KR102138006B1 - Method for controlling a security robot, apparatus for supporting the same - Google Patents

Abstract

A security robot control method and an apparatus supporting the method are provided. A control method of a security robot performed by a control device according to an embodiment of the present invention includes obtaining a first risk for the security robot input through a remote control device, and the security robot generated by an autonomous security module Obtaining a second risk for, determining a weight based on the situation complexity of the security robot, and generating a priority based on the determined weight, the first risk, and the second risk. .

Description

Security robot control method and a device supporting the method{METHOD FOR CONTROLLING A SECURITY ROBOT, APPARATUS FOR SUPPORTING THE SAME}

The present invention relates to a control method of a security robot and an apparatus supporting the method. More specifically, the present invention relates to various security systems using one or more robots using a control method of a security robot through a remote control system and an apparatus supporting the method.

In recent years, interest in autonomous security robots such as autonomous vehicles has grown. However, research on autonomous security robots is still only in the early stages, and most autonomous driving robots have a problem of driving judgment with only artificial intelligence (AI).

Although a remote control technology has been introduced, research on a method of controlling a plurality of remote robots existing in a plurality of places is required.

As shown in FIG. 1, when a plurality of security robots present in a plurality of places transmit data at the same time, difficulty in monitoring between data occurs. In addition, the difficulty of monitoring is, as shown in FIG. 2, a control delay, which causes the control signal of the driver to reach the security robot lately, thereby increasing the risk.

Therefore, each robot to be controlled is stably driven, and a user needs a control method capable of providing a control signal by quickly making a decision and an apparatus supporting the method.

Korean Registered Patent No. 10-2006-1293247

The technical problem to be solved by the present invention is to provide a security robot control method and apparatus based on autonomous driving but capable of remote control simultaneously.

Another technical problem to be solved by the present invention is to provide a method and apparatus for controlling a security robot more efficiently by enabling one person to remotely control a plurality of robots simultaneously.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

The control method of the security robot according to an embodiment of the present invention for solving the above-described problems, in the control method of the security robot performed by the control device, the control method for the security robot input through the remote control device 1, obtaining a risk, obtaining a second risk for the security robot generated by the autonomous security module, determining a weight based on the situation complexity of the security robot, and determining the weight, the first risk And generating a priority based on the second risk.

A control device for a security robot according to another embodiment of the present invention for solving the above-described problems includes a processor, a memory, and one or more programs stored in the memory and executed by the processor, wherein the one or more programs , Obtaining a first risk for the security robot input through a remote control device, obtaining a second risk for the security robot generated by the autonomous security module, based on the situation complexity of the security robot And instructions for performing an operation for determining a weight for each risk and an operation for generating a priority of the security robot based on the determined weight, the first risk, and the second risk, wherein the The situation complexity is a complexity for the surrounding environment of the security robot based on the sensing data of the security robot.

A control method of a security robot according to another embodiment of the present invention for solving the above-described problems is a step in which a remote control device for remotely controlling the security robot transmits a first risk for the security robot from the security robot And receiving data according to priority and sequentially displaying the data according to the priority.

1 and 2 are exemplary views for explaining the problems of the conventional remote control method.
3 and 4 are configuration diagrams of a robot control system according to some embodiments of the present invention.
5 is a flowchart of a robot control method according to some embodiments of the present invention.
6 is an exemplary view of a method of obtaining a second risk according to the method described with reference to FIG. 5.
7 is an exemplary view of a method of learning a second risk prediction according to the method described with reference to FIG. 5.
8 is a flowchart of a method for determining weights based on situational complexity according to the method described with reference to FIG. 5.
9 is a flowchart of a method of analyzing sensing data according to the method described with reference to FIG. 8.
10 is a flowchart of a method for determining priority according to the method described with reference to FIG. 5.
11 is a configuration diagram of a system supporting a security robot control method according to some embodiments of the present invention.
12 is a flowchart of a method for supporting a security robot control method according to some embodiments.
13 is an exemplary view of a method of receiving data according to priority according to a method described with reference to FIG. 12.
14 to 16 are exemplary views of a method of sequentially displaying the data according to priority according to the method described with reference to FIG. 12.
17 is an exemplary view of a method of cooperating with a public institution according to another embodiment of the present invention.
18 is a hardware configuration diagram illustrating an exemplary computing device capable of implementing an apparatus and/or system according to various embodiments of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the technical spirit of the present invention is not limited to the following embodiments, but may be implemented in various different forms, and only the present embodiments allow the present invention to be completed, and general knowledge in the technical field to which the present invention pertains. It is provided to fully inform the person having the scope of the present invention, and the technical spirit of the present invention is only defined by the scope of the claims.

It should be noted that in adding reference numerals to the components of each drawing, the same components have the same reference numerals as possible, even if they are displayed on different drawings. In addition, in describing the present invention, when it is determined that detailed descriptions of related well-known structures or functions may obscure the subject matter of the present invention, detailed descriptions thereof will be omitted.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used as meanings commonly understood by those skilled in the art to which the present invention pertains. In addition, terms defined in the commonly used dictionary are not ideally or excessively interpreted unless specifically defined. The terminology used herein is for describing the embodiments and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase.

In addition, in describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the component from other components, and the nature, order, or order of the component is not limited by the term. When a component is described as being "connected", "coupled" or "connected" to another component, that component may be directly connected to or connected to the other component, but another component between each component It should be understood that elements may be "connected", "coupled" or "connected".

As used herein, "comprises" and/or "comprising" refers to the elements, steps, operations and/or elements mentioned above, the presence of one or more other components, steps, operations and/or elements. Or do not exclude additions.

Prior to the description of the present specification, some terms used in the specification will be clarified.

In this specification, the security robot refers to all kinds of robots equipped with a movement (ie, driving) function. The security robot may include a ground robot equipped with a ground movement function and a drone equipped with an aerial movement function. In addition, the security robot may include a remote control robot controlled by a remote control device (or system), an autonomous robot moving according to autonomous judgment, and a semi-autonomous robot equipped with both remote control and autonomous movement functions. .

In addition, in the present specification, functions related to patrol of a security robot are described as an example, but are not limited thereto. Can be done together.

In this specification, an instruction is a series of instructions grouped based on a function and refers to a component of a computer program and executed by a processor.

Hereinafter, some embodiments of the present invention will be described in detail according to the accompanying drawings.

3 is an exemplary configuration diagram illustrating a security robot control system according to some embodiments of the present invention.

Referring to FIG. 3, the robot control system may be configured to include a remote control system 20, security robots 100 and 200, a control device (not shown), and a server 10. However, this is only a preferred embodiment for achieving the object of the present invention, and of course, some components may be added or deleted as necessary. In addition, it is noted that each component of the robot control system illustrated in FIG. 3 represents functionally divided functional elements, and at least one component may be implemented in an integrated form in a physical environment. For example, the control device may be implemented with a remote control system 20 or a specific logic of the security robot.

Further, in the actual physical environment, each of the components may be implemented in a form of being divided into a plurality of detailed functional elements. For example, the first function of the server 10 may be implemented in the first computing device, and the second function may be implemented in the second computing device. Hereinafter, each component of the robot control system will be described.

In the robot control system, the remote control system 20 is a device used by a manipulator to remotely control the security robot. The remote control system 20 may control the security robot located at a remote location by transmitting the control value (e.g. steering angle, speed) input by the operator to the security robot in real time. Hereinafter, for convenience of description, the control value input by the operator through the remote control system 20 will be referred to as a “remote control value”.

For convenience, the remote control system 20 may be configured to include a haptic interface device such as a handle and a pedal. For example, the operator may control the steering angle of the security robot through the handle and the speed of the security robot through the pedal. However, the technical scope of the present invention is not limited thereto, and the user interface device of the remote control system 20 may be implemented in any way.

In addition, the remote control system 20 may be configured to include a display device that displays surrounding image data captured by a security robot. Therefore, the operator can recognize the surrounding environment of the security robot through the display device and perform remote control as appropriate.

In the robot control system, the security robot is a robot controlled by the remote control system 20. In particular, as illustrated in FIG. 3, the security robot may include all types of robots, such as the ground robot 200 and the drone 100.

In the robot control system, the control device is a computing device that generates a target control value for controlling the security robot based on various control values. Here, the computing device may be a laptop, a desktop, a laptop, or the like, but is not limited thereto, and may include all kinds of devices equipped with computing means. An example of the computing device will be described with reference to FIG. 18.

Since the target control value indicates a target control state (e.g. steering angle, speed) of the security robot, the final control value input to the security robot may be different from the target control value. For example, the final control value may be generated by various control algorithms based on the current control state (e.g. current speed, current steering angle) of the security robot and the target control value. However, a detailed description thereof will be omitted so as not to obscure the subject matter of the present invention.

4 is an exemplary configuration diagram illustrating another security robot control system according to some embodiments of the present invention.

Referring to FIG. 4, the robot control system may further include an operation control server, an LTE router, and a user terminal. The LTE router can receive images of drones and driving robots and receive the status or route information of them in real time and transmit them to the operation control server or operation management server.

Obtaining a first risk for the security robot input through a remote control device through the system shown in Figures 3 to 4, obtaining a second risk for the security robot generated by the autonomous security module , A step of determining a weight based on the situation complexity of the security robot and a step of generating a priority based on the determined weight, the first risk and the second risk may be performed.

5 is a flowchart of a method for controlling a security robot according to some embodiments of the present invention.

In step S100, a first risk level is obtained. The first risk refers to the risk entered by the user through the remote control device.

The first risk may be determined based on basic information of the patrol area environment of the security robot. For example, the risk may be determined depending on whether the patrol area is a chemical factory, an off-site area, or a residential area. For chemical plants, risks higher than residential areas and lower than vulnerable areas can be determined.

The first risk may be determined according to accumulated data. For example, the corresponding risk is continuously stored on the operation management server, and accordingly, the risk of the corresponding region can be updated without additional input.

In step S200, a second risk is obtained. The second risk refers to the risk that the security robot acquires while patrolling the patrol area. Hereinafter, it will be described with reference to FIGS. 6 to 7.

6 is an exemplary view of a method of obtaining a second risk according to the method described with reference to FIG. 5. 6, two types of security robots are illustrated, such as the ground robots 200, 201, and 202, and the drones 100 and 101, but this is exemplary and is not limited thereto. The ground robots 200, 201, and 202 acquire the second risk through the method of driving the patrol area, and the drones 100 and 101 by flying the sky. Alternatively, when the drones 100 and 101 patrol in a state attached to the driving robots 200, 201 and 202, and the second danger level is greater than or equal to a threshold, it may be set to float in the air.

However, in addition to the first risk and the second risk, the third risk may be further based on the step of generating the priority. The third risk refers to a risk generated based on a machine learning model learning a pattern of a user who controls a remote control device.

The third risk will be described in more detail with reference to FIG. 7.

7 illustrates an example of extracting various surrounding environment features 706 from the image data 701 using a pre-trained convolutional neural network (CNN), but the technical scope of the present invention is not limited thereto. For example, the surrounding environment feature 706 may be extracted using a computer vision algorithm well known in the art.

The learning process is a process of performing machine learning on the environment feature 706. At this time, the surrounding environment feature 706 is used as input data of the machine learning model, and the remote control value (not shown) is used to update the weight of the machine learning model through comparison with the prediction control value 73 of the output layer. Can be used as 7 illustrates an example in which machine learning is performed using an artificial neural network (ANN)-based deep learning model, but the technical scope of the present invention is not limited thereto. Pattern learning may be performed using any other type of machine learning algorithm.

Pattern learning for a plurality of users is only to extend the learning data to learning data for a plurality of users, so a description thereof will be omitted. Of course, depending on the embodiment, a plurality of machine learning models learning individual user patterns may be constructed, or a single machine learning model learning the driving patterns of multiple users may be constructed. When a plurality of machine learning models are constructed, the pattern control values for the plurality of users may be determined based on the average, weighted average, etc. of the pattern control values of individual users. In this case, as the weight used for the weighted average, for example, accuracy of each machine learning model and learning maturity may be used.

Referring back to FIG. 5, in step S300, a weight is determined based on the situation complexity. Situational complexity refers to a comprehensive matter according to the security robot's surroundings and the importance of the current mission. This will be described with reference to FIGS. 8 to 9.

8 is a flowchart of a method for determining situation complexity based on sensing data for surrounding objects according to an embodiment.

First, in step S301, sensing data is received. Sensing data means all kinds of data received through sensors attached to security robots. For example, the data may include audio data, image data, 360-degree panoramic image data, or infrared detection data. In step S302, the received sensing data is analyzed. Machine learning can be used to analyze sensing data. In step S303, the situation complexity is determined. In step S304, a weight according to the situation complexity is determined.

This will be described in detail with reference to FIG. 9. 9 illustrates an example of sensing data, which is image data 900. First, image data 900 is received. At this time, the image data 900 may be data received from a plurality of sensors. The received image data 900 is transmitted as learning data 901. The learning data 901 analyzes the characteristics of the surrounding environment by learning the object recognition result, the presence or absence of an obstacle, and the risk of collision based on the received image data 900. For the analysis, the same method as described above can be used.

Referring again to FIG. 5, a priority is generated in step S400. The priority may be set as a number according to the degree of urgent matter recognition, or may be set as a step of'urgent, sequential, safety'. Or, it can be divided into'emergency, sequential, and safety', and can be set as a number within each category according to the priority score. In addition to this, it can be set by the user in various ways.

10 is a flowchart of a method for determining priority according to an embodiment.

Priority is determined in step S401. In step S402, it is determined whether the difference between the determined priority and the first risk is greater than or equal to a threshold.

For example, suppose that the determined priority belongs to the sequential order and has the highest score in the sequential order. At this time, if the first risk is a contingency area or a danger area, the priority score given to the first risk itself will be high, so the difference between the determined priority and the first risk will be below the threshold. Conversely, when the priority is determined even when the first risk is a safe area, the difference between the determined priority and the first risk is greater than or equal to a threshold because the priority score given to the first risk itself would have been low. In this case, it is very likely that an emergency occurred even though it was a safety zone.

Therefore, when the difference between the determined priority and the first risk is greater than or equal to the threshold, an event is transmitted in step S403. An event means any operation that transmits a separate signal. For example, an event could indicate to a remote pilot in the control center that the situation in the field needs to be judged more carefully. Alternatively, it may mean an LED notification or a sound notification attached to the security robot for notifying people around the security robot.

Referring again to FIG. 5, data according to priority is transmitted in step S500. The data according to the priority may be specified in various ways according to a user's setting.

For example, the higher the priority, the faster the data can be transmitted. Alternatively, the transmission cycle (1hz to 60hz, etc.) may be differentiated through an algorithm that applies differently.

As another example, the higher the priority, the different types of data can be transmitted in the order of voice, image, and video. That is, when the risk is low, only the current position information of the robot may be transmitted, and as the risk increases, the robot's battery and driving state may be additionally transmitted.

As another example, the higher the priority, the higher the resolution data may be transmitted because the data to be transmitted is not compressed. That is, as the risk increases, data of high resolution (e.g. 120 fps) can be transmitted at low resolution (e.g. 24 fps).

Although not shown in FIG. 5, an operation is received for the transmitted data. The operation means various operations that the security robot can perform. For example, topic suppression, contact with the control system, first aid such as CPR, and audiovisual effect display for crime prevention effects.

The security robot performs each operation according to the received operation. At this time, even in performing the operation, it is possible to follow the priority of the transmitted data.

For example, when an operation for data corresponding to an emergency and an operation for data corresponding to a normal are simultaneously received, the operation for the data corresponding to the emergency is performed first. That is, even when multiple operations are simultaneously received, it is possible to process an urgent event first.

In addition, the operation for performing the operation may be performed by learning, for example, machine learning of a security robot. As described above, it will be omitted.

11 is a system configuration diagram of a method for controlling a security robot according to another embodiment.

11 shows a control system in addition to the service server 10 and the remote control system 20, which may be connected through a network. However, this is only a preferred embodiment for achieving the object of the present invention, and of course, some components may be added or deleted as necessary.

Looking briefly about each component, the service server 10 is a computing device that performs overall functions related to security services, such as managing a web page for a security request or managing a security request history. The service server 10 may receive a security request from a user terminal (not shown) and request a task generation system according to the security request at all times.

Next, the control system is a system that performs overall control functions for the security robot, such as creation of a security robot, assignment of tasks, and monitoring of the security robot. The control system performs real-time communication with the security robot and can perform various monitoring and control functions. As shown in FIG. 11, the control system can be implemented to include a singer's display to monitor multiple robots.

In addition, according to some embodiments, the control system may store a lot of data collected by the security robot in real time. For example, data of the security robot is periodically compressed. Alternatively, when a small event occurs, data up to that point may be compressed. The compressed data is sent to the control room. When the priority of the security robot increases, the transmitted data is additionally decompressed in the control room and immediately returned. That is, when the priority of the security robot is increased, the situation can be replied immediately in the control room without additional input.

Next, the remote control system is a system equipped with a remote control function for the security robot. In some embodiments, the operator may directly control the security robot through a remote control system and provide security services. For the description of the remote control system, refer to the above description.

12 is a flowchart of a method for controlling a security robot according to another embodiment of the present invention. In step S1000, the first risk level is transmitted. In step S2000, data according to priority is received. This will be described in detail with reference to FIG. 13.

In step S2001, it is determined whether the priority is urgent. If the priority is urgent, it is determined whether it can be processed in step S2002. When it is determined that processing is impossible, data is transmitted to another remote device in step S2003. The other remote device to be transmitted may belong to a control center of the same class or may belong to a higher level control center.

13 is an example of this. When an urgent event occurs simultaneously in the control center 1201 that has received the data, and processing is impossible, data on the unprocessable event is transmitted and control is transferred to another control center 1202. Through this operation, there is an effect that can be processed without delay even for emergency situations that occur simultaneously.

In order to transfer the control right, the priority of the operator in charge of control in an emergency situation may be pre-calculated and stored for each control device, for each robot's execution mission, and for each robot's location. That is, when the control right is transferred, the control right can be transferred without delay according to the stored operator priority.

14, the data is sequentially displayed according to the priority in step S3000. As described above, the data received according to the priority is various, so the manner of being displayed according to each data may also vary.

14 to 15 are exemplary views in which a VR screen is displayed on a remote control device when the transmitted data is a 360-degree panoramic image.

14 is an exemplary view of the first person view. The first person pilot will be able to patrol the surrounding environment more efficiently and vividly from the position of the security robot. In contrast, FIG. 15 is an exemplary view of the third person view. This third person view may be a view of patrolling the surrounding environment from the position of the drone. From the remote robot point of view, there is an effect of reducing the risk due to the environment variable of the security robot, that is, a remote location that the user does not recognize.

In addition, it is possible to request an accurate control by reducing the risk due to environmental variables, and an accurate control request will lead to an effect of reducing the risk of an accident.

According to some embodiments of the present invention, cooperation with a public institution is possible through a control method of a security robot. It will be described below with reference to FIG. 17.

17, the ground robot 200 and the drone 100 perform patrol for security. At this time, an unexpected situation occurs. The security robots 100 and 200 may determine the priority of the unexpected situation according to a control method according to some embodiments of the present invention, and transmit data to the control center according to the determined priority. At this time, according to the determined priority, the security robot may transmit data to the control authority to report the unexpected situation. An example of a control organization may include a jurisdiction police station or a jurisdiction fire department. Or, it could be reported from the control center to the control organization. Through cooperation with the control agency, it is possible to quickly and accurately respond to an unexpected situation.

Hereinafter, an exemplary computing device 2000 capable of implementing an apparatus and/or system according to various embodiments of the present invention will be described with reference to FIG. 18.

18 is an exemplary hardware configuration diagram illustrating the exemplary computing device 2000.

As shown in FIG. 18, the computing device 2000 loads one or more processors 2001, buses 2005, communication interfaces 2007, and computer programs 2009a performed by the processors 2001. It may include a memory (2003) and a storage (2009) for storing a computer program (2009a). However, only components related to the embodiment of the present invention are illustrated in FIG. 19. Therefore, a person skilled in the art to which the present invention pertains may recognize that other general-purpose components may be further included in addition to the components illustrated in FIG. 19.

The processor 2001 controls the overall operation of each component of the computing device 2000. The processor 2001 includes a CPU (Central Processing Unit), an MPU (Micro Processor Unit), an MCU (Micro Controller Unit), a GPU (Graphic Processing Unit), or any type of processor well known in the art. Can be. Further, the processor 2001 may perform operations on at least one application or program for executing the method according to embodiments of the present invention. Computing device 2000 may include one or more processors.

The memory 2003 stores various data, commands and/or information. The memory 2003 may load the computer program 2009a from the storage 2009 to perform a method/operation according to various embodiments of the present invention. The memory 2003 may be implemented as a volatile memory such as RAM, but the technical scope of the present invention is not limited thereto.

The bus 2005 provides communication functions between components of the computing device 2000. The bus 2005 may be implemented as various types of buses, such as an address bus, a data bus, and a control bus.

The communication interface 2007 supports wired and wireless Internet communication of the computing device 2000. In addition, the communication interface 2007 may support various communication methods other than Internet communication. To this end, the communication interface 2007 may include a communication module well known in the technical field of the present invention.

The storage 2009 may store one or more programs 2009a non-temporarily. Storage (2009) is a non-volatile memory such as Read Only Memory (ROM), Erasable Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), flash memory, etc. And any known form of computer-readable recording media.

Computer program 2009a may include one or more instructions that, when loaded into memory 2003, cause processor 2001 to perform an operation/method in accordance with various embodiments of the present invention. The processor 2001 may execute operations/methods according to various embodiments of the present invention by executing the one or more instructions.

For example, the computer program 2009a is an operation for acquiring a first risk level for the security robot input through the remote control device for the security robot 30 input through the remote control system 20, an autonomous security module Obtaining a second risk for the security robot generated by, determining a weight for each risk based on the situation complexity of the security robot, and determining the weight, the first risk and the second risk It may include instructions to perform an operation for generating the priority of the security robot on the basis of. In this case, the control device may be implemented through the computing device 2000.

So far, an exemplary computing device 2000 capable of implementing devices and/or systems according to various embodiments of the present invention has been described with reference to FIG. 18.

So far, several embodiments of the present invention and effects according to the above embodiments have been described with reference to FIGS. 1 to 18. The effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

The concept of the present invention described so far with reference to FIGS. 1 to 18 may be embodied as computer readable code on a computer readable medium. The computer-readable recording medium may be, for example, a removable recording medium (CD, DVD, Blu-ray Disc, USB storage device, removable hard disk), or a fixed recording medium (ROM, RAM, hard disk equipped with a computer). Can. The computer program recorded on the computer-readable recording medium may be transmitted to another computing device through a network such as the Internet and installed on the other computing device, and thus used on the other computing device.

In the above, even if all the components constituting the embodiments of the present invention are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the object scope of the present invention, all of the components may be selectively combined and operated.

Although the operations are shown in a specific order in the drawings, it should not be understood that the operations must be performed in a specific order or in a sequential order, or all illustrated operations must be executed to obtain a desired result. In certain situations, multitasking and parallel processing may be advantageous. Moreover, the separation of various configurations in the above-described embodiments should not be understood as such a separation is not necessarily necessary, and the described program components and systems may generally be integrated together into a single software product or packaged into multiple software products. It should be understood that there is.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may be implemented in other specific forms without changing the technical spirit or essential features of the present invention. Can understand. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. The scope of protection of the present invention should be interpreted by the claims below, and all technical spirits within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

Claims (16)

In the control method of the security robot performed by the control device,
Obtaining a first risk level for the security robot input through a remote control device;
Obtaining a second risk for the security robot generated by the autonomous security module;
Determining a weight based on the situation complexity of the security robot; And
Generating a priority based on the determined weight, the first risk and the second risk,
Security robot control method. According to claim 1,
The step of generating the priority,
And in response to a determination that the difference between the priority and the first risk is greater than or equal to a threshold value, further comprising sending an event.
Security robot control method. According to claim 1,
Determining the weight,
Determining the complexity of the situation based on the sensing data for the surrounding objects of the security robot,
Security robot control method. According to claim 3,
The sensing data of the security robot includes image data,
Determining the situation complexity for the surrounding object,
Obtaining a recognition result of the surrounding object of the security robot from the image data; And
And determining the complexity based on the recognition result.
Security robot control method. delete According to claim 1,
Further comprising the step of obtaining a third risk for the security robot generated based on the machine learning model learning the pattern of the user controlling the remote control device,
Generating the priority of the security robot,
Based on the third risk, generating the priority,
Security robot control method. According to claim 1,
Further comprising the step of obtaining a third risk for the security robot generated on the basis of the machine learning model learning the pattern of a plurality of users controlling the remote control device,
Generating the priority of the security robot,
Based on the third risk, generating the priority,
Security robot control method. According to claim 1,
And transmitting data according to the priority,
Security robot control method. The method of claim 8,
The step of transmitting data according to the priority,
The higher the priority, the faster the transmission speed, including the step of transmitting data,
Security robot control method. The method of claim 8,
The step of transmitting data according to the priority,
And determining a type of data to be transmitted according to the priority,
Security robot control method. The method of claim 8,
The step of transmitting data according to the priority,
And determining a compression rate of data to be transmitted according to the priority,
Security robot control method. The method of claim 8,
Receiving an operation on the transmitted data; And
Further comprising the step of performing the operation according to the priority of the transmitted data,
Security robot control method. In the control device of the security robot,
Processor;
Memory; And
Including one or more programs stored in the memory and executed by the processor,
The one or more programs,
Obtaining a first risk level for the security robot input through a remote control device,
Obtaining a second risk for the security robot generated by the autonomous security module,
Determining a weight for each risk based on the situation complexity of the security robot, and
Including instructions to perform the operation of generating the priority of the security robot based on the determined weight, the first risk and the second risk,
The situation complexity is a complexity for the surrounding environment of the security robot, based on the sensing data of the security robot,
Security robot control unit. A remote control device that remotely controls the security robot,
Transmitting a first risk level for the security robot;
Receiving data according to priority from the security robot; And
And sequentially displaying the data according to the priority,
The step of receiving the data according to the priority,
And when the remote control device is unable to process the data according to the priority, transmitting the data to another remote control device.
Security robot control method. delete The method of claim 14,
The step of sequentially displaying the data according to the priority,
And displaying the data as a 360-degree panoramic image and controllable through a VR system.
Security robot control method.

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