Robot for providing service and control method thereof

Abstract

This robot comprises: a first sensor; a second sensor; a speaker; and at least one processor including memory for storing instructions and processing circuitry. The instructions, when executed individually or collectively by the at least one processor, cause the robot to: identify a noise section on the basis of sensing data obtained through the first sensor; identify the distance to a user on the basis of sensing data obtained through the second sensor; identify an output volume of the robot on the basis of an audible volume corresponding to the noise section and the distance to the user; and output a sound corresponding to the identified output volume through the speaker.

Description

Robot providing a service and method for controlling the same

[0001] The present disclosure relates to a robot that provides a service and a method for controlling the same.

[0002] Recently, technological development for robots deployed in specific spaces to provide services to users has been active.

[0003] For example, a retail store robot may be an artificial intelligence-based robot used to enhance the customer experience and increase the efficiency of store operations. For instance, a retail store robot may provide customer services such as guidance, answering questions, providing promotion information, and assisting with purchases.

[0004] The information described above may be provided as related art for the purpose of aiding understanding of the present disclosure. No claim or determination is made as to whether any of the foregoing may be applied as prior art related to the present disclosure.

[0005] A robot according to one embodiment comprises: a first sensor; a second sensor; a speaker; a memory for storing instructions; and at least one processor including a processing circuitry; wherein, when the instructions are executed individually or collectively by the at least one processor, the robot identifies a noise section based on sensing data acquired through the first sensor, identifies a distance from a user based on sensing data acquired through the second sensor, identifies an output volume of the robot based on an audible volume corresponding to the noise section and a distance from the user, and outputs a sound corresponding to the identified output volume through the speaker.

[0006] A control method for a robot according to one embodiment comprises: an operation of identifying a noise section based on sensing data acquired through a first sensor; an operation of identifying a distance from a user based on sensing data acquired through a second sensor; an operation of identifying an output volume of the robot based on an audible volume corresponding to the noise section and a distance from the user; and an operation of outputting a sound corresponding to the identified output volume.

[0007] A non-transient computer-readable medium storing computer instructions that cause a robot to perform an operation when executed by a processor of a robot according to one embodiment, wherein the operation comprises: an operation of identifying a noise section based on sensing data acquired through a first sensor; an operation of identifying a distance from a user based on sensing data acquired through a second sensor; an operation of identifying an output volume of the robot based on an audible volume corresponding to the noise section and a distance from the user; and an operation of outputting a sound corresponding to the identified output volume.

[0008] The above and other aspects and features of specific embodiments of the present disclosure will become more apparent from the following description taken together with the accompanying drawings.

[0009] FIG. 1 is a set of drawings for explaining a method of providing service of a robot according to one embodiment.

[0010] FIG. 2 is a block diagram showing the configuration of a robot according to one embodiment.

[0011] FIG. 3 is a flowchart illustrating an example of a control method for a robot according to one embodiment.

[0012] FIGS. 4a and 4b are drawings for explaining a method for identifying noise sections and audible sound levels according to one embodiment.

[0013] FIG. 5 is a diagram illustrating a method for determining output volume according to a noise range according to one embodiment.

[0014] FIGS. 6a to 6c are drawings for explaining a method of providing service by noise section according to one embodiment.

[0015] FIGS. 7a and 7b are drawings for explaining a method for determining output volume according to distance from a user in each noise section according to one embodiment.

[0016] FIGS. 8a and 8b, and FIGS. 9a to 9c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0017] FIG. 10 is a drawing illustrating a method for calculating audible sound volume according to distance from a user according to one embodiment.

[0018] FIGS. 11a, FIGS. 11b, FIGS. 12a, and FIGS. 12b are drawings for explaining a method for adjusting real-time output volume according to real-time distance from a user according to one embodiment.

[0019] FIGS. 13a to 13c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0020] FIGS. 14a to 14c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0021] FIGS. 15a and FIGS. 15b are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0022] FIGS. 16a and FIGS. 16b are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0023] FIGS. 17a to 17d are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0024] FIGS. 18a to 18c are drawings for explaining a method of providing a service in a situation where a plurality of robots according to one embodiment provide a voice guidance service.

[0025] FIGS. 19a to 19d are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0026] The present disclosure will be described in detail below with reference to the attached drawings.

[0027] The terms used in the embodiments of this disclosure have been selected to be as widely used as possible, taking into account their functions within this disclosure; however, these terms may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been selected at the applicant's discretion, and in such cases, their meanings will be described in detail in the description section of the disclosure. Therefore, the terms used in this disclosure should be defined based on their meanings and the overall content of this disclosure, rather than merely their names (such as analyzing calls, messages, schedules, etc.).

[0028] In this specification, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of the feature (e.g., a numerical value, function, operation, or component, etc.) and do not exclude the presence of additional features.

[0029] The expression "at least one of A and / or B" should be understood as representing either "A" or "B" or "A and B".

[0030] Expressions such as "first," "second," "first," or "second" used in this specification 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.

[0031] Where it is stated that a component (e.g., a first component) is "(operatively or communicatively) coupled with / to" or "connected to" another component (e.g., a second component), it should be understood that the component may be directly connected to the other component or connected through the other component (e.g., a third component).

[0032] The singular expression includes the plural expression unless the context clearly indicates otherwise. In this application, terms such as “comprising” or “consisting of” are intended to specify the existence of the features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, and should be understood as not precluding the existence or addition of one or more other features, numbers, steps, actions, components, parts, or combinations thereof.

[0033] 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 a "module" or "part" that needs to be implemented in specific hardware.

[0034] In the present disclosure, the term "user" may refer to a person using the robot or a device using the robot (e.g., an artificial intelligence robot).

[0035] The various elements and areas in the drawings are depicted schematically. Accordingly, the technical concept of the present invention is not limited by the relative sizes or spacing depicted in the attached drawings.

[0036] Embodiments of the present disclosure will be described in more detail below with reference to the attached drawings.

[0037] FIG. 1 is a set of drawings for explaining a method of providing service of a robot according to one embodiment.

[0038] According to one embodiment, the robot (100) may be implemented as various types of service robots, such as a guide robot, a serving robot, a delivery robot, a medical robot, and / or a companion robot. According to one example, the robot (100) may be implemented as a retail store robot. The retail store robot may be an artificial intelligence-based robot used to enhance the customer experience and increase the efficiency of store operations. For example, the retail store robot may provide customer services such as guidance, answering questions, providing promotion information, and purchasing support.

[0039] According to one example, when a robot (100) provides guidance voice to a user in a retail store, the user's fatigue and understanding may be reduced due to interference between the robot's (100) guidance voice and surrounding sounds.

[0040] Accordingly, various embodiments that can provide optimal guidance services by considering comprehensive conditions such as the distance between the robot (100) and the user, guidance conditions of other robots, and ambient noise will be described below.

[0041] FIG. 2 is a block diagram showing the configuration of a robot according to one embodiment.

[0042] According to FIG. 2, the robot (100) may include at least one processor (110), memory (120), sensor (130), speaker (140), driving unit (150), communication circuit (160), power module (170), and user input module (180). At least one processor (110), memory (120), sensor (130), speaker (140), driving unit (150), communication circuit (160), power module (170), and user input module (180) may be electrically and / or operably coupled with each other by an electronic component such as a communication bus.

[0043] In one embodiment, the hardware of the robot (100) being operatively coupled may mean that a direct or indirect connection between the hardware is established via wired or wireless means so that the second hardware is controlled by the first hardware among the hardware. Although illustrated based on different blocks, the embodiment is not limited thereto, and some of the hardware of FIG. 2 (e.g., at least one processor (110), memory (120), sensor (130), speaker (140), drive unit (150), communication circuit (160), power module (170), and at least some of the user input module (180)) may be included in a single integrated circuit, such as a system on a chip (SoC). The type and / or number of hardware included in the robot (100) is not limited to that shown in FIG. 2. For example, the robot (100) may include only some of the hardware components shown in FIG. 2.

[0044] According to one embodiment, the processor (110) of the robot (100) may include hardware for processing data based on one or more instructions. The hardware for processing data may include, for example, an arithmetic and logic unit (ALU), a floating point unit (FPU), a field programmable gate array (FPGA), a central processing unit (CPU), a graphic processing unit (GPU), a neural processing unit (NPU), and / or an application processor (AP). The number of processors (110) may be one or more. For example, the processor (110) may have the structure of a multi-core processor such as a dual core, a quad core, or a hexa core.

[0045] The processor (110) can control the movements of the robot (100) by executing instructions stored in memory (120). For example, the processor (110) may correspond to multiple processors that divide multiple movements among the processors and perform them collectively.

[0046] A CPU (central processing unit) is a general-purpose processor capable of performing not only general operations but also artificial intelligence operations, and it can efficiently execute complex programs through a multi-layered cache structure. The CPU is advantageous for serial processing methods, which enable the organic linkage between previous and next calculation results through sequential computation. General-purpose processors are not limited to the examples mentioned above, except for cases specified as the aforementioned CPU.

[0047] A GPU (graphic processing unit) is a processor designed for massive computations, such as floating-point operations used in graphics processing, and can perform large-scale computations in parallel by integrating a large number of cores. In particular, GPUs may be advantageous over CPUs for parallel processing methods such as convolution operations. Additionally, GPUs can be used as co-processors to complement the functions of CPUs. Processors for massive computation are not limited to the examples mentioned above, except for cases specified as GPUs.

[0048] A Neural Processing Unit (NPU) is a processor specialized for artificial intelligence computations using artificial neural networks, and each layer constituting the neural network can be implemented in hardware (e.g., silicon). In this case, since the NPU is designed specifically according to the specifications required by the vendor, it has a lower degree of flexibility compared to CPUs or GPUs, but it can efficiently process the artificial intelligence computations required by the vendor. Meanwhile, as a processor specialized for artificial intelligence computations, the NPU can be implemented in various forms such as Tensor Processing Units (TPUs), Intelligence Processing Units (IPUs), and Vision Processing Units (VPUs). Artificial intelligence processors are not limited to the examples mentioned above, except for cases specified as the aforementioned NPU.

[0049] According to one embodiment, the memory (120) of the robot (100) may include a hardware component for storing data and / or instructions that are input and / or output to the processor (110). Depending on the purpose of data storage, the memory (120) may be implemented in the form of a memory embedded in the robot (100) or in the form of a memory that can be attached to and detached from the robot (100). For example, data for driving the robot (100) may be stored in the memory embedded in the robot (100), and data for the extended functions of the robot (100) may be stored in the memory that can be attached to and detached from the robot (100). Meanwhile, the memory embedded in the robot (100) may be implemented as at least one of volatile memory (e.g., DRAM (dynamic RAM), SRAM (static RAM), or SDRAM (synchronous dynamic RAM), 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), hard drive, or solid state drive (SSD). Additionally, the memory that can be attached to the robot (100) 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.) or external memory that can be connected to a USB port (e.g., USB memory).

[0050] According to one embodiment, within the memory (120) of the robot (100), one or more instructions (or commands) representing operations and / or actions to be performed on data by the processor (110) may be stored. A set of one or more instructions may be referred to as firmware, an operating system, a process, a routine, a sub-routine, and / or an application. For example, the robot (100) and / or the processor (110) may perform various actions when a set of a plurality of instructions distributed in the form of an operating system, firmware, a driver, and / or an application is executed. In the following, the statement that an application is installed on the robot (100) means that one or more instructions provided in the form of an application are stored in the memory (120) of the robot (100), and that the one or more applications are stored in an executable format (e.g., a file having an extension specified by the operating system of the robot (100)) that is executable by the processor (110) of the robot (100).

[0051] At least one processor (110) controls the processing of input data according to a predefined operation rule or AI model (artificial-intelligence model) stored in memory (120). The predefined operation rule or AI model is characterized by being created through learning. Being created through learning means that a predefined operation rule or AI model with desired characteristics is created by applying a learning algorithm to a number of learning data. Such learning may be performed on the device itself where the artificial intelligence according to the present disclosure is performed, or it may be performed through a separate server / system.

[0052] An AI model may be composed of multiple neural network layers. At least one layer has at least one weight value and performs the layer's operation through the result of the operation of the previous layer and at least one defined operation. Examples of neural networks include convolutional neural networks (CNN), recurrent neural networks (RNN), deep neural networks (DNN), restricted Boltzmann machines (RBM), deep belief networks (DBN), bidirectional recurrent deep neural networks (BRDNN), deep Q-networks, and Transformers; however, the neural networks in this disclosure are not limited to the aforementioned examples except where specified.

[0053] A learning algorithm is a method of training a specific target device (e.g., a robot) using a number of training data to enable the target device to make decisions or predictions on its own. Examples of learning algorithms include supervised learning, unsupervised learning, semi-supervised learning, or reinforcement learning, and the learning algorithms in this disclosure are not limited to the aforementioned examples except where specified.

[0054] A sensor (130) of a robot (100) according to one embodiment can sense various information. The sensor (130) can be implemented as various types of sensors. For example, the sensor (130) may include at least one sensor among a camera, a ToF (time of flight) sensor, an ultrasonic sensor, a RADAR (radio detection and ranging) sensor, a photodiode sensor, a proximity sensor, a PIR (passive infrared sensor) sensor, a pinhole sensor, a pinhole camera, an infrared human body detection sensor, a CMOS (complementary metal oxide semiconductor) image sensor, a thermal detection sensor, a light sensor, and a motion detection sensor. For example, the camera may include at least one of a standard (or basic) camera and an ultra-wide angle camera.

[0055] The sensor (130) may include a touch sensor that detects touch actions, such as a touch film, a touch sheet, or a touch pad.

[0056] The sensor (130) may include at least one of a camera, a microphone, a CO2 sensor, and a barometric pressure sensor. The camera may convert captured images into electrical signals and generate image data based on the converted signals. For example, the camera may include at least one of a standard (or basic) camera, a depth camera, and an ultra-wide-angle camera. The microphone is configured to receive user voice or other sounds and convert them into audio data. The CO2 sensor is a sensor for measuring carbon dioxide concentration. The barometric pressure sensor is a sensor for sensing ambient pressure.

[0057] The sensor (130) may further include at least one sensor capable of sensing ambient illuminance, ambient temperature, and the direction of incidence of light. In this case, the sensor (130) may be implemented as an illuminance sensor, a temperature sensing sensor, a light intensity sensing layer, and a camera.

[0058] The sensor (130) may further include at least one of an acceleration sensor (or gravity sensor), a geomagnetic sensor, and a gyro sensor. For example, the acceleration sensor may be a 3-axis acceleration sensor. The 3-axis acceleration sensor may measure gravitational acceleration by axis and provide raw data to the processor (110). The geomagnetic sensor or the gyro sensor may be used to obtain attitude information. Here, the attitude information may include at least one of roll information, pitch information, or yaw information.

[0059] A speaker (140) of a robot (100) according to one embodiment may be configured to output various audio data as well as various notification sounds or voice messages. A processor (110) may control the speaker (140) to output voice, feedback, or various notifications in the form of audio according to various embodiments of the present disclosure.

[0060] The drive unit (150) of the robot (100) according to one embodiment is a device capable of driving the robot (100). The drive unit (150) can control the driving direction and driving speed according to the control of the processor (110), and the drive unit (120) according to one embodiment may include a power generation device that generates power for the robot (100) to drive (e.g., a gasoline engine, a diesel engine, an LPG (liquefied petroleum gas) engine, an electric motor, etc., depending on the fuel (or energy source) used), a steering device for controlling the driving direction (e.g., manual steering, hydraulics steering, electronic control power steering (EPS), etc.), and a driving device that drives the robot (100) according to the power (e.g., wheels, propellers, etc.). Here, the drive unit (150) may be modified according to the driving type of the robot (100) (e.g., wheel type, walking type, flying type, etc.).

[0061] A communication circuit (160) of a robot (100) according to one embodiment may include hardware for supporting the transmission and / or reception of electrical signals between the robot (100) and an external device (e.g., another robot, server). For example, the communication circuit (160) may communicate with an external device, an external storage medium (e.g., USB memory), an external server (e.g., web hard drive), etc. through a communication method such as Bluetooth, AP-based Wi-Fi (Wi-Fi, Wireless LAN network), Zigbee, wired / wireless LAN (Local Area Network), WAN (Wide Area Network), Ethernet, IEEE 1394, HDMI (High-Definition Multimedia Interface), USB (Universal Serial Bus), MHL (Mobile High-Definition Link), AES / EBU (Audio Engineering Society / European Broadcasting Union), Optical, Coaxial, etc. According to one example, the communication circuit (160) can communicate with other robots, external servers and / or remote control devices, etc.

[0062] A power module (170) of a robot (100) according to one embodiment may be a module that supplies energy for the robot (100) to operate. For example, the power module (170) may supply energy for the robot (100) to operate by receiving power through at least one of a battery, a fuel cell, energy harvesting, and wireless power. For example, the power module (170) may convert the output voltage of the battery to the voltage required by each component of the robot using a voltage converter, and monitor the condition of the battery and prevent overcharging and over-discharging using a battery management system.

[0063] The user input module (180) of the robot (100) according to one embodiment may be implemented as a device such as a button or a touch pad, or as a touch screen capable of performing the display function and operation input function described above.

[0064] In addition, the robot (100) may further include at least one of a microphone, a display, a beam projector, and an LED output unit. According to one embodiment, the microphone is configured to receive user voice or other sounds and convert them into audio data. According to one embodiment, the display may output visualized information to the user. For example, the display may be controlled by a controller such as a GPU (graphic processing unit) to output visualized information to the user. The display may include LED (Light Emitting Diodes), micro LED, Mini LED, OLED (Organic Light Emitting Diodes) display, LCD (Liquid Crystal Display), PDP (Plasma Display Panel), QD (Quantum dot) display and / or QLED (Quantum dot light-emitting diodes). According to one example, the display may be implemented as a flat display, a curved display, a folding and / or rolling flexible display. A projector (or image projection unit) can perform the function of projecting light outward to express an image and outputting the image to a projection surface. Here, the projection surface may be part of the physical space where the image is output or a separate projection surface. For example, the projector (or image projection unit) may include various detailed components such as a light source, at least one of a lamp, an LED, or a laser, a projection lens, a reflector, etc. For example, an LED output unit may include a plurality of LEDs. For example, the plurality of LEDs may include a plurality of LEDs of different colors.

[0065] For example, the robot's travel space may be a physical area and range where the robot can move and work. For instance, the robot's travel space may include various spaces such as at least one of a home, an office, and a store.

[0066] According to one embodiment, a robot (100) may store map data corresponding to a space in order to drive through the space and may drive through the space by performing path planning based thereon. According to one example, the map data may be various types of map data, such as a Traversability Map, a Distance Map, etc.

[0067] According to one example, the robot (100) can obtain a free space map based on SLAM (simulaneous localization and mapping). Here, SLAM means estimating the position of the robot (100) while simultaneously generating a map. For example, the robot (100) can obtain a free space map based on data obtained through a sensor (130). According to one example, the robot (100) can determine the position of the robot (100) and obtain a free space map using various sensors equipped on the robot (100), such as a camera, a lidar sensor, an infrared sensor, an ultrasonic sensor, etc. Here, the free space map may be in a form in which the space is divided into at least one of occupied space, free space, or unknown space.

[0068] According to one example, the robot (100) may acquire a distance map based on information about the free space included in the free-space map and information acquired through a sensor (130) (e.g., a LiDAR sensor) while the robot (100) is driving. Here, the distance map may be in a form that stores the distance to an obstacle and the probability value of the obstacle. According to one example, the processor (110) may drive through the space based on the distance map.

[0069] FIG. 3 is a flowchart illustrating an example of a control method for a robot according to one embodiment.

[0070] In the following embodiments, each operation may be performed sequentially, but is not necessarily performed sequentially. For example, the order of each operation may be changed, and at least two operations may be performed in parallel.

[0071] According to one embodiment, operations 310 to 340 can be understood as being performed in the processor (110) of the robot (100).

[0072] According to one example, the robot (100) may be implemented as a retail store robot. For example, the retail store robot may provide customer services such as guidance, answering questions, providing promotion information, and assisting with purchases. However, it is not limited thereto, and the robot (100) may be implemented as various types of service robots such as a guide robot, a serving robot, a delivery robot, a medical robot, and / or a companion robot.

[0073] According to FIG. 3, in operation 310, a robot (100) according to one embodiment can identify a noise section based on sensing data obtained through a first sensor. For example, the noise may be a sound signal that interferes with the performance of the service provided by the robot (100).

[0074] According to one example, the first sensor may be implemented as various types of sensors for sensing noise levels. For example, the first sensor may include at least one of microphone sensors, MEMS microphones, piezoelectric microphones, and sound level sensors.

[0075] According to one example, the memory (120) may store noise magnitude information corresponding to each of a plurality of predefined noise sections. For example, a plurality of noise sections distinguished based on noise magnitude may be predefined and stored in the memory (120). For example, at least one threshold noise magnitude for distinguishing each noise section may be pre-set. For example, the threshold noise magnitude may be set based on information such as the audible sound pressure level of a person or the sound pressure level that causes hearing damage to a person.

[0076] According to one example, a plurality of noise intervals may include a first noise interval below a first threshold noise level and a second noise interval between the first threshold noise level and a second threshold noise level. For example, the first threshold noise may be set based on the audible sound pressure level of a person. For example, the second threshold noise may be set based on the sound pressure level that causes hearing loss in a person.

[0077] According to one example, a plurality of noise sections may include a first noise section below a first threshold noise level, a second noise section above a first threshold noise level and below a second threshold noise level, and a third noise section above a second threshold noise level.

[0078] In operation 320, a robot (100) according to one embodiment can identify the distance to a user based on sensing data obtained through a second sensor.

[0079] According to one example, the second sensor may be implemented as various types of sensors for sensing the distance to a user. For example, the second sensor may include at least one of an ultrasonic sensor, an infrared sensor, a lidar sensor, a stereo camera, a Time-of-Flight Sensor (ToF) sensor, and a Millimeter-Wave Radar (mmWave radar).

[0080] In operation 330, the robot (100) according to one embodiment can identify the output volume of the robot (100) based on the audible volume corresponding to the noise section and the distance from the user.

[0081] According to one example, information regarding noise magnitude and audible volume corresponding to each of a plurality of predefined noise intervals may be stored in the memory (120). For example, information regarding noise magnitude and audible volume corresponding to each of a plurality of noise intervals may be stored in the memory (120) in the form of a lookup table. For example, information including information regarding a first audible volume corresponding to a first noise interval below a first threshold noise magnitude and a second audible volume corresponding to a second noise interval above the first threshold noise magnitude and below the second threshold noise magnitude may be stored in the memory (120).

[0082] According to one example, the robot (100) can identify an audible volume corresponding to a noise section based on information stored in memory (120). For example, if the identified noise section is a first noise section below a first threshold noise level, the robot (100) can identify a first audible volume corresponding to the first noise section based on information stored in memory (120). For example, if the identified noise section is a second noise section above a first threshold noise level and below a second threshold noise level, the robot (100) can identify a second audible volume corresponding to the second noise section based on information stored in memory (120).

[0083] In operation 340, the robot (100) according to one embodiment can output a sound corresponding to the output volume identified in operation 330.

[0084] According to one embodiment, the robot (100) can identify a service provision method corresponding to the third noise section when the noise section is a third noise section that is greater than or equal to a second threshold noise level. For example, the audible volume corresponding to the third noise section may not be stored in the memory (120). This is because it may be appropriate to provide the service in a manner other than sound output in a noise section of a certain level or higher. For example, when the noise section is the third noise section, the robot (100) may provide the service based on at least one of visual information output and information provision using another device. For example, the visual information output may include at least one of information output using a display provided on the robot (100), information output using a beam projector provided on the robot (100), and information output using an LED provided on the robot (100). For example, the other device may include at least one of a display device and a projector device.

[0085] According to one embodiment, the robot (100) can predict the movement path of a user based on sensing data acquired through a second sensor. For example, the robot (100) can predict the movement path of a user through at least one of a motion model-based prediction, a path history analysis-based prediction, a machine learning-based prediction, a probability and statistical model-based prediction, and a map and environment information-based prediction. For example, the motion model may include at least one of a Kalman filter and a particle filter. For example, the machine learning may include at least one of supervised learning, reinforcement learning, and deep learning. For example, the probability and statistical model may include at least one of a Markov model and a Bayesian network.

[0086] According to one example, the robot (100) can identify the real-time distance from the user based on sensing data acquired through a second sensor while moving based on the predicted user's movement path. According to one example, the robot (100) can identify the output volume of the robot (100) in real-time based on the audible volume corresponding to the noise section and the real-time distance from the user.

[0087] According to one embodiment, the robot (100) can identify the audible volume of another user when another robot located within a preset distance relative to the position of the robot (100) is providing a service to another user by outputting sound. For example, the robot (100) can identify the audible volume of another user in the same manner as the method of identifying the audible volume of a user (e.g., the method according to actions 310, 320, and 330). For example, the robot (100) can identify the audible volume of another user based on information received from another robot. For example, another robot can identify the audible volume of another user in the same manner as the robot (100) (e.g., the method according to actions 310, 320, and 330).

[0088] According to one example, the robot (100) can identify a method of providing service to a user based on the audible volume of another user. For example, the method of providing service to a user may include at least one of adjusting the output volume, moving the position of the robot (100), moving the direction of the robot (100), and outputting visual information. For example, the direction of the robot (100) may be the direction facing the front of the robot (100).

[0089] According to one embodiment, the robot (100) can identify the audible volume of another user when another robot located within a preset distance relative to the position of the robot (100) is providing a service to another user by outputting sound. According to one example, the robot (100) can identify whether the user needs to move based on the audible volume of the other user and the user's audible volume. According to one example, if the robot (100) identifies that the user needs to move, it can provide information guiding the user to move to a recommended location. For example, the robot (100) can provide information guiding the user to move to a recommended location through at least one of sound and visual information.

[0090] According to one embodiment, the robot (100) can identify the user's age information based on a video of the user and adjust the identified output volume based on the user's age information. According to one example, the robot (100) can identify the user's age information through at least one of face recognition, voice recognition, and analysis of the user's behavioral patterns.

[0091] According to one embodiment, the robot (100) can identify whether at least one of the user and the other user needs to move based on the other user's audible volume and the user's audible volume. According to one example, if the robot (100) identifies that at least one of the user and the other user needs to move, it can identify the priority of the other user and the user based on the user's age information and the other user's age information. According to one example, if the robot (100) identifies that the user needs to move based on the identified priority, it can provide information guiding the user to move to a recommended location. For example, the robot (100) can provide information guiding the user to move to a recommended location through at least one of sound and visual information.

[0092] According to one embodiment, the robot (100) can identify whether the robot (100) needs to move its position based on the audible volume of other users and the audible volume of the user at the current location of the robot (100). According to one example, if the robot (100) identifies that the robot (100) needs to move its position, the robot (100) can move to the location closest to the user within the movable area. According to one example, the robot (100) can identify whether the user needs to move its position based on the audible volume of other users and the audible volume of the user at the moved location of the robot (100). According to one example, if the robot (100) identifies that the user needs to move its position, it can provide information guiding the user to move to a recommended location. For example, the robot (100) can provide information guiding the user to move to a recommended location through at least one of sound and visual information.

[0093] FIGS. 4a and 4b are drawings for explaining a method for identifying noise sections and audible sound levels according to one embodiment.

[0094] According to one embodiment, the memory (120) may store information regarding noise magnitude and audible volume corresponding to each of a plurality of predefined noise intervals.

[0095] According to one example, weighted acoustic levels according to the type of noise source can be distinguished as shown in FIG. 4a.

[0096] According to one example, since humans can distinguish differences in volume starting from a difference of 3 to 5 dB, a sound of 5 dB or more relative to ambient noise can be identified as an audible volume for the user.

[0097] According to one example, since a person may experience problems with auditory organ damage when the sound level is 80 dB or higher, an output sound level of less than 80 dB may be recommended.

[0098] According to one example, a plurality of previously defined noise sections may include a first noise section, a second noise section, and a third noise section as illustrated in FIG. 4b.

[0099] For example, assuming a retail store space, an audible sound level corresponding to each of the multiple noise intervals can be defined as shown in Table 1 below. However, the threshold noise level for defining each noise interval may change depending on the location. For example, assuming a quiet library space, the second noise interval may be defined as 30 to 50 dB.

[0100] Ambient noise level (dB) NOISE ) Audible Sound Level 1 Noise Section dB NOISE + 5 < 60 60 Second Noise Section 60 ≤ dB NOISE + 5 < 80dB NOISE + 5 ≤ Audible volume < 80 3rd noise level 80 ≤ dB NOISE + 5-

[0101] FIG. 5 is a diagram illustrating a method for determining output volume according to a noise section according to one embodiment. According to one example illustrated in FIG. 5, a robot (100) can identify a noise section by measuring the ambient noise level. For example, if the ambient noise level is 63 dB, it can be identified as a second noise section according to Table 1, and the audible volume of the user (10) can be identified as 63 + 5 = 68 dB.

[0102] According to one example illustrated in FIG. 5, the robot (100) measures the distance to the user (10) and, based on the measured distance, can calculate an output volume at which an audible volume of 68 dB can be provided at the location of the user (10). For example, if the output volume is calculated to be 70 dB, the robot (100) can output sound at an output volume of 70 dB.

[0103] FIGS. 6a to 6c are drawings for explaining a method of providing service by noise section according to one embodiment.

[0104] In FIGS. 6a to 6c, a retail store space is assumed in which multiple noise sections are defined as a first noise section, a second noise section, and a third noise section as shown in Table 1.

[0105] According to FIG. 6a, the robot (100) has an ambient noise section that is a first noise section (dB). NOISE If identified as + 5 < 60), the audible volume of the user (10) can be identified as 60dB, and the sound output volume to be provided can be determined.

[0106] According to FIG. 6b, the robot (100) has an ambient noise section in a second noise section (60 ≤ dB). NOISE If identified as + 5 < 80), the audible sound level of the user (10) is dB NOISE You can determine the sound output volume to be provided by identifying that + 5 ≤ audible volume < 80.

[0107] According to FIG. 6c, the robot (100) has an ambient noise section that is a third noise section (80 ≤ dB). NOISE If identified as + 5), it can be determined that if the sound output volume is increased excessively due to a situation where the noise is too high, it will cause strain on the user's (10) body. In this case, the robot (100) can provide the service by using visual information (e.g., video projection, LED light emission) (620) instead of sound output, or by using another device (630).

[0108] FIGS. 7a and 7b are drawings for explaining a method for determining output volume according to distance from a user in each noise section according to one embodiment.

[0109] According to one embodiment, the robot (100) can adjust the output volume according to the distance from the user in each noise section.

[0110] In FIGS. 7a and 7b, the noise section is a first noise section (dB) as shown in FIG. 6a.NOISE It is assumed that the user (10) has an audible volume of 60 dB and is identified as + 5 < 60).

[0111] According to FIGS. 7a and 7b, the robot (100) can determine the sound output volume to be 61dB (Fig. 7a) or 62dB (Fig. 7b) based on the distance from the user (10).

[0112] FIGS. 8a and 8b, and FIGS. 9a to 9c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0113] According to one embodiment, the robot (100) can provide services in different ways depending on whether there is voice interference when another robot provides voice guidance services to another user at a close distance.

[0114] In FIGS. 8a and 8b, and FIGS. 9a through 9c, it is assumed that a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (or serviceable area) (810).

[0115] According to one example illustrated in FIG. 8a, the robot (100) can identify an audible volume of 79 dB based on Table 1 when the ambient noise is measured at 74 dB and the noise section is identified as a second noise section. For example, the robot (100) can determine the minimum value (e.g., 82 dB) among the possible output volume ranges based on the distance from the user (10) as the output volume.

[0116] According to an example illustrated in FIG. 8b, when a robot (100) identifies that another robot (200) is providing voice guidance services to another user (20) at a close distance, it can identify whether the output volume of 82 dB determined in FIG. 8a may cause voice interference to the other user (20), who is the target of the service provided by the other robot (200). For example, the robot (100) can determine whether voice interference occurs based on 80 dB, which is a value that can cause problems to a person's auditory sense organs, but the reference value may be selectively changed depending on the situation. For example, based on the distance from the other user (20), the robot (100) can determine that voice interference does not occur if the output volume of 82 dB is provided to the other user (20) at less than 80 dB, and determine that voice interference occurs if it is provided at 80 dB or more.

[0117] According to one example illustrated in FIG. 9a, if the robot (100) determines that no voice interference occurs to another user (20), it can provide voice guidance services at the output volume (e.g., 82 dB) identified in FIG. 8a.

[0118] According to an example illustrated in FIG. 9b, if it is determined that voice interference occurs to another user (20), an area (811) where voice interference does not occur within a movable area (810) can be identified, and a voice guidance service can be provided by moving to the location with the shortest travel distance among the identified areas (811). For example, the robot (100) may re-perform noise section identification, audible volume identification, and output volume identification to increase accuracy after moving to a location.

[0119] According to one example illustrated in FIG. 9c, if a region where no voice interference occurs within the movable area (810) is not identified, the robot (100) may provide a service using at least one of visual information output and other devices instead of voice output. For example, the robot (100) may move to a region where image projection is possible within the user (10)'s field of vision within the movable area (810) and provide a visual guidance service (820) through image projection. For example, if another device (830) is present within the user (10)'s field of vision, the robot (100) may provide a visual guidance service or a voice guidance service through the other device (830). For example, if it is impossible to provide a visual guidance service through image projection within the user (10)'s field of vision, the robot (100) may use another device, but is not limited thereto, and it is also possible to provide duplicate services.

[0120] FIG. 10 is a drawing illustrating a method for calculating audible sound volume according to distance from a user according to one embodiment.

[0121] According to one embodiment, the robot (100) can determine an output volume that can be recognized by a user who is the target of the voice guidance service and minimizes voice interference to other users. According to one example, the robot (100) uses the existing decibel calculation formula (dB2 = dB1 - 20log). Audible sound level can be calculated based on ). For example, the audible sound level distinguishable from ambient noise is dB NOISE It can be set to + 5(dB). For example, normal conversation volume can be assumed to be 60dB, and a volume that strains the body can be assumed to be 80dB.

[0122] According to one example, in Fig. 10, dB S is the output volume of the robot (100) at position 0, dB S'is the output volume of the robot (100) at the 0' position, dB N audible volume at the user's location, dB E may be an audible volume from another user's location. d N is the distance between the robot (100) and the user, d E is the distance between the robot (100) and other users.

[0123] dB E = dB S -20logd E < 80 ↔ dB S = dB S -20logd E And,

[0124] dB S = dB N -20logd N < 80 20logd E since,

[0125] Accordingly ( ) It could be.

[0126] i) dB N If + 5 < 55,

[0127] dB N = 60 → And,

[0128] 10 < ramen,

[0129] The robot (100) moves within the movable area f(x, y) O'(x R , y R When moving to ),

[0130] It could be.

[0131] In this case, O'(x) that minimizes this R , y R ) can be calculated.

[0132] Calculated O'(x R , y RIf ) exists within the movable area f(x, y), the robot (100) can move to that location and provide voice guidance services.

[0133] Calculated O'(x R , y R If ) does not exist within the movable area f(x, y), the robot (100) O'(x) that minimizes this R , y R Services can be provided by moving to ) and using other sensory channels other than hearing (e.g., vision) and / or other devices based on MDE (Multi Device Experience) technology.

[0134] ii) 55 ≤ dB N + 5 < 80 ↔ 1< ≤ 10 1.25 In the case of,

[0135] dB N + 5 ≤ dB N Since < 80,

[0136] Accordingly ( )

[0137] ramen,

[0138] The robot (100) moves within the movable area f(x, y) O'(x R , y R When moving to ),

[0139] It could be.

[0140] In this case, O'(x) that minimizes this R , y R ) can be calculated.

[0141] Calculated O'(x R , y R If ) exists within the movable area f(x, y), the robot (100) can move to that location and provide voice guidance services.

[0142] Calculated O'(x R , y R If ) does not exist within the movable area f(x, y), the robot (100) O'(x) that minimizes this R , y R Services can be provided by moving to ) and using other sensory channels other than hearing (e.g., vision) and / or other devices based on MDE (Multi Device Experience) technology.

[0143] iii) 80 < dB N In the case of +5,

[0144] The robot (100) can provide services using other sensory channels other than hearing (e.g., sight) and / or other devices according to MDE (Multi Device Experience) technology.

[0145] FIGS. 11a, FIGS. 11b, FIGS. 12a, and FIGS. 12b are drawings for explaining a method for adjusting real-time output volume according to real-time distance from a user according to one embodiment.

[0146] According to FIG. 11a, the robot (100) can predict the real-time movement path of the user (10) and move in real-time to a position where the distance from the user (10) is minimized. For example, the position where the distance from the user (10) is minimized may be a position where the distance between the robot (100) and the user (10) is minimized within a range that does not interfere with the user (10)'s thawing radius.

[0147] According to FIG. 11b, if the robot (100) is unable to move in real time along the predicted movement path of the user (10), it can rotate in place toward the user (10) to maintain a gaze toward the user (10).

[0148] According to FIG. 12a, the robot (100) can predict the real-time movement path of the user (10) and calculate the real-time output volume based on the real-time distance from the user (10) while moving. For example, the robot (100) can identify an audible volume based on ambient noise and calculate the real-time output volume based on the real-time distance from the user (10) based on the identified audible volume.

[0149] According to FIG. 12b, if the robot (100) is unable to move in real time according to the predicted movement path of the user (10), it can calculate the real-time output volume based on the real-time distance from the user (10) at the current location.

[0150] FIGS. 13a to 13c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0151] According to one embodiment, the robot (100) can move its position depending on whether there is voice interference when another robot provides voice guidance services to another user at a close distance.

[0152] In FIGS. 13a to 13c, it is assumed that a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (or serviceable area) (1310).

[0153] According to an example illustrated in FIG. 13a, when a robot (100) identifies that another robot (200) is providing voice guidance services to another user (20) at a close distance, it can identify whether its output volume may cause voice interference to the other user (20), who is the target of the service provided by the other robot (200). For example, the robot (100) can determine whether voice interference occurs based on a standard value of 80 dB, which is a value that can cause problems to a person's auditory sense organs, but the standard value may be selectively changed depending on the situation. For example, if the robot (100) determines that voice interference occurs to the other user (20) based on the distance from the other user (20), it can move to a position within the movable area (1310) where voice interference can be minimized.

[0154] According to one example illustrated in FIG. 13b, the robot (100) can move as far as possible to a position within the movable area (1310) where voice interference can be minimized, and then adjust the output volume for voice guidance according to the distance from the user (10). For example, the robot (100) may re-perform noise section identification, audible volume identification, and output volume identification to increase accuracy after moving to a position.

[0155] According to one example illustrated in FIG. 13c, the robot (100) can move within a movable area (1310) and, if necessary, provide a guide to the user (10) to guide the user's approach. For example, the robot (100) can provide a voice guide such as, "I will help you with the guidance. Please come closer to me!"

[0156] According to one example illustrated in FIG. 13d, the robot (100) can enter within the social distance of the user (10) and secure a conversational distance when there are no restrictions on the movable area. For example, the robot (100) can approach along the user's (10) path and thus get close to the user (10), so that voice guidance services can be provided at a low output volume so that voice interference does not occur to other users (20).

[0157] FIGS. 14a to 14c are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0158] According to one embodiment, the robot (100) can move its position and switch to a visual guidance service depending on whether there is voice interference when another robot provides a voice guidance service to another user at a close distance.

[0159] FIGS. 14a to 14c assume a case where a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (1410).

[0160] According to an example illustrated in FIG. 14a, when a robot (100) identifies that another robot (200) is providing voice guidance services to another user (20) at a close distance, it can identify whether its output volume may cause voice interference to the other user (20), who is the target of the service provided by the other robot (200). For example, the robot (100) can determine whether voice interference occurs based on a standard value of 80 dB, which is a value that can cause problems to human auditory organs, but the standard value may be selectively changed depending on the situation. For example, if the robot (100) determines that voice interference occurs to the other user (20) based on the distance from the other user (20), it can move to an area (1411) within the movable area (1410) where voice interference does not occur.

[0161] According to one example illustrated in FIG. 14b, when the robot (100) reaches an area (1411) where no voice interference occurs, it can identify a service target user (10) and output expected interest information of the identified user (10) to guide the user (10) to a nearby location. For example, the robot (100) can identify a user with whom it makes eye contact or who is about to pass as a service target user (10). For example, the robot (100) can output the user's (10) expected interest information through at least one of voice output and visual information output (1420).

[0162] According to one example illustrated in FIG. 14b, when the robot (100) reaches an area (1411) where no voice interference occurs, it can induce interest by outputting expected interest information to displays (1431, 1432) around a user (10) who is moving in a different direction. Afterward, the robot (100) can guide the user (10) to the vicinity of the robot (100) if a detailed explanation of the expected interest information is needed or if the user (10) desires.

[0163] FIGS. 15a and FIGS. 15b are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0164] According to one embodiment, when another robot provides voice guidance services to another user at a close distance, both the robot (100) and the other robot may move their positions to provide voice guidance services depending on whether there is voice interference.

[0165] FIGS. 15a and 15b assume a case where a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (1510).

[0166] According to one example illustrated in FIG. 15a, when a robot (100) identifies that another robot (200) is providing voice guidance services to another user (20) at a close distance, it can identify whether its output volume may cause voice interference to the other user (20), who is the target of the service provided by the other robot (200). For example, if the robot (100) determines that voice interference is occurring to the other user (20) based on the distance from the other user (20), it can move to an area within the movable area (1510) where voice interference is not occurring and provide voice guidance services to the user (10).

[0167] According to one example illustrated in FIG. 15b, if the robot (100) cannot provide satisfactory voice guidance services to at least one of the user (10) and another user (20) even when moving as close as possible to the user (10) within the movable area (1510) (e.g., voice interference occurs, output volume is too low), the robot (100) may control the other robot (200) to change at least one of the position and direction. For example, the robot (100) may transmit a signal requesting the other robot (200) to change at least one of the position and direction. For example, the other robot (200) may move to secure distance from the robot (100) while inducing the other user (20) to change its position.

[0168] FIGS. 16a and FIGS. 16b are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0169] According to one embodiment, if there is a need to respond to another user while the robot (100) is providing voice guidance services to a user, the robot may call another robot to provide voice guidance services to the user.

[0170] In FIGS. 16a and 16b, it is assumed that a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (1610).

[0171] According to one example illustrated in FIG. 16a, when a user (10) is identified while another robot (200) is providing voice guidance services to another user (20), the robot (100) to respond to the user (10) can be called to a responding area. For example, after identifying the user (10), the other robot (200) can call a robot (100) that is not responding through navigation. For example, the other robot (200) can guide the user (10) to an area where the robot (100) can provide services.

[0172] According to one example illustrated in FIG. 16b, when a robot (100) receives a signal from another robot (200) indicating that a response to the user (10) is required, the robot (100) can move to a position where it can respond to the user (10). In this way, a plurality of robots (100, 200) can provide services through M2M communication (Machine-to-Machine Communication) under the control of the robot (200) that has recognized the situation.

[0173] FIGS. 17a to 17d are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0174] According to one embodiment, the robot (100) can provide voice guidance services by changing direction and guiding the user's location movement when another robot provides voice guidance services to another user at a close distance.

[0175] FIGS. 17a to 17d assume a case where a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (1710).

[0176] According to one example illustrated in FIG. 17a, when a robot (100) and another robot (200) each need to respond to a user at a specific fixed location to provide service for a specific product (1721, 1722), they can respond to the user (10) and the other user (20) at the fixed location without moving.

[0177] According to an example illustrated in FIGS. 17b and 17c, when a robot (100) and another robot (200) are to respond to a user (10) and another user (20), respectively, at a specific fixed location, the direction can be changed to minimize voice interference and the approach of each user (10, 20) to a location corresponding to the changed direction can be guided. For example, if an output volume satisfactory to each user (10, 20) is not produced while minimizing voice interference, the direction can be changed to minimize voice interference and the approach of each user (10, 20) to a location corresponding to the changed direction can be guided. For example, the robot (100) and the other robot (200) can guide the approach of each user (10, 20) by outputting a guide voice such as "The surrounding noise is loud, please move closer to me."

[0178] According to one example illustrated in FIG. 17d, when a robot (100) and another robot (200) need to respond to a user (10) and another user (20), respectively, at a specific fixed location, the direction can be changed to minimize voice interference and a visual guide (e.g., video projection, LED light) for the changed direction can be provided to guide each user (10, 20) to a location corresponding to the changed direction.

[0179] FIGS. 18a to 18c are drawings for explaining a method of providing a service in a situation where a plurality of robots according to one embodiment provide a voice guidance service.

[0180] According to one embodiment, the robot (100) can provide appropriate services based on the age of the user and the other user when another robot provides voice guidance services to another user at a close distance.

[0181] According to FIGS. 18a and 18b, when a robot (200) provides voice guidance services to a user (20), it can identify an audible volume based on the age of the user (20) and identify an output volume based on the identified audible volume and the distance from the user (20). For example, the robot (200) can identify an audible volume that is relatively louder than the audible volume of a general user when the age of the user (20) is recognized as an age where age-related hearing loss applies (e.g., 70+ years or older). For example, the robot (200) can provide guidance information regarding the output volume, such as "I will provide guidance at this volume."

[0182] According to FIG. 18c, the robot (100) can move to a position where voice interference can be minimized when providing voice guidance services to the user (10) while another robot (200) is providing voice guidance services to another user (20), and then determine the output volume based on the distance from the user (10) at the moved position. For example, the robot (100) can induce the user to move to a different position by providing guidance information such as "The surrounding noise is loud, please move closer to me" if necessary.

[0183] FIGS. 19a to 19d are drawings for explaining a method of providing a service in a situation where a plurality of robots provide a voice guidance service according to one embodiment.

[0184] According to one embodiment, the robot (100) can provide voice guidance services by changing direction and guiding the user's location movement when another robot provides voice guidance services to another user at a close distance.

[0185] FIGS. 19a to 19d assume a case where a robot (100) and another robot (200) provide voice guidance services to multiple users (10, 20) in a movable area (1910).

[0186] According to one example illustrated in FIG. 17a, when a robot (100) and another robot (200) each need to respond to a user at a specific fixed location to provide service for a specific product (1921, 1922), they can respond to the user (10) and the other user (20) at the fixed location without moving.

[0187] According to an example illustrated in FIG. 19b and FIG. 19c, when a robot (100) and another robot (200) are to respond to a user (10) and another user (20), respectively, at least one of the robot (100) and the other robot (200) may change direction to minimize voice interference and guide the user to a position corresponding to the changed direction. For example, if an output volume satisfactory to each user (10, 20) is not produced while minimizing voice interference, the robot (100) responding to the senior user (10) may prioritize responding to the general user (20) without changing direction, and the other robot (200) may change direction to guide the general user (20) to a position corresponding to the changed direction. For example, the other robot (200) may guide the general user (20) to approach by outputting a guide voice such as, "The surrounding noise is loud, please move closer to me."

[0188] According to one example illustrated in FIG. 17d, another robot (200) can provide a visual guide (e.g., image projection, LED light emission) (1931) to guide a general user (20) to a position corresponding to the changed direction.

[0189] In the various embodiments described above, at least some of the operations performed by other robots (200) can be performed by robot (100).

[0190] In the various embodiments described above, at least some of the operations performed by other robots (200) can be performed by other robots (200).

[0191] According to the various embodiments described above, voice guidance services can be provided by optimizing the volume and response distance so that the volume of the robot providing guidance in a specific space (e.g., a store) does not disturb the user or cause physical strain.

[0192] According to the various embodiments described above, the usability of the user's service can be improved by providing a voice service that is distinguishable from ambient noise in a noisy store environment.

[0193] According to the various embodiments described above, even in environments with many surrounding users, the robot volume is calculated by considering the audible volume range of each user using the same principle, thereby enabling the service to be provided at an optimal volume without disturbing each user.

[0194] According to the various embodiments described above, since the appropriate robot voice is determined relative to the ambient noise level, it can be extended to robots operating in quiet indoor environments or industrial robots operating in environments with consistently high noise levels.

[0195] The methods according to the various embodiments of the present disclosure described above may be implemented in the form of an application that can be installed on an existing robot. Alternatively, the methods according to the various embodiments of the present disclosure described above may be performed using a deep learning-based artificial neural network (or deep artificial neural network), that is, a learning network model.

[0196] The methods according to the various embodiments of the present disclosure described above can be implemented by software upgrades or hardware upgrades for existing robots alone.

[0197] The various embodiments of the present disclosure described above may also be performed through an embedded server equipped in the robot or an external server of the robot.

[0198] According to a specific example of the present disclosure, the various embodiments described above may be implemented as software comprising instructions stored on a machine-readable storage medium (e.g., a computer). The machine may include a robot (e.g., Robot (A)) 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" means only that the storage medium does not contain a signal and is tangible, and does not distinguish whether data is stored semi-permanently or temporarily in the storage medium.

[0199] Additionally, according to one embodiment of the present disclosure, the method according to the various embodiments described above may be provided as 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 online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created in a storage medium such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0200] Additionally, each component (e.g., module or program) according to the various embodiments described above may be composed of a single or multiple entities, and some of the aforementioned sub-components may be omitted, or other sub-components may be further included in the various embodiments. Generally or additionally, some components (e.g., module or program) may be integrated into a single entity to perform the functions performed by each of the respective components prior to integration in the same or similar manner. The operations performed by the module, program, or other components according to the various embodiments may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations added.

[0201] 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 robots, First sensor; Second sensor; speaker; Memory for storing instructions; and at least one processor including processing circuitry; and When the above instructions are executed individually or collectively by the at least one processor, the robot, Identifying a noise section based on sensing data obtained through the first sensor, and Identifying the distance to the user based on the sensing data obtained through the second sensor, and Identifying the output volume of the robot based on the audible volume corresponding to the above noise section and the distance from the user, and A robot that outputs a sound corresponding to the identified output volume through the above speaker.

2. In Paragraph 1, The above memory is, It stores information regarding noise magnitude and audible volume corresponding to each of a plurality of predefined noise intervals, and When the above instructions are executed individually or collectively by the at least one processor, the robot, Identifying the noise section among the plurality of noise sections based on the noise magnitude identified based on the sensing data obtained through the first sensor and the information stored in the memory, and A robot that identifies an audible sound level corresponding to the identified noise interval based on information stored in the memory.

3. In Paragraph 2, When the above instructions are executed individually or collectively by the at least one processor, the robot, If the identified noise interval is a first noise interval below a first threshold noise magnitude, a first audible sound level corresponding to the first noise interval is identified based on information stored in the memory, and A robot that identifies a second audible sound level corresponding to the second noise section based on information stored in the memory when the identified noise section is a second noise section greater than or equal to the first threshold noise level or less than the second threshold noise level.

4. In Paragraph 3, When the above instructions are executed individually or collectively by the at least one processor, the robot, If the identified noise section is a third noise section greater than or equal to the second threshold noise level, a service provision method corresponding to the third noise section is identified. The service provision method corresponding to the above third noise section is, A robot comprising at least one of outputting visual information and providing information using another device.

5. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, Predicting the user's movement path based on sensing data obtained through the second sensor, and Identifying the real-time distance from the user based on sensing data acquired through the second sensor while moving based on the predicted movement path above, and A robot that identifies the output volume of the robot in real time based on the audible volume corresponding to the above noise section and the real-time distance from the user.

6. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, If another robot located within a preset distance of the above robot is providing a service to another user by outputting sound, the audible volume of the said other user is identified, and Identifying a method of providing services to the user based on the audible volume of the other user mentioned above, and The method of providing services to the above user is, A robot comprising at least one of the above-mentioned output volume control, above-mentioned position movement of the robot, above-mentioned direction movement of the robot, and above-mentioned visual information output.

7. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, If another robot located within a preset distance of the above robot is providing a service to another user by outputting sound, the audible volume of the said other user is identified, and Identify whether the user's location needs to be moved based on the audible volume of the other user and the audible volume of the user. A robot that provides information guiding the user to move to a recommended location when it is identified that the user needs to move to a different location.

8. In Paragraph 7, When the above instructions are executed individually or collectively by the at least one processor, the robot, Based on the audible volume of the other user and the audible volume of the user, identify whether a positional change is required for at least one of the user and the other user, and If it is identified that at least one of the above user and the above other user needs to move, the priority of the above other user and the above user is identified based on the age information of the above user and the age information of the above other user, and A robot that, if it is identified that the user needs to move to a location according to the identified priority above, provides information guiding the user to move to a recommended location.

9. In Paragraph 7, When the above instructions are executed individually or collectively by the at least one processor, the robot, Identify whether the robot needs to move its position based on the audible volume of the other user and the audible volume of the user at the robot's current position, and If it is identified that the position of the above robot needs to be moved, the robot moves to the position closest to the user within the movable area, and Identify whether the user's position needs to be moved based on the other user's audible volume and the user's audible volume at the robot's moved position, and A robot that provides information guiding the user to move to a recommended location when it is identified that the user needs to move to a different location.

10. In Paragraph 1, When the above instructions are executed individually or collectively by the at least one processor, the robot, Identifying age information of the user based on a video of the user, and A robot that adjusts the identified output volume based on the age information of the user.

11. In a method for controlling a robot, An operation to identify a noise section based on sensing data acquired through a first sensor; An operation to identify the distance to the user based on sensing data acquired through the second sensor; An operation to identify the output volume of the robot based on the audible volume corresponding to the above noise section and the distance from the user; and A control method comprising: an operation of outputting a sound corresponding to the identified output volume.

12. In Paragraph 11, The above robot is, It stores information regarding noise magnitude and audible volume corresponding to each of a plurality of predefined noise intervals, and The operation of identifying the output volume of the above-mentioned robot is, An operation of identifying the noise section among the plurality of noise sections based on the noise magnitude identified based on the sensing data acquired through the first sensor and the information stored in the memory; and A control method comprising: an operation of identifying an audible sound level corresponding to the identified noise interval based on information stored in the memory.

13. In Paragraph 12, The operation of identifying the output volume of the above-mentioned robot is, If the identified noise section is a first noise section less than a first threshold noise magnitude, the operation of identifying a first audible sound level corresponding to the first noise section based on information stored in the memory; and A control method comprising: identifying a second audible sound level corresponding to the second noise section based on information stored in the memory when the identified noise section is a second noise section greater than or equal to the first threshold noise level and less than the second threshold noise level.

14. In Paragraph 13, The method further includes an operation of identifying a service provision method corresponding to the third noise section when the identified noise section is a third noise section greater than or equal to the second threshold noise level; The service provision method corresponding to the above third noise section is, A control method comprising at least one of outputting visual information and providing information using another device.

15. A non-transient computer-readable medium storing computer instructions that cause the robot to perform an action when executed by the robot's processor, The above operation is, An operation to identify a noise section based on sensing data acquired through a first sensor; An operation to identify the distance to the user based on sensing data acquired through the second sensor; An operation to identify the output volume of the robot based on the audible volume corresponding to the above noise section and the distance from the user; and A non-transient computer-readable medium comprising: an operation of outputting a sound corresponding to the identified output volume.

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