US-12617088-B2 - Robot and control method therefor

US12617088B2US 12617088 B2US12617088 B2US 12617088B2US-12617088-B2

Abstract

A robot includes: at least one sensor; a driver configured to move the robot; a memory configured to store at least one instruction; and a processor configured to execute the at least one instruction to: identify sub spaces of a traveling space of the robot, obtain navigability information corresponding to the respective sub spaces based on sensing data obtained by the at least one sensor while the robot is traveling, obtain time information on time required for passing through the respective sub spaces based on a traveling map, the traveling map being obtained based on the navigability information, identify a moving path of the robot based on the time information, and control the driver based on the moving path, wherein the navigability information includes at least one of region information associated with a sub space, information associated with at least one other robot, and information associated with a dynamic object.

Inventors

Dohoon Kim
Hyunki Hong

Assignees

SAMSUNG ELECTRONICS CO., LTD.

Dates

Publication Date: 20260505
Application Date: 20240111
Priority Date: 20210909

Claims (13)

1 . A robot comprising: at least one sensor; a driver configured to move the robot; a memory configured to store at least one instruction; and a processor operably connected with the at least one sensor, the driver, and the memory, wherein the processor is configured to execute the at least one instruction to: identify sub spaces of a traveling space of the robot, obtain navigability information corresponding to the respective sub spaces based on sensing data obtained by the at least one sensor while the robot is traveling, identify information on a number of robots that can pass through the respective sub spaces based on width information of the respective sub spaces and width information of the robot, obtain a traveling map based on the navigability information, the traveling map comprising the information on the number of robots that can pass through the respective sob spaces, obtain time information on a time required for passing through the respective sub spaces based on the traveling map, identify a moving path of the robot based on the time information, and control the driver based on the moving path, wherein the navigability information comprises at least one of region information associated with a sub space, information associated with at least one other robot, and information associated with a dynamic object.
2 . The robot of claim 1 , wherein the region information associated with the sub space comprises at least one of a width corresponding to the sub space, a time required for passing through the sub space, and free space information of the sub space, and wherein the information associated with the dynamic object comprises information on a number of dynamic objects.
3 . The robot of claim 1 , wherein the information associated with the at least one other robot comprises at least one of information on a number of other robots positioned in the sub space, size information of other robots, information on a number of other robots standing by in the sub space, or position information of another robot.
4 . The robot of claim 1 , wherein the processor is further configured to execute the at least one instruction to identify a second other robot scheduled to pass through the sub space as standing by in the sub space based on a sum of widths of first other robots positioned in the sub space being within a threshold range based on a width of the sub space.
5 . The robot of claim 1 , wherein the processor is further configured to execute the at least one instruction to: identify a peak line based on a set of cells in which distance information from the respective sub spaces to an obstacle become a peak, and obtain the traveling map comprising information corresponding to the peak line.
6 . The robot of claim 5 , wherein the processor is further configured to execute the at least one instruction to obtain the width information of the respective sub spaces based on at least one cell vertical with the set of cells in the peak line.
7 . The robot of claim 1 , wherein the processor is further configured to execute the at least one instruction to obtain the traveling map based on at least one of a traversability map in which an obstacle is expanded by a safe margin and a distance map which comprises distance information to the obstacle.
8 . A control method of a robot, the control method comprising: identifying sub spaces of a traveling space of the robot; obtaining navigability information corresponding to the respective sub spaces based on sensing data obtained by at least one sensor of the robot while the robot is traveling; identifying information on a number of robots that can pass through the respective sub spaces based on width information of the respective sub spaces and width information of the robot; obtaining a traveling map based on the navigability information, the traveling map comprising the information on the number of robots that can pass through the respective sub spaces; obtaining time information on a time required for passing through the respective sub spaces based the traveling map; identifying a moving path of the robot based on the time information; and controlling a traveling of the robot based on the moving path, wherein the navigability information comprises at least one of region information associated with a sub space, information associated with at least one other robot, and information associated with a dynamic object.
9 . The control method of claim 8 , wherein the region information associated with the sub space comprises at least one of a width corresponding to the sub space, a time required for passing through the sub space, and free space information of the sub space, and wherein the information associated with the dynamic object comprises information on a number of dynamic objects.
10 . The control method of claim 8 , wherein the information associated with the at least one other robot comprises at least one of the information on a number of other robots positioned in the sub space, size information of other robots, information on a number of other robots standing by in the sub space, or position information of another robot.
11 . The control method of claim 8 , wherein the obtaining navigability information comprises identifying a second other robot scheduled to pass through the sub space as standing by in the sub space based on a sum of widths of first other robots positioned in the sub space falling within a threshold range based on a width of the sub space.
12 . The control method of claim 8 , wherein the obtaining navigability information comprises identifying a peak line based on a set of cells in which distance information from the respective sub spaces to an obstacle becomes a peak, and wherein the traveling map comprises information corresponding to the peak line.
13 . A non-transitory computer readable storage medium storing a instructions that are executed by a processor of a robot to perform operations comprising: identifying sub spaces of a traveling space of the robot; obtaining navigability information corresponding to the respective sub spaces based on sensing data obtained by at least one sensor of the robot while the robot is traveling; identifying information on a number of robots that can pass through the respective sub spaces based on width information of the respective sub spaces and width information of the robot; obtaining a traveling man based on the navigability information, the traveling man comprising the information on the number of robots that can pass through the respective sob spaces, obtaining time information on a time required for passing through the respective sub spaces based on the traveling map; identifying a moving path of the robot based on the time information; and controlling a traveling of the robot based on the moving path, wherein the navigability information comprises at least one of region information associated with a sub space, information associated with at least one other robot, and information associated with a dynamic object.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application is a by-pass continuation application of International Application No. PCT/KR2022/010870, filed on Jul. 25, 2022, which based on and claims priority to Korean Patent Application No. 10-2021-0120397, filed on Sep. 9, 2021, in the Korean Intellectual Property Office, the disclosures of which are incorporated by reference herein in their entireties. BACKGROUND 1. Field The disclosure relates to a robot and a control method thereof, and to a robot moving in a space and a control method thereof. 2. Description of Related Art Recently, developments in technology for robots that are disposed in a space and provide services to users are actively being carried out. Robots that travel a narrow path are able to provide quick service to users by traveling quickly taking into consideration various types of information on a traveling path. Accordingly, a method of generating a path through which a robot can quickly travel taking into consideration various types of information is needed. SUMMARY Provided is a robot that divides a traveling space into a plurality of sub spaces, and generates a minimum time path taking into consideration various types of information for each sub space and a control method thereof. According to an aspect of the disclosure, a robot includes: at least one sensor; a driver configured to move the robot; a memory configured to store at least one instruction; and a processor operably connected with the at least one sensor, the driver, and the memory, wherein the processor is configured to execute the at least one instruction to: identify sub spaces of a traveling space of the robot, obtain navigability information corresponding to the respective sub spaces based on sensing data obtained by the at least one sensor while the robot is traveling, obtain time information on time required for passing through the respective sub spaces based on a traveling map, the traveling map being obtained based on the navigability information, identify a moving path of the robot based on the time information, and control the driver based on the moving path, wherein the navigability information may include at least one of region information associated with a sub space, information associated with at least one other robot, and information associated with a dynamic object. The region information associated with the sub space may include at least one of a width corresponding to the sub space, a time required for passing through the sub space, and free space information of the sub space, and the information associated with the dynamic object may include information on a number of dynamic objects. The information associated with the at least one other robot may include at least one of information on a number of other robots positioned in the sub space, size information of other robots, information on a number of other robots standing by in the sub space, or position information of another robot. The processor may be further configured to execute the at least one instruction to identify a second other robot scheduled to pass through the sub space as standing by in the sub space based on a sum of widths of first other robots positioned in the sub space being within a threshold range based on a width of the sub space. The processor may be further configured to execute the at least one instruction to: identify information on a number of robots that can pass through the respective sub spaces based on width information of the respective sub spaces and width information of the robot, and obtain the traveling map including the information on the number of robots that can pass. The processor may be further configured to execute the at least one instruction to: identify a peak line based on a set of cells in which distance information from the respective sub spaces to an obstacle become a peak, and obtain the traveling map including information corresponding to the peak line. The processor may be further configured to execute the at least one instruction to obtain width information of the respective sub spaces based on at least one cell vertical with the set of cells in the peak line. The processor may be further configured to execute the at least one instruction to obtain the traveling map based on at least one of a traversability map in which an obstacle is expanded by a safe margin and a distance map which may include distance information to the obstacle. According to an aspect of the disclosure, a control method of a robot, includes: identifying sub spaces of a traveling space of the robot; obtaining navigability information corresponding to the respective sub spaces based on sensing data obtained by at least one sensor of the robot while the robot is traveling; obtaining time information on time required for passing through the respective sub spaces based on a traveling map obtained based on the navigability information; identifying a moving path of the robot based on the