KR20210028539A - Service robot control system - Google Patents

Abstract

According to one embodiment of the present invention, a service robot control system can comprise: a service robot for obtaining mapping information according to movement inside a service space; and a user terminal receiving the mapping information from the service robot and generating a map of the service space based on the mapping information.

Description

Service robot control system {SERVICE ROBOT CONTROL SYSTEM}

The present invention relates to a service robot control system. In more detail, it relates to a system for generating a map in a service space in order to provide a service using a service robot and controlling the driving of the service robot through it.

The service robot was developed to replace human labor and improve the quality of life, and refers to a robot that operates autonomously by recognizing and judging the external environment. In particular, in order to replace labor costs, respond to aging, and improve industrial competitiveness, the development of intelligent service robots is actively progressing.

Specifically, with the benefit of the improvement of living standards and the development of medicine, society is gradually aging, and the demand for non-industrial technologies such as hobbies, entertainment, welfare, etc. increases rapidly, and the demand for robots is also out of the industrial field. It is spreading to the service field that can be used in general environments such as homes, offices, libraries, and hospitals. Until the Smithsonian National Museum of American History in the U.S., the exhibition hall guidance service was successfully performed to show the commercialization potential of public helper robots for the first time. It has to perform environmental awareness by using it, and the task given to the robot varies from simple delivery service to guidance, security, security, etc., and since it is required to provide services to a large number of unspecified people mainly in public places, high-level Reliability is required. For this reason, most of the currently released public sector helper robots have a large system and a very high price, so that a proper market is not formed. However, in order to develop a helper robot for the public sector, all technologies must be integrated, and the developed technology can be applied to other robots and commercialized. As a leading field that will lead the robot market in the future, a lot of research and development is required. (Refer to previous literature, Prior Document 1: Domestic Application No. 10-2010-0097216, Name of Invention "Robot Exhibition Guide System", Prior Document 2: Domestic Application No. 10-2006-0118973, Invention The name "A system and method for position recognition of a mobile robot using RFID").

Meanwhile, in general, in the case of such a service robot, it is designed to provide a service to a user in a predetermined place, and to perform a service by moving to a predetermined coordinate as needed.

For this reason, most of the service targets, especially passive services in which a person approaches the robot first and interacts with the robot, are mostly limited, and this point has many limitations in performing a role as a service robot.

Therefore, in order to properly play the role of a more active and active service robot, a method of approaching a person who is a service target and performing a service is required.

In spite of the above market demands, in the case of service robots for providing active services such as restaurants, the development of intelligent robots that can autonomously set destinations and routes based on order information has been lagging behind.

1. Republic of Korea Patent Publication No. 10-2001-0106845 (published 2001.01.

The present invention is a countermeasure to the above-described problem, and the service robot can autonomously drive within the service space by generating a map for the service space by receiving the mapping information obtained as it moves in the service space at the user terminal. Its purpose is to provide a service robot control system to enable it.

As an embodiment of the present invention, a service robot control system may be provided.

A service robot control system according to an embodiment of the present invention receives mapping information from a service robot and a service robot for acquiring mapping information according to movement within a service space, and a map of the service space is provided based on the mapping information. The generated user terminal may be included.

In the service robot control system according to an embodiment of the present invention, in the service robot, a detection unit for obtaining mapping information, at least one transfer unit for driving the service robot, a communication unit for communication with a user terminal, and driving of the service robot It may include a control unit for controlling the.

In the service robot control system according to an embodiment of the present invention, the mapping information includes distance information from the service robot to an obstacle located in the service space when the service robot moves, driving information of the service robot, and location information of the service robot. I can.

In the service robot control system according to an embodiment of the present invention, in the sensing unit, the number of rotations of the motor for generating driving force, the acceleration and angular velocity of the service robot are detected, and driving information is acquired according to the detection result. Can be.

In the service robot control system according to an embodiment of the present invention, the service robot is movable within a service space based on a movement signal received from a user terminal.

In the service robot control system according to an embodiment of the present invention, the service robot receives a map generated from a user terminal, and the control unit of the service robot uses the received map to determine a destination based on a service signal received from the user terminal. A driving route may be set to move to.

In the service robot control system according to an embodiment of the present invention, in the service robot, an image in which an object existing in the front is recognized by analyzing a photographing unit that obtains a front image photographed with respect to the front of the service robot and the obtained front image. An analysis unit may be further included.

In the service robot control system according to an embodiment of the present invention, the image analysis unit may analyze a front image using an analysis model learned in advance based on a deep learning algorithm.

As an embodiment of the present invention, a service robot control method using a service robot control system may be provided.

The service robot control method according to an embodiment of the present invention includes a step of obtaining mapping information from a service robot moving in a service space, receiving mapping information from a service robot at a user terminal, and A step in which a map is generated may be included.

In the service robot control method according to an embodiment of the present invention, the service robot receives a map from a user terminal, and a driving route is set to move to a destination based on a service signal received from the user terminal using the map. Can be included.

According to an exemplary embodiment of the present invention, a user terminal receives mapping information obtained as it moves within a service space and generates a map for a service space, thereby enabling the service robot to autonomously drive within the service space.

1 is a conceptual diagram showing a service robot control system according to an embodiment of the present invention.
2 is a block diagram illustrating a service robot in a service robot control system according to an embodiment of the present invention.
3 is an exemplary view showing a service robot formed in a multi-layered structure in the service robot control system according to an embodiment of the present invention.
4 is an exemplary view showing a dish accommodated in a receiving module in the service robot control system according to an embodiment of the present invention.
5 is an exemplary view showing a process of serving at a restaurant using a service robot control system according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments described herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and similar reference numerals are attached to similar parts throughout the specification.

The terms used in the present specification will be briefly described, and the present invention will be described in detail.

Terms used in the present invention have selected general terms that are currently widely used as possible while taking functions of the present invention into consideration, but this may vary according to the intention or precedent of a technician working in the field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning of the terms will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall contents of the present invention, not a simple name of the term.

When a part of the specification is said to "include" a certain component, it means that other components may be further included rather than excluding other components unless specifically stated to the contrary. In addition, terms such as "... unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software or a combination of hardware and software. In addition, when a part of the specification is said to be "connected" to another part, this includes not only the case of being "directly connected", but also the case of being connected "with another element in the middle." .

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

As an embodiment of the present invention, a service robot control system may be provided.

1 is a conceptual diagram illustrating a service robot control system according to an embodiment of the present invention, and FIG. 2 is a block diagram illustrating a service robot 100 in a service robot control system according to an embodiment of the present invention.

1, a service robot control system according to an embodiment of the present invention receives mapping information from a service robot 100 and a service robot 100 for acquiring mapping information according to movement within a service space, and , A user terminal 200 for generating a map for a service space based on the mapping information may be included.

In addition, referring to FIG. 2, in the service robot 100 of the service robot control system according to an embodiment of the present invention, a detection unit 110 for obtaining mapping information and at least one transfer unit for driving the service robot 100 120, a communication unit 130 for communication with the user terminal 200, and a control unit 140 for controlling the operation of the service robot 100 may be included.

The detection unit 110 may obtain mapping information. The mapping information includes distance information from the service robot 100 to an obstacle located in the service space when the service robot 100 moves, and the driving of the service robot 100 Information and location information of the service robot 100 may be included.

The sensing unit 110 may include a LiDAR sensor for acquiring the distance information. The lidar sensor may refer to a sensor capable of detecting distance, direction, speed, temperature, material distribution, and concentration characteristics to the object by shining light on the object. The lidar sensor may include a two-dimensional lidar sensor, a three-dimensional lidar sensor, and the like, and the distance information may be a series of point cloud data acquired through scanning through the lidar sensor.

In addition, the sensing unit 110 may include an encoder for acquiring the driving information. That is, an encoder for acquiring driving information by acquiring rotational speed, rotational speed, rotational torque, etc. of at least one motor provided in the transfer unit 120 of the service robot 100 may be provided. In other words, the detection unit 110 detects the number of rotations of the motor provided in the transfer unit 120 to generate a driving force, and the acceleration and angular velocity of the service robot 100, and driving information may be obtained according to the detection result. .

In addition, a position measurement sensor for acquiring the position information may be included in the sensing unit 110. The position measurement sensor may be at least one of a global positioning system (GPS) module, a wireless fidelity (WiFi) module, and an inertial measurement unit. The position of the service robot 100 may be checked in real time using the position measuring sensor.

The transfer unit 120 may include at least one motor for generating a driving force, a steering unit for changing the direction of the service robot 100, and a moving wheel for driving the service robot 100 according to the generated driving force.

The communication unit 130 may apply a wireless communication method capable of wirelessly exchanging data/signals with the user terminal 200 and other devices. For example, the communication unit 130 is a display device by various communication methods such as Bluetooth, Wi-Fi (Wireless Fidelity), Near Field Communication (NFC), and Long Term Evolution (LTE). Communication with 200 can be performed, and there is no limitation on the communication method.

The controller 140 controls the overall operation of the service robot 100 as described above. That is, the controller 140 may control the sensing unit 110, the transfer unit 120, the communication unit 130, the photographing unit 150, and the image analysis unit 160 of the service robot 100.

In the service robot control system according to an embodiment of the present invention, the service robot 100 is movable within a service space based on a movement signal received from the user terminal 200. That is, in order to obtain mapping information through the service robot, the user can control the service robot 100 using the user terminal 200. The movement signal may be a signal generated by the user terminal 200 for movement of the service robot 100 and transmitted to the service robot 100.

In addition, in the service robot control system according to an embodiment of the present invention, the service robot 100 receives the map generated from the user terminal 200, and the control unit 140 of the service robot 100 receives the received map. A driving route may be set to move to a destination based on a service signal received from the user terminal 200 by using. That is, the user may transmit a service signal to the service robot 100 through the user terminal 200. The service signal is a signal for providing a service to a customer using the service robot 100 in the service space, for example, a signal for serving food to a customer table in a restaurant using the service robot 100 have.

In the service robot control system according to an embodiment of the present invention, the service robot 100 analyzes the photographing unit 150 for obtaining a front image photographed with respect to the front of the service robot 100 and the acquired front image. An image analysis unit 160 for recognizing an object existing in front may be further included. In addition, the image analysis unit 160 may analyze the front image using an analysis model learned in advance based on a deep learning algorithm. That is, in the service robot 100, the forward image of the service robot is analyzed through the image analysis unit to recognize an obstacle present in the front, and the obstacle may be avoided to move, or a path may be reset.

The analysis model may be generated as a result of learning according to a deep learning algorithm. The deep learning algorithm includes Convolutional Neural Network (CNN), Region based CNN (R-CNN), Faster R-CNN, Single Shot Multibox Detector (SSD), You Only Look Once (YOLO), Recurrent Neural Network, RNN. ), Deep Neural Network (DNN), and Long Short Term Memory (LSTM) may be included. However, this is only an example, and various machine learning algorithms or deep learning algorithms other than the above-described algorithm may be used. In addition, a newly created analysis model may be used by combining or connecting the above-described deep learning algorithms.

Preferably, the service robot control system according to an embodiment of the present invention may be used for serving using the service robot 100 in a restaurant. Hereinafter, a service robot control system for serving in a restaurant will be described.

3 is an exemplary view showing a service robot 100 formed in a multi-layered structure in a service robot control system according to an embodiment of the present invention, and FIG. 4 is a service robot control system according to an embodiment of the present invention. , Is an exemplary view showing the plate 50 accommodated in the receiving module 170.

Referring to FIG. 3, in the service robot control system for serving in a restaurant, a plurality of receiving modules 170 for transporting a plate 50 in which a serving object is accommodated is formed in a multi-layered structure in the service robot 100 for serving. ) May be included. In addition, as shown in FIG. 4, a tag 51 through which predetermined information related to cooking may be input may be provided on the plate 50.

The receiving module 170 includes a receiving pad 172 in which the dish 50 in which the serving object is accommodated is transported and side pads 171 formed to extend vertically from both side ends of the receiving pad 172, and the receiving A tag recognition part 173 for recognizing the tag 51 attached to the bottom surface of the plate 50 is provided on the upper surface of the pad 172, and the side pad 171 is provided with the side pad 171 A conveyor belt 174 that partially protrudes and rotates is provided, and the plate 50 located on the receiving pad 172 may be transported according to the rotation of the conveyor belt 174. Additionally, the side pad 171 may further include a driving module (not shown) for providing a driving force to the conveyor belt.

That is, in the service robot control system for serving at a restaurant according to an embodiment of the present invention, information on the serving target contained in the serving dish 50 located on the receiving pad 172 is recognized through the tag recognition unit 173 And the serving destination may be efficiently determined by being determined. In addition, when using the receiving module 170 having a structure with a conveyor belt on the side, the plate 50 located in the receiving module 170 is easily pushed and moved, so that the plate 50 is conveniently attached to the receiving pad 172. There is an effect that the plate 50 can be positioned or the plate 50 can be provided from the receiving pad 172 to the customer.

Hereinafter, a process of serving at a restaurant using the service robot control system for serving at a restaurant will be described based on FIG. 5. The customer terminal 40 refers to the terminal of a customer who has visited a restaurant or a customer who is scheduled to visit, and provides order information to the user terminal 200 using the customer terminal 40, or an application or web provided by the service robot control system. Order information may be provided from the customer terminal 40 to the user terminal 200 using the site. The chef terminal 30 is a terminal of a chef who cooks food according to order information in a restaurant, and in the chef terminal 30, the user terminal 200 and service are similarly provided using an application or website provided through a service robot control system. It is possible to transmit and receive various information related to food order and cooking with the robot 100.

5, the service robot control system for serving in a restaurant can be interlocked with the customer terminal 40 and the cook terminal 30, and first, in the user terminal 200, the customer terminal 40 Order information can be received (S110). The order information may be information related to an order for food, such as customer information, food information, and customer table location information. The user terminal 200 may transmit (S120) the received order information to the service robot 100 and the cook terminal 30, respectively. The service robot 100 may store the received order information in a storage unit (not shown) (S130). In addition, the cook may cook the ordered food based on the order information received through the cook terminal 30.

When cooking is completed by the chef, the chef inputs the cooking completion information into the tag 51 attached to the dish 50 using the chef terminal 30 (S210) and simultaneously places the finished dish on the dish 50. I can make it. The dish completion information may be information including information on a finished dish, such as information on a customer ordered, information on a finished dish, and location information on a customer table. Next, the cook terminal 30 may provide the cooking completion information to the service robot 100 and the user terminal 200, respectively (S220). Accordingly, the service robot 100 receiving the cooking completion information acquires the dish 50 in the receiving module 170 and checks the dish 50 obtained for each floor of the receiving module 170 (S230). I can. After checking the acquired dishes 50 for each floor, each destination is set based on the dish completion information for each dish 50 acquired in the accommodation module 170, and accordingly, a route for serving in the restaurant is set (S240). ) Can be.

That is, in step S240, the order information stored in the service robot 100 in step S130 and the dish completion information received in step S220 are compared, and when they match each other, the dish acquired in the receiving module 170 corresponding to the dish completion information ( The location of the customer table, which is the destination of 50), may be determined. As described above, when the destination of the plate 50 for each floor of the receiving module 170 from which the plate 50 is obtained is determined, a movement path within the restaurant in consideration of the destination for each floor may be set.

As an embodiment of the present invention, a service robot control method using a service robot control system may be provided. Hereinafter, the same contents as those of the service robot control system described above in relation to the service robot control method are omitted.

In the service robot control method according to an embodiment of the present invention, the step of obtaining mapping information from the service robot 100 moving in the service space and receiving the mapping information from the service robot 100 in the user terminal 200, A step of generating a map for the service space may be included based on the mapping information.

In the service robot control method according to an embodiment of the present invention, the service robot 100 receives a map from the user terminal 200 and moves to the destination based on the service signal received from the user terminal 200 using the map. The step of setting the driving route may be further included.

As an embodiment of the present invention, a computer-readable recording medium in which a program for implementing the above-described method is recorded may be provided.

Meanwhile, the above-described method can be written as a program that can be executed on a computer, and can be implemented in a general-purpose digital computer that operates the program using a computer-readable medium. Further, the structure of the data used in the above-described method can be recorded on a computer-readable medium through various means. A recording medium for recording executable computer programs or codes for performing the various methods of the present invention should not be understood as including temporary objects such as carrier waves or signals. The computer-readable medium may include a storage medium such as a magnetic storage medium (eg, ROM, floppy disk, hard disk, etc.), and an optical reading medium (eg, CD-ROM, DVD, etc.).

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that other specific forms can be easily modified without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

The scope of the present invention is indicated by the claims to be described later rather than the detailed description, and all changes or modified forms derived from the meaning and scope of the claims and their equivalent concepts should be construed as being included in the scope of the present invention.

100: service robot 110: detection unit
120: transfer unit 130: communication unit
140: control unit 150: photographing unit
160: image analysis unit 170: receiving module
200: user terminal

Claims (10)

In the service robot control system,
A service robot for acquiring mapping information according to movement within the service space; And
A service robot control system comprising a user terminal receiving mapping information from the service robot and generating a map for the service space based on the mapping information. The method of claim 1, wherein the service robot
A sensing unit from which the mapping information is obtained;
At least one transfer unit for driving the service robot;
A communication unit for communication with the user terminal; And
A service robot control system including a control unit for controlling the operation of the service robot. The method of claim 2,
The mapping information includes distance information from the service robot to an obstacle located in the service space when the service robot moves, driving information of the service robot, and location information of the service robot. The method of claim 3,
In the sensing unit, a rotational speed of a motor for generating a driving force, an acceleration and an angular velocity of the service robot are sensed by the sensing unit, and the driving information is obtained according to the detection result. The method of claim 1,
The service robot control system capable of moving within the service space based on a movement signal received from the user terminal. The method of claim 1,
The service robot receives the generated map from the user terminal,
The service robot control system in which the control unit of the service robot sets a driving route to a destination based on a service signal received from the user terminal using the received map. The method of claim 6,
The service robot control system further includes a photographing unit for obtaining a front image photographed with respect to the front of the service robot, and an image analysis unit for recognizing an object existing in the front by analyzing the obtained front image. The method of claim 7,
In the image analysis unit, a service robot control system in which the forward image is analyzed using an analysis model learned in advance based on a deep learning algorithm. In the service robot control method using a service robot control system,
Obtaining mapping information from a service robot moving within a service space; And
A service robot control method comprising the step of receiving mapping information from the service robot at a user terminal and generating a map for the service space based on the mapping information. The method of claim 9,
The service robot control method further comprising: receiving a map from the user terminal by the service robot, and setting a driving route to a destination based on a service signal received from the user terminal using the map.

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