KR101643812B1 - Apparatus and method for guaranteeing robot safety using robot guardian module - Google Patents

Apparatus and method for guaranteeing robot safety using robot guardian module Download PDF

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KR101643812B1
KR101643812B1 KR1020140105930A KR20140105930A KR101643812B1 KR 101643812 B1 KR101643812 B1 KR 101643812B1 KR 1020140105930 A KR1020140105930 A KR 1020140105930A KR 20140105930 A KR20140105930 A KR 20140105930A KR 101643812 B1 KR101643812 B1 KR 101643812B1
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robot
risk
user
information
state
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KR20160020772A (en
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이동익
양인석
이동준
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경북대학교 산학협력단
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Priority to PCT/KR2015/008533 priority patent/WO2016024849A1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Multimedia (AREA)
  • Evolutionary Computation (AREA)
  • Fuzzy Systems (AREA)
  • Mathematical Physics (AREA)
  • Software Systems (AREA)
  • Measuring And Recording Apparatus For Diagnosis (AREA)

Abstract

The present invention relates to a robot guardian module and a robot safety assurance apparatus and method using the robot guardian module. More particularly, the present invention relates to a robotic guardian module, It analyzes the status information of the detected user and the status information of the robot to deduce the risk of the robot to the user and the risk of the robot, determines the risk, and controls the robot according to the determined risk, And a robot safety assurance apparatus and method using the same.

Description

TECHNICAL FIELD [0001] The present invention relates to a robotic guardian module, and a robotic guardian module and method using the robotic guardian module.

The present invention relates to a robot guardian module and a robot safety assurance apparatus and method using the same. More particularly, the present invention relates to a robot guardian module, The present invention relates to a robot guardian module for ensuring security of a user and safety of a robot by controlling the robot security device and method and a robot safety assurance method using the same.

Robots such as humanoids have a human-friendly appearance, and autonomous robots are being opened, demonstrating smooth joint movements such as stepping up and down, sideways and curved walking, and dynamic bipedal walking (walking on two feet). As such, the robot industry has been developed with the ultimate goal of providing various services on behalf of human beings or in cooperation with human beings.

Currently, Cog, developed by MIT vs. the Institute of Artificial Intelligence, and Asimo, developed by Honda, Japan, have the most human-like functions of existing robots. Robot technology, which is not different from human beings, not only appearance but also motion and intelligence, is still possible in the future.

However, due to the steady development of the robot industry, demand for service robots for various purposes such as guidance robots and educational robots is continuously increasing. Therefore, there is an increasing number of cases where human and service robots coexist in the same space. Therefore, it is necessary to prevent human injury caused by a service robot providing services to humans in a space where human and service robots coexist together, It is required to present a technique for ensuring the safety of the robot.

Korean Patent No. 10-1407158 (2014. 06. 05)

The present invention has been proposed in order to satisfy the demands of the development of robotic technology as described above, and it is an object of the present invention to provide a robotic robot that determines the risk of a robot to a user based on multiple information sensed through a sensor module, And to provide a robot guardian module and a robot safety assurance apparatus and method using the same, which can prevent a dangerous situation caused by a robot by controlling the robot, thereby ensuring safety of the user and safety of the robot.

In order to achieve the object of the present invention, the robot guardian module according to the present invention analyzes user's heartbeat information, voice information, and image information sensed by a heartbeat sensor, a voice sensor, and an image sensor, A state part recognizing an associated heart rate change, screaming and facial expression information, and recognizing an operation state of the robot by analyzing state information of the robot sensed by the robot state sensor; A risk inferring unit for inferring a risk of the robot to the user and a risk of the robot by analyzing the heartbeat change, screaming and facial expression information of the user recognized from the status part and the operation state of the robot; And a risk judgment unit for classifying the risk inferred from the risk inferring unit according to the risk level to determine the risk corresponding to the inferred risk and transmitting the risk information for removing the risk situation to the robot control module by controlling the robot .

The risk determining unit determines the risk by analyzing the size of the user's heartbeat change, the size and frequency of screaming of the user, the degree of danger represented by the user's facial expression, and the operating state of the robot.

In order to achieve the object of the present invention, a robot safety assurance apparatus using a robot guardian module according to the present invention includes a heartbeat sensor, a voice sensor, an image sensor, and a robot status sensor, A sensor module for detecting state information of the user including the image information and the state information of the robot, and determining the risk by deducing the risk of the robot to the user and the risk of the robot based on the information detected from the sensor module And a robot control module for controlling the robot according to the risk information transmitted from the robot guardian module.

In order to achieve the object of the present invention as described above, the robot safety determination method using the robot guardian module according to the present invention includes analyzing user's heartbeat information detected from a heartbeat sensor to recognize a user's heart- Recognizing the scream related to the dangerous feeling by analyzing the user's voice information sensed by the sensor, recognizing the user's facial expression related to the dangerous feeling by analyzing the user's image information sensed by the image sensor, A first step of analyzing information and recognizing an operation state of the robot; A second step of analyzing a heartbeat of the perceived user, a scream, a facial expression, and an operating state of the robot to deduce a risk of the robot to the user and a risk of the robot; And a third step of classifying the inferred risk by the risk level, determining the risk corresponding to the inferred risk, and transmitting the risk information to the robot control module by controlling the robot to remove the risk situation.

In order to achieve the object of the present invention as described above, a robot security assurance method using a robot guardian module according to the present invention is characterized in that a sensor module detects a state of a user including heartbeat information, voice information, A first step of detecting state information of the robot indicating whether or not the robot is present; A second step of analyzing the state information of the detected user and the state information of the detected user to determine the risk by deducing the risk of the robot to the user and the risk of the robot; And a third step of the robot control module controlling the robot according to the determined risk to eliminate the dangerous situation.

The present invention determines the risk of a robot to a user on the basis of multiple information sensed by a sensor module and controls the robot according to the determined risk, thereby eliminating the dangerous situation caused by the robot to secure the safety of the user and the safety of the robot .

The present invention has an effect of detecting the state information of the robot and diagnosing and coping with the operation state of the robot.

1 is a block diagram showing a robot guardian module and a robot safety assurance apparatus using the same according to the present invention,
FIG. 2 is a flowchart illustrating a robot security assurance method using a robot guardian module according to the present invention,
3 is a diagram illustrating an example of a method for inferring a risk based on voice information of a user,
4 is an exemplary diagram showing facial expression information stored in a database in order to infer a risk based on facial information of a user.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a robot guardian module and a robot safety assurance apparatus using the same according to the present invention. 1, the robot safety assurance apparatus according to the present invention includes a sensor module 100 for detecting status information of a user and state information of a robot including user's heartbeat information, voice information, and image information, A robot guardian module 200 for determining a risk level and a risk information based on information detected from the sensor module 100 by deducing the risk of the robot to the user and the risk of the robot and transmitting the risk information, And a robot control module 300 for controlling the robot according to the risk information transmitted from the robot 200.

The sensor module 100 includes a heartbeat sensor 110 for sensing heartbeat information of a user, a voice sensor 120 for sensing voice information of the user, An image sensor 130, and a robot state sensor 140 for sensing robot state information indicating whether the robot is normally operated.

A sensor for detecting user status information such as the voice sensor 120 and the image sensor 130 may be installed outside the robot body. The robot status sensor 140 may be installed inside the robot body, and in the case of the robot status sensor 140, it may receive a signal indicating whether or not the robot is in a steady state by using a central processing unit (CPU) of the robot.

The robot guardian module 200 recognizes the emotional state felt by the user through analysis of the user's state information sensed by the sensor module 100 and transmits the state information of the user, A status part 210 for recognizing the operation status of the robot through analysis of the status information of the detected robot and transmitting the status information of the robot to the robot 210 and the status information of the user transmitted from the status hold part 210, A risk inferring unit 220 for inferring the risk of the robot to the user and the risk of the robot and a risk corresponding to the inferred risk from the risk inferring unit 220 are determined And a risk judging unit 230 for transmitting the risk information.

The state hold unit 210 includes a heart rate change detecting unit 211 for analyzing a heart rate of a user sensed by the heart rate sensor 110 and recognizing a heart rate change of a user having a sudden change over a predetermined size, A voice recognition unit 212 for recognizing whether or not the voice of the user is detected by analyzing the voice of the user sensed by the voice recognition unit 120 and a voice recognition unit 212 for analyzing the user's image sensed by the image sensor 130, And a robot status hold unit 214 for recognizing whether the robot is in a normal state by analyzing status information of the robot detected from the robot status sensor 140. [

The risk inferring unit 220 and the risk determining unit 230 may collectively analyze the user's heartbeat information, voice information, and image information to determine a risk and a risk of the user. Alternatively, the risk inferring unit 220 and the risk determining unit 230 may use only one of the user's heartbeat information, voice information, and image information according to the service environment of the robot, And risk.

A safety mode changeover switch 400 for switching the robot to a safe mode by an external operation is provided in connection with the robot guardian module 200 and the robot control module 300 in order to cope with a sudden dangerous situation.

The robot guardian module 200 may be configured to detect the level of risk of the robot to the user based on the size of the user's heartbeat change related to the dangerous feeling, the size and frequency of screaming of the user, The operation state is comprehensively analyzed and classified into the first to third levels.

When the inferred risk is the first level, the robot guardian module 200 determines that the robot and the user are in a safe state and transmits risk information for maintaining the current operation of the robot to the robot control module 300 If the inferred risk is the second level, it is determined that the risk related level of the robot to the user is the warning level, and the risk information for decelerating or stopping the current speed of the robot is transmitted to the robot control module 300 . If the inferred risk is the third level, it is determined that the degree of risk related to the user is a dangerous level, and risk information for switching the power supply to the robot and switching the robot to a lock state is transmitted to the robot control module 300 ).

FIG. 2 is a flowchart illustrating a robot safety assurance method using a robot guardian module according to the present invention. As shown in FIG. 2, the robot safety assurance method using the robot guardian module according to the present invention includes a state information of a user including heartbeat information, voice information, and image information of a user, A second step S12 for determining the risk level by inferring whether the risk of the robot to the user and the risk of the robot are analyzed by analyzing the detected state information of the user and the state information of the robot, , S14, and S16), and a third step (S18) of controlling the robot according to the determined risk to remove the dangerous situation.

In the second step S12, S14, and S16, the user is aware of the emotional state felt by the user through analysis of the detected state information of the user, transmits the state information of the user, and analyzes the state information of the detected robot (S12) of recognizing the normal state of the robot and transmitting the state information of the robot to the robot, and analyzing the transmitted state information of the user and the state information of the robot, (S14) deducing whether or not the robot is dangerous, and classifying and determining the risk according to the reasoned risk (S16).

Now, the operation of the robot guardian module according to the present invention and the robot safety assurance apparatus using the same will be described in detail.

The sensor module 100 senses information indicating that the user feels a danger and also detects whether the robot is normally operating. 1, the heart rate sensor 110, the voice sensor 120, and the image sensor 130 are shown, but the present invention is not limited thereto.

The heart rate sensor 110 of the sensor module 100 senses the heartbeat information of the user, the voice sensor 120 senses the voice information of the user and the image sensor 130 senses the image information including the face information of the user The voice recognition unit 212 and the facial recognition unit 213 of the state change unit 210 in the robot guardian module 200, respectively. The robot status sensor 140 of the sensor module 100 senses the status information of the robot indicating normal operation of the robot and transmits the status information to the robot status receiving unit 214 of the robot 210 in the state of the robot guardian module 200 (S10).

The status receiving unit 210 of the robot guardian module 200 analyzes status information of each user detected from the sensor module 100 to recognize the emotional state felt by the user and analyzes the status information of the detected robot, (Operation S12).

That is, the heart rate change hold unit 211 of the state hold unit 210 receives the heart beat of the user sensed by the heart rate sensor 110 and analyzes whether there is a sudden change of a predetermined size or more, If there is sudden change (such as increase or decrease) more than the size, the user state information is generated by recognizing the change of heartbeat of the user and transmitted.

The voice recognition unit 212 analyzes the voice of the user detected by the voice sensor 120 and recognizes whether the voice is screaming or not. As shown in FIG. 3, when the sound of a certain size band (for example, 650 MHz to 2000 MHz band) continues for a set time (for example, 0.5 second) . Alternatively, it may be perceived that the currently transmitted voice is a scream that occurs when a person feels a dangerous feeling, for example, 500 MHz higher than the previously transmitted voice.

The facial expression recognition unit 213 analyzes the image information of the user sensed by the image sensor 130 and recognizes the facial expression corresponding to the danger. That is, as shown in FIG. 4, the robot guardian module 200 stores various facial expressions of the user in a database and also combines stored facial expressions to store combined facial expressions. The robot guardian module 200 compares facial information of the transmitted user with facial expressions stored in the database to determine the emotion of the user by detecting the most similar facial expressions. For example, out of the facial expressions stored in the database shown in FIG. 4, the emotional expression of the fear of the user is dangerous is the action unit 1 + 2 (AU 1) combining the action unit 1 (AU 1) and the action unit 2 AU 1 + 2). If the transmitted user's facial expression information is most similar to the previously stored action unit 1 + 2 facial expression, the user can judge that he feels a fearful feeling.

In this way, the perceived information of the user, such as the change of the heart beat of the user, the screaming, and the facial expression corresponding to the degree of danger, are transmitted to the risk inferring unit 220.

The robot status hold unit 214 recognizes the operation status of the robot by checking status information of the robot detected from the robot status sensor 140 to determine whether the robot is normally operating or in a failure status. The operation state of the recognized robot is transmitted to the risk inferring unit 220.

The risk inferring unit 220 analyzes the transmitted state information of the user and the state information of the robot in order to infer the risk of the robot to the user (S14).

In other words, the risk inferring unit 220 calculates the risk of the user based on the magnitude of the heartbeat change of the user transmitted from the heartbeat change acceptance unit 211, the incidence of the screaming of the user transmitted from the voice recognition unit 212, The facial expression corresponding to the danger sent by the user and the operation state of the robot transmitted from the robot state hold unit 214 are integrated to infer that the robot is causing a danger to the user.

The risk judging unit 230 classifies the degree of risk inferred by the risk relying unit 220 and judges the risk corresponding to the risk (S16). The classification of the risk can be classified into several stages according to various factors such as the type of service provided by the robot or the health state of the user. For example, if the risk is classified into three levels, it can be classified as Blue, Yellow, or Red.

The robot control module 300 controls the robot according to the risk transmitted from the risk decision unit 230 to remove the risk situation (S18).

For example, a method for the robot control module 300 to analyze a user's image information to infer a risk and determine a risk will be described in more detail.

Upon receiving the user's image information from the image sensor, the robot guardian module 200 obtains the user's facial expression information related to the emotion from the user's image information and obtains the facial expression information . The most similar facial expression information is detected and the risk related feeling of the user is determined based on the emotion information corresponding to the detected facial expression information.

Each pre-stored facial information has a risk level set according to the degree of risk. For example, when the risk is classified into three levels of "safety", "warning" and "danger", the action unit 1 (AU1) is classified as a "warning" level, Action unit 1 + 2 (AU1 + 2) can be classified as a "dangerous" level with facial expression that both the inside and outside of the eyebrow are raised.

If the detected facial expression information is a facial expression of the action unit AU1 + 2, the robot guardian module 200 determines that the user feels a danger at the "dangerous" level and determines the risk as "dangerous ".

For example, when the inferred risk level is the highest level, " RISK ", the robot guardian module 200 transmits risk information corresponding to " RISK " To the robot control module 300, and the robot control module 300 quickly switches the robot to the safe mode. The safe mode means that the power supplied to the robot is cut off and the robot is locked. When the service robot is on the ramp, the robot control module 300 switches the robot to the safe mode when the danger felt by the user of the robot guardian module 200 is determined as the highest and the inferred risk level is the highest level. Thus, it prevents the robot from slipping down along the ramp at the ramp, thereby preventing the possibility of a secondary accident at the ramp bottom.

When the risk level is the " warning " level, the robot control module 300 can control the robot by decelerating or abruptly stopping the robot.

When the risk level is the "safe" level, the robot control module 300 determines that the user does not feel a risk to the robot providing the service, and can maintain the operation without controlling the robot.

The operation of controlling the robot according to the risk level is not limited thereto and can be variously implemented according to the service type or the state of the user provided by the service robot.

The safety mode changeover switch 400 is operated so that the robot can be switched to the safe mode by an external operation other than the control of the robot guardian module 200 and the robot control module 300.

A safety mode changeover switch 400 for switching the robot to the safety mode according to the risk information transmitted from the robot guardian module 200 may be separately provided.

100: sensor module 110: heart rate sensor
120: voice sensor 130: image sensor
140: Robot status sensor 200: Robot Guardian module
210: state change unit 211: heart rate change branch
212: voice recognition section 213: facial expression branch
214: Robot status part 220: Risk inference part
230: Risk judging unit 300: Robot control module
400: Safety Mode Switch

Claims (13)

The heart beat information, the voice information, and the image information sensed by the heartbeat sensor, the voice sensor, and the image sensor, respectively, to recognize heartbeat changes, screaming, and facial expression information related to the risk appetite of the user, A status part for analyzing the status information and recognizing the operation status of the robot;
A risk inferring unit for inferring a risk of the robot to the user and a risk of the robot by analyzing the heartbeat change, screaming and facial expression information of the user recognized from the status part and the operation state of the robot; And
And a risk judgment unit for classifying the risk inferred from the risk inferencing unit by the risk level to determine the risk corresponding to the inferred risk and transmitting the risk information for controlling the robot to the risk control unit for removing the risk situation, Robot Guardian Module.
The risk assessment system according to claim 1,
A robot guardian module for analyzing the magnitude of the user's heart rate change, the size and frequency of screaming of the user, the degree of danger represented by the user's facial expression, and the operation status of the robot.
A sensor module including a heartbeat sensor, a voice sensor, an image sensor, and a robot status sensor, for detecting status information of a user and status information of the robot including heartbeat information, voice information, and image information of a user;
A robot guardian module that determines a risk and deduces risk information based on information detected from the sensor module by deducing a risk of the robot to the user and a risk of the robot, and transmits the risk information; And
And a robot control module for controlling the robot according to the risk information transmitted from the robot guardian module;
The robot guardian module includes:
The sensor module recognizes the emotion state of the user through the analysis of the state information of the user and transmits the state information of the user, and analyzes the state information of the robot detected from the sensor module, A state in which the robot recognizes and transmits state information of the robot;
A risk inferring unit that comprehensively analyzes the state information of the user transmitted from the state receiving unit and the state information of the robot to deduce a risk of the robot to the user and a risk of the robot; And
And a risk judgment unit for determining a risk corresponding to the inferred risk from the risk inferring unit and transmitting the risk information to the robot.
delete 4. The apparatus of claim 3,
A heartbeat change unit for analyzing a heartbeat of a user sensed by the heartbeat sensor and recognizing a heartbeat change of a user having a sudden change over a predetermined size;
A voice recognition unit for analyzing a voice of a user detected by the voice sensor and recognizing whether the voice is screaming;
A facial expression unit for analyzing a user's image sensed by the image sensor and recognizing a facial expression corresponding to a danger; And
And a robot state recognition unit for recognizing whether the robot is in a normal state by analyzing state information of the robot detected from the robot state sensor.
The robot control system according to claim 3,
The level of risk of the robot to the user is analyzed from the user's image information, the size of the user's screaming analyzed from the user's voice information and the frequency of occurrence, the size of the user's heartbeat change related to the risk appraisal analyzed from the user's heartbeat information And the degree of danger represented in the facial expression of the user, and the operation state of the robot are comprehensively analyzed and classified into the first to third levels.
The robot control system according to claim 3,
If the inferred risk is the first level, it is determined that the robot and the user are in a safe state, and the risk information for maintaining the current operation of the robot is transmitted to the robot control module.
When the inferred risk is the second level, determines that the risk related degree of the robot to the user is the warning level, transmits the risk information for decelerating or abruptly stopping the current speed of the robot to the robot control module,
When the inferred risk is the third level, it is determined that the degree of risk related to the user is a dangerous level, and the risk information for switching the power supply to the robot and switching the robot to the lock state is transmitted to the robot control module And a robot safety device using the robot guardian module.
The user's heart beat information detected from the heartbeat sensor is analyzed to recognize changes in the user heartbeat related to the dangerous feeling. The user's voice information detected from the voice sensor is analyzed to recognize screaming, and the user's image information detected from the image sensor is analyzed A first step of recognizing the user's facial expression and recognizing the operation state of the robot by analyzing the state information of the robot sensed by the robot state sensor;
A second step of analyzing a heartbeat of the perceived user, a scream, a facial expression, and an operating state of the robot to deduce a risk of the robot to the user and a risk of the robot; And
And a third step of classifying the inferred risk by the risk level, determining the risk corresponding to the inferred risk, and transmitting the risk information to the robot control module to control the robot to remove the risk situation, How to determine robot safety of module.
9. The method according to claim 8,
Classifying the risk into the first to third levels according to the size of the user's heart rate change, the size and occurrence frequency of the user, the degree of danger represented by the user's facial expression, and whether the robot is operating normally;
Transmitting the risk information for maintaining the current operation of the robot to the robot control module when the inferred risk is the first level, determining that the robot and the user are in a safe state;
If the inferred risk is the second level, determining that the degree of risk to the user is a warning level and transmitting the risk information for decelerating or stopping the current speed of the robot to the robot control module; And
If the inferred risk is the third level, it is determined that the degree of risk of the robot to the user is a dangerous level, and the risk information for switching off the power supply to the robot and switching the robot to the lock state is transmitted to the robot control module And determining the robot safety of the robot guardian module.
A first step of sensing the state information of the user including the heartbeat information, the voice information and the image information of the user and the state information of the robot indicating whether the sensor module is operating normally;
A second step of analyzing the state information of the detected user and the state information of the detected user to determine the risk by deducing the risk of the robot to the user and the risk of the robot; And
And a third step of the robot control module controlling the robot according to the determined risk to eliminate the dangerous situation;
The second step comprises:
Recognizes the change of the heart-beat related to the risk by analyzing the detected user's heartbeat information, recognizes the screaming by analyzing the detected user's voice information, and recognizes the facial expression corresponding to the danger by analyzing the detected user's image information, A first sub-step of analyzing state information of the robot to recognize an operation state of the robot;
A second sub-step of comprehensively analyzing the perceived user's heart rate change, scream, facial expression, and the operation state of the robot to deduce a risk of the robot to the user and the risk of the robot; And
A third step of comprehensively analyzing the risk of the inferred risk by comprehensively analyzing the size of the heartbeat change of the user, the size and occurrence frequency of the scream of the user, the degree of danger represented by the expression of the user, Wherein the robot is provided with a plurality of robots.
delete 11. The method of claim 10, wherein the third sub-
Transmitting the risk information for maintaining the current operation of the robot to the robot control module when the inferred risk is the safety level;
Transmitting risk information for decelerating or stopping the current speed of the robot to the robot control module when the inferred risk is the warning level; And
Further comprising the step of transmitting, to the robot control module, risk information for turning off the power supply to the robot and switching the robot to a lock state when the inferred risk is a dangerous level. Robot safety assurance method.
11. The method according to claim 10,
And analyzing only one of the user's heartbeat information, the user's voice information, and the user's image information according to the service environment provided by the robot to the user, and determining the risk by deducing the risk of the robot to the user Robot Safety Assurance Method Using Robot Guardian Module.
KR1020140105930A 2014-08-14 2014-08-14 Apparatus and method for guaranteeing robot safety using robot guardian module KR101643812B1 (en)

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