KR20240083199A - A device, a method and a computer readable storage medium for expanding movability of autonomous mobile robot - Google Patents

Abstract

Self-driving robots are explained. An exemplary autonomous robot according to the present disclosure includes a first communication unit, a robot control unit, a robot driving unit, a sensor unit, a recognition unit, and a second communication unit. The first communication unit may receive route data to the destination from the operator's computing device. The robot control unit may generate a drive control command based on the path data. The robot driving unit may generate driving force for the autonomous robot based on a driving control command. The sensor unit can collect data on the surrounding environment of the self-driving robot. The recognition unit can recognize electrically driven doors in the path of the autonomous robot from surrounding environment data. The second communication unit may generate a door control signal for controlling the electric drive door in response to the door control command generated by the robot control unit based on surrounding environment data and wirelessly transmit the door control signal to the electric drive door.

Description

Apparatus, method, and computer readable storage medium for expanding the mobility of an autonomous robot {A DEVICE, A METHOD AND A COMPUTER READABLE STORAGE MEDIUM FOR EXPANDING MOVABILITY OF AUTONOMOUS MOBILE ROBOT}

The present invention relates to an autonomous robot, a method for operating the autonomous robot, and a computer-readable storage medium related thereto.

Unless otherwise stated herein, the material described in this section is not prior art to the claims in this application and should not be acknowledged as prior art by virtue of being described in this section.

As artificial intelligence technology and battery technology develop, technology for self-driving robots is also advancing. Recently, attempts have been made to use autonomous robots to automatically transport goods in commercial complexes, factory complexes, apartment complexes, etc., and furthermore, indoor transport is also being attempted.

Outdoor driving of an autonomous robot is easy to specify location using conventional technologies such as GPS, and since there are no doors installed to separate and block specific spaces, it is easier to implement operations compared to indoor driving. However, indoor driving or driving entering from the outside to the inside of a building often requires passing through doors such as entrance doors or elevators, depending on the route.

The prior patent document discloses a method in which an autonomous robot calls an elevator and sets the target floor number during indoor driving, but calls the elevator and sets the target floor number through communication with a server connected to the elevator. However, installing servers for communication with self-driving robots and building a system to connect these servers to individual doors and elevators is a significant cost.

Previous patent document: Korea Patent Publication No. 10-2022-0115247

The present disclosure is intended to solve the above-described problems, such as opening an electrically driven door without installing a separate server and system that communicates with the door and the elevator. To enable this, we present a computer-readable storage medium storing an autonomous robot and the methods and programs used therein.

In some embodiments of the present disclosure, an autonomous robot is described. An exemplary autonomous robot includes a first communication unit, a robot control unit, a robot driving unit, a sensor unit, a recognition unit, and a second communication unit. The first communication unit receives route data to the destination from the operator's computing device. The robot control unit generates a drive control command based on the path data. Based on the drive control command, the driving force of the autonomous robot is generated. The sensor unit collects data on the surrounding environment of the self-driving robot. The recognition unit recognizes electrically driven doors in the path of the autonomous robot from surrounding environment data. The robot control unit generates a door control command based on the surrounding environment data, and the second communication unit generates a door control signal for controlling the electric drive door in response to the door control command and wirelessly transmits it to the electric drive door.

In some examples, the sensor unit may include at least one of a LiDAR sensor and a camera. In some examples, the recognition unit may include an object recognition unit that recognizes objects on the path of the autonomous robot from surrounding environment data.

In some examples, the recognition unit may include a marker recognition unit that recognizes a marker from surrounding environment data and estimates the location of the autonomous robot from the recognized marker. The marker recognition unit can recognize markers on the electric drive door or markers around the electric drive door from the surrounding environment data, and estimate the relative position of the autonomous robot with respect to the electric drive door. Based on the relative position of the autonomous robot with respect to the electric drive door, the robot control unit generates additional drive control commands to adjust the position or posture of the autonomous robot to facilitate transmission of the door control signal by the second communication unit. can do.

In some examples, the robot controller may determine the type of electrically driven door recognized by the recognition unit and generate a door control command based on the type of electrically driven door. If the robot control unit determines that the electrically driven door is an elevator, the door control command may include the call and destination floor number of the elevator.

In some examples, the second communication unit may generate a door control signal using at least one of an infrared (IR) control method and a radiofrequency (RF) control method.

According to the present disclosure, it becomes possible for an autonomous robot to move to its destination without the help of a separate server that controls doors or elevators. In addition, according to the above explanation, a relatively inexpensive wireless signal receiving device, such as an IR signal receiving device or an RF signal receiving device, can be installed in the door or elevator, so it can be implemented even in an existing environment that does not operate the door or elevator through a separate server. Not only is this possible, but it also requires lower costs than when using a separate server to control doors or elevators.

The above brief summary and description of effects are merely illustrative and are not intended to limit the technical details intended in the present disclosure. By referring to the following detailed description and the accompanying drawings, additional embodiments and technical features, in addition to the above-described exemplary embodiments and technical features, may be understood.

The above-described features and other features of the present disclosure will become fully apparent from the following description with reference to the accompanying drawings. Understanding that these drawings illustrate only a few embodiments according to the present disclosure and therefore should not be considered limiting its scope, the present disclosure is described in greater detail and detail through the use of the accompanying drawings. It will be.
FIG. 1 is a diagram illustrating an environment 100 in which an autonomous robot is used according to some embodiments of the present disclosure.
Figure 2 is a block diagram showing the internal configuration of the autonomous robot 200 according to some embodiments of the present disclosure.
FIG. 3 is a block diagram illustrating the internal configuration of an electric drive door 300 according to some embodiments of the present disclosure.
4 is a flowchart illustrating an example process in which an autonomous robot operates according to some embodiments of the present disclosure.
5 illustrates a computer program product that can be used to control an autonomous robot, according to some embodiments of the present disclosure.

Hereinafter, with reference to the attached drawings, implementation examples and embodiments of the present disclosure will be described in detail so that those skilled in the art can easily implement the present disclosure. However, the present application may be implemented in many different forms and is not limited to the implementation examples and examples described herein.

FIG. 1 is a diagram illustrating an environment 100 in which an autonomous robot is used according to some embodiments of the present disclosure. The example environment 100 may include an autonomous robot 110 according to some embodiments of the present disclosure. Additionally, the exemplary environment 100 may include a travel path 120 on which the autonomous robot 110 travels, an entrance door 130, and an elevator 140.

In some embodiments, an operator of the autonomous robot 110 may want the autonomous robot 110 to move from a starting point 105 to a destination (not shown). For example, the operator or another person associated with the operator may load certain transport items into the autonomous robot 110 and attempt to deliver these transport items to their destination.

Exemplary environments 100 may be various physical locations, including, but not limited to, factory complexes, commercial complexes, apartment complexes, complexes, or combinations thereof. Exemplary environments 100 may include the interior of a building, the exterior of a building, and combinations thereof. The operator can transmit route data to the destination to the autonomous robot 110 using a computing device, and the autonomous robot 110 can receive such route data. In some examples, route data may include a driving route 120 from a starting point 105 to a destination within an exemplary environment 100 determined by an operator. In some other examples, the autonomous robot 110 may determine the travel route 120 based on route data.

The self-driving robot 110 may generate driving force to move the self-driving robot 110 along the travel path 120 . In some embodiments, the autonomous robot 110 may collect surrounding environment data while driving. In some examples, the autonomous robot 110 may collect surrounding environment data using devices such as cameras, lidar sensors, etc.

In some examples, the autonomous robot 110 may generate a detailed driving path 125 based on surrounding environment data. In this example, the surrounding environment data may include data such as video data, laser ranging data, etc., and the autonomous robot 110 may analyze it. The self-driving robot 110 can recognize objects by analyzing video data, and can create a detailed driving path 125 by adjusting the driving path 120 to avoid such objects. In addition, the self-driving robot 110 may perform additional controls, such as stopping the self-driving robot 110 or slowing down the moving speed of the self-driving robot 110, to prevent collisions with recognized objects. there is.

Objects including electrically driven doors, such as the entrance door 130 and the entrance door of the elevator 140, may be included in the travel path 120. Such an electrically driven door can be opened by being electrically driven when there is a predetermined input. The autonomous robot 110 needs to pass through these electrically driven doors to reach its destination.

In some embodiments, the autonomous robot 110 may recognize the door 130 by analyzing surrounding environment data. In some examples, the autonomous robot 110 may recognize that the autonomous robot 110 is in front of the door 130 by analyzing video data.

When the door 130 is recognized, the autonomous robot 110 can generate a door control signal to open the door 130, and wirelessly transmit this to the control device 135 of the door 130. . The control device 135 of the door 130 may receive a door control signal. For example, the autonomous robot 110 generates a door control signal using the control device 135 of the door 130 and at least one of an infrared (IR) control method and a radiofrequency (RF) control method. can do. That is, the autonomous robot 110 can transmit IR signals, RF signals, etc. When the control device 135 receives the door control signal, the door 130 can be opened. In some examples in which the door 130 is opened with a predetermined password, the door control signal generated by the self-driving robot 110 may include a predetermined password, and the control device 135 of the door 130 is controlled by a predetermined password. The door 130 can be opened using the password. When the door 130 is opened with approval by a resident of an individual room or area in the building, the door control signal may include information for calling the resident associated with the destination, and the door 130 is opened with the resident's approval. It can be open. Afterwards, the autonomous robot 110 can recognize the opening of the door 130 and pass through the door 130. Optionally, when the door 130 is opened, the control device 135 may transmit an open notification signal notifying that the door 130 has been opened to the self-driving robot 110, and the self-driving robot 110 may transmit an open notification signal to the self-driving robot 110. In response to the signal, the person can pass through the door 130.

In some additional or alternative embodiments, the autonomous robot 110 may recognize the door 130 by citing object recognition in video data, or may be attached to the door 137 or around the door 137. The marker 137 can be recognized. The marker 137 may include, for example, a Quick Response (QR) code, an ArUco Marker, etc. The self-driving robot 110 can recognize the marker 137 and determine the relative position of the self-driving robot 110 with respect to the door 130. In some examples, the autonomous robot 110 is based on the size and rotation angle of the captured marker 137, the distance between the door 130 and the autonomous robot 110, and the autonomous robot for the door 130 ( 110) gaze angle can be calculated. In some other examples, the autonomous robot 110 may determine the distance and gaze angle by comparing the size and rotation angle of the recognized marker 137 with a plurality of predetermined images. The autonomous robot 110 may be driven to rotate or move at least a portion of its body to facilitate transmitting a door control signal to the control device 135 based on the relative position.

Although the marker 137 is shown as being attached only to the door 130, the marker 137 is not limited thereto, and may be attached not only to the elevator 140 but also to any point to facilitate movement of the autonomous robot 110.

In some examples, after the autonomous robot 110 passes through the door 130 and enters the inside of the building, it determines a detailed driving path 125 in the same manner as described above inside the building and continues driving along the determined driving path. can do. The autonomous robot 110 can continuously collect surrounding environment data and recognize the elevator 140 from the surrounding environment data. In some examples, the autonomous robot 110 may recognize that the autonomous robot 110 is in front of the elevator 140 by analyzing video data.

When the elevator 140 is recognized, the autonomous robot 110 can generate a door control signal to call the elevator 140 and wirelessly transmit it to the control device 145 of the elevator 140. . The autonomous robot 110 may generate a door control signal for the elevator 140 in a similar manner to the door 130. In some examples where the elevator 140 can input the target floor number when calling the elevator, the door control signal for the elevator 140 may include not only the call for the elevator 140 but also the target floor number of the elevator. In another example, when the door of the elevator 140 is opened after the elevator 140 is called, the autonomous robot 110 boards the elevator 140 and then sends a control signal for the target floor number to the elevator 140. It may be configured to transmit to.

As described above, the autonomous robot 110 according to the present disclosure opens the door 130 or operates the elevator 140 by directly transmitting a wireless signal to an electrically driven door such as the door 130 or the elevator 140. Since it can be called, it becomes possible for the autonomous robot 110 to move to the destination without the help of a separate server that controls the door 130 or the elevator 140. In addition, according to the above description, a relatively inexpensive wireless signal receiving device, such as an IR signal receiving device or an RF signal receiving device, can be installed in the door 130 or the elevator 140, so it can be installed in the door 130 or the elevator through a separate server. Not only can it be implemented in an existing environment that does not operate (140), but it can also require lower costs than when using a separate server that controls doors or elevators.

Figure 2 is a block diagram showing the internal configuration of the autonomous robot 200 according to some embodiments of the present disclosure. The self-driving robot 200 is an example of the self-driving robot 110 shown in FIG. 1. Accordingly, the autonomous robot 200 can also be used in the environment 100 shown in FIG. 1.

In some embodiments, the autonomous robot 200 may include a first communication unit 210, a robot control unit 220, a robot drive unit 230, a sensor unit 240, a recognition unit 250, and a second communication unit. there is. The configuration of the self-driving robot 200 is not limited to that shown in FIG. 2, and may further include configurations generally required to implement the self-driving robot 200.

The first communication unit 210 may receive route data to the destination from the operator's computing device. The first communication unit 210 may receive route data wirelessly, but the present disclosure is not limited thereto, and may alternatively or additionally be implemented to receive route data by wire. In some examples, route data may include a driving route determined by an operator. In some other examples, the route data may include information about a destination, and the first communication unit 210 receives such route data, and the robot control unit 220 determines a driving route to the destination based on such route data. can be decided.

The robot control unit 220 may generate a driving control command to cause the autonomous robot 200 to move along the driving path based on the path data received by the first communication unit 210.

The robot driving unit 230 may include various components that can implement the operations of the autonomous robot 200, such as a battery, a battery management system, an electric motor, a suspension device, a steering device, etc. The robot driver 230 can control each component by generating a driving force capable of driving the autonomous robot 200 according to the drive control command generated by the robot controller 220, thereby creating an autonomous robot (200). 200) can be driven.

The sensor unit 240 may collect data on the surrounding environment of the autonomous robot 200. In some examples, the sensor unit 240 may include devices such as a camera 242, a lidar sensor 244, etc., and may collect surrounding environment data using these devices. The camera 242 can collect image data about the surrounding environment of the autonomous robot 200. The LiDAR sensor 244 may collect LiDAR sensing data obtained by scanning a plurality of lasers in the surrounding environment, for example, distance and physical property data for each object in the surrounding environment.

The recognition unit 250 may perform predetermined processing using the surrounding environment data collected by the sensor unit 240. In some examples, the recognition unit 250 may include an object recognition unit 252 and a marker recognition unit 254. The object recognition unit 252 can recognize objects on the driving path using surrounding environment data. Meanwhile, the marker recognition unit 254 may recognize the marker by analyzing surrounding environment data, for example, image data. The marker recognition unit 254 can correct the current location and direction of the autonomous robot 200 based on the recognized marker. The robot control unit 220 adjusts the driving path of the autonomous robot 200 or additionally controls the movement speed, direction, etc., based on the recognized object and/or the corrected current location and direction of the autonomous robot 200. You can.

In some embodiments, the recognition unit 250 may recognize an electrically driven door based on surrounding environment data. In some examples, the object recognition unit 252 may analyze surrounding environment data to recognize electrically driven doors in the vicinity and on the path of the autonomous robot 200. When the marker recognition unit 254 also recognizes a marker from the surrounding environment data, it can recognize from the marker that an electrically driven door is in the vicinity and path of the autonomous robot 200. In some examples, the recognition unit 250, such as the object recognition unit 252 and/or the marker recognition unit 254, may recognize the type of the recognized electrically driven door, such as an entrance door or an elevator.

In response to the recognition unit 250 recognizing the electrically driven door, the robot control unit 220 may generate a door control command. In some examples, the robot controller 220 may generate a door control command based on the type of electrically driven door recognized. If the type of electrically driven door is an entrance door, the door control command may include a request to open the door. If a password is required to open the door, the door control command may further include the door password. When a guest room call is required to open the door, the door control command may further include information for the guest room call. If the type of electrically driven door is an elevator, the door control command may include a request to call the elevator. If the elevator call may include the destination floor number, the door control command may further include information about the destination floor number.

The second communication unit 260 may generate a door control signal for controlling the electric driven door in response to the door control command generated by the robot control unit 220. The second communication unit 260 is a separate communication component that is different from the first communication unit 210. In some examples, the second communication unit 260 may generate a door control signal using at least one of an infrared (IR) control method and a radiofrequency (RF) control method. The second communication unit 260 may wirelessly transmit the generated door control signal to the electric drive door.

In some additional or alternative examples, marker recognition unit 254 may recognize markers attached to or around the electric drive door. In this example, the marker recognition unit 254 may determine the relative position of the autonomous robot 200 with respect to the electrically driven door. The marker recognition unit 254 can calculate the distance between the electric drive door and the autonomous robot 200 and the gaze angle of the autonomous robot 200 with respect to the electric drive door, based on the size and rotation angle of the captured marker. there is. In some other examples, the marker recognition unit 254 may determine the distance and gaze angle by comparing the size and rotation angle of the recognized marker with a plurality of predetermined images. The robot control unit 220 controls the autonomous robot 200 so that the second communication unit 260 can easily transmit a door control signal to the electric drive door based on the determined or calculated relative position of the autonomous robot 200. A driving control command can be generated to adjust the position and posture of the robot, and this can be transmitted to the robot control unit 230.

FIG. 3 is a block diagram illustrating the internal configuration of an electric drive door 300 according to some embodiments of the present disclosure. The electrically driven door 300 is an example of the control device 135 of the door 130 and the control device 145 of the elevator 140 shown in FIG. 1 . Accordingly, the electrically driven door 300 may be used in the environment 100 depicted in FIG. 1 .

In some embodiments, the electrically driven door 300 may include a door control unit 310, a communication unit 320, and a user interface 330. The electric drive door 300 is not limited to that shown in FIG. 3 and may further include components generally required to implement the electric drive door 300.

The door control unit 310 may perform operations depending on the type of electric door 300. In some examples where the electrically driven door 300 is an entrance door, the door controller 310 may control the door to be opened in response to receiving a predetermined signal. The predetermined signal may be a request to open the door and/or a password to open the door. In some examples where the electrically driven door 300 is an elevator, the door controller 310 may call an elevator in response to an elevator call request. In this example, when calling an elevator, the door control unit 310 can also receive information about the destination floor number and reserve the destination of the elevator.

The user interface 330 is a device through which a user can directly input input to open the electrically driven door 300, and may vary depending on the type of the electrically driven door 300. In some examples where the electrically driven door 300 is an entrance door, the user interface 330 may be a button for opening the door, a password input interface for opening the door, or a room call interface in the building. In some examples where the electrically driven door 300 is an elevator, the user interface 330 may include, for example, an elevator call button, a destination designation button to determine the destination floor number, or the up/down of the elevator, etc. When a user makes an input using the user interface 330, a command corresponding to the input may be transmitted or delivered to the door control unit 310.

The communication unit 320 may transmit the same type of signal as the input by the user interface 330 to the door control unit 310. The communication unit 320 may be configured to receive a door control signal received from the self-driving robot according to the present disclosure described above. The communication unit 320 may be configured to receive at least one of an IR signal or an RF signal. Based on the received door control signal, the communication unit 320 may generate a corresponding command and transmit or deliver it to the door control unit 310. When the electrically driven door 300 is an access door, the communication unit 320 may transmit a command to open the door, a password to open the door, or a command to call a room in the building to the door control unit 310. When the electrically driven door 300 is an elevator, the communication unit 320 may transmit to the door control unit 310 a command including a command for calling an elevator, a destination floor number, or a call command for raising/lowering the elevator. .

4 is a flowchart illustrating an example process in which an autonomous robot operates according to some embodiments of the present disclosure. The self-driving robot may be the same as the self-driving robot 110 in FIG. 1 and the self-driving robot 200 in FIG. 2. Accordingly, the description of the autonomous robot described in FIGS. 1 and 2 can be applied to the process 400.

Process 400 shown in FIG. 4 may include one or more operations, functions or actions as illustrated by blocks S410, S420, S430, S440, S450, S460 and/or S470. Meanwhile, the schematic operations shown in FIG. 4 are provided as examples only, and without departing from the essence of the disclosed embodiment, some of the operations may be optional, may be combined into fewer operations, or may be expanded into additional operations. You can. Additionally, each block (S410, S420, S430, S440, and S450) of the process 400 is shown as being sequential, but in actual implementations, it may be performed simultaneously, in parallel, or in another order.

Process 400 may begin at block S410, “Receive Path Data.” In block S410, the autonomous robot may receive route data from the operator's computing device. Self-driving robots can receive route data wirelessly or wired. In some examples, route data may include a destination and driving route. Process 400 may continue from block S410 to block S420, which generates a drive control command.

In block S420, the self-driving robot may generate a driving control command to cause the self-driving robot to move along the driving path based on the path data received in block S410. The self-driving robot can generate driving force to drive the self-driving robot according to the drive control command. Process 400 may continue from block S420 to block S430, which “collects environmental data.”

In block S430, the autonomous robot can collect surrounding environment data while driving. Surrounding environment data may include image data, lidar sensing data, etc. Process 400 may continue from block S430 to block S440, which determines whether to “recognize objects and/or markers on the path.”

In block S440, the autonomous robot may recognize objects and/or markers on the path by analyzing the surrounding environment data received in block S430. Regardless of whether the autonomous robot recognizes objects and/or markers on the path, the autonomous robot can continue to collect surrounding environment data (S430). If the autonomous robot recognizes an object and/or marker on the path, process 400 may continue from block S440 to block S450, which determines whether to “recognize an electric door on the path.”

In block 450, the autonomous robot may determine whether the object or marker recognized in block S440 is an electrically driven door. If the object recognized in block S440 is an electrically driven door or the marker indicates that it is an electrically driven door, the process 400 may continue to block S460. In block S460, the autonomous robot may generate a door control signal for opening the electric drive door recognized in blocks S440 and S450 and transmit it to the electric drive door.

If the autonomous robot determines that the object and/or marker recognized on the path is not an electrically driven door, process 400 may continue at block S450 to block S470 to “adjust the path.” In block S470, the autonomous robot can adjust the driving path based on the path data received in block S410 so that the autonomous robot avoids the object recognized in block S440. After adjusting the driving path, the autonomous robot may generate a drive control command to drive the autonomous robot according to the adjusted driving path (S420).

5 illustrates a computer program product 500 that can be used to control an autonomous robot, according to some embodiments of the present disclosure. An exemplary embodiment of an exemplary computer program product is provided using signal bearing media 510. In some embodiments, signal bearing media 510 of one or more computer program products 500 may include computer-readable media 530 and/or recordable media 540.

The instructions 520 included in the signal bearing medium 510 may be executed, for example, by the autonomous robot 110 illustrated in FIG. 1 or the autonomous robot 200 illustrated in FIG. 2 . Command 520 includes one or more commands for receiving route data from the operator's computing device to the destination, one or more commands for generating a drive control command based on the route data, and based on the drive control command, the autonomous driving operation. One or more commands for generating the driving force of the robot, one or more commands for collecting surrounding environment data of the autonomous robot, one or more commands for recognizing electrically driven doors in the path of the autonomous robot from the surrounding environment data, and the robot In response to the door control command generated by the control unit based on the surrounding environment data, the control unit includes at least one of one or more commands for generating a door control signal for controlling the electric drive door and wirelessly transmitting it to the electric drive door.

The claimed subject matter is not limited in scope to the specific implementations described herein. For example, some implementations may be in hardware, such as those that can be used to operate on a device or combination of devices, while other implementations may be in software and/or firmware, for example. Likewise, claimed subject matter is not limited in scope in this respect, but some embodiments may include one or more articles, such as signal bearing media, storage media, etc. Such storage media, such as CD-ROMs, computer disks, flash memory, etc., may, when executed by a computing device, e.g., a computing system, computing platform, or other system, perform the claimed subject matter, e.g., as in one of the previously described embodiments. Accordingly, instructions that can cause execution of the processor can be stored. In one possibility, the computing device includes one or more processing units or processors, one or more input/output devices such as a display, a keyboard and/or mouse, and static random access memory, dynamic random access memory, flash memory and/or a hard drive. It may contain more than one memory.

There is little distinction between hardware and software implementation of aspects of the system; The use of hardware or software is usually (but not always, given that in some contexts the choice between hardware and software may be important) a design choice that represents a cost-effectiveness tradeoff. . There are a variety of vehicles (e.g., hardware, software, and/or firmware) by which the processes and/or systems and/or other technologies described in this disclosure may be effected, with the preferred vehicles being the processes and/or systems and/or firmware. /or other technologies will change depending on the context in which they are used. For example, if the implementer determines that speed and accuracy are most important, the implementer may choose primarily hardware and/or firmware means; if flexibility is most important, the implementer may choose primarily software implementation; Or, alternatively, the implementer may choose any combination of hardware, software and/or firmware.

The foregoing detailed description has illustrated various embodiments of the apparatus and/or process through block diagrams, flow diagrams, and/or examples. To the extent that such block diagrams, flow diagrams, and/or examples include one or more functions and/or operations, one of ordinary skill in the art will understand that each function and/or operation within such block diagrams, flow diagrams, or examples is an example of hardware, software, firmware, or the like. It will be understood that they may be implemented individually and/or collectively in a wide range of substantially any combination. In one embodiment, some portions of the subject matter described in this disclosure may be implemented through an Application Specific Integrated Circuit (ASIC), Field Programmable Gate Array (FPGA), Digital Signal Processor (DSP), or other form of integration. However, those skilled in the art will understand that some aspects of embodiments of the present disclosure include one or more computer programs running on one or more computers (e.g., one or more programs running on one or more computer systems), one or more processors running on one or more processors. software and/or firmware, which may equally be implemented in whole or in part on an integrated circuit as one or more programs (e.g., one or more programs running on one or more microprocessors), firmware, or substantially any combination thereof; It will be appreciated that writing code and/or designing a circuit for is within the skill range of a person skilled in the art in light of this disclosure. Additionally, those skilled in the art will understand that the mechanisms of the subject matter of the present disclosure may be distributed in a variety of formats of program products, and examples of the subject matter of the present disclosure include the specific types of signal bearing media used to actually perform the distribution. You will understand that it applies regardless.

Although certain example techniques have been described and shown herein using various methods and systems, it should be understood by those skilled in the art that various other modifications may be made and equivalents may be substituted without departing from the claimed subject matter. Additionally, many modifications may be made to adapt the teachings of the claimed subject matter to particular circumstances without departing from the central concept described herein. Accordingly, it is intended that the claimed subject matter not be limited to the specific examples disclosed, but that such claimed subject matter may also include all embodiments that fall within the scope of the appended claims and their equivalents.

The scope of the present disclosure is indicated by the claims described below rather than the detailed description above, 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 application. do.

Claims (8)

As an autonomous robot,
a first communication unit that receives route data to the destination from the operator's computing device;
a robot control unit that generates a drive control command based on the path data;
a robot driving unit that generates driving force for the autonomous robot based on the driving control command;
A sensor unit that collects data on the surrounding environment of the self-driving robot;
a recognition unit that recognizes an electrically driven door in the path of the autonomous robot from the surrounding environment data; and
A second communication unit that generates a door control signal for controlling the electric drive door in response to the door control command generated by the robot control unit based on the surrounding environment data and wirelessly transmits it to the electric drive door.
Including a self-driving robot. According to paragraph 1,
The sensor unit includes at least one of a LiDAR sensor and a camera. According to paragraph 1,
The recognition unit includes an object recognition unit that recognizes objects on the path of the autonomous robot from the surrounding environment data. According to paragraph 1,
The recognition unit includes a marker recognition unit that recognizes a marker from the surrounding environment data and estimates the location of the autonomous robot from the recognized marker. According to clause 4,
The marker recognition unit recognizes a marker on the electric drive door or a marker around the electric drive door from the surrounding environment data, and estimates the relative position of the autonomous robot with respect to the electric drive door,
The robot control unit is configured to adjust the position or posture of the autonomous robot to facilitate transmission of the door control signal by the second communication unit, based on the relative position of the autonomous robot with respect to the electrically driven door. An autonomous robot that generates additional drive control commands. According to paragraph 1,
The robot control unit determines the type of the electric drive door recognized by the recognition unit and generates the door control command based on the type of the electric drive door. According to clause 6,
When the robot control unit determines that the electrically driven door is an elevator, the door control command includes a call and a destination floor number of the elevator. According to paragraph 1,
The second communication unit generates the door control signal using at least one of an infrared (IR) control method and a radiofrequency (RF) control method.