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US 11,602,854 B2Granted
Method and apparatus for controlling behavior of service robot
AssigneeSamsung Electronics Co., Ltd.
InventorsTaesin Ha, Kyung-Rock Kim, Jun-Won Jang, Joon-Kee Cho
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Abstract
A method and apparatus for controlling an operation of a service robot is disclosed. The method includes measuring, by processing circuitry, an evaluation index of the service robot based on sensor data in a service mode; determining, by the processing circuitry, an operation mode of the service robot from a set of at least two operation modes based on the measured evaluation index; selecting, by the processing circuitry, a behavior to be applied to the operation of the service robot from a set of at least two behaviors based on the operation mode; and controlling, by the processing circuitry, the operation of the service robot based on the behavior.
Claims14
A method of controlling an operation of a service robot, comprising:
- measuring, by processing circuitry, an evaluation index indicating a value that numerically represents a result of evaluation performed on an operation of the service robot based on sensor data in a service mode, the measuring of the evaluation index including measuring, by the processing circuitry, a performance index indicating a speed and accuracy of the service robot, a safety index indicating a level of safety of the service robot, based the sensor data, wherein the performance index is determined based on an average function performing speed and a maximum speed of the service robot, the safety index is determined based on a number of collisions while performing a function of the service robot and a speed at a time of collision, and the adaptability index is determined based on a number of context recognitions and a number of situational response strategies;
- determining, by the processing circuitry, an operation mode of the service robot from a set of at least two operation modes based on the evaluation index, the determining of the operation mode including,
- changing, by the processing circuitry, a current operation mode of the service robot to a higher level operation mode than the current operation mode, in response to the performance index, the safety index and the adaptability index satisfying a preset first service requirement;
- and
- changing, by the processing circuitry, the current operation mode of the service robot a lower level operation mode than the current operation mode, in response to the performance index, the safety index and the adaptability index failing to satisfy a preset second service requirement;
- selecting, by the processing circuitry, a behavior defining a detailed operation strategy of the service robot to be applied to the operation of the service robot from a set of at least two behaviors based on the determined operation mode and the evaluation index, wherein the set of at least two behaviors including rule-based behaviors in which the service robot is controlled using pre-defined rules and a training-based behavior in which the service robot is controlled using adaptive rules;
- and
- controlling, by the processing circuitry, the operation of the service robot based on the selected behavior,
- wherein the selecting of the behavior, comprising:
- selecting the training-based behavior to control the service robot based on the adaptive rules, in response to the current operation mode of the service robot being changed to the higher level operation mode than the current operation mode;
- and
- selecting the rule-based behaviors to control the service robot based on the pre-defined rules, in response to the current operation mode of the service robot being changed the lower level operation mode than the current operation mode.
9 more elements
An apparatus for controlling an operation of a service robot, comprising:
- a memory;
- and
- a controller comprising processing circuitry configured to control the operation of the service robot by,
- measuring an evaluation index indicating a value that numerically represents a result of evaluation performed on an operation of the service robot based on sensor data in a service mode by measuring a performance index indicating a speed and accuracy of the service robot, a safety index indicating a level of safety of the service robot, and an adaptability index indicating a level of adaptability of the service robot, based on sensor data, wherein the performance index is determined based on an average function performing speed and a maximum speed of the service robot, the safety index is determined based on a number of collisions while performing a function of the service robot and a speed at a time of collision, and the adaptability index is determined based on a number of context recognitions and a number of situational response strategies,
- determining an operation mode of the service robot from a set of at least two operation modes based on the evaluation index by,
- changing a current operation mode of the service robot to a higher level operation mode than the current operation mode, in response to the performance index, the safety index and the adaptability index satisfying a preset first service requirement;
- and
- changing the current operation mode of the service robot a lower level operation mode than the current operation mode, in response to the performance index, the safety index and the adaptability index failing to satisfy a preset second service requirement,
- selecting a behavior defining a detailed operation strategy of the service robot to be applied to the operation of the service robot from a set of at least two behaviors based on the determined operation mode and the evaluation index, wherein the set of at least two behaviors including rule-based behaviors in which the service robot is controlled using pre-defined rules and a training-based behavior in which the service robot is controlled using adaptive rules, and
- controlling the operation of the service robot based on the selected behavior,
- wherein the controller is configured to:
- select the training-based behavior to control the service robot based on the adaptive rules, in response to the current operation mode of the service robot being changed to the higher level operation mode than the current operation mode;
- and
- select the rule-based behaviors to control the service robot based on the pre-defined rules, in response to the current operation mode of the service robot being changed the lower level operation mode than the current operation mode.
11 more elements
Dependencies are inferred from the claim text.