KR101954610B1 - Communion robot system for senior citizen - Google Patents

Abstract

The present invention is characterized in that the sympathetic robot system 100 of the present invention is designed to feel the characteristic communicative sense targeted to the elderly, so as to alleviate the loneliness / boredom in the daily life felt by the elderly, By realizing robotic technology that can help maintain health, we derive the effect of improving the quality of life felt by elderly or elderly living alone who can be easily alienated from common interactions with people.

Description

{COMMUNION ROBOT SYSTEM FOR SENIOR CITIZEN}

More particularly, the present invention relates to a robotic technology, and more specifically, to provide a characteristic addition function targeted at an elderly person by alleviating the feeling of loneliness / boredom in the daily life felt by the elderly, It is about technology that can help maintain health of the elderly.

Since the advent of computer-controlled robots, robot technology has advanced with the development of computers, from early industrial robots that can only do simple tasks to the latest robots that walk and interact with people. Therefore, since various robots that act like human beings (intelligent) are being developed, there will be more opportunities for robots and people to meet.

Therefore, interest in robots that can live with people in everyday life is also increasing.

Recently, a pet robot that expresses various emotions and behaviors has been developed to meet this trend, and a medical robot functioning to take care of a patient has been developed.

However, since conventional pet robots are robot technology that targets universal people without specific target, it is very simple level to simulate animals or imitate human emotions. Therefore, I can not feel like it.

In addition, the conventional medical robots can not receive the feeling that the patient actually cares for the patient because the interaction with the person (patient) is insufficient even though the purpose of the medical care, that is, the function is obvious.

Therefore, it is necessary to develop robotic technology to provide emotional sympathy and medical help for elderly or elderly people living alone who can be easily alienated from common interactions with people.

Accordingly, in the present invention, a robot that can help elderly people maintain their health by providing a characteristic additive function targeted to the elderly is provided to feel the loneliness / boredness in the daily life felt by the elderly, Technology.

The present invention has been made in view of the above circumstances. The object of the present invention is to provide a sense of characteristic communion targeted to the elderly, so as to alleviate the loneliness / boredness in the daily life felt by the elderly, And to provide robots that can help maintain the health of the elderly by providing additional functions.

In order to achieve the above object, a sympathetic robot system according to a first aspect of the present invention includes: a plurality of pressure sensors provided at a plurality of positions of a robot body; A determination unit for determining a degree of touch of the user based on a touch pattern of a user sensed through the plurality of pressure sensors; And a robot controller for performing a sympathetic operation preset for the determined touch intention.

Preferably, the determining unit determines a touch pattern of a user based on a sensing order and a time interval in which a touch is sensed by at least one of the plurality of pressure sensors, It is possible to check the degree of touch mapped to the identified touch pattern and determine the degree of touch mapped to the touch pattern.

Preferably, the robot body is formed of a human or animal model, and the plurality of positions provided with the pressure sensor may be at least one of a head, a chest, a stomach, a back, a hips, both arms, a palm and a neck .

Preferably, the degree of touch may be at least one of head stroking, stroking, padding, stabbing, asshole, and high-five.

Preferably, the sympathetic operation includes an auditory communicating operation for outputting a voice or an effect sound, which is pre-set to the determined touch intention, a visual communicating operation for displaying a facial expression or a character, a gesture by moving a part of the robot And a sympathetic operation.

Preferably, the apparatus further includes a human body recognition sensor and a speech recognition sensor; The robot control unit may detect a user through the human recognition sensor, and when a predetermined time has elapsed without a user's voice and touch input through the speech recognition sensor and the plurality of pressure sensors, Can be performed.

Preferably, when the user's voice is sensed through the voice recognition sensor, the robot controller may perform a look-up operation by moving a part of the robot so that the face of the robot faces in a direction in which the user is sensed through the human recognition sensor have.

Preferably, the apparatus further comprises a camera for capturing a user sensed through the human body recognition sensor; The robot control unit may provide a game function for advancing the dementia prevention game targeted for the elderly to the user, on the basis of a user action recognized from the image of the user through the camera.

Preferably, the apparatus further includes an illumination sensor, a temperature sensor, a humidity sensor, and a human recognition sensor; The robot control unit may include a function of turning on a sleeping light when a user's movement is detected in a dark environment based on the illumination detection sensor and a human body recognition sensor, The function of turning off the sleeping light when it is not detected, the function of notifying the on / humidity according to the preset conditions based on the temperature sensing sensor and the humidity sensing sensor, and the time of taking the medicine based on the stored medicine taking time information It is possible to provide at least one convenient function among the alarming functions.

According to the embodiments of the present invention, it is possible to feel the characteristic communicative sense targeted to the elderly, so as to alleviate the loneliness / boredness in the daily life felt by the elderly, and to provide the characteristic supplementary function targeted to the elderly By realizing robotic technology, it is possible to improve the quality of life felt by elderly or elderly living alone who can be easily alienated from common interactions with people.

Fig. 1 is an illustration showing the appearance of the sympathetic robot system proposed in the present invention.
2 is a block diagram illustrating the configuration of a sympathetic robot system according to a preferred embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In the present application, the terms "comprises" or "having" and the like are used to specify that there is a feature, a number, a step, an operation, an element, a component or a combination thereof described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings.

The present invention relates to a robot technology capable of helping elderly people to maintain their health by providing a characteristic addition function targeted at an elderly person by alleviating the loneliness / boredness in the daily life felt by the elderly, .

Accordingly, the present invention proposes a sympathetic robot system targeted to the elderly.

Fig. 1 exemplarily shows the appearance of the sympathetic robot system proposed by the present invention.

The sympathetic robot system of the present invention can be designed as a mobile type or a fixed type.

In the case of the sympathetic robot system 100 shown in Fig. 1, a mobile type having a wheel-shaped moving means is shown in the robot body 10. [

The sympathetic robot system of the present invention is not limited in terms of external design, whether it is a mobile type or a fixed type, and it can have an external design capable of expressing a characteristic sympathetic object which is to be described later.

As the outline design capable of expressing the characteristic communion that is targeted for the elderly person, the most representative one is the display configuration corresponding to the robot face 20 of the sympathetic robot system 100.

Hereinafter, the configuration of the sympathetic robot system of the present invention will be described in detail with reference to FIG.

2, the sympathetic robot system 100 of the present invention includes a sensor unit 110 including various kinds of sensors in hardware, an input / output unit 120 for interfacing with a user And a controller 160 that includes a driving unit 130 including various motors for moving the robot and controls the sympathetic robot system 100 in software.

In addition, the sympathetic robot system 100 of the present invention may further include a camera 140, a sleeping light 150, and the like.

2, the sensor unit 110 includes a plurality of pressure sensors 111, a human recognition sensor 112, a voice recognition sensor 113, an illumination sensor 114, a temperature sensor 115, A humidity sensor 116, and the like.

It is preferable that a plurality of pressure sensors 111 are provided at a plurality of positions of the robot body 10.

At this time, in the sympathetic robot system 100 of the present invention, the robot main body can be formed as a human or animal model.

Hereinafter, for convenience of explanation, it is assumed that the robot main body in the sympathetic robot system 100 of the present invention is formed as a human model as shown in FIG.

The plurality of pressure sensors 111 may include at least one of the head, the chest, the stomach, the back, the buttocks, the arms, the palm and the neck.

That is, the pressure sensors are provided at a plurality of positions such as the head, the chest, the stomach, the back, the hip, the arms, the palm, the neck, etc. of the robot body 10.

Each of the plurality of pressure sensors 111 generates a touch signal sensed by the user when the user touches the position of the robot body 10 provided with the pressure sensor 111.

Of course, the touch signal sensed through the pressure sensor provided at each position may include an identifier for identifying the sensed touch signal from the pressure sensor provided at a certain position.

The human body recognition sensor 112 detects a user (person) in the vicinity of the robot body 10 more specifically than the sympathetic robot system 100 of the present invention.

That is, the human body recognition sensor 112 detects whether there is a user (person) in the vicinity of the robot body 10, and generates a detection signal indicating presence of a person.

The voice recognition sensor 113 recognizes the user's voice based on the voice data in which the user (human) voice of the sympathetic robot system 100 is pre-registered.

For example, the sympathetic robot system 100 of the present invention can acquire / store voice data through the voice of a specific person, that is, a voice analyzed by the user of the sympathetic robot system 100.

Therefore, the speech recognition sensor 113 preferably recognizes only the voice of a specific person determined as the user of the sympathetic robot system 100.

The illuminance detection sensor 114 generates a sensing signal that senses the illuminance near the robot body 10 more specifically than the sympathetic robot system 100 of the present invention.

The temperature sensing sensor 115 generates a sensing signal that senses a temperature near the robot body 10 more specifically than the sympathetic robot system 100 of the present invention.

The humidity sensor 116 generates a sensing signal that senses the humidity in the vicinity of the robot body 10 more specifically than the sympathetic robot system 100 of the present invention.

The input / output unit 120 is a configuration for interfacing with a user (person).

The input / output unit 120 may include a microphone 122, a speaker 124, and a display 126, as shown in FIG.

The input / output unit 120 provides the sound input through the microphone 122 to the controller 160, which will be described below, in a signal form, and outputs sound corresponding to the signal provided from the controller 160 to the speaker 124. [ And can display (output) an image according to a signal provided from the controller 160 on the display 126. [

The input / output unit 120 may be fixedly provided on the robot body 10 more specifically than the sympathetic robot system 100 of the present invention.

Alternatively, the input / output unit 120 may be further connected to the robot main body 10 in a detachable form more specifically than the sympathetic robot system 100 of the present invention.

For example, the input / output unit 120 may be a mini terminal unit including a microphone 122, a speaker 124, and a display 126, such as a commonly used smart phone, a tablet PC, and the like.

In this case, the miniature terminal device is additionally connected to the robot body 10 more specifically than the sympathetic robot system 100 of the present invention via short-range wireless communication (e.g., Bluetooth) or wire, Can be performed.

In this case, it is preferable that the small terminal unit that performs the role as the input / output unit 120 corresponds to the robot face 20 of the sympathetic robot system 100 in FIG.

In this case, an interworking function between the OS (e.g., Android) of a small-sized terminal such as a smart phone, a tablet PC, and the robot OS (e.g., AIDANO Nano) employed by the controller 160 .

The driving unit 130 includes various motors for moving the robot such as a dynamixel 133 and a DC motor 126 and drives the corresponding motor under the control of the controller 160 to move the robot.

For example, the driving unit 130 can move the position of the robot body 10 by driving the motor associated with the moving means to the robot body 10 under the control of the controller 160. [

In addition, the driving unit 130 may drive the motor associated with the robot neck to change the direction of the robot face 20 in accordance with the control from the controller 160, You can drive a motor associated with the left shoulder, wrist, etc. to make a certain gesture.

The controller 160 determines a necessary control based on various sensing signals sensed by the sensor unit 110 and input of the input / output unit 120, generates a control signal for performing the determined control, And the output function of the input / output unit 120, thereby controlling the sympathetic robot system 100 as a whole.

Under the control of the controller 160, it is possible to feel the loneliness / boredom in the daily life felt by the elderly and to provide a characteristic addition function targeted to the elderly people by feeling the characteristic sympathy sensed at the core of the present invention, We realize robot technology that can help maintain health for the elderly.

More specifically, the controller 160 includes a determination unit 163 and a robot control unit 165.

The determination unit 163 determines the degree of touch of the user based on the touch pattern of the user (person) sensed through the plurality of pressure sensors 111. [

The determination unit 163 can confirm the touch pattern of the user based on the sensing order and the time interval in which the touch is sensed by at least one of the plurality of pressure sensors 111. [

For example, it is assumed that the rear face (robot head) of the robot face 20 shown in Fig. 1 and N pressure sensors are provided on the nape of the robot.

Then, it is assumed that the user (person) touches the robot's head by sweeping the head of the robot from the water purifier to the direction of the nail. That is, the user (person) touched the robot head in a stroked manner.

At this time, when the user (person) touches the robot head, the order and interval in which the detection signal is generated in some or all of the rear side (robot head) of the robot face 20 and the N pressure sensors provided on the nape of the robot (Hereinafter referred to as pattern 1).

If the user touches the robot head by stroking the head of the robot, the determination unit 163 may determine that the touch is detected by at least one pressure sensor among the plurality of pressure sensors 111, The touch pattern of the user (person) can be confirmed by the previously set pattern 1.

Then, the determination unit 163 can determine the touch intention mapped to the touch pattern (for example, pattern 1) that has been checked in the touch intention table obtained by mapping the touch intention for each of the predefined touch patterns .

The touch degree table is an information table in which touch intensities are mapped for each of the predefined touch patterns.

For example, when the user (person) touches the robot head in a stroking manner as shown in the above-described example, the touch degree table stores a part of N pressure sensors provided on the back surface (robot head) of the robot face 20 and the nape of the robot For the pattern 1 in which the order and intervals in which the detection signals are generated in total are patterned, the head stroking will map the touch road.

As described above, the touch degree table of the touch may include touch strokes mapped on a touch pattern basis, such as stroking the back, stroking the back, stroking the buttocks, hitting the hip, and high-fives.

For example, when a user (person) hits his / her palm as if it faces the palm of a robot (aka high-five), the order in which detection signals are simultaneously generated in all L pressure sensors provided on the palm of the robot (Hereinafter, referred to as "pattern 2") can be patterned (in the following, pattern 2). In this case, the touch degree table will map the high-five touch point of the pattern 2 to the touch point.

Thus, the determination unit 163 can confirm / determine the head rubbing as the touch intention mapped to the touch pattern (e.g., pattern 1) thus confirmed in the touch intention table defined as described above.

The robot control unit 165 performs the sympathetic operation preset for the touch intention determined by the determination unit 163. [

Here, the sympathetic operation includes at least one of an auditory acupuncture operation for outputting a voice or a sound effect, a visual acmege operation for displaying a facial expression or a character, and a behavioral sympathetic operation for taking a gesture by moving a part of the robot, . ≪ / RTI >

For example, when the road head stroking of the touch is determined, the robot control unit 165 performs the sympathetic operation previously set on the head stroking.

The sympathetic operation at this time may be a visual acupuncture operation for displaying a facial expression of a baby who is faint or mild.

That is, when the determination unit 163 determines that the head stroking is a touch, the robot control unit 165 displays the facial expression of the infant or gentle baby set in the head stroking mode on the display (not shown) of the input / output unit 120 126 to perform visual sympathetic operations.

Alternatively, if it is determined that the road is to be high-touched by the touch, the robot controller 165 performs the sympathetic operation preset for high-five.

The sympathetic operation at this time may be an auditory acupuncture operation for outputting cheers, and an act for actively engaging in lifting both arms of the robot to take a gesture of agelessness.

That is, when the determination unit 163 determines that the high-five is to be touched, the robot control unit 165 outputs the cheering preset for high-five through the speaker 124 of the input / output unit 120 And the motor of the driving unit 130 is driven so as to lift the arms of the robot and take the gesture of the longevity.

Further, the robot control unit 165 can detect the user (person) through the human body recognition sensor 112 and detect the user's voice and touch input through the voice recognition sensor 113 and the plurality of pressure sensors 111 If a certain amount of time (for example, 30 minutes) has elapsed in the state, it is possible to perform a predefined attention drag operation.

Specifically, the user is detected by the human body recognition sensor 112 that detects whether there is a user (person) in the vicinity of the robot main body 10. The voice recognition sensor 113 and the plurality of pressure sensors 111 If the user's voice or touch input is not detected, the user (person) may be resting or may be in an emergency.

The robot control unit 165 detects the user (person) through the human body recognition sensor 112 and outputs the voice and touch input of the user through the voice recognition sensor 113 and the plurality of pressure sensors 111 Output section 120 to the loudspeaker 124 of the input / output section 120 when the predetermined attention period (for example, 30 minutes) elapses in the input / output section 120, ) To perform the attracting operation.

When the voice of a specific person determined as the user of the sympathetic robot system 100 is sensed through the voice recognition sensor 113 after performing the attracting operation, (E.g., starting the game, resetting the elapsed time, etc.).

Of course, after performing the attracting operation, if the voice of a specific person determined as the user of the sympathetic robot system 100 is not detected through the voice recognition sensor 113, The designated contact may be notified that the emergency is suspected.

When the user's voice, that is, the voice of a specific person determined as a user of the sympathetic robot system 100 is detected through the voice recognition sensor 113, the robot control unit 165 controls the robot It is possible to perform a glancing operation by moving a portion of the robot so that the robot face 2 faces in the direction in which it is sensed.

That is, the robot control unit 165 drives the motor associated with the robot neck of the driving unit 130 such that the robot face 2 faces the person while the specific person designated as the user of the sympathetic robot system 100 speaks , And a look-ahead operation can be performed.

As described above, the sympathetic robot system 100 according to the present invention can be applied to various types of devices such as a human being or an animal, for example, by grasping the degree of touch that the user (person) touches and performing a proper sympathetic operation, By feeling the characteristic communicative sympathy that is targeted to the elderly, it can alleviate the loneliness / boredness in the daily life that the elderly feels.

Furthermore, the robot control unit 165 provides a game function for advancing the dementia prevention game targeted for the elderly to the user, on the basis of the user action recognized from the image of the user (person) through the camera 140 .

The camera 140 is preferably provided on the robot body of the robot body 10 as shown in FIG. 1, and preferably photographs a user facing the robot body of the sympathetic robot system 100.

The specific person designated as the user of the sympathetic robot system 100 can instruct the start of the dementia prevention game by voice or instruct the start of the dementia prevention game in another way (for example, operation using the touch pad).

Or, as described above, after the interest dragging operation, for example, a preset voice (for example, a game for preventing dementia) is output through the speaker 124 of the input / output unit 120, If the voice of a specific person determined as a user of the sympathetic robot system 100 is detected and the contents of the voice cause the dementia prevention game to proceed, the robot control unit 165 performs a subsequent operation You may.

At this time, the dementia prevention game is a game in which a user colors a color to show a specific color card to a robot when a specific color is spoken by the robot, and when a specific number is spoken by the robot, It is preferable that the game is of a type in which a user must take an action (action).

When the dementia prevention game is started, the robot control unit 165 starts a dementia prevention game, such as pre-set color matching and number matching, It is possible to provide a game function of advancing the dementia prevention game targeted to the elderly with the user in such a manner that the correct answer or the wrong answer is given based on the action.

Further, the robot control unit 165 controls the function of turning on the sleeping light 150 when the user's movement is detected in a dark environment based on the illumination detection sensor 114 and the human recognition sensor 112, A function of turning off the sleeping light 150 when a user is sensed but motion is not detected after the user turns on the temperature sensor 150 and the humidity sensing sensor 116, According to the condition, it is possible to provide at least one convenient function among the function of notifying the on / humidity and the function of alarming when the time to take medicine is based on the stored medicine taking time information.

Specifically, the robot controller 165 can turn on the sleeping light 150 based on the illumination sensor 114 and the human body recognition sensor 112 when the user's movement is detected in a dark environment.

On the other hand, the robot controller 165 turns on the sleeping light 150 based on the illumination sensor 114 and the human body recognition sensor 112, and then detects the user in a dark environment, The sleeping light 150 can be turned off.

The sympathetic robot system 100 of the present invention may include a sleeping light 150 as shown in FIG. 1 or may be provided separately from the display (not shown) of the input / output unit 120 Described sleeping function can be realized by a method of turning on / off the sleeping light (not shown) by turning on / off the sleeping light It is possible.

On the other hand, the robot control unit 165 controls the robot controller 165 based on the temperature sensor 115 and the humidity sensor 116 when a change in a predetermined condition, for example, in units of one hour or at least one of temperature and humidity, Humidity can be notified when the humidity exceeds the pre-registered temperature and humidity range.

On the other hand, on the basis of the previously stored medicine taking time information, the robot control unit 165 can output a voice of "It is time to eat XX medicine"

Accordingly, the sympathetic robot system 100 of the present invention realizes a sleeping on / off function, a notification function of on / humidity, an alarm function of taking medicine, and the like, It can help maintain health.

As described above, the sympathetic robot system 100 of the present invention allows the elderly to feel loneliness / boredom in their everyday life by making them feel the characteristic communicative sense targeted to the elderly, and provides the characteristic addition function targeted to the elderly The purpose of this study is to develop a robotic technology that can help maintain the health of the elderly, and to improve the quality of life of elderly or elderly living alone who can be easily alienated from common interactions with people.

The method for realizing the operations of the sympathetic robot system proposed by the present invention can be implemented in the form of a program command which can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and specific embodiments and drawings. However, it should be understood that the present invention is not limited to the above- And various modifications and changes may be made thereto by those skilled in the art to which the present invention pertains.

Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

100: Sympathetic robot system
110:
120: input / output section
130:
140: camera
150: Sleep light

Claims (9)

In the sympathetic robot system,
A plurality of pressure sensors provided at a plurality of positions of the robot body;
A determination unit for determining a degree of touch of the user based on a touch pattern of a user sensed through the plurality of pressure sensors; And
And a robot controller for performing a sympathetic operation preset on the determined touch intention,
A human body recognition sensor and a speech recognition sensor;
The robot controller may include:
A user is sensed through the human body recognition sensor and performs a predefined attention drag operation when a predetermined time elapses in a state in which there is no voice and touch input of the user through the speech recognition sensor and the plurality of pressure sensors,
When the voice of the user is sensed through the voice recognition sensor after performing the attracting operation, the user performs a look-up operation by moving a portion of the robot so that the face of the robot faces the direction in which the user is sensed through the human recognition sensor, And notifies the designated contact when the voice of the user is not detected through the voice recognition sensor after performing the drag operation. The method according to claim 1,
Wherein,
A touch pattern of a user is checked based on a sensing order and a time interval in which a touch is sensed by at least one pressure sensor among the plurality of pressure sensors
Wherein the control unit checks the degree of touch mapped to the identified touch pattern in the touch degree table in which the degree of touch is mapped according to the predefined touch pattern. The method according to claim 1,
The robot main body is formed of a human or animal model,
The plurality of positions, in which the pressure sensor is provided,
Wherein the robot is at least one of a head, a chest, a stomach, a back, a hip, arms, palms, and a neck. The method of claim 3,
The degree of the touch
A head stroking, a back stroking, a back stroking, a fluttering, a buttocking, and a high-fingering. The method according to claim 1,
In the sympathetic operation,
An auditory acupuncture operation for outputting a voice or sound effect preset for the determined touch intention, a visual acupuncture operation for displaying a facial expression or a character, and an action for acupressure action for taking a gesture by moving a part of the robot A sympathetic robot system that features. delete delete The method according to claim 1,
Further comprising: a camera for capturing a user sensed through the human body recognition sensor;
The robot controller may include:
And a game function for advancing the dementia prevention game targeted for the elderly to the user based on a user action recognized from the image photographed by the user through the camera. The method according to claim 1,
An illumination sensor, a temperature sensor, a humidity sensor, and a human body recognition sensor;
The robot controller may include:
A function of turning on a sleeping light when a movement of a user is detected in a dark environment based on the illuminance detection sensor and a human body recognition sensor, a sleeping function when a user is detected after the sleeping is turned on, Based on the temperature sensing sensor and the humidity sensing sensor, a function of notifying the on / humidity according to a predetermined condition, and a function of alarming when the time of taking the medicine is reached based on the stored medicine taking time information And provides at least one convenience function.

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