KR102178490B1 - Robot cleaner and method for operating the same - Google Patents

Abstract

The present invention relates to a robot cleaner and an operating method thereof. The robot cleaner according to an embodiment of the present invention controls to perform at least one of an audio input unit, a camera, a memory, a communication unit that exchanges data with an external device, a cleaning unit that performs cleaning, and a cleaning mode and a care mode. And, when performing the care mode, based on the data stored in the memory, the audio input unit, the data obtained through at least one of the camera, and a control unit for performing the recognition of the surrounding state. Accordingly, it is possible to perform the cleaning mode and the care mode.

Description

Robot cleaner and method for operating the same}

The present invention relates to a robot cleaner and an operation method thereof, and more particularly, to a robot cleaner capable of performing a cleaning mode and a care mode, and an operation method thereof.

In general, a vacuum cleaner is a home appliance that sucks and removes foreign substances from the floor. Recently, among such cleaners, in particular, a cleaner that automatically cleans is referred to as a robot cleaner. Such a robot cleaner sucks and removes foreign substances from the bottom surface while moving by the driving force of a motor operated by a rechargeable battery.

An object of the present invention is to provide a robot cleaner capable of performing a cleaning mode and a care mode, and an operating method thereof.

A robot cleaner according to an embodiment of the present invention for achieving the above object includes an audio input unit, a camera, a memory, a communication unit for exchanging data with an external device, a cleaning unit for performing cleaning, and a cleaning mode and a care mode. It controls at least one to be performed, and includes a controller configured to recognize a surrounding state based on data stored in a memory and data acquired through at least one of an audio input unit and a camera when performing the care mode.

In addition, a method of operating a robot cleaner according to an embodiment of the present invention for achieving the above object is an operating method of a robot cleaner including a memory, an audio input unit, and a camera, comprising: entering a care mode, and performing a care mode. And acquiring data through at least one of a city, an audio input unit, or a camera, and performing peripheral state recognition based on data stored in the memory and the acquired data.

According to an embodiment of the present invention, the robot cleaner controls at least one of a cleaning mode and a care mode to be performed, and when performing the care mode, data stored in a memory and data acquired through at least one of an audio input unit and a camera On the basis of, peripheral state recognition is performed. Accordingly, it is possible to perform the cleaning mode and the care mode.

In particular, by controlling the communication unit 222 to transmit a notification message when the difference between the stored data and the acquired data is more than a predetermined value, or there is no match between the stored data and the acquired data, the user You can check the presence or absence immediately. In particular, by transmitting a notification message to an external user's terminal, user convenience can be increased.

On the other hand, when the surrounding state is recognized, when the difference between the image data stored in the memory and the image data acquired from the camera 230 is greater than or equal to the first predetermined value, or there is no match between the stored image data and the acquired image data, When the first abnormal state is determined and the first abnormal state is determined, the difference between the audio data stored in the memory 243 and the audio data acquired through the audio input unit is equal to or greater than a second predetermined value, or the stored audio data and the acquired audio If there is no part that matches the data, it can be determined as the final abnormal state. Accordingly, it is possible to accurately determine whether there is an abnormality in the house.

1 is an example of a configuration diagram of a communication system for a robot cleaner according to an embodiment of the present invention.
2A is a perspective view showing the robot cleaner of FIG. 1.
2B is a bottom view of the robot cleaner of FIG. 2A.
2C is an exploded perspective view of the robot cleaner of FIG. 2A.
3 is a simplified internal block diagram of the robot cleaner of FIG. 1.
4 is an internal block diagram of the mobile terminal of FIG. 1.
5 is an internal block diagram of the server of FIG. 1.
6 is a flowchart illustrating a method of operating a robot cleaner according to an embodiment of the present invention.
7 is a flow chart illustrating an operation of determining a surrounding state of FIG. 6.
8 to 23C are views referenced for explanation of the operation method of FIG. 6.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

The suffixes "module" and "unit" for the constituent elements used in the following description are given in consideration of only the ease of writing in the present specification, and do not impart a particularly important meaning or role by themselves. Therefore, the "module" and "unit" may be used interchangeably with each other.

1 is an example of a configuration diagram of a communication system for a robot cleaner according to an embodiment of the present invention.

Referring to the drawings, a communication system 10 for a robot cleaner according to an embodiment of the present invention includes a robot cleaner 200, an AP device 400, a server 300, a network 550, and mobile terminals ( 500a, 500b).

The robot cleaner 200 is a vacuum cleaner that automatically cleans, and may perform automatic driving and automatic cleaning.

On the other hand, the robot cleaner 200 has a communication unit (not shown) inside, in addition to a driving function and a cleaning function, and includes electronic devices in the internal network 10 or electronic devices accessible through the external network 550. Data can be exchanged. To this end, the communication unit (not shown) may exchange data with the AP device 400 by wire or wirelessly.

The access point (AP) device 400 may provide the internal network 10 to an adjacent electric device. In particular, it is possible to provide a wireless network.

Meanwhile, the AP device 400 may allocate a wireless channel according to a predetermined communication method to electric devices in the internal network 10 and perform wireless data communication through the channel. Here, the predetermined communication method may be a WiFi communication method.

At this time, the mobile terminal 500b located in the internal network 10 may perform monitoring, remote control, etc. for the robot cleaner 200 by accessing the robot cleaner 200 through the AP device 400. There will be.

Meanwhile, the AP device 400 may perform data communication with an external electronic device through an external network 550 in addition to the internal network 10.

For example, the AP device 400 may perform wireless data communication with an external mobile terminal 500a through the external network 550.

At this time, the mobile terminal 500a located in the external network 550 is connected to the robot cleaner 200 through the external network 550 and the AP device 400 to monitor the robot cleaner 200, It is possible to perform remote control and the like.

As another example, the AP device 400 may perform wireless data communication with a server 300 located outside through the external network 550.

The server 300 may be equipped with a speech recognition algorithm. In addition, when the voice data is received, the received voice data may be converted into text format data and output.

Meanwhile, the server 300 may store firmware information and driving information (course information, etc.) for the robot cleaner 200 and register product information for the robot cleaner 200. For example, the server 300 may be a server operated by a manufacturer of the robot cleaner 200. As another example, the server 300 may be a server operated by an open application store operator.

Meanwhile, the robot cleaner 200 according to an embodiment of the present invention controls at least one of a cleaning mode and a care mode to be performed, and when performing the care mode, data stored in a memory (243 in FIG. 3) and an audio input unit It may include a control unit (270 of FIG. 3) that performs recognition of the surrounding state based on data acquired through at least one of (252 of FIG. 3) and a camera (230 of FIG. 3).

Accordingly, the user can immediately check whether there is an abnormality in the specific user through the robot cleaner. Therefore, it is possible to simply perform the silver care mode.

On the other hand, such a silver care mode command can be transmitted through a mobile terminal, and a notification message is received and displayed on the mobile terminal, so that a user in a remote location can immediately check whether there is an abnormality in a specific user. Accordingly, user convenience can be increased. A detailed description of this will be described later with reference to FIG. 6.

2A is a perspective view showing a robot cleaner according to an embodiment of the present invention, FIG. 2B is a bottom view of the robot cleaner of FIG. 2A, and FIG. 2C is an exploded perspective view of the robot cleaner of FIG. 2A.

2A to 2C, the robot cleaner 200 according to an embodiment of the present invention includes a body 210 having a lower opening 210h opened toward the floor.

The main body 210 moves an area to be cleaned (hereinafter referred to as a cleaning area) as the left and right wheels 261a and 262a rotate, and through the suction unit 270, dust or garbage in the cleaning area is moved. Inhale foreign objects.

The suction unit 270 may include a suction fan 272 provided in the body 210 to generate suction power, and a suction port 271 through which airflow generated by rotation of the suction fan 272 is sucked.

In addition, the suction unit 270 may further include a filter (not shown) for collecting foreign substances from the airflow sucked through the suction port 271, and a foreign substance receiver (not shown) in which foreign substances collected by the filter are accumulated. have.

A driving driving unit (not shown) for driving the left wheel 261a and the right wheel 262a may be provided. In particular, the driving drive unit (not shown) may include a left wheel drive unit (not shown) that drives the left wheel 261a and a right wheel drive unit (not shown) that drives the right wheel 262a.

The operation of the left wheel drive unit (not shown) and the right wheel drive unit (not shown) is independently controlled by the control unit 270 of FIG. 3, so that the main body 210 may go straight forward, backward or turn. For example, when the left wheel 261a is rotated in the forward direction by the left wheel drive unit (not shown) and the right wheel 262a is rotated in the reverse direction by the right wheel drive unit (not shown), the main body 210 rotates to the left or right do. The control unit (270 in FIG. 3) controls the rotational speed of the left wheel drive unit (not shown) and the right wheel drive unit (not shown) to have a difference, so that it is also possible to induce the translational movement of the main body 210 serving as a linear motion and a rotational motion. Do. The movement of the body 210 through the control of the controller (270 in FIG. 3) as described above enables avoidance or turning of an obstacle. At least one auxiliary wheel 213 for stable support of the body 210 may be further provided.

The main body 210 may include a lower body 211 accommodating a rotation driving unit (not shown), a traveling driving unit (not shown), and the like, and an upper body 212 covering the lower body 211.

The transparent member 232 is disposed on a path through which light output from the position sensor 220 or light received from the outside travels. The transparent member 232 may be fixed to the body 210. The body 210 has an opening formed at the front side, and the transparent member 232 may be fixed by a transparent member frame 231 installed in the opening.

The position sensor 220 detects the position or distance of the obstacle by emitting light toward the obstacle. The position detection sensor 220 is rotatably provided on the main body 210. The position detection sensor 220 may include a transmitter (not shown) that outputs light and a light receiver (not shown) that receives light. The transmitter (not shown) may include an LED, a laser diode, or the like.

Meanwhile, in addition to the position detection sensor 200, the camera 230 may be disposed on the upper body 212 in order to identify an object located in front of the robot cleaner 200. In particular, the camera 230 may be disposed on the transparent member frame 231 and the transparent member 232 in which the opening is installed. Accordingly, it is possible to capture images of the upper and the front of the robot cleaner 200.

3 is a simplified internal block diagram of the robot cleaner of FIG. 1.

Referring to the drawings, the robot cleaner 200 includes a sensor unit 220, a communication unit 222 for communication with other external devices, a camera 230, a display unit 231 displaying an operation state of the robot cleaner, and the like, A memory 243, a cleaning unit 245, an audio input unit 252, an audio output unit 254, a control unit 270 for internal control, a driving unit 280 for driving a robot cleaner, an input unit 295 for user input ) Can be included.

The sensor unit 220 may include a position sensor for detecting the position of the robot cleaner 200. That is, as described in FIGS. 2A to 2C and the description thereof, the sensor unit 220 may include a position sensor. The position sensor 220 may include a transmitter (not shown) that outputs light, and a light receiver (not shown) that receives light corresponding to the output light.

On the other hand, the location sensor may be provided with a GPS module. In addition, by receiving a GPS signal, the position of the robot cleaner 200 may be sensed.

Meanwhile, the communication unit 222 may include at least a wireless communication unit (not shown) capable of wireless communication.

The communication unit 222 may include a wireless communication unit (not shown) to enable wireless communication with the AP device 400. Here, the wireless communication unit (not shown) may perform WiFi communication. The communication unit 222 may perform wireless data communication with the mobile terminal 500 through the AP device 400. For example, a remote control signal from the mobile terminal 500 may be received and transmitted to the controller 270.

Meanwhile, the communication unit 222 may receive power information from a power information transmission device (not shown). To this end, the communication unit 222 may separately include a communication module (not shown) in addition to the wireless communication unit (not shown).

Meanwhile, the communication unit 222 may be provided in the robot cleaner, but may be separately attached to the case of the robot cleaner 200 and connected to an internal circuit of the robot cleaner by wire.

On the other hand, in addition to the position sensor 200, the camera 230 may be disposed on the upper body 212 in order to grasp an object located in front of the robot cleaner 200.

The camera 230 may be one RGB camera. The RGB camera may have a CCD module or a CMOS module. Meanwhile, the camera 230 may be an IR type camera for detecting a distance to an external object. On the other hand, it is also possible to have a plurality of RGB cameras.

The display unit 231 may display an operation state of the robot cleaner 200 under the control of the controller 270. To this end, the display unit 231 may include an LED. Alternatively, it is possible to further display various types of information by providing an LCD or the like.

The memory 243 may store various data for the overall operation of the robot cleaner 200. On the other hand, the memory 243 may also include a speech recognition algorithm.

The cleaning unit 245 sucks foreign substances located on the lower surface of the robot cleaner 200. To this end, the robot cleaner 200 may be driven by the driving unit 280, and the cleaning unit 245 may be operated while driving or paused to suck foreign substances.

To this end, the cleaning unit 245 may be provided with a suction unit 270, as described in FIGS. 2A to 2C and description thereof. Here, the suction unit 270 may include a suction fan 272 provided in the main body 210 to generate suction power, and a suction port 271 through which airflow generated by rotation of the suction fan 272 is sucked. . In addition, the suction unit 270 may further include a filter (not shown) for collecting foreign substances from the airflow sucked through the suction port 271, and a foreign substance receiver (not shown) in which foreign substances collected by the filter are accumulated. have.

The audio input unit 252 may receive a user voice. For this, a microphone may be provided. The received voice may be converted into an electric signal and transmitted to the control unit 270.

The audio output unit 254 converts the electrical signal from the control unit 270 into an audio signal and outputs it. To this end, a speaker or the like may be provided.

The controller 270 may control the overall operation of the robot cleaner. The control unit 270 includes a sensor unit 220, a communication unit 222, a camera 230, a display unit 231, a memory 243, a cleaning unit 245, an audio input unit 252, an audio output unit 254, and Operations of the driving unit 280 and the input unit 295 may be controlled.

The control unit 270 controls at least one of a cleaning mode and a care mode to be performed, and when performing the care mode, data stored in the memory 243 and acquired through at least one of the audio input unit 252 and the camera 230 Based on the data, it is possible to recognize the surrounding state.

The control unit 270 may control the communication unit 222 to transmit a notification message when a difference between the stored data and the acquired data is equal to or greater than a predetermined value or there is no match between the stored data and the acquired data. .

The control unit 270 is configured such that the difference between the image data stored in the memory 243 and the image data acquired from the camera 230 is greater than or equal to a first predetermined value, or there is no match between the stored image data and the acquired image data. In this case, the first abnormal state is determined, and when the first abnormal state is determined, the difference between the audio data stored in the memory 243 and the audio data acquired through the audio input unit 252 is equal to or greater than a second predetermined value, or When there is no match between the data and the acquired audio data, it is determined as a final abnormal state, and when the final abnormality is determined, the communication unit 222 may be controlled to transmit a notification message.

The controller 270 may control the communication unit 222 to transmit a notification message to a pre-registered user terminal or emergency contact.

When performing the care mode, the control unit 270 controls the driving unit 280 to move to a set position, and at the set position, the data stored in the memory 243, the audio input unit 252, and the camera 230 Peripheral state recognition may be performed based on data acquired through at least one.

When performing the care mode, the control unit 270 performs peripheral state recognition based on data stored in the memory 243 and data acquired through at least one of the audio input unit 252 and the camera 230 while driving. can do.

Meanwhile, the controller 270 may control the cleaning mode to be performed together while driving.

Meanwhile, the cleaning mode includes a manual cleaning mode and an automatic cleaning mode, and the care mode includes at least one of a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode, and a sleeping care mode. I can.

The driving unit 280 may drive the robot cleaner. To this end, the driving unit 280, as described in Figs. 2A to 2C and the description thereof, a driving driving unit for driving the left wheel 261a and the right wheel 262a, the left wheel 261a and the right wheel 262a ( (Not shown) may be provided. In particular, the driving drive unit (not shown) may include a left wheel drive unit (not shown) that drives the left wheel 261a and a right wheel drive unit (not shown) that drives the right wheel 262a.

On the other hand, the driving unit 280 is controlled to perform either forward or reverse rotation of the left wheel 261a and the right wheel 262a under the control of the control unit 270, so that the main body 210 moves straight forward and backward. Alternatively, you can make a turn or the like performed.

For example, when the left wheel 261a is rotated in the forward direction and the right wheel 262a is rotated in the reverse direction, the main body 210 is rotated left or right. Meanwhile, the control unit 270 may induce a translational movement of the main body 210 serving as a linear movement and a rotational movement by controlling the rotation speed of the left wheel 261a and the right wheel 262a to be different.

The input unit 295 may include a local key for user input.

4 is an internal block diagram of the mobile terminal of FIG. 1.

Referring to FIG. 4, the mobile terminal 500 includes a wireless communication unit 510, an audio/video (A/V) input unit 520, a user input unit 530, a sensing unit 540, an output unit 550, and A memory 560, an interface unit 570, a control unit 580, and a power supply unit 590 may be included.

Meanwhile, the wireless communication unit 510 may include a broadcast receiving module 511, a mobile communication module 513, a wireless Internet module 515, an NFC module 517, and a GPS module 519.

The broadcast receiving module 511 may receive at least one of a broadcast signal and broadcast related information from an external broadcast management server through a broadcast channel. In this case, the broadcast channel may include a satellite channel, a terrestrial channel, and the like.

Broadcast signals and/or broadcast-related information received through the broadcast receiving module 511 may be stored in the memory 560.

The mobile communication module 513 transmits and receives a radio signal with at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include a voice call signal, a video call signal, or various types of data according to transmission/reception of text/multimedia messages.

The wireless Internet module 515 refers to a module for wireless Internet access, and the wireless Internet module 515 may be built-in or external to the mobile terminal 500. For example, the wireless Internet module 515 may perform WiFi-based wireless communication or WiFi Direct-based wireless communication.

The NFC module 517 may perform wireless communication. The NFC module 517 may receive data from the home appliance or transmit data to the home appliance when the NFC tag or the NFC module is approached within a predetermined distance from the home appliance on which the NFC module is mounted, that is, tagging.

In addition, as a short-range communication technology, Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra Wideband (UWB), ZigBee, and the like may be used.

The Global Position System (GPS) module 519 may receive location information from a plurality of GPS satellites.

The A/V (Audio/Video) input unit 520 is for inputting an audio signal or a video signal, and may include a camera 521 and a microphone 523.

The user input unit 530 generates key input data that the user inputs to control the operation of the terminal. To this end, the user input unit 530 may include a key pad, a dome switch, and a touch pad (positive pressure/power failure). In particular, when the touch pad forms a layered structure with the display 551, this may be referred to as a touch screen.

The sensing unit 540 detects the current state of the mobile terminal 500, such as an open/closed state of the mobile terminal 500, a location of the mobile terminal 500, and whether a user is in contact, and controls the operation of the mobile terminal 500. It can generate a sensing signal.

The sensing unit 540 may include a detection sensor 541, a pressure sensor 543, and a motion sensor 545. The motion sensor 545 may detect the motion or position of the mobile terminal 500 using an acceleration sensor, a gyro sensor, a gravity sensor, or the like. In particular, the gyro sensor is a sensor that measures an angular velocity, and can detect a direction (angle) that has turned relative to a reference direction.

The output unit 550 may include a display 551, an audio output module 553, an alarm unit 555, and a haptic module 557.

The display 551 displays and outputs information processed by the mobile terminal 500.

Meanwhile, as described above, when the display 551 and the touch pad form a mutual layer structure to form a touch screen, the display 551 may be used as an input device capable of inputting information by a user's touch in addition to an output device. I can.

The sound output module 553 outputs audio data received from the wireless communication unit 510 or stored in the memory 560. The sound output module 553 may include a speaker, a buzzer, and the like.

The alarm unit 555 outputs a signal for notifying the occurrence of an event of the mobile terminal 500. For example, a signal can be output in the form of vibration. .

The haptic module 557 generates various tactile effects that the user can feel. A typical example of the tactile effect generated by the haptic module 557 is a vibration effect.

The memory 560 may store a program for processing and control of the controller 580, or temporarily store input or output data (eg, phonebook, message, still image, video, etc.). You can also do it.

The interface unit 570 serves as an interface with all external devices connected to the mobile terminal 500. The interface unit 570 may receive data from such an external device or receive power and transmit it to each component inside the mobile terminal 500, and transmit the data inside the mobile terminal 500 to an external device. .

The controller 580 typically controls the operation of each unit to control the overall operation of the mobile terminal 500. For example, it is possible to perform related control and processing for voice calls, data communication, and video calls. Also, the controller 580 may include a multimedia playback module 581 for playing multimedia. The multimedia playback module 581 may be configured as hardware in the control unit 580 or may be configured as software separately from the control unit 580.

The power supply unit 590 receives external power and internal power under the control of the control unit 580 and supplies power necessary for operation of each component.

Meanwhile, the block diagram of the mobile terminal 500 shown in FIG. 4 is a block diagram for an embodiment of the present invention. Each component of the block diagram may be integrated, added, or omitted according to the specifications of the mobile terminal 500 that is actually implemented. That is, if necessary, two or more components may be combined into one component, or one component may be subdivided into two or more components. In addition, the functions performed by each block are for explaining the embodiments of the present invention, and specific operations or devices thereof do not limit the scope of the present invention.

5 is an internal block diagram of the server of FIG. 1.

Meanwhile, referring to FIG. 5, the server 300 is a device for receiving data about the robot cleaner 200 or the mobile terminal 500 and transmitting related information, and includes a communication module 330 and a storage unit. 340), and a processor 320 may be provided.

The communication module 330 in the server 300 may receive voice data from the robot cleaner 200 or the mobile terminal 500. In addition, voice data in a text format recognized by voice may be transmitted to the robot cleaner 200 or the mobile terminal 500.

Meanwhile, the communication module 330 in the server 300 may receive product information related to the robot cleaner 200 from the robot cleaner 200 or the mobile terminal 500, and accordingly, the robot cleaner 200 When registration of) is completed, registration completion information can be transmitted.

Meanwhile, the communication module 330 in the server 300 may receive a firmware update request of the robot cleaner 200 from the robot cleaner 200 or the mobile terminal 500, and accordingly, the updated firmware May be transmitted to the robot cleaner 200 or the mobile terminal 500.

The storage unit 340 may store data related to the overall operation of the refrigerator. Meanwhile, the storage unit 240 may store a speech recognition algorithm. Meanwhile, the storage unit 340 may store product information related to the robot cleaner 200 received from the robot cleaner 200 or the mobile terminal 500.

Meanwhile, the processor 320 may control the overall operation of the server 300. For example, after converting voice data received from the robot cleaner 200 or the mobile terminal 500 into voice data in text format using a voice recognition algorithm, the converted voice data is converted to the robot cleaner 200 Alternatively, it may be controlled to transmit to the mobile terminal 500.

As another example, when receiving product information from the robot cleaner 200 or the mobile terminal 500, the processor 320 may control to register a product.

As another example, when receiving a firmware update request from the robot cleaner 200 or the mobile terminal 500, the processor 320 uses the updated firmware as another example, and the processor 320 is the robot cleaner 200 or moves. When product information is received from the terminal 500, it may be controlled to be transmitted to the robot cleaner 200 or the mobile terminal 500.

6 is a flow chart illustrating a method of operating a robot cleaner according to an embodiment of the present invention, FIG. 7 is a flowchart illustrating an operation of determining a surrounding state of FIG. 6, and FIGS. 8 to 23C are It is a figure referred to for description.

Referring to the drawing, the controller 270 of the robot cleaner 200 may select a care mode from among a plurality of operation modes in response to a user input (S610).

For example, the plurality of operation modes of the robot cleaner may be a clean mode, such as a screen displayed on the mobile terminal 500 of FIG. 8 or a screen 2100 displayed on the mobile terminal 500 of FIG. 21A. And a care mode and a charging mode.

The cleaning mode can be divided into an automatic cleaning mode and a manual cleaning mode.

Care mode, as shown in Fig. 9, a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode. ) May include at least one of a mode and a sleeping care mode.

Meanwhile, FIG. 8 illustrates various methods of selecting a care mode.

Fig. 8A illustrates that the specific key 107 of the remote control device 105 operates.

Accordingly, the communication unit 222 of the robot cleaner 200 receives a remote control signal from the remote control device 105, and the controller 270 of the robot cleaner 200 responds to the received remote control signal, You can enter the care mode.

FIG. 8B illustrates that when the user 800 goes out, a predetermined voice such as "Look closely" 803 is output.

In this case, the audio input unit 252 of the robot cleaner 200 receives a predetermined voice, and the controller 270 of the robot cleaner 200 responds to the audio data corresponding to the received voice, and the care mode ) To enter.

FIG. 8C illustrates that a remote control screen for remotely controlling the robot cleaner 200 is displayed on the mobile terminal 500 by a user input.

The remote control screen may include a care mode item, a cleaning mode item, a charging mode item, and the like. When the dual care mode item is selected, the mobile terminal 500 may transmit a remote control signal corresponding to the care mode item to the communication unit 222 of the robot cleaner 200. Accordingly, the controller 270 of the robot cleaner 200 may enter a care mode in response to a remote control signal received through the communication unit 222.

8A(c) will be described in more detail. For example, when the mobile terminal 500 is in the home, the mobile terminal 500 passes the AP device 400 to the robot cleaner 200. You can connect wirelessly. As another example, when the mobile terminal 500 is outside the home, the mobile terminal 500 may wirelessly access the robot cleaner 200 via the external network 600 and the AP device 400.

In addition, the mobile terminal 500 may wirelessly access the robot cleaner 200 and transmit a command to enter a care mode for mode execution. Accordingly, the communication unit 222 of the robot cleaner 200 may receive a care mode entry command. Accordingly, the controller 270 of the robot cleaner 200 may enter a care mode in response to a remote control signal received through the communication unit 222.

Next, after entering the care mode, the controller 270 of the robot cleaner 200 recognizes the surrounding state and determines the surrounding state (S620). Then, the recognition and determination steps are repeatedly performed (S630). At this time, depending on the type of the care mode, the robot cleaner 200 may travel.

On the other hand, step 620 (S620), as shown in FIG. 7, it is possible to be specifically divided and performed.

Referring to FIG. 7, the controller 270 of the robot cleaner 200 acquires previous data stored in the memory 243 (S710), and receives current data from at least one of the camera 230 and the audio input unit 252. Acquire (S715). Then, by comparing the previous data and the current data, it is determined whether there is an abnormality (S720).

And, if it is determined as an abnormality (S725), control to transmit abnormality information such as an alarm message to the abnormality notification target (S730).

The control unit 270 controls at least one of a cleaning mode and a care mode to be performed, and when performing the care mode, data stored in the memory 243 and acquired through at least one of the audio input unit 252 and the camera 230 Based on the data, it is possible to recognize the surrounding state.

The control unit 270 may control the communication unit 222 to transmit a notification message when a difference between the stored data and the acquired data is equal to or greater than a predetermined value or there is no match between the stored data and the acquired data. .

The control unit 270 is configured such that the difference between the image data stored in the memory 243 and the image data acquired from the camera 230 is greater than or equal to a first predetermined value, or there is no match between the stored image data and the acquired image data. In this case, the first abnormal state is determined, and when the first abnormal state is determined, the difference between the audio data stored in the memory 243 and the audio data acquired through the audio input unit 252 is equal to or greater than a second predetermined value, or When there is no match between the data and the acquired audio data, it is determined as a final abnormal state, and when the final abnormality is determined, the communication unit 222 may be controlled to transmit a notification message.

The controller 270 may control the communication unit 222 to transmit a notification message to a pre-registered user terminal or emergency contact.

When performing the care mode, the control unit 270 controls the driving unit 280 to move to a set position, and at the set position, the data stored in the memory 243, the audio input unit 252, and the camera 230 Peripheral state recognition may be performed based on data acquired through at least one.

When performing the care mode, the control unit 270 performs peripheral state recognition based on data stored in the memory 243 and data acquired through at least one of the audio input unit 252 and the camera 230 while driving. can do.

Meanwhile, the controller 270 may control the cleaning mode to be performed together while driving.

Meanwhile, the cleaning mode includes a manual cleaning mode and an automatic cleaning mode, and the care mode includes at least one of a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode, and a sleeping care mode. I can.

FIG. 10A illustrates that the robot cleaner 200 acquires data at a fixed position near the front door 1050 of the house 10 according to the care mode. For example, current data may be obtained through at least one of the audio input unit 252 and the camera 230. And, compared with the previous data stored in the memory 243, if the difference is greater than or equal to the first predetermined value, or if there is no match between the stored image data and the acquired image data, it is determined as abnormal and a notification message is sent. It is possible to control the communication unit 222 to be.

For example, when an image of a person who has not been previously registered is acquired through the front door, the controller 270 of the robot cleaner determines that it is an abnormality and sends a notification message indicating unauthorized intrusion to the previously registered user. It can be controlled to transmit to a mobile terminal or an emergency contact such as 119. The care mode at this time may be a home care mode.

On the other hand, (b) of 10 exemplifies that the robot cleaner 200 acquires data while driving in the house 10 in various places (1010, 1020, 1030, 1040, 1050) according to the care mode. For example, current data may be obtained through at least one of the audio input unit 252 and the camera 230. And, compared with the previous data stored in the memory 243, if the difference is greater than or equal to the first predetermined value, or if there is no match between the stored image data and the acquired image data, it is determined as abnormal and a notification message is sent. It is possible to control the communication unit 222 to be.

For example, when an image of an unregistered person is acquired near the window of the master room 1010, the controller 270 of the robot cleaner determines that it is abnormal and registers a notification message indicating unauthorized intrusion of the residence. It is possible to control the transmission to an emergency contact such as 119 or the mobile terminal of the user. The care mode at this time may be a home care mode.

Meanwhile, FIGS. 11A to 11D illustrate various methods of obtaining data.

First, FIG. 11A illustrates that an image related to the baby 1105 in the house is acquired through the camera 230 of the robot cleaner 200 in relation to baby care, and FIG. 11B shows a user voice, and a robot It exemplifies acquisition through the audio input unit 252 of the cleaner 200, and FIG. 11C shows an infrared signal for the thief 1109 entering the house through the sensor unit 230 of the robot cleaner 200. , And FIG. 11D illustrates that a human body detection signal is obtained through the thermal sensor 1108 of the robot cleaner 200.

12A to 12C illustrate an example of a home care mode.

When performing the home care mode, the controller 270 of the robot cleaner acquires the image data 1210 including the living room through the camera 230 at a second time t2. In addition, the controller 270 of the robot cleaner 200 compares the image data 1205 and the image data 1210 acquired at the first time t1 and stored in the memory 243.

Although there is no thief in the stored image data 1205, it can be seen that the thief is in the living room in the acquired image data 1210. The control unit 270 of the robot cleaner may perform abnormality determination based on the difference data 1230.

In the event of an abnormality, the controller 270 of the robot cleaner may control to transmit an alarm message to the pre-registered user terminal 500 as shown in FIG. 12B.

Accordingly, an alarm message 1245 may be displayed on the previously registered user terminal 500. When the user selects the alarm message 1245, that is, when the monitoring mode for the robot cleaner is performed, a monitoring signal may be transmitted to the communication unit 222 of the robot cleaner 200. Accordingly, the control unit 270 of the robot cleaner registers at least one of image data photographed through the camera 230 and audio data acquired through the audio input unit 252 through the communication unit 222. It can be transmitted to the user terminal 500.

In the drawing, the obtained image data 1250 or image data and audio data 1255 are output to the user's mobile terminal 500. And, by user manipulation or automatically, the mobile terminal 500 may display an emergency report contact item 1257 such as 119, and if this is selected, a call is sent to the emergency report contact such as 119 immediately. Can be connected. Accordingly, the user can easily perform home care in the house through the mobile terminal 500 and the robot cleaner 200.

In the event of an abnormality, the controller 270 of the robot cleaner may control to output a warning message 258 through the audio output unit 254 as shown in FIG. 12C.

At this time, the control unit 270 of the robot cleaner may control the driving unit 280 to be located near the thief 1259, which is the target of home care, and when reaching the thief 1259, FIG. Likewise, it may be controlled to output the warning message 258 through the audio output unit 254.

The warning message at this time may be a warning message previously registered in the memory 243.

Alternatively, a voice message received from the user terminal 500 may be output in real time. To this end, it is necessary to connect the robot cleaner 200 and the user terminal 500 to the robot cleaner 200 and receive a user voice after the connection.

13A to 13E illustrate another example of a home care mode.

13C to 13E of FIGS. 13A to 13E correspond to FIGS. 12A to 12C.

However, as shown in FIG. 13A, the home care mode is performed by the user's voice 1300, and as shown in FIG. 13B, the robot cleaner 200 is located in the house 10, in various places (1010, 1020, 1030, 1040, 1050). ), there is a difference in acquiring image or audio data. Accordingly, descriptions of FIGS. 13C to 13E will be omitted.

On the other hand, when only the care mode is selected and the lower care item is not selected, a home care mode, a silver care mode, a baby care mode, and a child care Mode, power care mode, sleeping care mode, and the like can be performed together.

As shown in FIG. 14A, while driving around the house (1010, 1020, 1030, 1040, 1050), the controller 270 of the robot cleaner includes images or audio data related to home, image or audio data related to grandfather or grandmother, and An image or audio data related to a child, an image or audio data related to a child, an image or audio data related to a power cable, and an image or audio data related to a sleeping person may be obtained.

14A, a baby 1102 is located in a master room 1010, a grandfather 1107 is located in an intermediate room 1020, a child 1105 is located in a small room 1030, and a fire 1109 is located in the living room 1040. ) Occurs, and illustrates that the thief 1259 is located in the front door 1050.

The control unit 270 of the robot cleaner includes an image 1410 including a baby 1102 and a child 1105, respectively, while driving through the camera 230 of the robot cleaner 200, as shown in FIG. 14B. Images (1420), images (1430) including grandfather (1107), image (1440) including thieves (1259), image (1450) including fire (1109), TV (1108) in the living room Each of the images 1460 and the like may be obtained.

Further, the controller 270 of the robot cleaner may determine the presence or absence of an abnormality based on a difference between the acquired image and a previously stored image.

For example, as shown in (a) of FIG. 14B, when the baby 1102 is crying, since there is a difference compared to before, it can be determined as an abnormality in the baby care mode.

On the other hand, as shown in (b) of FIG. 14B, when the child 1105 is crying, there is a difference compared to before, so it can be determined as an abnormality in the child care mode.

On the other hand, as shown in (c) of FIG. 14B, when the grandfather 1107 is down, there is a difference compared to the previous one, and thus it can be determined as an abnormality in the silver care mode.

On the other hand, as shown in (d) of FIG. 14B, when the thief 1259 exists, there is a difference compared to the previous one, and thus it can be determined as an abnormality in the home care mode.

On the other hand, as shown in (e) of FIG. 14B, when there is a fire 1450, there is a difference compared to the previous one, and thus it can be determined as an abnormality in the home care mode.

On the other hand, as shown in (f) of FIG. 14B, when the TV 1108 is crying, since there is a difference compared to before, it can be determined as an abnormality in the power care mode.

15A to 15D illustrate an example of a silver care mode of a robot cleaner.

15A illustrates that entering a silver care mode is performed through the mobile terminal 500.

When the user 1501 outputs a voice 1505 stating "I should check if my father is well", the mobile terminal 500 may receive the voice through the microphone 523. In addition, the controller 580 may perform recognition processing on the received voice. When a speech recognition algorithm is provided within itself, speech recognition may be performed using the corresponding algorithm. Alternatively, the received voice data may be transmitted to the server 300 and the voice recognition content data recognized from the server 300 may be received.

After completion of speech recognition, the mobile terminal 500 may display an object 1510 indicating a silver care mode on the screen, and if there is a separate user input, a silver care entry command may be transmitted to the robot cleaner 200. have. Meanwhile, even without a separate user input, it is also possible to automatically transmit a silver care entry command to the robot cleaner 200 after speech recognition is completed.

Upon receiving the silver care entry command, the robot cleaner 200 enters the silver care mode.

15B illustrates that the robot cleaner 200 travels around the house 10 according to the silver care mode. In particular, it exemplifies that a specific user, for example, the grandfather 1107 is searched, and the robot cleaner 200 travels around the house 10 (1010, 1020, 1030, 1040, 1050).

During such driving, audio data or image data may be obtained through the activated audio input unit 252 and the camera 230.

Further, the controller 270 may compare the acquired data with the data previously stored in the memory 243, and determine that the difference is greater than or equal to a predetermined value as an abnormal state.

15C illustrates an example of photographing a situation in which the grandfather 1107 located in the middle room 1107 is collapsed through the camera 230.

Accordingly, the control unit 270 can obtain image data in which the grandfather is collapsed, and compare the image data previously stored in the memory 243, sitting, or standing, and determine that the difference is greater than or equal to a predetermined value. . That is, it can be determined as an abnormal state.

In this case, as shown in FIG. 15D, the robot cleaner 200 may generate an abnormal message and transmit it to the mobile terminal 500 through the communication unit 222.

The abnormal message at this time may be a text-based message or a video message. In other words, a message including an image is also possible.

In this regard, in FIG. 15D, it is exemplified that the mobile terminal 500, which has received an abnormal message including an image, displays the received abnormal message. Through such an abnormality message including video, the user can immediately determine the abnormal state.

In addition, the mobile terminal 200 may display contact information related to fire stations, police stations, hospitals, etc. together with the abnormal message display.

In FIG. 15D, a contact object 1525 related to a fire department is displayed together with an abnormal message. When the user selects this object 1525, it is possible to connect to the fire station immediately. For example, a call connection becomes possible. Alternatively, access through the Internet is also possible.

16A to 16E illustrate an example of a baby care mode of a robot cleaner.

16A illustrates that entering a baby care mode is performed through the robot cleaner 200.

When the user 1601 outputs a voice 1605 such as "Roboking! Let me know when my baby wakes up"" while leaving the house 10, the robot cleaner 200, through the audio input unit 252, In addition, the control unit 270 may perform a recognition process for the received voice. If a voice recognition algorithm is provided within itself, the voice recognition may be performed using the corresponding algorithm. Alternatively, the received voice data may be transmitted to the server 300 and the voice recognition content data recognized from the server 300 may be received.

After completion of speech recognition, the controller 270 of the robot cleaner 200 may control to enter the baby care mode.

16B illustrates that the robot cleaner 200 travels around the house 10 according to the baby care mode. In particular, it exemplifies that the robot cleaner 200 travels around the house 10 in various places 1010, 1030, and 1040 in search of a specific user, for example, a baby 1102. In particular, it exemplifies driving in the master room 1010, the small room 1030, and the living room 1040.

During such driving, audio data or image data may be obtained through the activated audio input unit 252 and the camera 230.

Further, the controller 270 may compare the acquired data with the data previously stored in the memory 243, and determine that the difference is greater than or equal to a predetermined value as an abnormal state.

FIG. 16C illustrates that the baby 1102 located in the bedroom 111020 is crying through the camera 230.

Accordingly, the control unit 270 can obtain the image data 1410 in which the baby 1102 is crying, and compares the image data 1410 in which the baby 1102 is crying, previously stored in the memory 243, and the difference is a predetermined value. It can be judged that it is abnormal. That is, it can be determined as an abnormal state.

In this case, the robot cleaner 200 may generate an abnormal message, and transmit it to the mobile terminal 500 through the communication unit 222 as shown in FIG. 16D.

The abnormal message at this time may be a text-based message, or a video message or a voice message. That is, a message including video or audio is also possible.

In this regard, FIG. 16D illustrates that the mobile terminal 500, which has received an abnormal message including an image, displays the received abnormal message 1620. Through such an abnormality message including video, the user can immediately determine the abnormal state.

In addition, the mobile terminal 500 may display an object 1625 for voice transmission together with an abnormal message display.

In FIG. 16D, it is exemplified that the object 1625 for voice transmission is displayed together with an abnormal message. When the user selects this object 1625, it is possible to immediately record the user's voice and transmit the recorded voice data to the robot cleaner 200. Exchange of voice data becomes possible, for example, for a call connection.

That is, as shown in FIG. 16E, when the user of the mobile terminal 500 outputs a predetermined voice, the robot cleaner 200 receives it and makes a voice 1630 such as "Don't cry baby.. Mom will be soon". It can be output through the audio output unit 254. Accordingly, it is possible to calm the crying baby 1102.

17A to 17E illustrate an example of a child care mode of a robot cleaner.

17A illustrates that entering a child care mode is performed through the mobile terminal 500.

When the user 1501 located in the house outputs the voice 1705, “Roboking! Please monitor the child while preparing meals”, the mobile terminal 500 transmits the voice through the microphone 523. Can receive. In addition, the controller 580 may perform recognition processing on the received voice. When a speech recognition algorithm is provided within itself, speech recognition may be performed using the corresponding algorithm. Alternatively, the received voice data may be transmitted to the server 300 and the voice recognition content data recognized from the server 300 may be received.

After completion of speech recognition, the mobile terminal 500 may display an object 1710 indicating a child care mode on the screen, and when there is a separate user input, a child care entry command may be transmitted to the robot cleaner 200. have. Meanwhile, even without a separate user input, it is possible to automatically transmit a child care entry command to the robot cleaner 200 after speech recognition is completed.

The controller 270 of the robot cleaner 200, having received the child care entry command, controls to enter the child care mode.

17B illustrates that the robot cleaner 200 travels around the house 10 according to the child care mode. In particular, it is exemplified that the robot cleaner 200 runs around the house 10 in various places 1010, 1030, and 1040 by searching for a specific user, for example, a child 1105. In particular, it exemplifies driving in the master room 1010, the small room 1030, and the living room 1040.

During such driving, audio data or image data may be obtained through the activated audio input unit 252 and the camera 230.

Further, the controller 270 may compare the acquired data with the data previously stored in the memory 243, and determine that the difference is greater than or equal to a predetermined value as an abnormal state.

FIG. 17C illustrates that a child 1105 located in a small room 1030 is crying through the camera 230.

Accordingly, the control unit 270 can obtain the image data 1420 when the child 1105 is crying, and compares the image data with the child 1105 previously stored in the memory 243 with the smiling image data, the difference is small. It can be judged as more than politics. That is, it can be determined as an abnormal state.

In this case, the robot cleaner 200 may generate an abnormal message, and transmit it to the mobile terminal 500 through the communication unit 222, as shown in FIG. 17D.

The abnormal message at this time may be a text-based message, or a video message or a voice message. That is, a message including video or audio is also possible.

In this regard, FIG. 17D illustrates that the mobile terminal 500 displays an abnormal message 1720 including an image. Through such an abnormality message including video, the user can immediately determine the abnormal state.

In addition, the mobile terminal 500 may display an object 1725 for voice transmission of a user together with an abnormal message display.

In FIG. 17D, an object 1725 for voice transmission is displayed together with an abnormal message. When the user selects the object 1725, it is possible to immediately record the user's voice and transmit the recorded voice data to the robot cleaner 200. Exchange of voice data becomes possible, for example, for a call connection.

That is, as shown in FIG. 17E, when the user of the mobile terminal 500 outputs a predetermined voice, the robot cleaner 200 receives it and makes a voice 1730 such as "Min Jung, don't cry.. Mom will be coming soon". It can be output through the audio output unit 254. Accordingly, it is possible to calm the crying child 1105.

18A to 18D illustrate an example of a home care mode of a robot cleaner.

18A illustrates that entry into a home care mode is performed through the mobile terminal 500.

When the user 1501 located in the house outputs a voice 1805 saying “Please take care of home”, the mobile terminal 500 may receive the voice through the microphone 523. In addition, the controller 580 may perform recognition processing on the received voice.

After completion of speech recognition, the mobile terminal 500 may display an object 1810 indicating a home care mode on the screen, and if there is a separate user input, it may transmit a home care entry command to the robot cleaner 200 have. Meanwhile, even without a separate user input, it is also possible to automatically transmit a home care entry command to the robot cleaner 200 after speech recognition is completed.

Upon receiving the home care entry command, the controller 270 of the robot cleaner 200 controls to enter the home care mode.

Home care may mean fire detection, thief detection, gas leak detection, and the like.

18B illustrates that the robot cleaner 200 travels around the house 10 in various places 1010, 1030, and 1040 according to the home care mode, in particular, for detection of fire, thief, gas leakage, and the like. In particular, it exemplifies driving in the master room 1010, the small room 1030, and the living room 1040.

During such driving, audio data or image data may be obtained through the activated audio input unit 252 and the camera 230.

Further, the controller 270 may compare the acquired data with the data previously stored in the memory 243, and determine that the difference is greater than or equal to a predetermined value as an abnormal state.

18C illustrates that soup overflows from the container while the gas cooking appliance 1800 is in operation. The controller 270 may compare the acquired image with a pre-stored image through the camera 230 and determine that the difference is greater than or equal to a predetermined value, as an abnormality.

In case of abnormality, the control unit 270 of the robot cleaner 200 approaches the sleeping user 1801 as shown in FIG. 18D to warn about the possibility of gas leakage, and transmits a notification message regarding the risk of fire or gas leakage, It can be controlled to be output through the audio output unit 2554.

Or, in case of abnormality, the control unit 270 of the robot cleaner 200, as shown in FIG. 18D, to the mobile terminal 500 of the sleeping user 1801, to warn about the possibility of gas leakage, the risk of ash or gas leakage A notification message related to may be controlled to be transmitted through the communication unit 222. Thereby, the user can immediately grasp the danger.

Meanwhile, in the home care mode, the controller 270 of the robot cleaner 200 may select any one of a normal mode, a monitoring mode, and a patrol mode through a user input.

Meanwhile, when setting the home care mode, the controller 270 of the robot cleaner 200 may set a start time, an end time, and a repetition time.

Meanwhile, when setting the home care mode, the controller 270 of the robot cleaner 200 may designate a location where home care is to be performed. It is possible to set the whole house or only a specific spirit.

Meanwhile, the controller 270 of the robot cleaner 200 may set an emergency contact when setting the home care mode. For example, a mobile terminal of a specific user or an emergency contact such as 112 or 119 may be set.

19A to 19D illustrate an example of a power care mode of a robot cleaner.

19A illustrates that entering a power care mode is performed through the mobile terminal 500.

When the user 1501 outputs the voice 1905 saying “Please take care of power”, the mobile terminal 500 may receive the voice 1905 through the microphone 523. In addition, the controller 580 may perform recognition processing on the received voice. When a speech recognition algorithm is provided in the mobile terminal 500, speech recognition may be performed using the corresponding algorithm. Alternatively, the mobile terminal 500 may transmit received voice data to the server 300 for voice recognition, and may receive voice recognition content data recognized from the server 300.

After completion of speech recognition, the mobile terminal 500 may display an object 1910 indicating a power care mode on the screen, and if there is a separate user input, a power care entry command may be transmitted to the robot cleaner 200. have. Meanwhile, even without a separate user input, it is also possible to automatically transmit a power care entry command to the robot cleaner 200 after speech recognition is completed.

Upon receiving the power care entry command, the robot cleaner 200 enters the power care mode.

19B illustrates that the robot cleaner 200 travels around the house 10 according to the power care mode. In particular, it is exemplified that the robot cleaner 200 travels around the house 10 in various places (1010, 1020, 1030, 1040, 1050) by searching for various electric devices in the house.

The robot cleaner 200 may acquire audio data or image data through the activated audio input unit 252 or the camera 230 during such driving.

In addition, the controller 270 of the robot cleaner 200 may compare the acquired data with the data previously stored in the memory 243, and determine that the difference is greater than or equal to a predetermined value as an abnormal state.

19C illustrates various types of electric devices 400a, 400b, 400c, and 400d disposed in the house 10, and in particular, illustrates electric devices that are searched while the robot cleaner 200 is running. In the drawings, the electric devices 400a, 400b, 400c, and 400d illustrate a TV 400a, an air conditioner 400b, a cooking device 400c, and a lighting device 400d.

Among them, when the power of the TV 400a is turned on and it is determined that a predetermined image 1970 is displayed, the robot cleaner 200 is the TV 400a displaying the broadcast image 1970 as shown in FIG. 19D. A remote control signal (1932) for power off is transmitted to. Accordingly, the power of the TV 400a is turned off.

As a result, the robot cleaner 200 can turn off the TV 400a, like the remote control device of the TV 400a. Accordingly, it is possible to simply perform power saving for the TV 400a.

20A to 20C illustrate an example of a sleep care mode of a robot cleaner.

FIG. 20A illustrates that, when there is a specific voice of the user 2001, that is, a voice 2005 such as “Roboking Sleep Mode”, entering a sleep care mode.

The controller 270 of the robot cleaner 200 may obtain the corresponding voice 2005 through the audio input unit 252 and control to enter the sleep care mode through the voice recognition function.

Upon entering the sleep care mode, the control unit 270 of the robot cleaner 200 may control to output a sound 2010 related to sleep induction as shown in FIG. 20B through the audio output unit 254. The sleep induction sound at this time may be music preset by the user.

The control unit 270 of the robot cleaner 200 determines whether or not the user 2001 is asleep based on data acquired through the camera 230 or the audio input unit 252, and if asleep, the control unit 270 It is possible to control so that the related sound 2010 is no longer output.

For example, when the user 2001 does not move or snores for a predetermined time, the control unit 270 of the robot cleaner 200 may determine that the user 2001 is asleep.

21A to 21D illustrate an example of setting a care mode using a mobile terminal.

21A illustrates that a care mode item 2102, a cleaning mode item 2104, and a charging mode item 2106 are provided in the screen 2100 of the mobile terminal 500.

When the charging mode item 2106 is selected, a remote control signal is transmitted to the robot cleaner 200, and the robot cleaner 200 moves to the charging device 100 to perform a charging operation.

When the care mode item 2102 is selected, detailed items may be displayed in the screen 2110 of the mobile terminal 500.

21B illustrates a care mode immediate execution item 2112, a care mode setting item 2114, and a care mode selection item 2116 in the screen 2100.

The care mode selection item 2116 may include a home care item, a silver care item, a baby care item, a child care item, a power care item, a sleep care item, and the like.

In FIG. 21B, it is exemplified that the care mode setting item 2114 is selected in the mobile terminal 500.

Accordingly, as shown in FIG. 21C, a setting screen 2120 for setting a care mode may be displayed.

The care mode setting screen 2120 may be divided into a time setting item, an operation mode item, a priority setting item when performing multiple functions, a notification target company selection item, and the like.

The time setting item may include a start time item, an end time item, a repetition time and number of times items of the care mode of the robot cleaner 200. Depending on the setting of each item, you can set the desired start time, end time, and repetition time.

The motion range item is an item for setting the motion range of the robot cleaner 200 and may include an entire range item, a partial area item, and the like.

When performing multiple functions, the priority setting items may include a home care item, a silver care item, a baby care item, a child care item, a power care item, a sleep care item, and the like, and priority can be set.

The notification subject selection item may include contents of USER 1, USER 2, 119, 112, server, and the like.

22A to 22E illustrate an example of setting a cleaning mode using a mobile terminal.

22A shows the same screen 2100 as in FIG. 21A. When the cleaning mode item 2104 is selected in the screen 2100, a cleaning mode setting screen 2310 may be illustrated as shown in FIG. 22B.

The cleaning mode setting screen (2310) includes customized cleaning items (2312), zigzag mode items (2314), scrupulous mode items (2316), intensive cleaning mode items (2317), pollution source mode items (2318), and cleaning start items (2319). ), etc.

FIG. 22C illustrates a meticulous cleaning mode corresponding to the meticulous mode item 2316, FIG. 22D exemplarily illustrates a zigzag cleaning mode corresponding to the zigzag mode item 2314, and FIG. 22E illustrates a tailored cleaning item 2312 The custom cleaning mode corresponding to is illustrated.

23A to 23C illustrate an example of an automatic cleaning mode using a robot cleaner.

23A illustrates that the robot cleaner 200 receives a predetermined sound 2402. In this case, the audio input unit 252 of the robot cleaner 200 receives the sound 2402 and converts it into an electric signal. Then, the control unit 270 receives the converted electrical signal.

The control unit 270 distinguishes whether the input sound is a sound generated in daily life or a sound that needs cleaning based on the received electrical signal. It may be determined by itself, or the corresponding information may be received from the external server 300 or the mobile terminal 500.

23B illustrates that the robot cleaner 200 is moved by the driving unit 280 and moves in the vicinity of the generated sound.

The control unit 270 of the robot cleaner 200 may determine a sound position based on the recognition of the sound 2402 of FIG. 23A and control to move to the position where the sound is generated.

In the drawing, as the user 2401 uses a hair dryer, a corresponding sound 2403 is generated. When the hair dryer is used, the hair 2406 may fall around the user 2401. In the embodiment of the present invention, when a specific sound is generated, the robot cleaner 200 is used to control automatic cleaning to be performed.

23C exemplifies automatic cleaning at the corresponding sound position.

When the user 2401 stops using the hair dryer, that is, when the corresponding sound 2403 no longer occurs, the controller 270 of the robot cleaner 200 can control the automatic cleaning mode to be performed. have.

The cleaning unit 245 of the robot cleaner 200 may operate a motor or the like to suck the hair 2406 and perform automatic cleaning. Accordingly, it is possible to easily and quickly perform automatic cleaning at a predetermined sound, that is, a specific sound source position.

Meanwhile, upon completion of the automatic cleaning, the robot cleaner 200 may transmit an automatic cleaning completion message to the user's mobile terminal 500. Accordingly, the user can recognize that automatic cleaning has been completed through the mobile terminal 500. As a result, user convenience may be increased.

As for the sound for executing the automatic cleaning mode, various sounds other than the sound 2403 from the hair dryer described in FIGS. 23A to 23C are possible. For example, it is possible to perform the automatic cleaning mode by the user's voice.

On the other hand, in FIGS. 23A to 23C, although the source of contamination was identified through sound recognition, it is also possible to recognize the source of contamination through the acquired image.

That is, the image data captured by the camera 230 is compared with the previously stored image data, and if there is a difference, the control unit 270 may recognize that the pollutant source has been discharged. And, it is possible to control the automatic cleaning mode to be performed.

The robot cleaner and its operation method according to the present invention are not limited to the configuration and method of the embodiments described as described above, but the embodiments are all or part of each of the embodiments so that various modifications can be made. It may be selectively combined and configured.

Meanwhile, the method of operating a robot cleaner of the present invention can be implemented as a code that can be read by a processor on a recording medium that can be read by a processor provided in the robot cleaner. The processor-readable recording medium includes all types of recording devices that store data that can be read by the processor. Examples of recording media that can be read by the processor include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage, etc., and also include those implemented in the form of carrier waves such as transmission through the Internet. . In addition, the recording medium readable by the processor may be distributed over a computer system connected through a network, so that code readable by the processor may be stored and executed in a distributed manner.

In addition, although the preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. In addition, various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

Claims (16)

Audio input unit;
camera;
Memory;
A communication unit for exchanging data with an external device;
A cleaning unit that performs cleaning; And
Controls to perform at least one of a cleaning mode and a care mode, and when performing the care mode, recognizes the surrounding state based on data stored in the memory and data acquired through at least one of the audio input unit and the camera Includes;
The control unit,
When receiving a voice related to the sleep mode through the audio input unit, through voice recognition, control to enter the sleep care mode,
Controls to output a sound related to sleep induction according to the sleep care mode,
A robot cleaner, characterized in that, based on the data acquired through the camera or the audio input unit, determines whether the device is in a sleep state, and controls the sound related to the sleep induction so that the sound related to sleep induction is not output any more. The method of claim 1,
The control unit,
A robot cleaner comprising controlling the communication unit to transmit a notification message when a difference between the stored data and the acquired data is equal to or greater than a predetermined value, or there is no match between the stored data and the acquired data. . The method of claim 1,
The control unit,
When the difference between the image data stored in the memory and the image data acquired from the camera is greater than or equal to a first predetermined value, or there is no match between the stored image data and the acquired image data, it is determined as a first abnormal state. And, when determining the first abnormal state, a difference between the audio data stored in the memory and the audio data obtained through the audio input unit is equal to or greater than a second predetermined value, or the stored audio data and the acquired audio data are matched. If there is no part, the robot cleaner is determined as a final abnormal state, and controls the communication unit to transmit a notification message when the final abnormality is determined. The method according to claim 2 or 3,
The control unit,
A robot cleaner comprising controlling the communication unit to transmit the notification message to a previously registered user terminal or an emergency contact. The method of claim 1,
Further comprising a; driving unit for moving the robot cleaner,
The control unit,
When performing the care mode, the driving unit is controlled to move to a set position, and at the set position, based on data stored in the memory and data acquired through at least one of the audio input unit and the camera, the surrounding state Robot cleaner, characterized in that to perform recognition. The method of claim 1,
Further comprising a; driving unit for moving the robot cleaner,
The control unit,
When performing the care mode, while driving, based on data stored in the memory and data acquired through at least one of the audio input unit and the camera, the robot cleaner is characterized in that it performs recognition of the surrounding state. The method of claim 6,
The control unit,
While the driving, the robot cleaner, characterized in that controlling so that the cleaning mode is performed together. The method of claim 1,
The cleaning mode,
Includes manual cleaning mode, automatic cleaning mode,
The care mode,
A robot cleaner comprising at least one of a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode, and the sleep care mode. In the method of operating a robot cleaner having a memory, an audio input unit, and a camera,
Entering the care mode among a cleaning mode and a care mode;
Acquiring data through at least one of the audio input unit or the camera when performing the care mode;
Based on the data stored in the memory and the acquired data, performing a peripheral state recognition; includes,
When receiving a voice related to the sleep mode through the audio input unit, through voice recognition, enters the sleep care mode,
According to the sleep care mode, outputs a sound related to sleep induction,
A method of operating a robot cleaner, characterized in that, based on the data acquired through the camera or the audio input unit, it is determined whether or not it is in a sleep state, and when it is in a sleep state, the sound related to sleep induction is no longer output. . The method of claim 9,
And transmitting a notification message when a difference between the stored data and the acquired data is greater than or equal to a predetermined value, or when there is no match between the stored data and the acquired data, transmitting a notification message; How to operate the vacuum cleaner. The method of claim 9,
The step of performing recognition of the surrounding state,
When the difference between the image data stored in the memory and the image data acquired from the camera is greater than or equal to a first predetermined value, or there is no match between the stored image data and the acquired image data, it is determined as a first abnormal state. Step to do; And
When determining the first abnormal state, a difference between the audio data stored in the memory and the audio data acquired through the audio input unit is equal to or greater than a second predetermined value, or a portion coincident with the stored audio data and the acquired audio data If there is no, determining the final abnormal state; includes,
The method of operating a robot cleaner, further comprising: transmitting a notification message when determining the final abnormality. The method of claim 10 or 11,
The step of transmitting the notification message,
A method of operating a robot cleaner, comprising transmitting the notification message to a previously registered user terminal or an emergency contact. The method of claim 9,
Further comprising; driving according to the care mode;
The step of performing recognition of the surrounding state,
Moving to a set position when performing the care mode; And
At the set position, performing peripheral state recognition based on data stored in the memory and data acquired through at least one of the audio input unit and the camera; and a method of operating a robot cleaner comprising: . The method of claim 9,
Further comprising; driving according to the care mode;
The step of performing recognition of the surrounding state,
When performing the care mode, while driving, based on data stored in the memory and data acquired through at least one of the audio input unit and the camera, the operation method of the robot cleaner, characterized in that the recognition of the surrounding state. The method of claim 14,
During the driving, the cleaning mode is performed together. The method of claim 9,
The cleaning mode,
Includes manual cleaning mode, automatic cleaning mode,
The care mode,
A method of operating a robot cleaner comprising at least one of a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode, and the sleep care mode.

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