WO2024010217A1

WO2024010217A1 - Robot for performing specific service and control method thereof

Info

Publication number: WO2024010217A1
Application number: PCT/KR2023/007119
Authority: WO
Inventors: 황상영; 김우목; 문보석; 김주영; 송동신; 최현미
Original assignee: 삼성전자주식회사
Priority date: 2022-07-05
Filing date: 2023-05-25
Publication date: 2024-01-11
Also published as: KR20240005511A

Abstract

A robot for performing a specific service is disclosed. The robot may comprise a memory in which device information related to a feature included in each of at least one device is stored, a communication interface, and one or more processors which: when the robot is identified to be unable to perform a specific service, identify at least one device existing within a preconfigured distance from the robot; identify device information corresponding to each of the at least one device on the basis of the information stored in the memory; compare multiple pieces of reference feature information required for performing the specific service with multiple pieces of feature information identified on the basis of the device information so as to acquire similarity between the multiple pieces of reference feature information and the multiple pieces of feature information; on the basis of the acquired similarity, identify whether the at least one device is able to perform the specific service; and when the at least one device is identified to be able to perform the specific service, transmit information for the at least one device to perform the specific service to the at least one device through the communication interface.

Description

Robots that perform specific services and their control methods

This disclosure relates to a robot that performs a specific service and a method of controlling the same, and more specifically, to a robot that searches for a device to perform a specific service on behalf of the robot and a method of controlling the same.

Recently, technology development for robots that are deployed in specific spaces and provide services to users has become active. Meanwhile, in order for a robot to provide services to users smoothly, the robot's performance capabilities must be supported. In general, as a means of judging the robot's performance, there is technology to self-diagnose the robot's current performance, and through this, robot failure can be predicted.

Robot repair time can be shortened by predicting robot failure, but services to users cannot be provided while the robot is being repaired. To solve this problem, if a robot failure is predicted, continuity of service provision must be maintained by allowing other devices to provide the service instead.

A robot that performs a specific service according to an embodiment to achieve the above object includes a memory storing device information related to features included in each of at least one device, a communication interface, and one or more processors (hereinafter, processor). If the robot is identified as being unable to perform the specific service, the processor may identify at least one device that exists within a preset distance from the robot. The processor may identify device information corresponding to each of the at least one device based on information stored in the memory. The processor may obtain similarity between the plurality of reference feature information and the plurality of feature information by comparing the plurality of reference feature information required to perform the specific service and the plurality of feature information identified based on the device information. there is. The processor may identify whether the at least one device can perform the specific service based on the obtained similarity. When the processor identifies the at least one device as capable of performing the specific service, the processor may transmit information for the at least one device to perform the specific service to the at least one device through the communication interface. .

Meanwhile, a method of controlling a robot performing a specific service according to an embodiment of the present disclosure may include the step of identifying whether the robot can perform the specific service. The control method may include the step of identifying at least one device that exists within a preset distance from the robot when the robot is identified as being unable to perform the specific service. The control method may include identifying device information corresponding to each of the at least one device based on information stored in a memory. The control method compares a plurality of reference feature information required to perform the specific service and a plurality of feature information identified based on the device information to obtain similarity between the plurality of reference feature information and the plurality of feature information. May include steps. The control method may include identifying whether the at least one device can perform the specific service based on the obtained similarity. The control method may include, when the at least one device is identified as capable of performing the specific service, transmitting information for the at least one device to perform the specific service to the at least one device. there is.

A non-transitory computer-readable recording medium storing computer instructions that, when executed by a processor of a robot, cause the robot to perform an operation, the operation comprising: identifying whether the robot can perform the specific service; May include steps. The operation may include identifying at least one device that exists within a preset distance from the robot when the robot is identified as being unable to perform the specific service. The operation may include identifying device information corresponding to each of the at least one device based on information stored in a memory. The operation includes comparing a plurality of reference feature information required to perform the specific service and a plurality of feature information identified based on the device information to obtain similarity between the plurality of reference feature information and the plurality of feature information. May include steps. The operation may include identifying whether the at least one device can perform the specific service based on the obtained similarity. The operation may include, when the at least one device is identified as capable of performing the specific service, transmitting information for the at least one device to perform the specific service to the at least one device. there is.

1 is a diagram schematically explaining a robot control method according to an embodiment.

Figure 2 is a diagram for explaining the configuration of a robot according to an embodiment.

FIG. 3 is a diagram illustrating a method of transmitting information for performing a specific service according to an embodiment.

FIG. 4A is a diagram illustrating device information related to features included in each device according to an embodiment.

FIG. 4B is a diagram for explaining a plurality of reference feature information according to an embodiment.

FIG. 4C is a diagram for explaining information about weights according to an embodiment.

FIG. 5 is a diagram illustrating a priority identification method when a plurality of devices are identified according to an embodiment.

FIG. 6 is a diagram illustrating a device identification method when a robot cannot perform a plurality of specific services according to an embodiment.

FIG. 7 is a diagram illustrating a method of identifying the performance status of a specific service according to an embodiment.

FIG. 8 is a diagram illustrating a method of transmitting information about a specific service to an identified device according to an embodiment.

Figure 9 is a block diagram showing the detailed configuration of a robot according to an embodiment.

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

Terms used in this specification will be briefly described, and the present disclosure will be described in detail.

The terms used in the embodiments of the present disclosure have selected general terms that are currently widely used as much as possible while considering the functions in the present disclosure, but this may vary depending on the intention or precedent of a technician working in the art, the emergence of new technology, etc. . In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description part of the relevant disclosure. Therefore, the terms used in this disclosure should be defined based on the meaning of the term and the overall content of this disclosure, rather than simply the name of the term.

In this specification, expressions such as “have,” “may have,” “includes,” or “may include” refer to the presence of the corresponding feature (e.g., component such as numerical value, function, operation, or part). , and does not rule out the existence of additional features.

The expression at least one of A or/and B should be understood as referring to either “A” or “B” or “A and B”.

As used herein, expressions such as “first,” “second,” “first,” or “second,” can modify various components regardless of order and/or importance, and can refer to one component. It is only used to distinguish from other components and does not limit the components.

A component (e.g., a first component) is “(operatively or communicatively) coupled with/to” another component (e.g., a second component). When referred to as “connected to,” it should be understood that a certain component can be connected directly to another component or connected through another component (e.g., a third component).

Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “consist of” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are intended to indicate the presence of one or more other It should be understood that this does not exclude in advance the presence or addition of features, numbers, steps, operations, components, parts, or combinations thereof.

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

Hereinafter, an embodiment of the present disclosure will be described in more detail with reference to the attached drawings.

According to FIG. 1, the robot 100 may perform a specific service (eg, at least one of serving, guidance, or delivery service). In this case, the robot 100 may continuously monitor the performance capabilities of the robot 100 to determine whether the robot 100 can perform a specific service.

Afterwards, if the robot 100 is identified as being unable to perform a specific service, for example, a delivery service, the robot 100 may identify at least one device that exists within a preset distance from the robot 100. . For example, the robot 100 may identify a plurality of devices 10 to 40 existing within a preset distance.

The robot 100 may identify at least one device that can perform a delivery service among the identified devices 10 to 40, based on device information stored in a memory (not shown).

Afterwards, when at least one device 10 among the plurality of devices 10 to 40 is identified as capable of performing the delivery service, the robot 100 configures the at least one device 10 to perform the delivery service. Information may be transmitted to at least one device 10 through a communication interface (not shown). Afterwards, the device 10, which has received information for performing the delivery service from the robot 100, can perform the delivery service on behalf of the robot 100.

Hereinafter, various embodiments of identifying at least one device that can perform a specific service on behalf of a robot and transmitting information for performing a specific service to the identified device will be described.

According to FIG. 2, the robot 100 may include a memory 110, a communication interface 120, and a processor 130.

The memory 110 may store data needed for various embodiments. The memory 110 may be implemented as a memory embedded in the robot 100 or as a memory detachable from the robot 100 depending on the data storage purpose. For example, data for driving the robot 100 is stored in a memory embedded in the robot 100, and data for expansion functions of the robot 100 is stored in a memory that is detachable from the robot 100. It can be. Meanwhile, in the case of memory embedded in the robot 100, volatile memory (e.g., dynamic RAM (DRAM), static RAM (SRAM), or synchronous dynamic RAM (SDRAM), etc.), non-volatile memory (e.g. : OTPROM (one time programmable ROM), PROM (programmable ROM), EPROM (erasable and programmable ROM), EEPROM (electrically erasable and programmable ROM), mask ROM, flash ROM, flash memory (e.g. NAND flash or NOR flash, etc.) , a hard drive, or a solid state drive (SSD). In addition, in the case of memory that is removable from the robot 100, a memory card (e.g., compact flash (CF), SD (secure digital), Micro-SD (micro secure digital), Mini-SD (mini secure digital), xD (extreme digital), MMC (multi-media card), etc.), external memory that can be connected to a USB port (e.g. For example, it may be implemented in a form such as USB memory).

According to one example, the memory 110 may store device information related to features included in each of at least one device. However, it is not limited to this, and the processor 130 receives device information related to features included in each of at least one device from an external device (for example, a server or another robot) through the communication interface 120. You may. Here, the device information related to the feature includes the type and number of components (e.g., processor (or processor type), motor (or motor type), or sensor (or sensor type) included in the device. It may be information about, but is not limited to, and of course, it may be various types of features such as displays and speakers.

One or more processors 130 (hereinafter referred to as processors) are electrically connected to the memory 110 and control the overall operation of the robot 100. The processor 130 may be comprised of one or multiple processors. Specifically, the processor 130 may perform the operation of the robot 100 according to various embodiments of the present disclosure by executing at least one instruction stored in the memory 110.

According to one embodiment, the processor 130 includes a digital signal processor (DSP), a microprocessor, a graphics processing unit (GPU), an artificial intelligence (AI) processor, and a neural processor (NPU) that process digital image signals. Processing Unit), TCON (Time controller). However, it is not limited to this, and is not limited to a central processing unit (CPU), MCU (Micro Controller Unit), MPU (micro processing unit), and controller. It may include one or more of a (controller), an application processor (AP), a communication processor (CP), or an ARM processor, or may be defined by the corresponding term. In addition, the processor 140 may be implemented as a System on Chip (SoC) with a built-in processing algorithm, large scale integration (LSI), or in the form of an application specific integrated circuit (ASIC) or a Field Programmable Gate Array (FPGA).

According to one embodiment, the processor 130 may be implemented as a digital signal processor (DSP), a microprocessor, or a time controller (TCON). However, it is not limited to this, and the central processing unit ( central processing unit (CPU), micro controller unit (MCU), micro processing unit (MPU), controller, application processor (AP), or communication processor (CP), ARM processor It may include one or more of the following, or may be defined by the corresponding term. In addition, the processor 130 may be implemented as a System on Chip (SoC) with a built-in processing algorithm, a large scale integration (LSI), or an FPGA (FPGA). It can also be implemented in the form of a Field Programmable gate array.

According to one embodiment, the processor 130 monitors the performance (or performance ability) of at least one hardware included in the robot 100, so that the performance of the at least one hardware is below a preset value. It is possible to determine whether it is recognized or not. If the performance of at least one hardware included in the robot 100 is identified as being below a preset value, the processor 130 may identify a specific service performed through the identified hardware. After this, the processor 130 may identify that the robot 100 can no longer perform the identified specific service.

According to one embodiment, when the robot 100 is identified as being unable to perform a specific service, the processor 130 identifies at least one device (hereinafter referred to as device) that exists within a preset distance from the robot 100. You can.

According to one example, the processor 130 identifies at least one device that exists within a preset distance using at least one short-range communication technology selected from Bluetooth, Wi-Fi (Wireless Fidelity), or LAN (local area network). can do. However, it is not limited to this, and of course, a different type of communication technology (for example, UWB (Ultra Wide-Band) or Zigbee) than the above-described technology may be used. Here, the preset distance may be a value pre-stored in the memory 110 during initial setup, but is not limited thereto, and of course can be set/changed according to a user command.

According to one embodiment, the processor 130 may identify device information corresponding to each of at least one device based on information stored in the memory 110. According to one example, the memory 110 may store device information related to features included in each of at least one device. Here, features refer to different types of hardware included in the device. Additionally, the information related to the features included in the device may include at least one of information about the hardware included in the device, for example, the type of processor, type of motor, number of motors, type of sensor, or number of sensors. It is not limited to this. Device information will be described in detail with reference to FIG. 4A.

According to one embodiment, the processor 130 compares a plurality of feature information identified based on a plurality of reference feature information and device information required to perform a specific service to determine the similarity between the plurality of reference feature information and the plurality of feature information. can be obtained. Here, the plurality of reference feature information required to perform a specific service refers to information about the type and number of features essential to the performance of the specific service, and the plurality of feature information is included in the plurality of reference feature information among the device information. This refers to information about the item corresponding to the item. According to one example, a plurality of reference feature information may be pre-stored in the memory 110, but the present invention is not limited thereto and a plurality of reference feature information may be obtained from an external device (not shown) such as a server. This will be explained in detail through FIGS. 4A and 4B.

According to one example, the processor 130 compares each of the plurality of reference feature information and the plurality of feature information of the identified devices for each corresponding item, and generates the plurality of reference feature information and the plurality of feature information based on the ratio of matching items among them. Similarity between feature information can be obtained. For example, the processor 130 may obtain the above-described similarity using jaccard similarity. This will be explained in detail with reference to Figure 3. Here, Jaccard similarity is a method of measuring similarity between two sets and refers to the ratio of the intersection of the two sets to the union of the two sets. Jacquard similarity has a value between 0 and 1. If the two sets are the same, it has a value of 1, and if they have no elements in common, it has a value of 0. However, it is not limited to this and similarity can also be obtained using cosine similarity.

According to one embodiment, the processor 130 may identify whether at least one device can perform a specific service based on the obtained similarity. According to one example, the processor 130 may identify that at least one identified device can perform a specific service if the obtained similarity is greater than or equal to a threshold value. Here, the threshold value may be a value already stored in the memory 110 during initial setup, but is not limited thereto, and of course may be set/changed according to a user command.

According to one embodiment, when at least one device is identified as capable of performing a specific service, the processor 130 sends information for the at least one device to perform the specific service to at least one device through the communication interface 120. It can be transmitted to the device. Here, the information for performing a specific service includes at least one of hardware control information for performing the specific service, information related to function implementation, and solution information required to perform the specific service.

According to one example, information for performing a specific service may include at least one of feature information corresponding to the specific service, history information related to the specific service, and user setting information related to the specific service. Here, history information related to a specific service refers to past operation performance information of the robot 100, including operation information related to a specific service previously performed by the robot 100. User setting information is information about user settings among information related to the performance of a specific service. For example, in the case of a guidance service, it may be user setting information about whether the guidance voice output is a male voice or a female voice. Alternatively, in the case of serving service, it may be information about user settings such that the maximum movement speed of the robot is 20 m/s.

According to one embodiment, the processor 130 may identify whether the robot 100 can perform a specific service (S310). According to one example, if the performance of the display (not shown) included in the robot 100 is identified as being below a preset value, the processor 130 may identify the guidance service as a specific service performed through the display (not shown). and the processor 130 may identify that the robot 100 can no longer perform the identified guidance service.

Subsequently, according to one embodiment, if the robot 100 is identified as being unable to perform a specific service (N), the processor 130 may identify at least one device that exists within a preset distance from the robot 100. There is (S320). According to one example, the processor 130 is included in the robot 100 when it is identified that the guidance service can no longer be performed as the performance of the display (not shown) of the robot 100 is identified as being below a preset value. Device b that exists within a preset distance from the robot 100 can be identified through a short-range communication module (not shown), for example, a Bluetooth communication module (not shown). Here, the communication module (not shown) consists of a transmitter with a pulse generator, a receiver with a pulse detector, a timing circuit, a signal processor, and an antenna for transmitting and receiving signals.

According to one example, the processor 130 sends a communication signal through a communication module (not shown), and when the sent signal is reflected from the device and received by the communication module (not shown), The distance between the device and the robot 100 can be identified. Afterwards, the processor 130 may identify at least one device whose identified distance is less than a preset value. Here, the signal strength may be, for example, the size of RSSI (Received Signal Strength Indication), but is not limited thereto.

Meanwhile, according to one example, the processor 130 may identify at least one device that exists within a preset distance through the communication interface 120. For example, the processor 130 may perform Bluetooth or Wi-Fi communication with at least one device through the communication interface 120. The processor 130 may identify the strength of a signal received from a device using the above-described communication method, and identify the distance between the robot 100 and at least one device based on this.

Next, according to one embodiment, the processor 130 may identify device information corresponding to each of at least one device based on the information stored in the memory 110 (S330). According to one example, when device b is identified as existing within a preset distance from the robot 100, the processor 130 may obtain device information related to a feature included in device b through the memory 110. . For example, the processor 130 provides information about at least one of the processor type, microphone type, motor type, number of motors, sensor type, number of sensors, speaker type, display type, or memory type of device b through the memory 110. Device information of device b including can be obtained.

Subsequently, according to one embodiment, the processor 130 compares a plurality of feature information identified based on a plurality of reference feature information and device information required to perform a specific service, and compares the plurality of feature information between the plurality of reference feature information and the plurality of feature information. Similarity can be obtained (S340).

According to one example, when the processor 130 first obtains a plurality of reference feature information required to perform the guidance service from the memory 110, the processor 130 matches the items of the plurality of reference feature information among the device information of the identified device b. Information corresponding to the item can be obtained as a plurality of feature information for device b. For example, if the plurality of reference feature information required to perform the guidance service are the processor type, sensor type, number of sensors, speaker type, display type, and memory type, the processor 130 provides information to the identified device b. Identify the information corresponding to the items of reference feature information (processor type, sensor type, number of sensors, speaker type, display type, and memory type of device b) among the device information about device b as a plurality of feature information. can do.

According to one example, the processor 130 compares the feature information for device b with a plurality of reference feature information (or reference feature information for the information service) required to perform the guidance service by item, using Equation 1 below: Similarity can be obtained through (Jacarrd similarity).

Here, A is the number of items of standard feature information required to perform a specific service, B is the number of items of standard feature information of the identified device,

means the number of items of reference feature information of the identified device that matches the reference feature information required to perform a specific service.

For example, the standard feature information for the guidance service is a total of 6 items (processor type, sensor type, number of sensors, speaker type, display type, and memory type), and the feature information for device b is a total of 6 items ( device b's processor type, sensor type, number of sensors, speaker type, display type, and memory type), of which five items of information (sensor type, number of sensors, speaker type, display type, and memory type) If ) matches, the processor 130 determines the similarity between the reference feature information for the guidance service and the plurality of feature information for device b (=

) can be obtained. According to one example, the processor 130 compares the feature information for the identified device with a plurality of reference feature information required to perform a specific service for each item to obtain similarity through Equation 1 (Jacarrd similarity). do.

According to one embodiment, the processor 130 may identify whether at least one device can perform a specific service based on the obtained similarity (S350). According to one example, the processor 130 determines the obtained similarity (=

) is identified as being greater than or equal to a threshold, for example, 0.6, the identified device b can be identified as capable of performing a guidance service.

Meanwhile, according to one example, the processor 130 may identify that the identified device cannot perform a specific service if the identified device does not have the required configuration for performing a specific service. According to one example, essential configuration information for each specific service may be pre-stored in the memory 110, and the processor 130 is a device identified based on the required configuration information for each specific service stored in the memory 110. It is possible to identify whether the required configuration for performance of a specific service is included. For example, assume that a motor is an essential component for a serving service. When device b is identified as existing within a preset distance, the processor 130 compares the required configuration information for the serving service stored in the memory 110 with the device information for device b to perform the serving service on device b. It can be identified that the motor, which is a required component, is missing. The processor 130 may identify device b as unable to perform the serving service as it is identified that device b does not have the required configuration for performing the serving service.

According to one embodiment, when at least one device is identified as capable of performing a specific service, the processor 130 may transmit information for the at least one device to perform the specific service to the at least one device (S360 ). According to one example, when the identified device b is identified as capable of performing the guidance service, the processor 130 provides a guidance service including a control command for performing the guidance service and solution information required to perform the guidance service. Information for performance can be transmitted to device b through the communication interface 120.

Accordingly, even if the robot 100 cannot perform a specific service, a device located within a preset distance can perform the specific service. As a result, continuous service provision to users becomes possible and user satisfaction improves.

According to FIG. 4A, according to one embodiment, device information related to features included in each device may be stored in the memory 110. Here, the device information related to the feature is a configuration included in the device (e.g., a processor (or processor type), microphone (or microphone type), motor (or motor type), or sensor (or, It may be information about the type and number of sensor types), but it is not limited to this, and of course, it may be different types of features such as displays, speakers, and memories.

According to one embodiment, the processor 130 may identify device information corresponding to each of at least one device identified as existing within a preset distance from the robot based on information stored in the memory 110. According to one example, when device b is identified as existing within a preset distance, the processor 130 selects the device among the

device information

411, 412, 413, ... related to the features included in each device stored in the memory 110. Device information 412 corresponding to b can be identified.

According to FIG. 4B, according to one embodiment, a plurality of reference feature information required to perform a specific service may be stored in the memory 110. Here, the plurality of reference feature information required to perform a specific service refers to information about the type and number of features essential to the performance of the specific service, and the plurality of feature information is included in the plurality of reference feature information among the device information. This refers to information about the item corresponding to the item.

According to one embodiment, the processor 130 compares a plurality of feature information identified based on a plurality of reference feature information and device information required to perform a specific service to determine the similarity between the plurality of reference feature information and the plurality of feature information. can be obtained.

According to one example, it is assumed that the robot 100 is identified as being unable to perform the delivery service. When the processor 130 identifies that device a exists at a preset distance from the robot 100, the processor 130 selects a plurality of reference feature information 423 necessary to perform the delivery service among a plurality of reference feature information stored in the memory 110. can be identified.

According to one example, the processor 130 may identify device information 411 for the identified device a based on information stored in the memory 110, and a plurality of reference features identified among the identified device information 411. Information corresponding to the items of the information 423 (processor type, motor type, number of motors, sensor type, number of sensors, and memory type) can be obtained as a plurality of feature information for device a.

Subsequently, according to one example, the processor 130 may obtain similarity by comparing a plurality of feature information for the identified device a and a plurality of identified reference feature information 423 for each corresponding item. For example, the processor 130 may obtain similarity through Equation 1 (Jacarrd similarity).

For example, the standard feature information for the delivery service is a total of 6 items (processor type, motor type, number of motors, sensor type, number of sensors, and memory type), and the feature information for device a is a total of 6 items (the Processor type, motor type, number of motors, sensor type, number of sensors, and memory type), of which 6 items of information (processor type, motor type, number of motors, type of sensor, number of sensors, and memory type) match. In this case, the processor 130 determines the similarity between the reference feature information for the delivery service and the plurality of feature information for device a (

) can be obtained.

According to one example, when information about a specific item included in the reference feature information is included in information about a specific item included in the identified device information, the processor 130 may identify the above-mentioned items as matching. For example, according to FIG. 4A, the sensor type of device a includes sensors a, b, and c, and the sensor type corresponding to the delivery service includes sensors a and b. The processor 130 can identify that information about the sensor type corresponding to the delivery service is included in the information about the sensor type of device a, and based on this, it can identify that the sensor type matches.

According to one embodiment, the memory 110 may store weight information corresponding to each of a plurality of reference feature information for a specific service type.

According to one embodiment, the processor 130 may obtain similarity based on information about weights corresponding to each of a plurality of reference feature information stored in the memory 110.

First, according to one example, the processor 130 may identify a weight corresponding to each of a plurality of reference feature information based on the type of a specific service. For example, the processor 130 may identify weight information 432 corresponding to each of a plurality of reference feature information for the guidance service based on information about the weight stored in the memory 110.

Afterwards, according to one example, the processor 130 may obtain a plurality of reference feature information and a degree of similarity between the plurality of feature information based on the identified weight information 432. For example, the standard feature information for the guidance service is a total of 6 items (processor type, sensor type, number of sensors, speaker type, display type, and memory type), and the feature information for device b is a total of 6 items (device b's processor type, sensor type, number of sensors, speaker type, display type, and memory type), and if five of these items (type of sensor, number of sensors, speaker type, display type, and memory type) match, The processor 130 can obtain similarity using the weight corresponding to each item as shown in Equation 2 below.

Here, A' is the weight sum corresponding to the items of standard feature information required to perform a specific service, B' is the weight sum corresponding to the items of standard feature information of the identified device,

means the weighted sum of the items of reference feature information of the identified device that matches the reference feature information required to perform a specific service.

For example, the processor 130 may obtain similarity using the weight corresponding to each item as shown in Equation 3 below.

Afterwards, according to one example, the processor 130 determines the obtained similarity (=

) is identified as being greater than or equal to a threshold, for example, 0.6, the identified device b can be identified as capable of performing a guidance service. According to one example, the processor 130 may transmit information for device b to perform a guidance service to device b through the communication interface 120.

According to one embodiment, it is assumed that the robot 100 is identified as being unable to perform the serving service.

According to one embodiment, when the first device and the second device are first identified as a plurality of devices existing within a preset distance, the processor 130 selects a device corresponding to the first device based on the information stored in the memory 110. First device information and second device information corresponding to the second device can be identified. According to one example, the processor 130 identifies device a (10) and device c (30) that exist within a preset distance from the robot 100, and features included in each device stored in the memory 110 ), device information 411 for device a (10) and device information 413 for device c (30) can be identified.

According to one embodiment, the processor 130 compares a plurality of first feature information identified based on a plurality of reference feature information and first device information to determine a first similarity between the plurality of reference feature information and the plurality of first feature information. can be obtained. According to one example, the processor 130 identifies a plurality of reference feature information 421 corresponding to a serving service and matches the item of the identified reference feature information 421 among the device information of the identified device a (10). Identify the information corresponding to the item (information about the processor, microphone, motor, number of motors, sensors, number of sensors, speaker, display, and memory of device a (10)) as the first feature information for device a (10). can do. According to one example, the processor 130 compares the identified first feature information and the identified reference feature information 421, and determines between the plurality of reference feature information 421 and the plurality of first feature information through Equation 1. First similarity (

) can be obtained.

According to one embodiment, the processor 130 compares a plurality of second feature information identified based on a plurality of reference feature information and second device information to determine a second similarity between the plurality of reference feature information and the plurality of second feature information. can be obtained. According to one example, the processor 130 identifies a plurality of reference feature information 421 corresponding to a serving service and matches the item of the identified reference feature information 421 among the device information of the identified device c 30. Information corresponding to the items (information about the processor, microphone, motor, number of motors, sensors, number of sensors, speaker, display, and memory of device c (30)) can be identified as second feature information for device c. . According to one example, the processor 130 compares the identified second feature information and the identified reference feature information 421, and determines between the plurality of reference feature information 421 and the plurality of second feature information through Equation 1. Second similarity (

) can be obtained.

Subsequently, according to one embodiment, the processor 130 may identify whether the first device can perform a specific service based on the obtained first similarity. According to one example, the processor 130 may identify device a (10) as capable of performing a serving service as the obtained first similarity (=1) is identified as being 0.6 or more, which is the threshold value.

According to one embodiment, the processor 130 may identify whether the second device can perform a specific service based on the obtained second similarity. According to one example, the processor 130 may identify that device c 30 can perform a serving service as the obtained second similarity (=0.63) is identified as being 0.6 or more, which is the threshold value.

According to one embodiment, when the first device and the second device are identified as being capable of performing a specific service, the processor 130 identifies a relatively large similarity among the first similarity and the second similarity, and uses the communication interface 120 Information for performing a specific service can be transmitted to a device corresponding to the similarity identified through . According to one example, the processor 130 determines that each of device a (10) and device c (30) is capable of performing a serving service, and the obtained first similarity (=1) and second similarity (= 0.63), a relatively large first similarity can be identified, and information for performing a serving service can be transmitted to the corresponding device a through the communication interface 120.

Accordingly, even when a plurality of devices are identified as being within a preset distance, the robot 100 can identify a device with relatively high performance related to a specific service.

According to one embodiment, when the robot 100 is identified as being unable to perform a plurality of specific services (e.g., a first service and a second service), the processor 130 performs a plurality of specific services, respectively. At least one device (at least one of 10 to 40) can be identified.

According to one example, when the robot 100 is identified as unable to perform serving service and guidance service among a plurality of specific services and a plurality of devices 10 to 40 exist within a preset distance from the robot 100. We assume a case identified as

According to one example, the processor 130 includes a plurality of first reference feature information 421 required to perform a serving service and a plurality of second standards required to perform a guidance service based on information stored in the memory 110. Feature information 422 can be identified.

According to one example, the processor 130 compares the first reference feature information 421 and a plurality of feature information identified based on the device information to determine a third similarity between the first plurality of reference feature information and the plurality of feature information. It can be obtained.

For example, the processor 130 may randomly (or randomly) identify device a (10) among the plurality of devices (10 to 40) identified as existing within a preset distance from the robot (100). The processor 130 identifies a plurality of feature information about device a (10) based on the device information about device a (10) and the first reference feature information 421, and uses this to identify a plurality of first reference feature information. (421) and the third similarity between the plurality of feature information for the identified device a (10) (

) can be obtained.

According to one example, the processor 130 may identify whether at least one device can perform the first service based on the obtained third similarity. For example, as the obtained third similarity (=1) is identified as being greater than or equal to the threshold value of 0.7, the processor 130 may identify device a as capable of performing a serving service.

In this case, according to one example, the processor 130 may randomly identify any one device among the plurality of devices 10 to 40, but this is not limited, and the processor 130 may identify any one device among the devices existing within a preset distance. The device with the relatively smallest distance from the robot 100 may be identified.

According to one example, the processor 130 may obtain a fourth degree of similarity between the plurality of second reference feature information and the plurality of feature information by comparing the plurality of feature information identified based on the second reference feature information and the device information. there is. For example, the processor 130 may randomly (or randomly) identify device b 20 among the plurality of devices 10 to 40 identified as existing within a preset distance from the robot 100. The processor 130 identifies a plurality of feature information about device b (20) based on the device information about device b (20) and the second reference feature information 422, and uses this to identify a plurality of second reference feature information. (422) and the fourth similarity between the plurality of feature information for the identified device b (20) (

) can be obtained. Meanwhile, according to one example, the processor 130 obtains a similarity corresponding to the second reference feature information for each of the plurality of devices 10 to 40, and provides a similarity with a relatively largest value among the obtained similarities. 4 Of course, it can also be obtained through similarity.

According to one example, the processor 130 may identify whether at least one device can perform the second service based on the obtained fourth similarity. For example, the obtained fourth similarity (

) is identified as being greater than or equal to the threshold value of 0.7, the processor 130 may identify device b as capable of performing a guidance service.

According to one embodiment, when at least one device (at least one of 10 to 40) for performing each of a plurality of specific services is identified, the processor 130 corresponds to each of the plurality of specific services through the communication interface 120. Information for performing a plurality of specific services can be transmitted to each device. According to one example, the processor 130 may transmit information for performing a serving service to device a (10) through the communication interface 120, and may communicate information for performing a guidance service to device b (20). It can be transmitted through the interface 120.

Accordingly, even when the robot 100 cannot perform a plurality of specific services, it can provide a plurality of specific services without a gap using at least one device.

According to one embodiment, the processor 130 may transmit information for performing a specific service to at least one device and then identify the performance status of the specific service.

According to one example, the processor 130 transmits information for performing a specific service to at least one device (at least one of 10 to 40) and then transmits the specific service from the at least one device (at least one of 10 to 40). When feedback information related to performance of is received, the performance status of a specific service can be identified based on the received feedback information. Here, feedback information related to performance of a specific service refers to information about the ability of the identified device to perform a specific service.

For example, when information about the guidance service is transmitted to device b (20), the processor 130 may obtain information about device b's ability to perform the guidance service from device b through the communication interface 120. . If the performance capability of device b (20) is identified as being less than a preset value, the processor 130 can identify devices other than device b (20) and identify whether the identified device can perform the guidance service. there is.

First, according to one embodiment, the control method may diagnose whether the robot 100 can perform a specific service (S810). According to one example, the control method may monitor the performance of at least one hardware included in the robot 100 to identify whether the performance of the at least one hardware is below a preset value.

Next, according to one embodiment, the control method may identify a device that will perform a specific service (S820). According to one example, the control method identifies at least one device that exists within a preset distance from the robot 100, and provides a plurality of reference feature information required to perform a specific service and a plurality of feature information for the identified device. By comparison, similarities between a plurality of reference feature information and a plurality of feature information can be obtained. Subsequently, the control method may identify whether at least one device identified based on the obtained similarity can perform a specific service.

Next, according to one embodiment, the control method may obtain information to be transmitted to the identified device (S830). According to one example, when at least one device is identified as capable of performing a specific service, the control method may obtain information related to the operating system of the at least one device. For example, the control method may obtain operating system information (processor b) for the identified device b based on information stored in the memory 110.

Next, according to one embodiment, the control method may convert information into an application form executable on the operating system of the identified device (S840). According to one example, the control method may convert information related to a specific service into an application form executable on the operating system of at least one identified device based on the acquired operating system information for the device. For example, the control method may identify that the operating system information of the robot 100 is different from the operating system information of device b based on the acquired operating system information of device b, and the control method may identify information related to the guidance service. It can be converted into an executable application form on the operating system of device b.

Subsequently, according to one embodiment, the control method may transmit information in the converted application form to at least one identified device (S850). For example, the control method may transmit information in the form of an application about the converted guidance service to device b.

According to Figure 9, the robot 100' includes a memory 110, a communication interface 120, a processor 130, a user interface 140, a microphone 150, a driver 155, a sensor 160, and a speaker ( 165) and a display 170. Among the configurations shown in FIG. 9, detailed descriptions of configurations that overlap with those shown in FIG. 2 will be omitted.

The user interface 140 may be implemented with devices such as buttons, touch pads, mice, and keyboards, or may be implemented with a touch screen, remote control transceiver, etc. that can also perform the above-described display function and manipulation input function. The remote control transceiver may receive a remote control signal from an external remote control device or transmit a remote control signal through at least one communication method among infrared communication, Bluetooth communication, or Wi-Fi communication.

The microphone 150 may refer to a module that acquires sound and converts it into an electrical signal, and may be a condenser microphone, ribbon microphone, moving coil microphone, piezoelectric element microphone, carbon microphone, or MEMS (Micro Electro Mechanical System) microphone. Additionally, it can be implemented in omni-directional, bi-directional, uni-directional, sub-cardioid, super-cardioid, and hyper-cardioid ways.

The driving unit 155 is a device that can drive the robot 100. The driving unit 155 can adjust the traveling direction and traveling speed according to the control of the processor 130, and the driving unit 155 according to an example is a power generating device (e.g. : Depending on the fuel (or energy source) used, gasoline engine, diesel engine, LPG (liquefied petroleum gas) engine, electric motor, etc.), steering device to control the driving direction (e.g., mechanical steering (manual steering), It may include hydraulics steering (hydraulics steering, electronic control power steering (EPS), etc.), and a traveling device (e.g. wheels, propellers, etc.) that drives the robot (100') according to power. Here, the driving unit 155 may be modified according to the driving type (e.g., wheel type, walking type, flying type, etc.) of the robot 100'.

At least one sensor 160 (hereinafter referred to as sensor) may include a plurality of sensors of various types. The sensor 160 may measure a physical quantity or detect the operating state of the robot 100' and convert the measured or sensed information into an electrical signal. The sensor 160 may include a camera, and the camera may include a lens that focuses visible light and other optical signals reflected by an object and received onto an image sensor, and an image sensor that can detect visible light and other optical signals. Here, the image sensor may include a 2D pixel array divided into a plurality of pixels, and the camera according to one example may be implemented as a depth camera. Additionally, the sensor 160 may include a distance sensor such as a LIDAR (Light Detection And Ranging) sensor and a TOF (Time of Flight) sensor.

In addition, at least one sensor 160 may include a gesture sensor, a gyro sensor, an air pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor (e.g., an RGB (red, green, blue) sensor), It may include at least one of a biometric sensor, a temperature/humidity sensor, an illumination sensor, or a UV (ultra violet) sensor.

The speaker 165 includes a tweeter for reproducing high-pitched sounds, a midrange for reproducing mid-range sounds, a woofer for reproducing low-pitched sounds, a subwoofer for reproducing extremely low-pitched sounds, an enclosure for controlling resonance, and input to the speaker. It may be composed of a crossover network that divides the electrical signal frequencies into bands.

The speaker 165 may output an acoustic signal to the outside of the robot 100'. The speaker 165 can output multimedia playback, recording playback, various notification sounds, voice messages, etc. The robot 100' may include an audio output device such as the speaker 165, or may include an output device such as an audio output terminal. In particular, the speaker 165 can provide acquired information, information processed and produced based on the acquired information, response results to the user's voice, or operation results, etc. in voice form.

The display 170 may be implemented as a display including a self-emitting device or a display including a non-emitting device and a backlight. For example, Liquid Crystal Display (LCD), Organic Light Emitting Diodes (OLED) display, Light Emitting Diodes (LED), micro LED, Mini LED, Plasma Display Panel (PDP), and Quantum dot (QD) display. , QLED (Quantum dot light-emitting diodes), etc. can be implemented as various types of displays. The display 170 may also include a driving circuit and a backlight unit that may be implemented in the form of a-si TFT, low temperature poly silicon (LTPS) TFT, or organic TFT (OTFT). Meanwhile, the display 170 is implemented as a touch screen combined with a touch sensor, a flexible display, a rollable display, a 3D display, a display in which a plurality of display modules are physically connected, etc. It can be. The processor 120 may control the display 170 to output the output image obtained according to the various embodiments described above. Here, the output image may be a high-resolution image of 4K or 8K or higher.

According to the various embodiments described above, even when a robot cannot perform a specific service, a device located within a preset distance can perform the specific service instead. As a result, continuous service provision to users becomes possible and user satisfaction improves.

Meanwhile, the methods according to various embodiments of the present disclosure described above may be implemented in the form of an application that can be installed on an existing robot. Alternatively, the methods according to various embodiments of the present disclosure described above may be performed using a deep learning-based learned neural network (or deep learned neural network), that is, a learning network model. Additionally, the methods according to various embodiments of the present disclosure described above may be implemented only by upgrading software or hardware for an existing robot. Additionally, the various embodiments of the present disclosure described above can also be performed through an embedded server provided in the robot or an external server of the robot.

Meanwhile, according to an example of the present disclosure, the various embodiments described above may be implemented as software including instructions stored in a machine-readable storage media (e.g., a computer). You can. The device is a device capable of calling instructions stored from a storage medium and operating according to the called instructions, and may include a display device (eg, display device A) according to the disclosed embodiments. When an instruction is executed by a processor, the processor may perform the function corresponding to the instruction directly or using other components under the control of the processor. Instructions may contain code generated or executed by a compiler or interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium does not contain signals and is tangible, and does not distinguish whether the data is stored semi-permanently or temporarily in the storage medium.

Additionally, according to one embodiment, the methods according to various embodiments described above may be provided and included in a computer program product. Computer program products are commodities and can be traded between sellers and buyers. The computer program product may be distributed on a machine-readable storage medium (e.g. compact disc read only memory (CD-ROM)) or online through an application store (e.g. Play Store™). In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or created temporarily in a storage medium such as the memory of a manufacturer's server, an application store's server, or a relay server.

In addition, each component (e.g., module or program) according to the various embodiments described above may be composed of a single or multiple entities, and some of the sub-components described above may be omitted, or other sub-components may be omitted. Additional components may be included in various embodiments. Alternatively or additionally, some components (e.g., modules or programs) may be integrated into a single entity and perform the same or similar functions performed by each corresponding component prior to integration. According to various embodiments, operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or at least some operations may be executed in a different order, omitted, or other operations may be added. You can.

In the above, preferred embodiments of the present disclosure have been shown and described, but the present disclosure is not limited to the specific embodiments described above, and may be used in the technical field pertaining to the disclosure without departing from the gist of the disclosure as claimed in the claims. Of course, various modifications can be made by those skilled in the art, and these modifications should not be understood individually from the technical ideas or perspectives of the present disclosure.

Claims

In robots that perform specific services,

a memory storing device information related to features included in each of at least one device;

communication interface; and

If the robot is identified as being unable to perform the specific service, identify at least one device that exists within a preset distance from the robot,

Identifying device information corresponding to each of the at least one device based on information stored in the memory,

Obtaining a degree of similarity between the plurality of reference feature information and the plurality of feature information by comparing the plurality of reference feature information required to perform the specific service and the plurality of feature information identified based on the device information,

Identify whether the at least one device can perform the specific service based on the obtained similarity,

When the at least one device is identified as capable of performing the specific service, one or more processors that transmit information for the at least one device to perform the specific service to the at least one device through the communication interface; Robots including.
According to paragraph 1,

The processor,

When a first device and a second device are identified as a plurality of devices existing within the preset distance, first device information corresponding to the first device and second device corresponding to the second device are based on the information stored in the memory. 2 Identify device information,

Obtaining a first degree of similarity between the plurality of reference feature information and the plurality of first feature information by comparing the plurality of first feature information identified based on the plurality of reference feature information and the first device information,

Comparing the plurality of reference feature information and the plurality of second feature information identified based on the second device information to obtain a second similarity between the plurality of reference feature information and the plurality of second feature information,

Identify whether the first device can perform the specific service based on the obtained first similarity,

A robot that identifies whether the second device can perform the specific service based on the obtained second similarity.
According to paragraph 2,

The processor,

When the first device and the second device are identified as capable of performing the specific service, a relatively large similarity among the first similarity and the second similarity is identified,

A robot that transmits information for performing the specific service to a device corresponding to the identified similarity through the communication interface.
According to paragraph 2,

The processor,

If the obtained first similarity is greater than or equal to a threshold, the first device is identified as capable of performing the specific service,

If the obtained second similarity is greater than or equal to the threshold, the robot identifies that the second device can perform the specific service.
According to paragraph 1,

The processor,

Identifying a weight corresponding to each of the plurality of reference feature information based on the type of the specific service,

A robot that obtains similarity between the plurality of reference feature information and the plurality of feature information based on the identified weight.
According to paragraph 1,

The specific service includes a first service and a second service,

The processor,

Identifying a plurality of first reference feature information required to perform the first service and a plurality of second reference feature information required to perform the second service,

Comparing the first reference feature information and a plurality of feature information identified based on the device information to obtain a third degree of similarity between the first plurality of reference feature information and the plurality of feature information,

Identify whether the at least one device can perform the first service based on the obtained third similarity,

Obtaining a fourth degree of similarity between the plurality of second reference feature information and the plurality of feature information by comparing the second reference feature information and the plurality of feature information identified based on the device information,

A robot that identifies whether the at least one device can perform the second service based on the obtained fourth similarity.
According to paragraph 1,

Information for performing the specific service above is:

A robot comprising at least one of feature information corresponding to the specific service, history information related to the specific service, and user setting information related to the specific service.
According to paragraph 1,

The processor,

If the at least one device is identified as capable of performing the specific service, obtain information related to the operating system of the at least one device,

Converting information related to the specific service into an application form executable on an operating system of the at least one device based on the obtained information,

A robot that transmits information in the form of the application to the at least one device.
According to paragraph 1,

The processor,

After transmitting information for performing the specific service to the at least one device, when feedback information related to performing the specific service is received from the at least one device, the specific service is provided based on the received feedback information. Robot that identifies performance status.
According to paragraph 1,

Device information related to features included in each of the at least one device,

Contains information related to at least one of a processor, microphone, motor, sensor, speaker, display, and memory included in each of the at least one device,

The specific service above is,

A robot comprising at least one of a serving service, a guiding service, and a delivery service.
In the control method of a robot performing a specific service,

identifying whether the robot can perform the specific service;

When the robot is identified as being unable to perform the specific service, identifying at least one device that exists within a preset distance from the robot;

Identifying device information corresponding to each of the at least one device based on information stored in a memory;

Comparing a plurality of reference feature information required to perform the specific service and a plurality of feature information identified based on the device information to obtain a degree of similarity between the plurality of reference feature information and the plurality of feature information;

Identifying whether the at least one device can perform the specific service based on the obtained similarity; and

When the at least one device is identified as capable of performing the specific service, transmitting information for the at least one device to perform the specific service to the at least one device.
According to clause 11,

The step of identifying the device information is,

When a first device and a second device are identified as a plurality of devices existing within the preset distance, first device information corresponding to the first device and second device information corresponding to the second device are based on information stored in the memory. Including; identifying device information;

The step of obtaining the similarity is,

Comparing the plurality of reference feature information and a plurality of first feature information identified based on the first device information to obtain a first similarity between the plurality of reference feature information and the plurality of first feature information; and

Comparing a plurality of second feature information identified based on the plurality of reference feature information and the second device information to obtain a second similarity between the plurality of reference feature information and the plurality of second feature information; Contains,

The step of identifying whether the specific service can be performed is,

Identifying whether the first device can perform the specific service based on the obtained first similarity; and

A control method including; identifying whether the second device can perform the specific service based on the obtained second similarity.
According to clause 12,

The step of transmitting to at least one device is:

When the first device and the second device are identified as capable of performing the specific service, identifying a relatively greater similarity among the first similarity and the second similarity; and

A control method including; transmitting information for performing the specific service to a device corresponding to the identified similarity.
According to clause 12,

The step of identifying whether the first device can perform the specific service includes:

If the obtained first similarity is greater than or equal to a threshold, the first device is identified as capable of performing the specific service,

The step of identifying whether the second device can perform the specific service includes:

If the obtained second similarity is greater than or equal to the threshold, the control method identifies the second device as capable of performing the specific service.
A non-transitory computer-readable recording medium storing computer instructions that, when executed by a processor of a robot, cause the robot to perform an operation, the operation comprising:

identifying whether the robot can perform the specific service;

When the robot is identified as being unable to perform the specific service, identifying at least one device existing within a preset distance from the robot;

Identifying device information corresponding to each of the at least one device based on information stored in a memory;

Comparing a plurality of reference feature information required to perform the specific service and a plurality of feature information identified based on the device information to obtain a degree of similarity between the plurality of reference feature information and the plurality of feature information;

Identifying whether the at least one device can perform the specific service based on the obtained similarity; and

When the at least one device is identified as capable of performing the specific service, transmitting information for the at least one device to perform the specific service to the at least one device; a non-transitory computer comprising a. Readable recording medium.