KR102142582B1 - Module and method for controling robot - Google Patents

Abstract

A robot control device and method is disclosed. The robot control apparatus according to an embodiment of the present invention includes an operation determining unit that determines an operation to be performed by the robot according to the command or event when a user command is input or a preset event occurs; And an operation performance determination unit determining whether to perform the operation based on a value corresponding to whether or not the operation is performed.

Description

Robot control device and method{MODULE AND METHOD FOR CONTROLING ROBOT}

The disclosed embodiments relate to robot control technology.

Robot technology is the driving force of industrial development, and at the same time, is the core of national competitiveness, and is one of the most advanced and advanced technologies that humans can handle to solve problems that humans cannot solve while improving human convenience. Early robots were merely mechanical devices that repeated only certain basic movements under certain conditions. However, in recent years, as various quaternary industrial technologies, such as artificial intelligence technology, have developed, the operations that the robot can perform or the user's commands that can be processed by the robot are diversified, and the robot is getting closer to human life.

However, as the robot technology develops, as the robot performs various operations, if the robot operates as it is according to a user's command, a problem that is economically and ethically inappropriate may occur. For example, there is a home service robot that provides adequate home service in the home, and if a kid who has not yet been fully mentally mentally instructed to bring a knife can follow the robot as it is, it can be evaluated as ethically inappropriate, There is controversy over who should hold this ethical responsibility.

Therefore, it is necessary to prevent the robot from performing an ethically inappropriate operation in order to make the robot closer to human life as technology advances.

The disclosed embodiments are intended to provide a robot control apparatus and method.

According to the disclosed embodiments, when a user's command is input or a preset event occurs, an operation determination unit for determining an operation to be performed by the robot according to the command or event; And based on the value corresponding to whether or not to perform the operation, the robot control apparatus is provided, including an operation or not determining unit for determining whether or not to perform the operation.

When the preset event occurs, the operation determining unit may determine an operation to be performed by the robot based on pre-stored robot operation instruction information for each event.

The operation determining unit may determine whether to perform the operation by comparing the size of a value corresponding to the execution of the operation and a value corresponding to the non-performance of the operation.

The operation determining unit may determine that the operation is performed when the value corresponding to the execution of the operation and the value corresponding to the non-performance of the operation are the same.

The operation determining unit determines whether to perform the operation when the value corresponding to the performance of the operation is greater than the value corresponding to the non-performance of the operation, and the value corresponding to the performance of the operation is the meaning of the operation. If it is smaller than a value corresponding to performance, it may be determined that the above operation is not performed.

The operation determining unit may calculate a value corresponding to whether the operation is performed based on a sum of values corresponding to each of one or more preset rules according to whether the operation is performed.

Values corresponding to each of the preset one or more rules may be stored in advance corresponding to the one or more users.

The determining whether the operation is performed may correspond to each of the preset one or more rules based on a value corresponding to whether each of the preset one or more rules is satisfied and a value corresponding to an importance for each of the preset one or more rules. The value can be calculated.

The operation determining unit determines whether each of the preset one or more rules is satisfied according to whether the operation is performed, and based on whether each of the preset one or more rules is satisfied, for each of the preset one or more rules. A value corresponding to whether or not it is satisfied can be determined.

The operation determining unit may determine whether each of the preset one or more rules is satisfied by using a pre-trained prediction model.

The operation determining unit outputs a degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and corresponds to whether the probability value of each of the preset one or more rules is satisfied Can be determined by value.

After determining whether or not to perform the operation, the determination unit for performing the operation may control the robot according to whether or not the determined operation is performed.

According to other disclosed embodiments, when a user's command is input or a preset event occurs, determining a motion to be performed by the robot according to the command or event; And determining whether to perform the operation based on a value corresponding to whether or not the operation is performed.

In the determining of an operation to be performed by the robot, when the preset event occurs, an operation to be performed by the robot may be determined based on pre-stored robot operation instruction information for each event.

In determining whether to perform the operation, the size of a value corresponding to the performance of the operation and a value corresponding to the non-performance of the operation may be compared to determine whether the operation is performed.

In determining whether to perform the operation, when the value corresponding to the performance of the operation and the value corresponding to the non-performance of the operation are the same, it may be determined to perform the operation.

In the determining whether to perform the operation, when the value corresponding to the performance of the operation is greater than the value corresponding to the non-performance of the operation, it is determined to perform the operation, and the value corresponding to the performance of the operation is determined. If it is smaller than a value corresponding to the non-performance of the operation, it may be determined that the operation is not performed.

In determining whether to perform the operation, the value corresponding to whether the operation is performed may be calculated based on a sum of values corresponding to each of one or more preset rules according to whether the operation is performed.

Values corresponding to each of the preset one or more rules may be stored in advance corresponding to the one or more users.

The determining whether to perform the operation may include determining the one or more rules based on a value corresponding to whether each of the one or more preset rules is satisfied and a value corresponding to the importance of each of the one or more preset rules. Values corresponding to each can be calculated.

The determining whether to perform the operation may include determining whether each of the preset one or more rules is satisfied according to whether the operation is performed, and determining whether the predetermined one or more rules are satisfied, and based on whether each of the preset one or more rules is satisfied. A value corresponding to whether each rule is satisfied can be determined.

In determining whether to perform the operation, it may be determined whether each of the preset one or more rules is satisfied by using a pre-trained prediction model.

The determining whether to perform the operation may include outputting a degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and satisfying the probability value for each of the preset one or more rules It can be determined by a value corresponding to whether or not.

After determining whether or not to perform the operation, the method may further include controlling the robot according to whether or not the determined operation is performed.

According to the disclosed embodiments, by determining whether or not to perform the operation based on a value corresponding to whether or not the operation is performed, the robot operates appropriately based on a value whose value according to whether the operation is performed is numerically reflected. This is to prevent the user from performing inappropriate actions.

1 is a block diagram of a robot control apparatus according to an embodiment
2 is an exemplary view for explaining a process of determining whether to perform an operation according to an embodiment
3 is an exemplary view showing a result of whether to perform an operation according to an embodiment
4 is an exemplary view showing a result of whether to perform an operation according to another embodiment
5 is an exemplary view showing a result of whether to perform an operation according to another embodiment
6 is a flowchart illustrating a robot control method according to an embodiment
7 is a block diagram illustrating and illustrating a computing environment including a computing device suitable for use in example embodiments.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to aid in a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

In describing the embodiments of the present invention, when it is determined that a detailed description of known technology related to the present invention may unnecessarily obscure the subject matter of the present invention, the detailed description will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to a user's or operator's intention or practice. Therefore, the definition should be made based on the contents throughout this specification. The terminology used in the detailed description is only for describing embodiments of the present invention and should not be limiting. Unless expressly used otherwise, a singular form includes a plural form. In this description, expressions such as “including” or “equipment” are intended to indicate certain characteristics, numbers, steps, actions, elements, parts or combinations thereof, and one or more other than described. It should not be interpreted to exclude the presence or possibility of other characteristics, numbers, steps, actions, elements, or parts or combinations thereof.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. The following detailed description is provided to aid in a comprehensive understanding of the methods, devices and/or systems described herein. However, this is only an example and the present invention is not limited thereto.

Each of the above components is described or illustrated as being a separate component, but it is described or illustrated as being a separate component for dividing and explaining each functional part. Accordingly, it is apparent to those skilled in the art that the functions of the respective components can be performed in separate parts, as well as the functions of the respective components can be performed in the same part. In addition, each configuration may be connected to each other in a wired or wireless form including an electrical connection to transmit or receive data.

1 is a block diagram of a robot control apparatus 100 according to an embodiment. The robot control apparatus 100 according to an embodiment includes an operation determination unit 110 and an operation determination unit 120.

The robot control device 100 may be mounted on a robot (not shown) to control the robot. In the present embodiments, the robot is a machine that automatically handles a given task by itself, and may be, for example, a robot to which artificial intelligence technology is applied. The robot is used for purposes such as housework support (cleaning, tidying, expenses, errands, etc.), elderly support (walking assistance, life support, etc.), rehabilitation support (caring, disabled, protection, and rehabilitation). Perform personal robots, public services (guidance, helpers, etc.), building services (expense, delivery, cleaning), social infrastructure work (for livelines, pipelines, aerial works), and agricultural/livestock work (pesticide spraying, fruit harvesting support, etc.) It is used in a broad sense to include all specialized robots used for the purpose of manufacturing, automobile manufacturing operations (handling, welding, etc.), and electronics manufacturing operations (painting, assembly, etc.). In this embodiment, the type of the robot is not particularly limited.

When a user's command is input or a preset event occurs, the motion determination unit 110 determines an action to be performed by the robot according to the command or event.

For example, in the case of a home service robot, the user may be a family member, and in some cases, a visitor (external person) may also be a user. On the other hand, even in the case of a pet, a user may be used according to an embodiment.

The user's command may be, for example, a message requesting a specific action or specific information from the robot. The message requesting the robot to perform a specific action may include, for example, “Please bring water” or “Open the front door”. The message requesting the robot for specific information may include, for example, “what is the temperature in the house”, “is there kimchi in the refrigerator”, and the like. In addition, the operation determining unit 110 may use various sensors for recognition of the user's face/facial expression/gesture/object/voice/encephalograph/contact, or a remote control for inputting a user's command to receive a user's command. Recognition means may be included.

Events include, for example, various disaster situations such as earthquake/flood/typhoon/heavy/snowfall/yellow/explosion/fire/collapse, user-related situations such as stun/bleeding/death, failures/damages/errors, etc. It may include. Furthermore, the event may also include a situation that may lead to various disaster situations or dangerous situations, such as, for example, when a user carries dangerous objects or when city gas is leaked. The operation determination unit 110 may determine whether the event has occurred using various situation recognition techniques. The context recognition technology refers to a technology in which a robot collects various information using various sensors or communication technologies, and recognizes the situation using the above information and artificial intelligence technology.

As an example, when a user's command of “open the front door” is input, the motion determination unit 110 may determine an operation of “opening the front door” as a motion to be performed by the robot. As another example, when an event called “fire” occurs, the motion determination unit 110 may determine, as an action to be performed by the robot, “operating the alarm device, opening the front door, and helping the user escape”. have.

Meanwhile, when a pre-stored event occurs, the motion determination unit 110 may determine an action to be performed by the robot based on the pre-stored robot motion instruction information for each event. Here, the robot operation guide information for each event may be a database consisting of operations to be performed by the robot corresponding to each event in advance. However, the present invention is not limited to this, and the operation determination unit 110 may determine in real time an operation to be performed by the robot to perform an appropriate operation corresponding to a given situation by using various artificial intelligence technologies or communication technologies.

The operation determining unit 120 may determine whether to perform the operation by the operation determining unit 110 based on a value corresponding to whether or not the operation determined by the operation determining unit 110 is performed.

For each operation, a value corresponding to whether the operation is performed may be previously determined by the designer. According to an embodiment, a value corresponding to whether or not each operation is performed may be automatically or manually updated by being provided from the management server of the robot.

The operation performance determining unit 120 may determine whether to perform the operation by comparing the size of the value corresponding to the execution of the operation with the value corresponding to the non-performance of the operation.

For example, the determination unit 120 may determine whether to perform the operation when it is determined that a value corresponding to the performance of the operation is greater than a value corresponding to the performance of the operation. In addition, if it is determined that the value corresponding to the performance of the operation is smaller than the value corresponding to the performance of the operation, the determination unit 120 may determine that the operation is not performed.

Meanwhile, if the value corresponding to the performance of the operation and the value corresponding to the non-performance of the operation are the same, the determination unit 120 for performing the operation may determine to perform the operation. This reflects the fact that the robot itself exists to follow the user's instructions.

Meanwhile, as described above, a value corresponding to whether or not to perform the operation may be predetermined, but according to an embodiment, a value corresponding to whether or not to perform the operation may be obtained by a computer operation.

For example, the operation performance determining unit 120 may calculate a value corresponding to whether the operation is performed based on a sum of values corresponding to each of one or more preset rules according to whether the operation is performed. The preset one or more rules refer to rules for evaluating whether it is appropriate for the robot to perform a specific operation. For example, one or more preset rules may be rules for evaluating the economic effectiveness of the operations, rules for evaluating whether the operations are ethically/ethically appropriate, or a mixture of these. Hereinafter, as an example, an ethical judgment principle for evaluating whether the above operation is ethically appropriate is introduced.

The ethical judgment principle can be divided into three levels: upper, intermediate, and lower depending on the importance of ethics.

The higher ethical judgment principle consists of the following four rules.

Rule 1: Robots should not violate the basic rights of individuals (rights of dignity, freedom, equality, privacy, knowledge, happiness).

Rule 2: Robots should not invade the public good (peace, welfare, environment, national security, social safety, etc.).

Rule 3: Robots must meet their legitimate needs (health, safety, social belonging, respect, self-realization, etc.).

Rule 4: Robots must comply with the laws and norms applicable to the current situation.

The Intermediate Ethical Judgment Principle consists of the following four rules.

Rule 5: Robots should not harm people.

Rule 6: The robot must follow the user's instructions. If two or more orders are issued at the same time, they must be prioritized.

Rule 7: Robots must not damage human property, including themselves.

Rule 8: Robots must not lie or lie to humans or other robots.

The lower ethical judgment principle consists of the following two rules.

Rule 9: Robots need to contribute to increasing user enjoyment and joy.

Rule 10: Robots must operate according to their intended use.

However, the ethical judgment principle is not limited to the above 10 rules, and may be appropriately added/modified/deleted according to the embodiment. In addition, the higher ethical principle may have a importance level of 3, the intermediate ethical principle may have importance level 2, and the lower ethical principle may have importance level 1. However, this is only an example, and is not limited thereto.

The action determining unit 120 determines a value corresponding to each of the preset one or more rules based on whether each of the preset one or more rules is satisfied according to whether or not the action is performed and the importance of each of the preset one or more rules. Can be calculated.

For each operation, whether or not each of one or more preset rules according to whether or not to perform the operation is satisfied may be determined in advance by the designer. According to an embodiment, whether or not each of one or more preset rules according to whether or not to perform each operation is satisfied may be provided from the management server of the robot and updated automatically or manually. This is to enable a human person to determine whether or not each of one or more preset rules is satisfied according to whether or not each action is performed in order to reduce or eliminate the possibility of any problem due to the arbitrary value determination of the robot. In addition, whether or not each of one or more preset rules according to whether or not a specific operation is performed may be determined for each user.

Specifically, the operation performance determination unit 120 may be based on a value corresponding to whether each of the preset one or more rules is satisfied according to whether the operation is performed and a value corresponding to the importance of each of the preset one or more rules. Values corresponding to each of the preset one or more rules may be calculated. When a certain rule is satisfied, the corresponding value may be 1, and when not satisfied, the corresponding value may be 0. However, this is only an example, and is not limited thereto.

Meanwhile, as described above, a value corresponding to whether or not each of the preset one or more rules is satisfied according to whether or not a specific operation is performed or whether or not each of the preset one or more rules is satisfied according to whether or not a specific operation is performed may be determined in advance. It may be, but may be obtained by computer operation according to an embodiment.

For example, the operation performance determining unit 120 determines whether each of the preset one or more rules is satisfied according to whether the operation is performed, and based on whether each of the preset one or more rules is satisfied, the preset one A value corresponding to whether or not each rule is satisfied may be determined. Specifically, the operation performance determining unit 120 may determine whether each of the preset one or more rules is satisfied by using the learned prediction model. For example, the operation performance determination unit 120 outputs the degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and outputs the probability value to each of the preset one or more rules It can be determined by a value corresponding to whether or not it is satisfied. According to an embodiment, the operation performance determining unit 120 may determine a value corresponding to whether or not each of the preset one or more rules is satisfied based on whether the probability value exceeds a preset value.

For example, if the probability value exceeds the preset value, the determination unit 120 for performing an operation determines a value corresponding to whether each of the preset one or more rules is satisfied as 1, and the probability value is When not exceeding a preset value, a value corresponding to whether or not each of the preset one or more rules is satisfied may be determined as 0.

After determining whether or not to perform the operation, the determination unit 120 for performing the operation may control the robot according to whether or not the determined operation is performed.

As described above, when the robot determines whether the operation is performed or not, the control unit 120 controls the robot according to whether or not the determined operation is performed, when a problem occurs due to whether or not the robot is performing in the future, the designer of the robot is related to the problem. By presenting log data that is the basis for whether or not the operation is performed, it will be possible to escape the responsibility. Therefore, when the operation determination unit 120 determines whether or not to perform any operation, log data based on whether or not the operation is performed may be stored, and according to an embodiment, the log data is a PC provided with other storage device. The log data can be continuously managed on the corresponding PC by transmitting the data.

2 is an exemplary diagram for describing a process of determining whether to perform an operation according to an embodiment.

As shown in FIG. 2, the first rule and the second rule as a rule of importance 3, the third rule and the fourth rule as a rule of importance 2, the importance of 1 as one or more preset rules The rule may be a fifth rule and a sixth rule.

When the user's X command is input or the X event occurs, the robot control device may determine the action to be performed by the robot as the A action according to the X command or the X event. At this time, the robot control device performs whether or not the A operation is performed based on a value corresponding to each of the predetermined one or more rules according to whether or not the A operation is performed and a value corresponding to the importance for each of the preset one or more rules. A value corresponding to each of the preset one or more rules according to may be calculated.

As illustrated in FIG. 2, a value corresponding to a case in which a specific rule is satisfied may be 1, and a value corresponding to a case in which a specific rule is not satisfied may be 0.

The robot control device determines a value minus the value corresponding to the importance of the specific rule as a value corresponding to the specific rule according to whether or not the specific operation is performed when the specific rule is not satisfied according to whether or not the specific operation is performed Can. For example, since the first rule is not satisfied when performing the A operation, the value corresponding to the first rule according to the performing the A operation may be -3.

The robot control apparatus may determine 0 as a value corresponding to the specific rule according to whether the specific operation is performed when a specific rule is satisfied according to whether a specific operation is performed. For example, since the second rule is satisfied when performing the A operation, the value corresponding to the second rule according to the performing the A operation may be 0.

In this way, the robot control apparatus may calculate a value corresponding to each of one or more preset rules according to whether or not the A operation is performed.

In addition, the robot control apparatus sums values corresponding to each of one or more preset rules according to whether or not A operation is performed, and sets a value corresponding to performance of A operation to -5 and a value corresponding to not performing A operation to -6. You can decide.

Subsequently, the robot control apparatus compares the size of the value corresponding to the execution of the A operation and the value corresponding to the non-performance of the A operation, and the direction of the smaller size of the corresponding value with respect to whether the operation A is performed, A You can decide to perform the action.

3 is an exemplary view showing a result of whether to perform an operation according to an embodiment.

Specifically, FIG. 3 is an exemplary view showing the result of whether or not to perform an operation when a user issues a command to the robot to "bring healthy food" and "command to bring healthy food".

As shown in FIG. 3, in the case of “bring healthy food”, a value corresponding to “giving cycle” is 0, and a value corresponding to “reject” is -5. Therefore, in this case, the robot may determine the "take cycle" to the user as an operation to be performed by the robot.

On the other hand, in the case of "bring food that is bad for your health", the value corresponding to "Give it" is -8, and the value corresponding to "Reject" is -3. Accordingly, in this case, the robot may determine “reject” to the user as an operation to be performed by the robot.

4 is an exemplary view showing a result of whether to perform an operation according to another embodiment.

Specifically, FIG. 4 is an exemplary diagram showing the result of performing an operation when “family member” and “outsider” request a mother's mobile phone number.

As shown in FIG. 4, in the case of "family member", the value corresponding to "notify" is 0, and the value corresponding to "reject" is -6. Therefore, in this case, the robot may determine “notify” the user as an operation to be performed by the robot.

On the other hand, in the case of "external", the value corresponding to "notify" is -9, and the value corresponding to "reject" is -3. Accordingly, in this case, the robot may determine “reject” to the user as an operation to be performed by the robot.

5 is an exemplary view showing a result of whether to perform an operation according to another embodiment.

Specifically, FIG. 5 is an exemplary view showing the result of whether or not to perform an operation when “child” and “mom” are slicing vegetables.

As shown in FIG. 3, in the case of "children", the value corresponding to "attention cycle" is -1, and the value corresponding to "no response" is -5. Therefore, in this case, the robot may determine the “attention period” to the user as an operation to be performed by the robot.

On the other hand, in the case of "mom", the value corresponding to "attention cycle" is -4, and the value corresponding to "no response" is 0. Accordingly, in this case, the robot may determine “no response” to the user as an operation to be performed by the robot.

6 is a flowchart illustrating a robot control method according to an embodiment.

The method illustrated in FIG. 6 may be performed, for example, by the robot control apparatus 100 illustrated in FIG. 1.

In the illustrated flow chart, the method is described by dividing it into a plurality of steps, but at least some of the steps are performed by reversing the order, combined with other steps, omitted together, divided into detailed steps, or not shown. One or more steps can be performed in addition.

First, when the user's command is input or a preset event occurs, the robot control apparatus 100 determines an action to be performed by the robot according to the command or event (610). For example, when the preset event occurs, the robot control apparatus 100 may determine an action to be performed by the robot based on pre-stored robot operation instruction information for each event.

Next, the robot control apparatus 100 determines whether to perform the operation based on the value corresponding to whether or not the operation is performed (620).

For example, the robot control apparatus 100 may determine whether to perform the operation by comparing the size of a value corresponding to the execution of the operation with a value corresponding to the non-performance of the operation.

For example, when the value corresponding to the performance of the operation and the value corresponding to the non-performance of the operation are the same, the robot control apparatus 100 may determine to perform the operation. In addition, the robot control apparatus 100 determines to perform the operation when it is determined that the value corresponding to the performance of the operation is greater than the value corresponding to the non-performance of the operation, and the value corresponding to the performance of the operation If it is determined that the value is smaller than the value corresponding to the non-performance of the operation, it may be determined that the operation is not performed.

Here, the robot control apparatus 100 may calculate a value corresponding to whether or not to perform the operation based on a sum of values corresponding to each of one or more preset rules according to whether or not the determined operation is performed. At this time, values corresponding to each of the preset one or more rules may be pre-stored corresponding to the one or more users.

According to an embodiment, the robot control apparatus 100 may include the preset one or more based on a value corresponding to whether or not each of the preset one or more rules is satisfied, and a value corresponding to an importance for each of the preset one or more rules. A value corresponding to each rule can be calculated.

For example, the robot control apparatus 100 determines whether each of the preset one or more rules is satisfied according to whether the operation is performed, and based on whether each of the preset one or more rules is satisfied, the preset one or more rules A value corresponding to whether each rule is satisfied can be determined.

Specifically, the robot control apparatus 100 may determine whether each of the preset one or more rules is satisfied by using a pre-trained prediction model. More specifically, the robot control apparatus 100 outputs the degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and outputs the probability value for each of the preset one or more rules It can be determined by the value corresponding to the satisfaction.

According to an embodiment, the robot control apparatus 100 may determine a value corresponding to whether each of the preset one or more rules is satisfied based on whether the probability value exceeds a preset value. For example, when the probability value exceeds a preset value, the robot control apparatus 100 determines a value corresponding to whether each of the preset one or more rules is satisfied as 1, and the probability value is preset When the value is not exceeded, a value corresponding to whether or not each of the preset one or more rules is satisfied may be determined as 0.

According to an embodiment, after determining whether to perform the operation, the robot control apparatus 100 may control the robot according to whether the determined operation is performed.

7 is a block diagram illustrating and illustrating a computing environment 10 that includes a computing device suitable for use in example embodiments.

In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those described below.

The illustrated computing environment 10 includes a computing device 12. In one embodiment, the computing device 12 may be a robot control device 100. The computing device 12 includes at least one processor 14, a computer readable storage medium 16 and a communication bus 18. The processor 14 may cause the computing device 12 to operate in accordance with the exemplary embodiment mentioned above. For example, processor 14 may execute one or more programs stored on computer readable storage medium 16. The one or more programs can include one or more computer-executable instructions, which, when executed by processor 14, configure computing device 12 to perform operations in accordance with an exemplary embodiment. Can be.

Computer readable storage medium 16 is configured to store computer executable instructions or program code, program data and/or other suitable types of information. The program 20 stored on the computer readable storage medium 16 includes a set of instructions executable by the processor 14. In one embodiment, the computer readable storage medium 16 is a memory (volatile memory such as random access memory, non-volatile memory, or a suitable combination thereof), one or more magnetic disk storage devices, optical disk storage devices, flash Memory devices, other types of storage media that can be accessed by the computing device 12 and store desired information, or suitable combinations thereof.

The communication bus 18 interconnects various other components of the computing device 12, including a processor 14 and a computer readable storage medium 16.

Computing device 12 may also include one or more I/O interfaces 22 and one or more network communication interfaces 26 that provide an interface for one or more I/O devices 24. The input/output interface 22 and the network communication interface 26 are connected to the communication bus 18. The input/output device 24 may be connected to other components of the computing device 12 through the input/output interface 22. Exemplary input/output devices 24 include pointing devices (such as a mouse or trackpad), keyboards, touch input devices (such as touch pads or touch screens), voice or sound input devices, various types of sensor devices, and/or imaging devices. Input devices and/or output devices such as display devices, printers, speakers and/or network cards. The exemplary input/output device 24 may be included inside the computing device 12 as a component constituting the computing device 12, and may be connected to the computing device 12 as a separate device distinct from the computing device 12. It might be.

The above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention.

100: robot control device
110: operation determining unit
120: determining whether to perform the operation
10: computing environment
12: computing device
14: processor
16: computer readable storage media
18: Communication bus
20: Program
22: I/O interface
24: I/O device
26: network communication interface

Claims (24)

When a user's command is input or a preset event occurs, an operation determining unit for determining an operation to be performed by the robot according to the command or event; And
Based on a value corresponding to whether or not to perform the operation, and includes an operation or not determining unit for determining whether or not to perform the operation,
The robot control apparatus determines whether to perform the operation by comparing the size of a value corresponding to the execution of the operation and a value corresponding to the non-performance of the operation.
The method according to claim 1,
The motion determining unit determines a motion to be performed by the robot based on the pre-stored robot motion instruction information for each event when the preset event occurs.
delete The method according to claim 1,
The apparatus for determining whether to perform the operation, when the value corresponding to the execution of the operation and the value corresponding to the non-performance of the operation are the same, determines that the operation is to be performed.
The method according to claim 1,
The operation determining unit determines that the operation is performed when the value corresponding to the performance of the operation is greater than the value corresponding to the non-performance of the operation, and the value corresponding to the performance of the operation is the meaning of the operation. The robot control apparatus determines that the operation is not performed when the value is smaller than the value corresponding to the performance.
The method according to claim 1,
The apparatus for determining whether to perform the operation, calculates a value corresponding to whether or not to perform the operation based on a sum of values corresponding to each of one or more preset rules according to whether or not the operation is performed.
The method according to claim 6,
The value corresponding to each of the preset one or more rules is stored in advance corresponding to the one or more users, the robot control device.
The method according to claim 6,
The determining whether to perform the operation corresponds to each of the preset one or more rules based on a value corresponding to whether each of the preset one or more rules is satisfied and a value corresponding to the importance of each of the preset one or more rules. Robot control unit for calculating the value.
The method according to claim 8,
The operation determining unit determines whether each of the preset one or more rules is satisfied according to whether the operation is performed, and based on whether each of the preset one or more rules is satisfied, for each of the preset one or more rules. A robot control device for determining a value corresponding to whether or not it is satisfied.
The method according to claim 9,
The operation determining unit determines whether each of the preset one or more rules is satisfied by using a pre-trained prediction model.
The method according to claim 10,
The operation determining unit outputs a degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and corresponds to whether the probability value of each of the preset one or more rules is satisfied A robot control device, determined by value.
The method according to claim 1,
After determining whether or not to perform the operation, the robot control device controls the robot according to whether or not the determined operation is performed.
Determining a motion to be performed by the robot according to the command or event when a user command is input or a preset event occurs; And
And determining whether to perform the operation, based on a value corresponding to whether the operation is performed,
In the determining whether to perform the operation, the robot control method determines whether to perform the operation by comparing the size of a value corresponding to the execution of the operation and a value corresponding to the non-performance of the operation.
The method according to claim 13,
The step of determining an operation to be performed by the robot determines, when the preset event occurs, determines an operation to be performed by the robot based on pre-stored robot operation instruction information for each event.
delete The method according to claim 13,
In the determining whether to perform the operation, when the value corresponding to the performance of the operation and the value corresponding to the non-performance of the operation are the same, the robot control method is determined to perform the operation.
The method according to claim 13,
In the determining whether to perform the operation, when the value corresponding to the performance of the operation is greater than the value corresponding to the non-performance of the operation, it is determined to perform the operation, and the value corresponding to the performance of the operation is The robot control method determines that the operation is not performed when it is smaller than a value corresponding to the non-performance of the operation.
The method according to claim 13,
The determining whether to perform the operation may include calculating a value corresponding to whether the operation is performed based on a sum of values corresponding to each of one or more preset rules according to whether the operation is performed.
The method according to claim 18,
The value corresponding to each of the preset one or more rules is stored in advance corresponding to the one or more users, the robot control method.
The method according to claim 18,
The determining whether to perform the operation may include determining the one or more rules based on a value corresponding to whether each of the preset one or more rules is satisfied and a value corresponding to the importance of each of the preset one or more rules. A robot control method for calculating a value corresponding to each.
The method according to claim 20,
The determining whether to perform the operation may include determining whether each of the preset one or more rules is satisfied according to whether the operation is performed, and determining whether the predetermined one or more rules are satisfied, and based on whether each of the preset one or more rules is satisfied. A robot control method for determining a value corresponding to whether each rule is satisfied.
The method according to claim 21,
In the determining whether to perform the operation, the robot control method determines whether each of the preset one or more rules is satisfied by using a pre-trained prediction model.
The method according to claim 22,
The determining whether to perform the operation may include outputting a degree of satisfaction of each of the preset one or more rules as a probability value using the learned prediction model, and satisfying the probability value for each of the preset one or more rules Robot control method to determine whether the value corresponding to whether.
The method according to claim 13,
After determining whether to perform the operation, the robot control method further comprising the step of controlling the robot according to whether or not the determined operation.

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