among the surrounding space (410).

[0185] The electronic device (100) can move to the location where the target object (421) is located. Specifically, the electronic device (100) can move to the vicinity of the location where the target object (421) is located via a first path (411). Here, the first path (411) may correspond to a path included in the predetermined work information.

[0186] The electronic device (100) can move along the first path (411) to the vicinity of where the target object (421) is located. Here, the vicinity may correspond to the first target location described above. Since the first target location and the like have been previously described, a redundant description will be omitted.

[0187] If the electronic device (100) is moving along the first path (411), the target object may be moved to another location. Here, the other location may correspond to a location that exceeds a threshold distance from the first target location.

[0188] In this case, when the electronic device (100) moves along the first path (411) and arrives at the first target location, the target object (421) has already moved, so the electronic device (100) may fail to perform the operation. Accordingly, the electronic device (100) may need to move to a new location to perform the operation on the moved target object (421').

[0189] Here, the new location may correspond to the second target location. Since the second target location and similar aspects have been previously explained, a redundant explanation will be omitted.

[0190] Meanwhile, if the electronic device (100) can detect that the target object (421) has moved before arriving at the first target location described above, the electronic device (100) can move to the second target location via the second path (411').

[0191] After moving to a second target location, the electronic device (100') can perform operations on the moved target object (421'). Here, the moved target object (421') may be within a critical distance from the second target location.

[0192] To this end, if the electronic device (100) can detect that the target object (421) has moved, the electronic device (100) can obtain a second target location where work can be performed on the moved target object (421') (i.e., a location within a critical distance from the location of the moved target object (421').

[0193] Through this, the electronic device (100) can detect changes in the environment of the workspace (420) in advance (e.g., movement of the target object (421), etc.) without arriving at the first target location and obtain a new destination (second target location).

[0194] Here, detecting in advance may mean that the electronic device (100) detects a change in the environment before moving away from the vicinity of the moved target object (421'). Here, the vicinity of the moved target object (421') may mean an area within a critical distance from the location of the moved target object (421'). However, it is not limited thereto.

[0195] Accordingly, the electronic device (100) can move directly to the second target location and perform the work instead of moving to the second target location after arriving at the first target location, thus optimizing the movement path and reducing power consumption.

[0196] FIG. 5 is a flowchart for explaining the operation of an electronic device according to one or more embodiments of the present disclosure.

[0197] According to FIG. 5, the electronic device (100) can acquire first sensing data (S510).

[0198] According to one or more embodiments, the electronic device (100) can acquire first sensing data by sensing a workspace corresponding to predetermined work information among the space around the electronic device (100).

[0199] According to one embodiment, the electronic device (100) can acquire first sensing data by sensing a workspace at a height different from the driving space through a first sensor for sensing a workspace.

[0200] Next, the electronic device (100) can identify whether a target object exists within a critical distance (S520).

[0201] According to one or more embodiments, the electronic device (100) can identify whether a predetermined target object exists within a threshold distance from a first target location included in the work information based on the first sensing data.

[0202] Since the critical distance and target object have been explained in detail previously, a redundant explanation will be omitted.

[0203] Next, the electronic device (100) can acquire a second target location (S530).

[0204] According to one or more embodiments, the electronic device (100) can identify that a specified target object does not exist within a threshold distance. Here, the electronic device (100) can identify that a target object does not exist within a threshold distance by using map information of the workspace.

[0205] The electronic device (100) can obtain a second target location based on second sensing data obtained by sensing the driving space. Here, the second target location may correspond to a location within a threshold distance from the location of the target object. Here, the driving space may correspond to a space different from the work space described above.

[0206] The electronic device (100) can detect changes in the environment of the workspace based on the first sensing data and generate a new location (or path) based on the second sensing data. The detailed operation of the electronic device (100) in relation to this will be explained in detail in the following section.

[0207] FIG. 6 is a flowchart illustrating an operation to modify a destination according to one or more embodiments of the present disclosure.

[0208] According to FIG. 6, the electronic device (100) may receive instructions to perform a task (S610). Here, receiving instructions to perform a task may mean receiving task information. For example, the electronic device (100) may receive task information from an external device (e.g., an IoT server, etc.).

[0209] However, it is not limited to this, and the electronic device (100) may generate specific work information on its own. For example, the electronic device (100) may generate work information using map information obtained by sensing the surroundings of the electronic device (100).

[0210] The electronic device (100) can identify whether it is possible to interact with the target object after arriving at the destination (S620). Here, the target object may correspond to the object for which the electronic device (100) performs a task. In the present disclosure, the target object (target object) may also be referred to as a target, an object, etc.

[0211] Here, interaction may refer to interaction between the electronic device (100) and the target object. For example, interaction may refer to the electronic device (100) performing a specific operation on the target object.

[0212] If it is identified that the work can be performed at the destination where it was arrived, the electronic device (100) can perform the work and complete the work (S650).

[0213] On the other hand, if it is identified that it is impossible to perform the work at the destination where it arrived, the electronic device (100) can recognize the location of the target object and the surrounding environment through the upper sensor (S630).

[0214] That is, the upper sensor here may refer to a sensor located in the upper part among the lower and upper parts of the electronic device (100). The upper part and the lower part may also be referred to as the upper and lower parts, respectively.

[0215] The upper sensor may refer to the first sensor described above. In this case, the electronic device (100) can recognize the location of a target object located in a workspace and the surrounding environment through the upper sensor.

[0216] The electronic device (100) can sense the workspace using the upper sensor (and lower sensor) to recognize the location of the target object and the surrounding environment.

[0217] The electronic device (100) can modify the destination using the recognized information (S640). For example, the electronic device (100) can modify the destination using information about the location of the recognized target object and the surrounding environment (S640). Here, the modified destination may correspond to a second target location.

[0218] Below, the operation of an electronic device (100) recognizing the environment around a destination, etc., through an upper map obtained using an upper sensor is described in detail.

[0219] FIG. 7 is a flowchart for explaining an operation based on an upper map according to one or more embodiments of the present disclosure.

[0220] According to FIG. 7, the electronic device (100) can generate a task (S710). The electronic device (100) can generate a task based on received task information. Here, since the received task information has been described in FIG. 6, a redundant description will be omitted.

[0221] Next, the electronic device (100) can generate a path to a destination (S720). For example, the electronic device (100) can generate a path from information included in the work information. Here, the information included in the work information may include information about the location of a target object, etc. However, it is not limited thereto.

[0222] Next, the electronic device (100) can generate motion to a destination and perform actions according to the generated motion and path (S730). Here, motion may refer to a posture for the electronic device (100) to move along the path.

[0223] Here, information regarding motion may correspond to information included in work information. However, it is not limited thereto, and the electronic device (100) may generate motion using previously acquired map information. For example, the map information may correspond to map information regarding the driving space.

[0224] The electronic device (100) determines whether an upper map exists (S750), and if an upper map does not exist, it can recognize the object and estimate its location after arriving at the destination (S751). Here, the upper map may refer to map information regarding the workspace. In the present disclosure, the upper map may also be referred to as an upper map.

[0225] Specifically, the upper map may correspond to a map generated based on previously acquired sensing data by the electronic device (100).

[0226] Additionally, the upper map may correspond to a map provided to the electronic device (100) by an external device (e.g., an IoT server, etc.). For example, the map provided by the external device may correspond to a map generated by a device capable of communicating with the external device (e.g., an IoT device, etc.). Here, the device capable of communicating with the external device may generate a map of the surrounding space by sensing the surrounding space.

[0227] If the upper map is not stored in the electronic device (100), the electronic device (100) can arrive at the destination and identify the existence and location of the object. Here, the existence of the object may mean whether the object exists within a critical distance from the point of arrival (e.g., a first target location).

[0228] On the other hand, if it is determined that an upper map exists in the electronic device (100), the electronic device (100) can estimate the recognized location of the object on the map (S752). For example, the electronic device (100) can obtain location information of the object on the map. Specifically, the electronic device (100) can estimate the actual location of the object from the location of the object recognized on the map.

[0229] That is, when the upper map is stored, the electronic device (100) can identify that the object does not exist at the existing destination (the destination according to the generated task) while moving to the existing destination. Accordingly, the electronic device (100) can modify the destination according to the recognized location of the object on the map without arriving at the destination.

[0230] The electronic device (100) can identify whether the error between the existing position and the correct position is greater than or equal to a threshold value. Here, the correct position may refer to the position of the object estimated by the electronic device (100).

[0231] Here, the error may refer to the difference between the position of the object estimated by the electronic device (100) and the existing position. Here, the threshold value may refer to a reference value set to determine whether the difference exceeds an acceptable range.

[0232] For example, the threshold value can be determined according to the operating range of the robot arm equipped in the electronic device (100). That is, even if an error exists, if the electronic device (100) can perform work at the existing position, the error may be less than the threshold value.

[0233] If the error is less than the threshold value, the electronic device (100) can complete the work by performing the job at the existing location (S770). On the other hand, if the error is greater than the threshold value, the electronic device (100) can reset the destination (S780).

[0234] The specific details regarding the operation of the electronic device (100) resetting the destination and moving to a new destination will be explained in detail in the following section.

[0235] FIG. 8 is a flowchart for explaining in detail the operation of modifying a destination according to one or more embodiments of the present disclosure.

[0236] According to FIG. 8, the electronic device (100) may initiate destination resetting (S810). Subsequently, the electronic device (100) may sense the area around the object (S820).

[0237] For example, the electronic device (100) can sense the area around an object located in a workspace. Here, the electronic device (100) can sense the area around the object using the upper (top) sensor described above. Based on the sensing data obtained by sensing the area around the object, the electronic device (100) can identify objects existing around the object (e.g., work obstruction objects).

[0238] Next, the electronic device (100) can generate a new candidate destination (S830). Here, the new candidate destination may include multiple candidate sites that the electronic device (100) can select as a new destination. Here, the multiple candidate sites may correspond to points located within a critical distance from the location of the object.

[0239] Here, the location of each of the multiple candidate sites may correspond to the aforementioned candidate location. Since the candidate locations have been explained in detail previously, a redundant explanation will be omitted.

[0240] Next, the electronic device (100) can calculate scores for multiple candidate locations (S840). Next, the electronic device (100) can generate a new destination based on the scores. The operations related thereto will be explained in detail through FIG. 9.

[0241] FIG. 9 is a flowchart illustrating the operation of acquiring a new destination according to a score according to one or more embodiments of the present disclosure.

[0242] According to FIG. 9, the electronic device (100) can calculate a score for each candidate location after generating a new candidate location (S910).

[0243] Specifically, the electronic device (100) can calculate the distance to each candidate location (S921). For example, the electronic device (100) can calculate the distance to each candidate location by recognizing the current location and surrounding environment based on sensing data (e.g., second sensing data).

[0244] Here, the electronic device (100) can recognize the current location of the electronic device (100) through SLAM (Simultaneous Localization and Mapping). Here, SLAM may refer to an algorithm that estimates its own location (localization) using sensing data and generates and updates map information of the surrounding environment in real time.

[0245] The electronic device (100) can calculate the distance between the coordinates of each candidate location and the current location. Here, the coordinates of each candidate location may represent location information on a map representing the destination of the electronic device (100).

[0246] Meanwhile, the electronic device (100) can identify whether there is a static obstacle above each candidate site (S922).

[0247] Here, the upper part of the candidate site may refer to an area on the workspace located near each candidate site. Here, "nearby" may refer to an area within the aforementioned critical distance from the candidate site.

[0248] Here, static obstacles may refer to obstacles recognized through existing map information. In other words, static obstacles may correspond to obstacles existing at fixed locations within the workspace.

[0249] For example, static obstacles may correspond to objects that are always fixed in the same position, such as shelves, walls, and pillars existing in the workspace. However, they are not limited to this, and even if a static obstacle is an object that can be moved by the user, it may correspond to an object recognized from both existing map information and new map information.

[0250] Meanwhile, the electronic device (100) can calculate the area where the robot arm can perform work upon arrival at the candidate site (S923). Here, the area where the work can be performed may refer to the operating range of the robot arm described above. Here, the operating range may be determined by the maximum distance over which the robot arm can perform work and the area occupied by surrounding obstacles, etc.

[0251] Meanwhile, the electronic device (100) can identify whether there is a dynamic obstacle in the candidate site (S924).

[0252] Here, dynamic obstacles may refer to movable obstacles that were not recognized by existing map information but are newly recognized through new sensing data. In other words, dynamic obstacles may refer to obstacles recognized through newly generated map information. Here, map information may refer to the map information of the driving space.

[0253] For example, dynamic obstacles may include people or robots moving in the driving space, or unexpectedly placed objects.

[0254] Meanwhile, the electronic device (100) can identify whether there is a dynamic obstacle above the candidate site (S925). Here, the above the candidate site may refer to a workspace located within a critical distance from the candidate site.

[0255] Here, dynamic obstacles may refer to movable obstacles that were not recognized by existing map information but are newly recognized through new sensing data. In other words, dynamic obstacles may refer to obstacles recognized through newly generated map information.

[0256] For example, dynamic obstacles may include robots appearing in the workspace or objects placed unexpectedly.

[0257] The electronic device (100) can calculate a score for each candidate site using information obtained through the process described above (information on dynamic / static obstacles, distance, arm range of motion, etc.).

[0258] The electronic device (100) can calculate the score of each candidate site by considering the item-specific weights (S930). Here, the item-specific weights may correspond to the weights set for each of the aforementioned multiple types. In this disclosure, an item may also be referred to as a type. In this regard, it will be explained in detail in FIG. 10.

[0259] FIG. 10 is a drawing for explaining weights according to one or more embodiments of the present disclosure.

[0260] According to FIG. 10, a table (1000) showing items and weight grades by category is shown.

[0261] Here, classification may mean classification according to the location of the sensors when the electronic device (100) includes a plurality of sensors.

[0262] Here, the plurality of sensors may correspond to the first sensor and the second sensor described above. For example, the first sensor may refer to a sensor positioned at the height of the driving unit, and the second sensor may refer to a sensor positioned at the top. Here, the sensor may refer to a robot arm.

[0263] However, it is not limited to this, and even if the electronic device (100) includes a single sensor, or even if the position (e.g., height) of the sensor can be changed through a separate driving device, the classification may mean a classification based on the position where the single sensor senses the surroundings.

[0264] Multiple items included in the table (1000) can be classified into either the driving section or the upper section. That is, the multiple items may represent information about the environment related to either the driving section or the upper section.

[0265] For example, the electronic device (100) can identify the distance to each candidate site and whether there is a static obstacle above the candidate site through the driving part sensor.

[0266] And the electronic device (100) can identify, through the upper sensor, the area where the arm can perform work upon arrival at the candidate site, whether there are dynamic obstacles at the candidate site, whether there are dynamic obstacles at the upper candidate site, and whether there are static obstacles at the upper candidate site.

[0267] Meanwhile, weight grades can be set for each item. Here, the weight grade may refer to grades classified into various categories based on the relative importance of each item. In this context, importance may indicate the degree to which each type of information influences the selection of the optimal candidate location.

[0268] As mentioned above, the importance of each item can be set through weights (real values), but it can also be set as a grade as shown here.

[0269] For example, the distance to each candidate site can be set to a high grade, the presence of static obstacles above the candidate site to a medium-low grade, the area where the arm can perform work upon arrival at the candidate site to a medium grade, the presence of dynamic obstacles at the candidate site to a high grade, and the presence of dynamic obstacles above the candidate site to a medium-low grade.

[0270] However, this is merely an example, and the number of items, the content of each item, and the weight grade for each item can be set in various ways depending on user settings, etc. For example, if the electronic device (100) is equipped with a robot arm, and the robot arm causes relatively high power consumption compared to other configurations, the 'area where the arm can perform work upon arrival at the candidate site' may be set to 'high'.

[0271] In this way, the electronic device (100) can sense the driving space and the work space to obtain information on each item for each candidate location. Here, the information on each item may correspond to the destination characteristic information described above. And the electronic device (100) can calculate a score for each candidate location using a set weighting grade (or weight).

[0272] Here, the electronic device (100) can quantify items related to the presence or absence of an obstacle as 0 (obstacle present) or 1 (obstacle not present). However, it is not limited to this. Meanwhile, if a weighting grade is set instead of a weight (real value), the electronic device (100) can quantify it as a weight according to the grade. In this case, the electronic device (100) can quantify it as a higher weight as the weighting grade increases.

[0273] The electronic device (100) can calculate a weighted sum for each of the multiple candidate sites based on numerical values ​​and weights derived from information for each item. Here, the weighted sum for each of the multiple candidate sites may correspond to the score of each of the multiple candidate sites.

[0274] Here, the score may correspond to a criterion value for evaluating the priority or suitability of candidate sites within the destination candidate pool. Here, suitability may refer to the degree of suitability for the most final destination. Here, the final destination may refer to the second target location.

[0275] Returning to FIG. 9, the electronic device (100) can acquire a new destination (S940). Specifically, the electronic device (100) can acquire a new destination based on scores for multiple candidate destinations. For example, the electronic device (100) can acquire a candidate destination corresponding to the maximum score among the multiple scores as the final destination. However, it is not limited thereto.

[0276] Returning to Fig. 8, the electronic device (100) can generate a path to a new destination (S860). The electronic device (100) can generate a path based on sensing data obtained by sensing the driving space. That is, the electronic device (100) can generate a path that avoids obstacles (e.g., driving obstacle objects) shown in the map information of the driving space by using the map information of the driving space.

[0277] Next, the electronic device (100) can generate motion to a destination and perform actions according to the generated motion and path (S870). Here, since the description of the motion and path has already been explained through FIG. 7, a redundant description will be omitted.

[0278] Next, the electronic device (100) can identify whether there is an environmental change around the destination while moving along the generated path (S880). Here, the destination may correspond to a newly generated destination.

[0279] Specifically, the electronic device (100) can generate new map information using newly acquired sensing data while moving along the generated path. Here, the map information may correspond to map information of a driving space or map information of a work space, etc.

[0280] Here, environmental change can refer to changes significant enough to alter the destination. For example, the existence of an environmental change may mean that new objects (such as new obstacles) appear around the new destination or that the object moves to a different location.

[0281] If it is identified that there is an environmental change around the destination, the electronic device (100) may initiate destination resetting again (S810). Afterwards, the electronic device (100) may perform the processes described above (such as sensing the area around the destination, creating one of a plurality of candidate locations as a new destination, etc.).

[0282] On the other hand, if it is identified that no change in the environment around the destination has occurred, the electronic device (100) can perform the task and complete the task (S890). For example, if the electronic device (100) identifies that no change in the environment around the destination exists until it arrives at the destination and that the existing environment is maintained, it can perform the scheduled task after arriving at the destination.

[0283] In this way, the electronic device (100) can continuously detect changes in the surrounding environment while moving to an existing destination to perform a task. In particular, the electronic device (100) can respond to environmental changes occurring not only around the destination but also along the planned path by recognizing the space for driving as well as the space for the task through multiple sensors.

[0284] By doing so, the electronic device (100) can complete the task more quickly by continuously replanning the destination and path (and motion), etc., and can also reduce the total power consumed.

[0285] Meanwhile, in FIGS. 5 to 9, the order of all steps has been mapped for convenience of explanation, but it goes without saying that the order of steps that are not related to the order or can be performed in parallel is not necessarily limited to that order.

[0286] Meanwhile, methods according to at least some of the various embodiments of the present disclosure described above can be implemented in the form of an application that can be installed on an existing electronic device.

[0287] In addition, methods according to at least some of the various embodiments of the present disclosure described above can be implemented by software upgrades or hardware upgrades alone for existing electronic devices.

[0288] In addition, methods according to at least some of the various embodiments of the present disclosure described above may also be performed through an embedded server equipped in an electronic device, or through at least one external server among the electronic devices.

[0289] Meanwhile, according to one embodiment of the present disclosure, the various embodiments described above may be implemented as software containing instructions stored on a machine-readable storage medium (e.g., a computer). The machine may include an electronic device (e.g., an electronic device (100)) according to the disclosed embodiments, which is a device capable of calling instructions stored from the storage medium and operating according to the called instructions. When instructions are executed by a processor, the processor may perform a function corresponding to the instructions directly or by using other components under the control of the processor. Instructions may include code generated or executed by a compiler or an interpreter. The machine-readable storage medium may be provided in the form of a non-transitory storage medium. Here, "non-transitory storage medium" simply means that it is a tangible device and does not contain a signal (e.g., electromagnetic waves), and this term does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium. For example, a 'non-transient storage medium' may include a buffer in which data is temporarily stored. According to one embodiment, the method according to the various embodiments disclosed herein may be provided by being included in a computer program product. The computer program product may be traded between a seller and a buyer as a product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)), or distributed online (e.g., download or upload) through an application store (e.g., Play Store™) or directly between two user devices (e.g., smartphones).In the case of online distribution, at least a portion of a computer program product (e.g., a downloadable app) may be temporarily stored or temporarily created on a device-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0290] Various embodiments of the present disclosure may be implemented as software comprising instructions stored on a machine-readable storage medium (e.g., a computer). The machine may include an electronic device (e.g., an electronic device (100-1)) according to the disclosed embodiments, which is a device capable of calling instructions stored from the storage medium and operating according to the called instructions.

[0291] When the above-described instruction is executed by a processor, the processor may perform the function corresponding to the instruction directly or by using other components under the processor's control. The instruction may include code generated or executed by a compiler or an interpreter.

[0292] Although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above. It is understood that various modifications can be made by those skilled in the art without departing from the essence of the present disclosure as claimed in the claims, and such modifications should not be understood individually from the technical spirit or perspective of the present disclosure.

Claims

1. In an electronic device, Memory for storing instructions; At least one sensor for sensing the space around the electronic device; at least one processor including processing circuitry; and When the above instructions are executed individually or collectively by the at least one processor, the electronic device, A first sensing data is obtained by sensing a workspace corresponding to predetermined work information among the spaces through at least one sensor, and An electronic device that, based on the first sensing data, if it is identified that a predetermined target object does not exist within a threshold distance from a first target position included in the predetermined work information, acquires a second target position within the threshold distance from the position of the predetermined target object based on second sensing data acquired by sensing a driving space different from the work space.

2. In Paragraph 1, A first sensor for sensing the above workspace; and A second sensor positioned at a different height from the first sensor; comprising When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Through the first sensor above, the work space at a different height from the driving space is sensed, and An electronic device that obtains the second target position based on the second sensing data obtained by sensing the driving space through the second sensor.

3. In Paragraph 1, A moving device for moving the above electronic device; further comprising, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Control the moving device to move to the first target position, and An electronic device that allows the electronic device to move and sense the workspace through at least one sensor.

4. In Paragraph 3, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Based on previous sensing data obtained through the above at least one sensor and the above-determined work information, the first target location is obtained, and An electronic device that acquires a second target location when, as the electronic device moves to the first target location, it is identified that the predetermined target object is not present within a threshold distance from the first target location based on first sensing data that is different from the previous sensing data.

5. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Based on at least one of the first sensing data and the second sensing data, at least one obstacle object within a target area within the threshold distance from the location of the predetermined target object is identified, and Identifying the remaining area of ​​the target area excluding the area occupied by at least one identified obstacle object among the target areas, and An electronic device that obtains the second target location included in the remaining area.

6. In Paragraph 5, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Identify at least one driving obstacle object located in the driving space based on the second sensing data above, and An electronic device for identifying the remaining area of ​​the driving space, excluding the area occupied by at least one identified driving obstacle object in the driving space.

7. In Paragraph 6, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Obtaining multiple candidate locations within the remaining area mentioned above, and A plurality of scores are obtained based on destination characteristic information obtained from at least one of the first sensing data and the second sensing data, and An electronic device that obtains the second target location among a plurality of candidate locations included in the remaining area of ​​the target region based on the plurality of scores.

8. In Paragraph 7, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, The destination characteristic information including information classified according to a plurality of types for each of the plurality of candidate locations is obtained from at least one of the first sensing data and the second sensing data, and An electronic device that obtains a score for each of the candidate locations based on a plurality of weights set for each of the plurality of types.

9. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Based on the second sensing data above, path information having the acquired second target location as a destination is obtained, and An electronic device that updates the predetermined work information based on the above-mentioned acquired path information and the above-mentioned second target location.

10. In Paragraph 9, When the above instructions are executed individually or collectively by the at least one processor, the electronic device, Motion information is obtained based on at least one driving obstacle object identified from the second sensing data, and An electronic device that obtains the path information including the motion information obtained above.

11. In a method for controlling an electronic device, A step of acquiring first sensing data by sensing a workspace corresponding to predetermined work information among the space surrounding the electronic device; A step of identifying whether a predetermined target object exists within a threshold distance from a first target location included in the predetermined work information based on the first sensing data; and A control method comprising: a step of obtaining a second target position within the threshold distance from the position of the predetermined target object based on second sensing data obtained by sensing a driving space different from the work space when it is identified that the predetermined target object does not exist within the threshold distance.

12. In Paragraph 11, The step of acquiring the first sensing data above is, The first sensing data is obtained by sensing the workspace at a height different from the driving space through a first sensor for sensing the workspace, and The step of acquiring the second target location above is, A control method for obtaining a second target position based on second sensing data obtained by sensing the workspace through a second sensor positioned at a different height from the first sensor.

13. In Paragraph 11, The method further includes the step of controlling movement to the first target position; and The step of acquiring the second target location above is, A control method comprising the step of acquiring the second target position based on second sensing data acquired by sensing the workspace while the electronic device moves.

14. In Paragraph 13, The method further includes the step of acquiring the first target location based on previous sensing data and the predetermined work information; The step of identifying whether the specified target object exists within the above threshold distance is: A control method for identifying whether a predetermined target object exists within a threshold distance from a first target location based on first sensing data that is different from the previous sensing data while the electronic device moves to the first target location.

15. A non-transient computer-readable recording medium storing computer instructions that cause said electronic device to perform an operation when executed by a processor of said electronic device, wherein said operation is, A step of acquiring first sensing data by sensing a workspace corresponding to predetermined work information among the space surrounding the electronic device; A step of identifying whether a predetermined target object exists within a threshold distance from a first target location included in the predetermined work information based on the first sensing data; and A non-transient computer-readable recording medium comprising: a step of obtaining a second target position within the threshold distance from the position of the predetermined target object based on second sensing data obtained by sensing a driving space different from the work space when it is identified that the predetermined target object does not exist within the threshold distance.

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