Method and system for controlling robot based on personal area associated with recognized person

Patent metadata

Field	Value
Publication number	US-2021114218-A1
Application number	US-202017072325-A
Country	US
Kind code	A1
Filing date	Oct 16, 2020
Priority date	Oct 16, 2019
Publication date	Apr 22, 2021
Grant date	—

Abstract

A robot control method includes recognizing a personal area associated with a person present in a traveling direction of a robot and controlling a movement of the robot based on the recognized personal area so that the robot avoids interference with the person. The personal area is differently recognized based on at least one of information on a country or a cultural area associated with the person, a moving direction of the person, a moving speed of the person, body information of the person, information on the path along which the person moves, a distance between the person and the robot, the type of service provided by the robot, the type of robot, and a speed of the robot.

First claim

What is claimed is:

1 . A robot control method performed by a robot or a robot control system controlling the robot, comprising:
recognizing a personal area associated with a person present in a traveling direction of a robot; and controlling a movement of the robot based on the recognized personal area so that the robot avoids interference with the person.

2 . The robot control method of claim 1 , wherein the personal area is recognized as a circle having the person as its center when the person stops and is recognized as a cone or oval extending in a direction in which the person moves when the person moves.

3 . The robot control method of claim 2 , wherein recognizing the personal area comprises differently recognizing the personal area associated with the person based on at least one of information on a country or a cultural area associated with the person, a moving direction of the person, a moving speed of the person, body information of the person, information on a path along which the person moves, a distance between the person and the robot, a type of service provided by the robot, a type of robot, and a speed of the robot.

4 . The robot control method of claim 2 , wherein a length of the personal area extending in the direction in which the person moves is increased as the speed of the person becomes greater, a height of the person becomes greater, or a width of the path along which the person moves becomes smaller.

5 . The robot control method of claim 2 , wherein a length of the personal area extending in the direction in which the person moves is increased as a speed of the robot becomes higher in a direction in which the person is located, a height or width of the robot becomes greater, or a degree of a risk to the person attributable to a service provided by the robot becomes higher.

6 . The robot control method of claim 1 , wherein controlling the movement of the robot comprises controlling the movement of the robot so that the robot does not enter the personal area and passes by a path along which the person moves.

7 . The robot control method of claim 6 , wherein controlling the movement of the robot comprises controlling the movement of the robot so that the robot is decelerated when the robot approaches the personal area.

8 . The robot control method of claim 6 , wherein controlling the movement of the robot comprises:
when it is determined that it is impossible to pass through the path without entering the personal area or a width of the path is a given value or less, controlling the robot to wait on one side of the path in a state in which the robot stops; and controlling the robot to travel after the person passes by the robot.

9 . The robot control method of claim 1 , further comprising:
prior to the recognizing of the personal area associated with the person, recognizing an obstacle present in the traveling direction of the robot; determining whether the obstacle is a human being or a thing; and calculating a distance between the person and the robot and a moving speed of the person in a direction in which the robot is located when the obstacle is determined to be the human being, wherein controlling the movement of the robot comprises: determining an avoidance direction for avoiding the personal area; controlling the traveling direction of the robot and a speed of the robot so that the robot avoids the personal area; determining whether the personal area is avoided; and controlling the movement of the robot so that the robot moves to a destination of the robot if the personal area has been avoided or the person passes by the robot.

10 . The robot control method of claim 1 , further comprising controlling the robot to output an indicator corresponding to a gaze of the robot at the person in at least one of cases, including before the robot passes by the person in a path along which the person moves, while the robot passes by the person, and after the robots passes by the person,
wherein the indicator comprises at least one of information that guides a movement of the person, information indicative of a feeling of the robot for the person, and information indicative of a movement of the robot.

11 . The robot control method of claim 10 , wherein controlling the robot to output the indicator comprises controlling the robot to output the indicator corresponding to a lowering of the gaze of the robot when a distance between the robot and the person is a given value or less or to output the indicator so that the gaze of the robot is directed toward a direction corresponding to a direction in which the robot tries to move.

12 . The robot control method of claim 1 , wherein controlling the movement of the robot comprises:
controlling the movement of the robot so that the robot does not pass through a space between the person and another person or an object, when it is determined that the person interacts with the another person or the object, notifying the person that the robot will pass through the space or requesting the person to move by outputting at least one of a visual indicator and an auditory indicator to the person, when it is determined that the robot cannot pass by the person without entering the space, and controlling the movement of the robot so that the person passes by the robot.

13 . The robot control method of claim 1 , wherein controlling the movement of the robot comprises controlling the movement of the robot so that the robot avoids interference with the person or another person in a way to imitate an operation of the person avoiding interference with the another person, if at least part of the robot is included in the personal area and the robot needs to move along with the person.

14 . The robot control method of claim 13 , wherein when the robot and the person get on an elevator and get off the elevator, the robot is controlled to get on the elevator after all persons get off the elevator, before the robot gets on the elevator, and
in a state in which the robot gets on the elevator, the robot is controlled to move near to a wall of the elevator in order not to interrupt a person who gets on or gets off the elevator.

15 . The robot control method of claim 1 , further comprising controlling the robot to output, at a rear of the robot, an indicator indicative of a deceleration or stop of the robot based on the control of the movement of the robot.

16 . The robot control method of claim 1 , further comprising controlling the robot to be decelerated or stopped before the robot enters an intersecting section of a travel path when a moving path of the person and the travel path of the robot intersect each other within a building.

17 . The robot control method of claim 1 , further comprising controlling a movement of the robot traveling around a corner based on predetermined surrounding environment information associated with the corner, if a travel path of the robot includes travelling around the corner within a building.

18 . The robot control method of claim 17 , wherein:
the surrounding environment information comprises at least one of information on a shape of the corner, information on a space near the corner, and information on a population behavior pattern in the space near the corner, the information on the shape of the corner comprises at least one of information on a width of a path constituting the corner, information on an angle of the corner, and information on a material of the corner, the information on the space near the corner comprises at least one of

Assignees

• Naver Corp
• Naver Labs Corp

Inventors

• Kim Seoktae
• Kim Kahyeon
• Cha Seijin

Classifications

• B25J11/00

  Manipulators not otherwise provided for · CPC title

• B25J9/1653

  parameters identification, estimation, stiffness, accuracy, error analysis · CPC title

• B25J9/1666 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J9/1676 Primary

  Avoiding collision or forbidden zones · CPC title

• B25J9/161

  Hardware, e.g. neural networks, fuzzy logic, interfaces, processor · CPC title