Robot and control method thereof
AssigneeSamsung Electronics Co., Ltd.
InventorsJaeha Lee, Joonah Park
Life of this patent
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Abstract
A robot and a control method thereof is disclosed. The robot includes a sensor; a motor; and a processor configured to: identify a user based on data obtained through the sensor; identify a position based on a user position of the user and a movement direction of the user, the position being identified from among a plurality of positions located a pre-set distance from the user position; control the motor to move the robot to the position; and obtain gait data corresponding to the user based on the data obtained through the sensor while tracking legs of the user.
Claims13
A robot comprising:
- a sensor;
- a motor;
- and
- a processor configured to:
- identify a user position of a user based on data obtained through the sensor, wherein the user is a subject of observation;
- obtain a Voronoi Diagram by applying a thinning algorithm to map data obtained through the sensor;
- identify a plurality of positions located a pre-set distance from the user position, each of the plurality of positions being provided along a circle having a center corresponding to the user position, wherein the robot is located outside of the circle;
- identify a node from among a plurality of nodes of the Voronoi Diagram based on a movement direction of the user, distances between the plurality of nodes and the plurality of positions, and whether an obstacle is present between the user and any of the plurality of nodes;
- control the motor to move the robot to a position corresponding to the identified node;
- and
- obtain gait data corresponding to the user based on the data obtained through the sensor while tracking legs of the user,
- wherein the processor is configured to identify, based on identifying that the obstacle is positioned between the robot and a first node, a second node at which the obstacle is not positioned between the robot and the second node, from among the plurality of nodes, based on the movement direction of the user, and distances between the plurality of nodes and the plurality of positions, and control the motor to move the robot to the identified second node.
A method of controlling a robot, the method comprising:
- identifying a user position of a user based on data obtained through a sensor, wherein the user is a subject of observation;
- applying a thinning algorithm to map data obtained through the sensor to obtain a Voronoi Diagram;
- identifying a plurality of positions located a pre-set distance from the user position, each of the plurality of positions being provided along a circle having a center corresponding to the user position, wherein the robot is located outside of the circle;
- identifying a node from among a plurality of nodes of the Voronoi Diagram based on a movement direction of the user, distances between the plurality of nodes and the plurality of positions, and whether an obstacle is present between the user and any of the plurality of nodes;
- controlling the robot to move to a position corresponding to the identified node;
- and
- obtaining gait data corresponding to the user based on the data obtained through the sensor while tracking legs of the user,
- wherein the method further comprises:
- identifying, based on identifying that the obstacle is positioned between the robot and a first node, a second node at which the obstacle is not positioned between the robot and the second node, from among the plurality of nodes, based on the movement direction of the user, and distances between the plurality of nodes and the plurality of positions;
- and
- controlling the robot to the identified second node.
Dependencies are inferred from the claim text.