WO2021118089A1

WO2021118089A1 - Robot and control method thereof

Info

Publication number: WO2021118089A1
Application number: PCT/KR2020/016178
Authority: WO
Inventors: 채희홍; 문보석
Original assignee: 삼성전자주식회사
Priority date: 2019-12-13
Filing date: 2020-11-17
Publication date: 2021-06-17
Also published as: KR20210075428A

Abstract

A robot is disclosed. The robot comprises: a sensor; a communication unit; a display; and a processor which transmits, to a server through the communication unit, information on the location of a destination and information on the location of the robot determined on the basis of sensing data received from the sensor when a user command for inputting the destination is received, and receives, from the server through the communication unit, information for accessing a website that provides an image including information on a landmark located on a route from the location of the robot to the location of the destination and information on the direction for moving from the landmark to the destination, and controls the display to display the received information.

Description

Robot and its control method

The present disclosure relates to a robot and a control method thereof, and more particularly, to a robot guiding a path and a control method thereof.

In general, in a space such as an airport or a large store, a user performs a route search through a display device provided in a building in order to search for a route to a desired destination.

For example, as shown in FIG. 1 , a conventional display device provides a map in a store, and after confirming the location of the destination on the map, the user moves by memorizing the route from the origin to the destination.

However, in the case of a large space such as an airport or a large store, it is not easy for a user to remember a route at once. Accordingly, the user may get lost while heading to the destination, and suffer inconveniences such as performing route search again through a display device provided at another location.

The present disclosure has been devised to solve the above-described problems, and an object of the present disclosure is to provide a robot and a control method thereof that allow a user to easily arrive at a desired destination through route guidance.

In a robot according to an embodiment of the present disclosure for achieving the above object, when a user command for input of a sensor, a communication unit, a display and a destination is received, information on the location of the destination and sensing data received from the sensor transmits information on the position of the robot determined based on the communication unit to the server, and from the server, the landmark located on the path from the position of the robot to the position of the destination and from the landmark It may include a processor that receives information for accessing a web site providing an image including information on a direction for moving to a destination through the communication unit, and controls the display to display the received information.

Here, when a plurality of landmarks are included on the path, the website may provide a plurality of images including the plurality of landmarks.

In addition, the website may provide the plurality of images by arranging them based on the positions of the plurality of landmarks on the path.

And, the plurality of landmarks, including first and second landmarks sequentially located on the path from the position of the robot, the website, from the first landmark and the first landmark Provide a first image including information on a direction for moving to the second landmark and a second image including information on a direction for moving from the second landmark and the second landmark to the destination can do.

In addition, the web site may provide a map image indicating a path from the position of the robot to the destination through a web page of the web site, and the plurality of images.

In addition, the web site may provide the map image to an area of the web page in which the location attribute is set to fixed.

In addition, the map image may include a graphical user interface (GUI) indicating the landmark in an area where the landmark is located on the map image.

The processor may receive information about the image from the server and control the display to display the image.

And, the processor receives the information about the landmark from the server, determines the position of the landmark based on pre-stored map information, and a direction for moving from the position of the robot to the position of the landmark may be determined and the display may be controlled to display information on the direction.

On the other hand, the control method of the robot according to an embodiment of the present disclosure, when a user command for inputting a destination is received, transmitting information on the location of the destination and information on the location of the robot to a server, the Information for accessing from a server to a website providing an image including information on a landmark located on a path from the position of the robot to the position of the destination and information on a direction for moving from the landmark to the destination It may include receiving and displaying the received information.

In addition, the map image may include a GUI indicating the landmark in an area on the map image in which the landmark is located.

The control method may further include receiving information about the image from the server and displaying the image.

And, the control method, for receiving information about the landmark from the server, determining the position of the landmark based on pre-stored map information, and moving from the position of the robot to the position of the landmark The method may further include determining a direction and displaying information about the direction.

According to various embodiments of the present disclosure as described above, a user may be provided with an image including a path from a current location to a destination and an image including a landmark located on the path through the robot. Accordingly, the user can easily move to a desired destination while checking the landmark located on the route.

1 is a diagram illustrating a conventional display device performing a route guidance function.

2 is a block diagram illustrating a robot according to an embodiment of the present disclosure.

3 is a flowchart for explaining the operation of the robot according to an embodiment of the present disclosure.

4 is a diagram illustrating a menu displayed on a display of a robot according to an embodiment of the present disclosure.

5 is a diagram illustrating a screen for guiding a route displayed on a display of a robot according to an embodiment of the present disclosure.

6 is a diagram illustrating a path search result screen displayed on a display of a robot according to an embodiment of the present disclosure.

7 is a diagram illustrating a user terminal device displaying an image including a landmark according to an embodiment of the present disclosure.

8 is a diagram illustrating a user terminal device displaying a plurality of images including landmarks according to an embodiment of the present disclosure.

9A is a diagram illustrating a case in which a scroll command is input to a user terminal device according to an embodiment of the present disclosure.

9B is a diagram illustrating a case in which a scroll command is input to a user terminal device according to an embodiment of the present disclosure.

9C is a diagram illustrating a case in which a scroll command is input to a user terminal device according to an embodiment of the present disclosure.

10 is a diagram illustrating a GUI indicating a landmark according to an embodiment of the present disclosure.

11 is a diagram illustrating an embodiment in which a robot displays an image including a landmark according to an embodiment of the present disclosure.

12 is a detailed block diagram illustrating a robot according to an embodiment of the present disclosure.

Hereinafter, various embodiments of the present disclosure will be described with reference to the accompanying drawings. However, this is not intended to limit the technology described in the present disclosure to specific embodiments, and it should be understood that various modifications, equivalents, and/or alternatives of the embodiments of the present disclosure are included. . In connection with the description of the drawings, like reference numerals may be used for like components.

In the present disclosure, expressions such as “have,” “may have,” “include,” or “may include” indicate the presence of a corresponding characteristic (eg, a numerical value, function, operation, or component such as a part). and does not exclude the presence of additional features.

In this disclosure, expressions such as “A or B,” “at least one of A and/and B,” or “one or more of A or/and B” may include all possible combinations of the items listed together. . For example, "A or B," "at least one of A and B," or "at least one of A or B" means (1) includes at least one A, (2) includes at least one B; Or (3) it may refer to all cases including both at least one A and at least one B.

As used in the present disclosure, expressions such as "first," "second," "first," or "second," may modify various elements, regardless of order and/or importance, and refer to one element. It is used only to distinguish it from other components, and does not limit the components.

A component (eg, a first component) is "coupled with/to (operatively or communicatively)" to another component (eg, a second component) When referring to "connected to", it will be understood that the certain element may be directly connected to the other element or may be connected through another element (eg, a third element). On the other hand, when it is said that a component (eg, a first component) is "directly connected" or "directly connected" to another component (eg, a second component), the component and the It may be understood that other components (eg, a third component) do not exist between other components.

The expression "configured to (or configured to)" as used in this disclosure depends on the context, for example, "suitable for," "having the capacity to" ," "designed to," "adapted to," "made to," or "capable of." The term “configured (or configured to)” may not necessarily mean only “specifically designed to” in hardware. Instead, in some circumstances, the expression “a device configured to” may mean that the device is “capable of” with other devices or parts. For example, the phrase “a processor configured (or configured to perform) A, B, and C” refers to a dedicated processor (eg, an embedded processor) for performing the operations, or by executing one or more software programs stored in a memory device. , may mean a generic-purpose processor (eg, a CPU or an application processor) capable of performing corresponding operations.

In the present disclosure, a “module” or “unit” performs at least one function or operation, and may be implemented as hardware or software, or a combination of hardware and software. In addition, a plurality of “modules” or a plurality of “units” are integrated into at least one module and implemented with at least one processor (not shown) except for “modules” or “units” that need to be implemented with specific hardware. can be

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

2 is a block diagram illustrating a robot according to an embodiment of the present disclosure, and FIG. 3 is a flowchart illustrating an operation of the robot according to an embodiment of the present disclosure.

The robot 100 according to an embodiment of the present disclosure may be a robot that performs a route guidance function. Here, the path may be a path from the current location of the robot 100 to a destination input by the user, as well as a path from a source input by the user to the destination input by the user. Meanwhile, the robot 100 may perform various functions in addition to the above-described path guidance function. For example, the robot 100 may perform an air purification operation while traveling in a space within a building, or may perform product description or product demonstration in a store in the building.

Referring to FIG. 2 , the robot 100 according to an embodiment of the present disclosure may include a sensor 110 , a communication unit 120 , a display 130 , and a processor 140 .

The processor 140 controls the overall operation of the robot 100 . Specifically, the processor 140 may drive an operating system or an application program to control various components connected to the processor 140 , for example, the sensor 110 , the communication unit 120 , and the display 130 , and various data It can perform processing and calculations.

For example, the processor 140 may control the display 130 to display a menu related to the function of the robot 100 . For example, referring to FIG. 4 , when the functions that the robot 100 can perform are a path guidance function, a product description function, and a product demonstration function, the processor 140 may include a menu for performing a path guidance function, a product The display 130 may be controlled to display a menu for performing a description function and a menu for performing a product demonstration function. To this end, the robot 100 may further include a memory (not shown) for storing information related to the function of the robot 100, and the processor 140 based on the information stored in the memory (not shown). The display 130 may be controlled to display a menu related to the function of the robot 100 .

Meanwhile, the display 130 includes various types of displays such as Liquid Crystal Display Panel (LCD), Light Emitting Diode (LED), Organic Light Emitting Diodes (OLED), Liquid Crystal on Silicon (LCoS), Digital Light Processing (DLP), and the like. can be implemented as In addition, the display 130 may be implemented as a touch screen in combination with a touch sensing unit.

When a user command for selecting a menu for performing a route guidance function is received, the processor 140 may control the display 130 to display a screen for route guidance. Here, the user command for selecting a menu for performing the route guidance function may be a user touch touching the display 130 implemented as a touch screen. However, this is an example, and a user command may be received through a microphone (not shown) of the robot 100 . For example, when a user's voice is received through a microphone (not shown), the processor 140 analyzes the user's voice through a speech to text (STT) algorithm and selects a menu for performing a route guidance function on the user's voice. If it is determined that voice is included, the display 130 may be controlled to display a screen for route guidance.

Meanwhile, the screen for route guidance may include a UI 510 for inputting a destination, as shown in FIG. 5 . In addition, although not shown in FIG. 5 , the screen 500 for route guidance may further include a keypad including number keys, special keys, character keys, and the like.

Also, the screen 500 for route guidance may further include a map image 520 as shown in FIG. 5 . Here, the map image 520 is information about a plurality of stores located on the floor where the robot 100 is located in a building divided into a plurality of floors (eg, information on the name of the store, information on the location of the store) information, etc.) may be included. However, this is an embodiment, and the screen 500 for route guidance further includes a UI for floor selection, and the processor 140 is a user command for selecting a floor different from the floor on which the robot 100 is located. When this is received, the display 130 may be controlled to display the map image of the selected floor on the screen 500 for route guidance according to a user command.

The processor 140 may receive a user command for inputting a destination ( S310 ). Here, the user command for inputting the destination may be a user touch touching the display 130 implemented as a touch screen. For example, when a user command to touch the UI 510 for inputting a destination is received, the processor 140 controls the display 130 to display a keypad including a number key, a special key, a character key, and the like, and the keypad It is possible to receive a user command for inputting a destination through . Meanwhile, although it has been described herein that a keypad is displayed when a user command to touch the UI 510 for inputting a destination is received, this is only an exemplary embodiment. For example, the screen 500 for route guidance may include a UI 510 and a keypad for inputting a destination together. In addition, the user command may be received through a microphone (not shown) of the robot 100 . For example, when a user's voice is received through a microphone (not shown), the processor 140 may analyze the user's voice through an STT algorithm and determine a word related to a place included in the user's voice as a destination.

When a user command for inputting a destination is received, the processor 140 may transmit information on the location of the robot 100 and information on the location of the destination to a server (not shown) ( S320 ). Specifically, when a user command for inputting a destination is received, the processor 140 includes information on the location of the robot 100, information on the location of the destination, and the path from the location of the robot 100 to the location of the destination. It is possible to control the communication unit 120 to transmit a signal requesting information about the server (not shown).

To this end, the robot 100 and the server (not shown) may be connected through various communication methods. For example, the robot 100 and the server (not shown) may be connected through a Wi-Fi network as well as through a mobile communication network. To this end, the communication unit 120 may include various communication modules such as a Wi-Fi module, a mobile communication module, and a wireless communication module.

Meanwhile, the position of the robot 100 may be the position of the robot 100 at the point in time when a user command for inputting a destination is received. To this end, the processor 140 may determine the position of the robot 100 through the sensor 110 . For example, the sensor 110 may be implemented as a camera, and the processor 140 may receive an image captured by the camera from the camera. Then, the processor 140 extracts feature points by applying a Simultaneous Localization And Mapping (SLAM) algorithm to the image received from the camera, and selects an area where the extracted feature points are matched on a map divided into a plurality of regions of the robot 100. location can be determined. To this end, the robot 100 may pre-store information on a map in which information on different feature points for each of a plurality of areas is matched.

In addition, the sensor 110 may be implemented as a lidar sensor, and the processor 140 may determine the position of the robot 100 based on sensing data received from the lidar sensor. Specifically, the lidar sensor may irradiate light under the control of the processor 140 and receive reflected light of the irradiated light. Then, the lidar sensor analyzes the pulse power of the reflected light, the time until the reflected light is received after irradiation of the light, the phase shift and the pulse width of the reflected light, and the environment around the robot 100 (eg, the shape of the wall, the shape of the pillar) etc.) and may transmit information on the sensed environment to the processor 140 . In addition, the processor 140 may determine an area matched with the environment sensed by the lidar sensor as the position of the robot 100 on a map in which information on different environments for each area is matched.

Meanwhile, the above-described example is an example, and the processor 140 may determine the position of the robot 100 through various sensors 110 such as an infrared sensor and an ultrasonic sensor. For example, the infrared sensor irradiates light under the control of the processor 140 , and when the irradiated light is reflected and received by an object, based on the amount of received light, the environment around the robot 100 is sensed and detected Information on the changed environment may be transmitted to the processor 140 . In addition, the processor 140 may determine an area matched with the environment sensed by the infrared sensor as the location of the robot 100 on a map in which information on different environments for each area is matched.

Then, the ultrasonic sensor irradiates ultrasonic waves under the control of the processor 140 , and when the irradiated ultrasonic waves are reflected and received by an object, the environment around the robot 100 based on the time from when the ultrasonic waves are irradiated until received may be detected, and information on the sensed environment may be transmitted to the processor 140 . In addition, the processor 140 may determine an area matched with the environment sensed by the ultrasonic sensor as the position of the robot 100 on a map in which information on different environments for each area is matched.

Meanwhile, when a destination is input according to a user command, the processor 140 may determine an area in which the name input as the destination is matched on a map divided into a plurality of areas, and determine the determined area as the location of the destination. To this end, the robot 100 may pre-store information on a map in which information on different names (eg, names of stores) for each of a plurality of areas is matched.

Meanwhile, when a user command for inputting a destination is received, the processor 140 may determine the position of the robot 100 . As such, by operating the sensor 110 only when a path is required, the present disclosure can minimize unnecessary power consumption and minimize the computational burden of the processor 140 . Of course, this is an example, and the processor 140 may continue to determine the position of the robot 100 through the sensor 110 even before a user command for inputting a destination is received.

Meanwhile, in the above, the location of the robot 100 has been described as the starting point, but this is only an example. The starting point may be the location of the robot 100 as described above, as well as the starting point input according to a user command. For example, if a separate user command for setting the departure point is not received, the processor 140 transmits information on the location of the robot 100 to a server (not shown) as a starting point, and a user command for setting the starting point When this is received, information on a location set according to a user command may be transmitted to a server (not shown). To this end, the screen 500 for route guidance may further include a UI for setting a departure point. In addition, when a departure point is input according to a user command, the processor 140 may determine an area in which the name input as the departure point is matched on a map divided into a plurality of areas, and determine the determined area as the location of the departure point.

When information on the location of the robot 100 and information on the location of the destination are received from the robot 100 , the server (not shown) may search for a path from the location of the robot 100 to the location of the destination. Specifically, the server (not shown) determines the location of the robot 100 and the location of the destination on a map divided into a plurality of areas, and searches a plurality of routes from the location of the robot 100 to the location of the destination, , it is possible to determine the shortest path among the plurality of paths through the shortest path search algorithm. Here, the shortest path search algorithm searches for a plurality of routes from the location of the source to the location of the destination, determines a distance value of each of the plurality of routes, and determines a route having a minimum distance value among the plurality of routes as the shortest route It can be an A Star algorithm. However, this is an example, and the shortest path algorithm may be various algorithms such as a Dijkstra algorithm or a Ford algorithm.

When the path is determined, the server (not shown) determines at least one landmark located on the path from the position of the robot 100 to the position of the destination among a plurality of landmarks included in the building where the robot 100 is located. can be judged Here, the landmark may be a store such as a coffee shop or a clothing store located on the path, as well as a statue, a sculpture such as a clock tower, an elevator, an escalator, and the like.

Specifically, the server (not shown) may determine an area corresponding to a route on a map divided into a plurality of areas. In addition, the server (not shown) determines an area in which a plurality of landmarks are located on a map divided into a plurality of areas, and sets a landmark located adjacent to an area corresponding to the route among the plurality of landmarks as a landmark on the route. can judge To this end, the server (not shown) may store information on an area in which each landmark is located on a map divided into a plurality of areas.

In addition, the server (not shown) may determine an image including a landmark located on a path from among a plurality of pre-stored images. Specifically, the server (not shown) may determine an image to which information on a landmark located on a path is matched from among a plurality of pre-stored images. To this end, the server (not shown) may match and store information about the landmark (eg, the name of the landmark, the location of the landmark) for each image. For example, when it is determined that coffee shop A is located on the route, the server (not shown) may determine an image matching the name A (ie, an image obtained by photographing coffee shop A) from among a plurality of pre-stored images. .

In addition, the server (not shown) may generate an image including information on a direction for moving from the landmark to the destination. Specifically, the server (not shown) determines the direction for moving from the landmark to the destination based on the location of the landmark and the location of the destination, and an image in which information about the direction is superimposed on an image including the landmark can create For example, when the server (not shown) determines that it should move to the left from the landmark A in order to reach the destination, a text such as 'to the left' or an arrow image pointing to the left in the image of the landmark A You can create an image that overlaps

In addition, the server (not shown) may determine a distance for moving from the landmark to the destination based on the location of the landmark and the location of the destination, and may generate an image further including information about the distance. As an example, if the server (not shown) determines that it should move 40m to the left from the landmark A to reach the destination, text such as '40m to the left' or text such as '40m to the left' in the image of the landmark A You can create an image that overlaps an arrow image and 40m text.

Meanwhile, according to an embodiment, a plurality of landmarks may be located on a path from the position of the robot 100 to the position of the destination. For example, a first landmark is located on a path separated by a first distance from the position of the robot 100 , and a second landmark is located on a path separated by a second distance greater than the first distance from the position of the robot 100 . can be located In this case, the server (not shown) determines a first direction for moving from the first landmark to the second landmark based on the position of the first landmark and the position of the second landmark, and the first land An image in which information about the first direction is overlapped with an image including the mark may be generated. Then, the server (not shown) determines a second direction for moving from the second landmark to the destination based on the location of the second landmark and the location of the destination, and adds the second to the image including the second landmark. It is possible to create an image that overlaps the information about the direction. Meanwhile, the server (not shown) determines, among a plurality of landmarks located on the path, a landmark located in an area requiring a change of direction in order to move from the landmark to the destination, and a land located in the area requiring a change of direction. It is also possible to generate only an image in which information about a direction is overlapped with an image including the mark.

In addition, the server (not shown) may transmit information for accessing the web site providing the image generated by the above-described method to the robot 100 . That is, the server (not shown) is on a website that provides an image including information about a landmark located on the path from the position of the robot 100 to the position of the destination and the direction for moving from the landmark to the destination. Information for access may be transmitted to the robot 100 . Alternatively, if a plurality of landmarks are located on the path, the server (not shown) provides information for accessing a website that provides a plurality of images in which information about directions is overlapped with an image including the landmarks. (100) can be transmitted.

Here, the information for accessing the website may be, for example, a QR code to which a website address is linked, but is not limited thereto, and the information for accessing the website may be a website address itself. In addition, the web site may be a web site managed by the above-described server (not shown), as well as a web site managed by an external server different from the above-described server (not shown).

Accordingly, the processor 140 may receive, from a server (not shown), information for accessing a web site that provides a path from the location of the robot 100 to the location of the destination. Specifically, the processor 140 is a landmark located on the path from the position of the robot 100 to the location of the destination and the website that provides an image including information on the direction for moving from the landmark to the destination. Information for access may be received from a server (not shown) (S330). In addition, the processor 140 may display the information received from the server (not shown) on the display 130 ( S340 ).

For example, referring to FIG. 6 , the processor 140 receives a QR code image as information for accessing a website from a server (not shown), a QR code image 610 for accessing the website. The included route search result screen 600 may be displayed on the display 130 . In addition, the processor 140 is a UI 620 for guiding the scanning of the QR code, information 630 on the origin and destination, an image 640 of a store located at the destination, the distance to the destination and the estimated required time. A route search result screen 600 further including at least one of the time information 650 may be displayed on the display 130 . Here, the image 640 of a store located at a destination may be received from a server (not shown) and may be pre-stored in the robot. In addition, the information 650 on the distance to the destination and the estimated required time may be received from a server (not shown).

Meanwhile, the processor 140 may display information on the departure direction on the display 130 . Specifically, the processor 140 may receive information on the landmark from a server (not shown), and determine the location of the landmark based on pre-stored map information. As an example, the processor 140 may receive location information of the landmark from a server (not shown) and determine the location of the landmark on a pre-stored map. In addition, the processor 140 may determine a direction for moving from the position of the robot 100 to the position of the landmark, and control the display 130 to display information about the direction.

On the other hand, the above-described QR code is only an embodiment, and the processor 140 receives a web site address for accessing a web site from a server (not shown), and displays the web site address on the display 130 in text format. may be Alternatively, the processor 140 may provide information on the web site using Near Field Communication (NFC) technology. For example, the processor 140 may provide an NFC tag tagged with a website address.

Accordingly, the user may access a web site providing a route through the robot 100 . Hereinafter, it will be described with reference to FIGS. 7 to 11 .

7 to 10 are diagrams for explaining a user terminal device according to an embodiment of the present disclosure.

The user terminal device 200 according to an embodiment of the present disclosure may be a smart phone as shown in FIG. 7 . However, this is an example, and the user terminal device may be various electronic devices having a display, such as a tablet or a notebook computer.

The user terminal device 200 may access a website that provides a route from the location of the robot 100 to the location of the destination based on the route search result screen 600 displayed on the robot 100 . In addition, the user terminal device 200 may display various information provided by the website through the display of the user terminal device 200 .

For example, when a user command for scanning the QR code 610 displayed on the route search result screen 600 is received, the user terminal device 200 scans the QR code 610 through the camera, and the QR code 610 ) to a website that provides a linked path. Alternatively, the user terminal device 200 may access the website when a user command for inputting the website address displayed on the route search result screen 600 is received, and the user tags the NFC tag with the website address tagged. You can also access the website by operation.

In this case, as shown in FIG. 7 , the user terminal device 200 provides information on landmarks located on the path from the position of the robot 100 to the location of the destination and the direction for moving from the landmark to the destination. It is possible to access a website that provides an image 730 including

Here, the website may provide various information in addition to the landmark image 730 including direction information. Specifically, referring to FIG. 7 , the website provides information 710 on the origin and destination, a map image 720 including a route from the origin to the destination, and an image 740 of a store located at the destination. may include more.

Accordingly, the user can easily move to the destination while checking the landmark image 730 together with the map image 720 including the entire route. Also, the user terminal device may provide a route to a destination to the user without using a separate sensor such as GPS.

Meanwhile, according to an embodiment, a plurality of landmarks may be located on a path from the position of the robot 100 to the position of the destination. For example, a first landmark is located on a path separated by a first distance from the position of the robot 100 , and a second landmark is located on a path separated by a second distance greater than the first distance from the position of the robot 100 . can be located In this case, the website includes a first image including information on a first landmark and a direction for moving from the first landmark to the second landmark and moving from the second landmark and the second landmark to the destination. It is possible to provide a second image including information about the direction for

For example, referring to FIG. 8 , the website includes a first image 810 including information on a first landmark and a direction for moving from the first landmark to the second landmark, and the second landmark and the second landmark. 2 A second image 810 including information on a direction for moving from the landmark to the destination may be provided. Accordingly, the user can easily move to the destination while sequentially checking the plurality of landmarks located on the route.

Meanwhile, among the screens provided by the website, the map image including the entire route may be fixedly provided to one area of the screen of the user terminal device 200 . For example, referring to FIG. 9A , the user terminal device 200 includes a map image 910 including a route provided by a website, an image 920 including a first landmark, and a second landmark. When a user command for scrolling is received while displaying the image 930 on the display, as shown in FIGS. 9B and 9C , the map image 910 is displayed fixedly on the upper area of the screen, and the first land The image 920 including the mark and the image 930 including the second landmark may be scrolled according to a user command. To this end, the web site may provide the map image 910 to an area in which the location property is set to fixed among the entire area of the web page.

Meanwhile, referring to FIG. 10 , a map image 910 provided from a website may include

GUIs

1010 and 1020 indicating landmarks in an area on the map image where the landmark is located. Specifically, a server (not shown) that provides a website determines a landmark located on a path on a map divided into a plurality of areas, and displays a GUI in an area where the landmark is located among the plurality of areas on the map. The displayed map image may be provided to the user terminal device 200 through a website. Accordingly, the user can more easily move to the destination while checking the location of the landmark on the entire route.

Meanwhile, although an embodiment in which information on a route is provided through the user terminal device 200 has been described above, information on a route including a landmark image may be provided by the robot 100 .

As an example, the robot 100 transmits an image including information about a landmark located on a path from the position of the robot 100 to the position of the destination and information on a direction for moving from the landmark to the destination server (not shown) , and as shown in FIG. 11 ,

landmark images

1110 and 1120 including information on directions may be displayed on the display 130 . As shown in FIG. 11 , the displayed screen may include a map image 1130 including the entire route.

In addition, although it has been described above that the landmark image including the direction information is generated by the server (not shown), it may be generated by the robot 100 .

* Specifically, the robot 100 determines a route based on the location of the origin and the location of the destination, and based on the pre-stored information about the landmark (eg, location information of the landmark), the land located on the route mark can be judged. And, determining an image including a landmark located on a path from among a plurality of pre-stored images, determining a direction for moving from the landmark to a destination, and overlapping the information on the direction on the image including the landmark You can create an image. In addition, the robot 100 may display the generated image on the display 130 .

12 , the robot 100 according to an embodiment of the present disclosure includes a sensor 110 , a communication unit 120 , a display 130 , a memory 150 , a driving unit 160 , a manipulation unit 170 and It may include a processor 140 . Hereinafter, portions overlapping with the above description will be omitted or abbreviated.

The communication unit 120 may communicate with an external device to transmit/receive various data. For example, the communication unit 120 may communicate with a server through an Internet network or a mobile communication network, as well as BT (Bluetooth), BLE (Bluetooth Low Energy), WI-FI (Wireless Fidelity), Zigbee, Communication with an external device may be performed through various communication methods such as NFC.

In particular, when a signal for a route request is received from the user terminal device 200 connected through Wi-Fi or Bluetooth communication, the communication unit 120 may transmit route information to the user terminal device 200 . Here, as described above, the information on the route may include an image including landmarks located on the route and information on directions for moving from the landmark to the destination. In addition, the information on the path may include a plurality of images including a plurality of landmarks located on the path. In addition, information on the path may be received from a server (not shown) and may be generated by the robot 100 .

In addition, although it has been described above that information on the location of the origin and the location of the destination is transmitted to the server (not shown), the communication unit 120 transmits information on the name of the origin and the name of the destination to the server (not shown). can In this case, the server (not shown) may determine a location on the map that matches the name of the departure point and the destination based on the pre-stored map information, and may determine the route based on the location. For example, when information on store A is received from the robot 100, the server (not shown) determines an area in which store A is located on the map, and a path from the position of the robot 100 to an area in which store A is located. can be judged

To this end, the communication unit 120 may include various communication modules for performing network communication. For example, the communication unit 120 may include a Bluetooth module, a Wi-Fi module, a wireless communication module, and the like.

The memory 150 may store an operating system (OS) for controlling the overall operation of the components of the robot 100 and commands or data related to the components of the robot 100 .

Accordingly, the processor 140 may control a plurality of hardware or software components of the robot 100 by using various commands or data stored in the memory 150, and may control a plurality of hardware or software components received from at least one of the other components. A command or data may be loaded into a volatile memory for processing, and various data may be stored in a non-volatile memory.

In particular, the memory 150 may store information about a map divided into a plurality of regions. In addition, information on the map may be matched with information on different feature points for each of a plurality of areas, and information on different environments may be matched with each other.

Also, the memory 150 may store a plurality of landmark images including landmarks. Here, information on the landmark (eg, the name of the landmark, the location of the landmark) may be matched to the landmark image.

The driving unit 160 is configured to include a motor 161 and a driving unit 162 connected to the motor 161 , and the driving unit 162 may be implemented as a wheel or a leg of a robot, and the motor 161 is a processor. By controlling the driving unit 162 according to the control of 140 , the robot 100 may be moved. As an example, when the driving unit 162 is implemented as a left wheel and a right wheel, the processor 140 transmits a control signal for generating a first rotational force to a motor rotating the left wheel, and transmits a control signal to the motor rotating the right wheel. By transmitting a control signal for generating a second rotational force different from the first rotational force, the traveling direction of the robot 100 may be changed.

The manipulation unit 170 is connected to a first motor 171-1, a robot arm 172 connected to the first motor 171-1, a second motor 171-2, and a second motor 171-2. It may include a robot hand 173 that is In addition, the robot arm 172 and the robot hand 173 are connected through a connector, and the robot arm 172 moves or rotates three-dimensionally according to the driving of the first motor 171-1 connected to the robot arm 172 . and the like, and the robot hand 173 may perform three-dimensional movement, rotation, or product grip according to the driving of the second motor 171 - 2 connected to the robot hand 173 .

The processor 140 controls the overall operation of the robot 100 . To this end, the processor 140 may include a central processing unit (CPU) or an application processor (AP). The processor 140 includes at least one general processor, a digital signal processor, an application specific integrated circuit (ASIC), a system on chip (SoC), a microcomputer (MICOM), a driver IC, and the like. can be implemented.

Meanwhile, the above-described methods according to various embodiments of the present invention may be implemented in the form of software or applications that can be installed in an existing robot.

In addition, the above-described methods according to various embodiments of the present invention may be implemented only by software upgrades or hardware upgrades for existing robots.

In addition, various embodiments of the present invention described above may be performed through an embedded server provided in the robot or a server external to the robot.

Meanwhile, a non-transitory computer readable medium in which a program for sequentially performing a control method of a robot according to the present invention is stored may be provided.

On the other hand, the non-transitory readable medium refers to a medium that stores data semi-permanently, rather than a medium that stores data for a short moment, such as a register, cache, memory, etc., and can be read by a device. Specifically, the various applications or programs described above may be provided by being stored in a non-transitory readable medium such as a CD, DVD, hard disk, Blu-ray disk, USB, memory card, ROM, and the like.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention pertains without departing from the gist of the present invention as claimed in the claims Various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

Claims

In the robot,

sensor;

communication department;

display; and

When a user command for inputting a destination is received, information on the location of the destination and information on the location of the robot determined based on the sensing data received from the sensor are transmitted to the server through the communication unit,

For accessing from the server to a website that provides an image including information on a landmark located on a path from the position of the robot to the position of the destination and information on a direction for moving from the landmark to the destination. Receive information through the communication unit,

A robot comprising a; processor for controlling the display to display the received information.
According to claim 1,

The website is

When a plurality of landmarks are included on the path, the robot provides a plurality of images including the plurality of landmarks.
3. The method of claim 2,

The website is

A robot that provides the plurality of images by arranging them based on the positions on the path of the plurality of landmarks.
3. The method of claim 2,

The plurality of landmarks,

Containing first and second landmarks sequentially located on the path from the position of the robot,

The website is

For moving from the first landmark and the first image and the second landmark and the second landmark to the destination including information on a direction for moving from the first landmark to the second landmark A robot that provides a second image comprising information about orientation.
3. The method of claim 2,

The website is

A robot that provides a map image indicating a path from the position of the robot to the destination through a web page of the web site, and the plurality of images.
6. The method of claim 5,

The website is

A robot that provides the map image to an area of the web page in which the location property is set to fixed.
6. The method of claim 5,

The map image is

A robot comprising a GUI indicating the landmark in an area on the map image where the landmark is located.
According to claim 1,

The processor is

A robot that receives information about the image from the server and controls the display to display the image.
According to claim 1,

The processor is

Receive information on the landmark from the server, determine the position of the landmark based on pre-stored map information, determine a direction for moving from the position of the robot to the position of the landmark, and the direction Controlling the display to display information about, the robot.
In the robot control method,

when a user command for inputting a destination is received, transmitting information on the location of the destination and information on the location of the robot to a server;

For accessing from the server to a website that provides an image including information about a landmark located on a path from the position of the robot to the position of the destination and information on a direction for moving from the landmark to the destination. receiving information; and

Displaying the received information; Control method of a robot comprising a.
11. The method of claim 10,

The website is

When a plurality of landmarks are included on the path, a method for controlling a robot that provides a plurality of images including the plurality of landmarks.
12. The method of claim 11,

The website is

A control method of a robot that provides the plurality of images by arranging them based on the positions on the path of the plurality of landmarks.
12. The method of claim 11,

The plurality of landmarks,

Containing first and second landmarks sequentially located on the path from the position of the robot,

The website is

For moving from the first landmark and the first image and the second landmark and the second landmark to the destination including information on a direction for moving from the first landmark to the second landmark A method of controlling a robot, which provides a second image including information about a direction.
12. The method of claim 11,

The website is

A method for controlling a robot, which provides a map image indicating a path from the position of the robot to the destination through a web page of the web site, and the plurality of images.
15. The method of claim 14,

The website is

A method for controlling a robot, which provides the map image to an area of the web page in which the location attribute is set to fixed.