KR102227427B1 - Cleaning robot, home monitoring apparatus and method for controlling the same - Google Patents

Abstract

The present invention is the main body; A moving assembly that moves the body within the groove; An image unit for collecting images around the main body; A control unit for creating a map in the home based on the collected image information; It includes a communication unit for transmitting the created map to the home monitoring device.
The present invention can automate the process of matching the location and type of an electric device to a two-dimensional or three-dimensional map of the internal structure of a groove.
In this way, by using the map information created by the cleaning robot for cleaning at the time of home management, the structure in the home can be realistically created, and electric devices located for each room can be automatically registered, so that the user can select the electric devices located for each room. UX (User Experience) difficulties such as having to register can be solved.

Description

Cleaning robot, home monitoring apparatus and method for controlling the same}

The present invention relates to a cleaning robot for acquiring a structure inside a groove, a home monitoring device communicating with the cleaning robot, and a control method thereof.

A home monitoring device is a device that monitors the state of the home through the Internet from within a home or remote location. Cameras and servers are installed in each home or area to be monitored, and connected to the server through a terminal from the outside to each home or It is a device that enables monitoring of the area to be monitored.

In addition to monitoring functions such as security, recent home monitoring devices perform functions related to automation and energy saving of devices provided in the home. This is also called a smart home.

Smart Home is a concept corresponding to an intelligent house or a service house, and various electric devices and electronic devices in the home, including partial automation inside a home house or building, connect the internal network. It means that they are connected to each other through an external network and are controlled through an external network.

In addition, to save power, the smart home checks the power usage status in real time so that the power usage time and usage can be adjusted.

The home monitoring device receives information on the structure of the home and information about the device from the user, outputs the status of the devices through communication with the devices, measures the power consumption, and notifies the user.

At this time, there is a very cumbersome problem in that the user has to directly input information on the structure of the home and information on the device into the home monitoring device.

*One side moves the inside of the home to create a map inside the home, applies the arrangement information of the electric equipment to the map information created by communicating with the electric equipment inside the home, and the map information to which the arrangement information of the electric equipment is applied. It provides a cleaning robot that transmits to a home monitoring device and a control method thereof.

Another aspect provides a home monitoring device that communicates with a cleaning robot to receive map information to which arrangement information of an electric device is applied from the cleaning robot, displays the received map information, and controls the operation of an electric device in a home.

A cleaning robot according to an aspect includes: a main body; A moving assembly that moves the body within the groove; An image unit for collecting images around the main body; A control unit for creating a map in the home based on the collected image information; It includes a communication unit for transmitting the created map to the home monitoring device.

The communication unit performs communication with an electric device adjacent to the main body, receives basic information from the electric device, and transmits the received basic information to the control unit.

The controller image-processes the image and recognizes the electric device from the image-processed image.

The imaging unit includes a first photographing unit and a second photographing unit disposed at different positions of the main body.

The first and second imaging units respectively collect 2D images, and the control unit processes each collected 2D image to obtain a 3D image, and recognizes an electric device based on the acquired 3D image. Create a map with the recognized electrical equipment matched.

The first imaging unit collects a 2D image, the second imaging unit collects a 3D image, and the control unit recognizes an electric device by image processing at least one of the 2D image and the 3D image, and the 3D image Create a map by classifying the rooms in the home based on.

When the electric device is recognized, the control unit checks the location information of the electric device and matches the checked location information to the map.

The cleaning robot further includes a storage unit for storing location information of the electric device as a 3-axis value.

The cleaning robot further includes a cleaning tool that collects foreign matter on the bottom surface of the groove, and the control unit, when the current mode is a cleaning mode, controls the operation of the moving assembly and the cleaning tool, and recognizes electric devices in the groove while performing cleaning. It is determined whether the recognized electrical device is a new electrical device or a registered electrical device, and if it is determined that it is a new electrical device, the map is updated.

The cleaning robot further includes a voice recognition unit for recognizing a voice, and the control unit controls the moving assembly to move to a position corresponding to the recognized voice.

The voice recognition unit includes a microphone array, and the control unit recognizes a position of a voice detected through the microphone array.

The controller further includes recognizing the voice detected through the microphone array and determining a room indicated by the recognized voice.

The voice recognition unit includes one microphone, and the control unit recognizes a voice detected through the microphone and determines a room indicated by the recognized voice.

The home monitoring device is located on a charging station that supplies power to the main body, and displays information on electric devices matched to a map in the home.

The home monitoring device displays information on electric devices that are located in the main body and matched to the map in the home.

The communication unit communicates with a home monitoring device located in a home separate from the main body.

A control method of a cleaning robot according to another aspect is a control method of a cleaning robot having a body, a moving assembly that moves the body within a groove, and an image unit that collects an image around the body. Determine whether the operation command is in the map creation mode, and if the operation command is in the map creation mode, the movement assembly is operated to move within the groove, while moving within the groove, the image around the body is collected, and based on the collected image information, A map is created, the collected images are image-processed to recognize electric devices in the home, match the recognized electric devices to the created map, and the electric devices transmit the matched map to the home monitoring device.

Collecting the image includes collecting a plurality of two-dimensional images.

Recognizing an electric device includes generating a 3D image using a plurality of 2D images, classifying a room of a home using the generated 3D image, and recognizing an electric device for each of the separated rooms.

Collecting an image includes collecting a two-dimensional image and a three-dimensional image.

Recognizing an electric device includes classifying a room in a home using a 3D image, recognizing an electric device using at least one of a 2D image and a 3D image, and recognizing an electric device for each room. do.

The control method of the cleaning robot determines whether basic information transmitted from at least one electric device is received while moving within the home, and when it is determined that basic information transmitted from at least one electric device is received, location information of at least one electric device And matching basic information and location information of at least one electric device with map information.

The control method of the cleaning robot is to operate the moving assembly when the operation command is in the cleaning mode to perform cleaning while moving the inside of the groove, collect images around the main body while performing cleaning, and process the collected images to recognize electrical devices. And, it is determined whether the recognized electrical device is a new electrical device, and if it is determined that the recognized electrical device is a new electrical device, basic information and location information of the recognized electrical device are checked, and basic information and location information of the identified electrical device are checked. And updating the map information by matching the map.

The control method of the cleaning robot is to check the location information of the recognized electric device when it is determined that the recognized electric device is a registered electric device, and compare the location information of the identified electric device with the location information of the registered electric device. It further includes determining whether the location information matches, and if the two location information does not match, restoring the location information of the electric device as the confirmed location information to update the map information.

The control method of the cleaning robot further includes retransmitting the updated map information to the home monitoring device.

Recognizing the electric device further includes determining whether basic information transmitted from the at least one electric device is received while moving within the home.

According to another aspect, a home monitoring apparatus includes: a communication unit configured to receive map information in which location information of electric devices in a home is matched from a cleaning robot and communicate with at least one electric device disposed in the home; A control unit for controlling an operation of at least one electric device based on the received map information; And a display unit that displays map information and operation information of at least one electric device.

The map information includes location information of electric devices for each room, and the controller controls power consumption for each room based on location information of the electric devices for each room.

The home monitoring apparatus further includes an input unit for receiving information on unregistered electric devices.

The home monitoring apparatus further includes an input unit for receiving operation information on at least one electric device, and the control unit controls the operation of the at least one electric device.

According to one aspect, by creating a map in the home using a cleaning robot and using it as a map for home monitoring service, it is possible to solve the pain point according to the map input inside the home, and the user can individually locate each room. Difficulties such as registering electric devices can be solved.

In addition, it is possible to build a smart home by controlling the power in the home independently or organically for each room.

In this case, it is possible to reduce power for the unused room. That is, power inside the home can be managed for each room.

In addition, through the home monitoring device, it is possible to easily identify the electric devices arranged for each room in the home.

In addition, the cleaning robot is a device to which power is always applied, and a home monitoring device may be provided in the cleaning robot. That is, a home monitoring device may be provided on the charging base of the cleaning robot, or a home monitoring device may be provided on the main body.

As described above, it can be expected that a new type of smart home service can be conceived by equipping the cleaning robot with a home monitoring device.

1 is a block diagram of a home service system including a cleaning robot according to an exemplary embodiment, and a home monitoring device that communicates with the cleaning robot and a plurality of electric devices.
2 is a plan perspective view of a cleaning robot according to an embodiment.
3 is a bottom perspective view of a cleaning robot according to an embodiment.
4 is a control configuration diagram of a cleaning robot according to an embodiment.
5 is a control flowchart of a cleaning robot according to an exemplary embodiment.
6 is a diagram illustrating an example of creating a map of a cleaning robot according to an exemplary embodiment.
7 is an exemplary diagram of a map created by a cleaning robot according to an exemplary embodiment.
8 is a control configuration diagram of a home monitoring apparatus according to an exemplary embodiment.
9 is an example of a user interface of a home monitoring device according to an embodiment.
10 to 12 are diagrams illustrating control of a user interface provided in a home monitoring apparatus according to an exemplary embodiment.
13 is an exemplary diagram of a cleaning robot according to another embodiment.
14 is an exemplary diagram of a cleaning robot according to another embodiment.

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

1 is a cleaning robot 100 according to an embodiment and a home monitoring device 400 that communicates with the cleaning robot and a plurality of electric devices 300: 300a, 300b, ..., 300n. It is a configuration diagram of the home service system 1.

When a user's cleaning command is input or a cleaning reservation time is reached, the cleaning robot 100 performs cleaning by inhaling foreign substances such as dust on the floor while traveling by itself while traveling in a cleaning area in the groove.

The cleaning robot 100 creates a map in the groove before cleaning and performs cleaning based on the created map.

The cleaning robot 100 initially creates and stores a map once, or periodically creates and stores a map, or creates and stores a map according to a user's command.

In addition, in the cleaning mode, the cleaning robot may perform cleaning while driving randomly without map information in the home.

The cleaning robot 100 may recognize basic information about the electric device by performing communication with the electric device in the home and receiving basic information about the device from the electric device. Here, the basic information includes the name of the electric device.

The cleaning robot 100 performs docking with the charging base 200 when a cleaning end command is input from the user, when it is determined that cleaning is completed, or when the amount of the battery is lower than the reference amount, and when the docking is completed, the charging base 200 It receives power from and performs charging.

Here, the charging base 200 is connected to an external commercial AC power source to receive external commercial AC power and a transformer that converts commercial AC power supplied from the outside, a rectifier for half-wave or full-wave rectification of the converted power, and a rectified A smoothing unit for smoothing power and a voltage adjusting unit for outputting the smoothed power as DC power having a predetermined voltage, and supplying DC power output from the voltage adjusting unit to the cleaning robot 100 through a power terminal.

In addition, the charging base 200 further includes a docking communication unit (not shown) that transmits and receives a docking signal for docking with the cleaning robot 100 with the cleaning robot 100.

The plurality of electric devices 300 (300a, 300b, ..., 300n) are devices disposed in a home and capable of communicating, and include home appliances that perform predetermined unique functions and additional functions within the home. For example, home appliances include lighting, televisions, air conditioners, refrigerators, washing machines, and the like.

In addition, the plurality of electric devices further include a monitoring device (not shown) for crime prevention, a heating device such as a boiler, and a gas valve.

Such a plurality of electric devices (300: 300a, 300b, ..., 300n) periodically transmits basic information to the outside, and communicates with the home monitoring device 400 to transmit operation information to the home monitoring device 400. Respectively. Here, the basic information about the device includes information such as a name.

In addition, when a control command is received from the home monitoring device 400, each electric device 300 performs an operation based on the received control command.

The electric device may further include an NFC or RFID tag on which basic information or the like is recorded.

The home monitoring device 400 applies a smart home solution to each home, centering on a user interface, in addition to home control functions such as lighting control, gas valve control, heating control, energy usage information inquiry, energy management and device control, etc. It performs various functions such as confirmation, call, door opening, access management, and event notification.

The home monitoring device 400 communicates with the cleaning robot 100 and a plurality of electric devices 300 (300a, 300b, ..., 300n). In addition, the home monitoring device 400 also communicates with a device for monitoring security or the like.

The home monitoring device 400 receives map information in the home and location information of at least one electric device from the cleaning robot 100 and displays the information. Here, the location information of the electric device is matched in the map information.

The home monitoring device 400 receives operation information from a plurality of electric devices (300: 300a, 300b, ..., 300n), and at least one of the plurality of electrical devices (300: 300a, 300b, ..., 300n) It transmits control commands to one electric device.

Here, the control command is a command input by a user or a command determined based on the power state in the home.

The cleaning robot 100 will be described in detail with reference to FIGS. 2 and 3.

2 is a plan perspective view of the cleaning robot, and FIG. 3 is a bottom perspective view of the cleaning robot.

As shown in FIG. 2, the cleaning robot 100 includes a main body 110 forming an external appearance, a bumper 111 that is mounted on the front surface of the main body 110 to alleviate an impact when colliding with an obstacle, and the main body 110. ), a user interface 120 that receives operation information and reservation information and displays operation information, and a plurality of units that are integrally fixedly mounted on the upper part of the main body 110 to collect images around the main body in the cleaning area. The image unit 130 (131, 132) and a communication unit 140 for performing communication with an external device such as the charging base 200.

The images collected here are images used to create a map in the home and to recognize electric devices in the home. In addition, the collected image may be used to recognize the location of the main body and detect obstacles in the cleaning mode.

In addition, the image unit includes a first photographing unit 131 and a second photographing unit 132, and the first photographing part 131 and the second photographing part 132 are arranged back and forth based on the driving direction, but the driving direction It is also possible to arrange it left and right based on.

The bumper 111 may be further mounted on the rear of the body 110.

The cleaning robot 100 further includes a dust collecting unit 112 provided at the rear of the main body 110 and provided around the main cleaning tool to collect foreign substances such as dust collected through the main cleaning tool 170.

The cleaning robot 100 may further include an obstacle detection unit 151 mounted on the front and left and right sides of the main body 110 to detect obstacles located in the front and left and right sides of the cleaning robot.

In addition, the cleaning robot may use the obstacle detection signal detected by the obstacle detection unit 151 to create a map. For example, a cleaning robot may recognize furniture such as a sofa or a dining table as an obstacle and apply it to a map.

The cleaning robot may be provided in the main body and further include a sound detection unit 153 for detecting sound in the groove. Here, the sound includes the user's voice.

As shown in FIG. 2, the cleaning robot 100 includes a moving assembly 160 installed under the main body 110 to move the main body 110, and a moving assembly 160 installed under the main body 110 to remove dust from the floor. A cleaning tool 170 that sweeps or scatters and sucks the scattered or scattered dust, and a power supply unit 180 that supplies power for driving to each component.

The moving assembly 160 includes a pair of wheels 161 and 162 installed on the left and right edges based on the central area of the main body 110 to advance, reverse and rotate the cleaning robot 100, and each of the wheels 161 and 162. ) Wheel motors (163, 164) that apply a moving force, and a caster wheel (165) that is installed in front of the main body (110) and rotates according to the condition of the floor surface on which the cleaning robot (100) moves and changes its angle Includes.

Here, the pair of wheels 161 and 162 are disposed symmetrically to each other on the body 110.

The caster wheel 165 is utilized for stabilizing the posture of the cleaning robot 100 and preventing fall, and supports the cleaning robot 100, and is made of a roller or caster-shaped wheel.

The cleaning tools 170 and 174 are installed under the main body 110 to sweep or scatter the dust on the floor, and the main brush assembly 170 to suck the scattered or scattered dust, and the main brush assembly 170, which is installed in the lower part of the main body 110. It includes side brush assemblies 174 (174a, 174b) installed so as to be protruding to the outside and sweeping dust in a region different from the region cleaned by the main brush assembly 170 and transferring the dust to the main brush assembly 170.

The main brush assembly 170 is provided in the suction port 171 of the lower part of the main body 110, and the main brush 172 sweeps or scatters floor dust under the main body 110, and a brush that rotates the main brush 172. Includes a motor 173.

Here, the main brush 172 includes a roller mechanically connected to the brush motor 173 and a brush member mounted on the outer peripheral surface of the roller. That is, while the roller of the main brush 172 rotates by driving of the brush motor 173, the brush member mounted on the roller is rotated. At this time, the brush member of the main brush 172 sends dust from the bottom surface to the suction port 171.

The cleaning robot 100 may collect foreign substances such as dust by using a suction force.

That is, the main brush assembly 170 may be provided inside the main body 110, but may further include a suction unit provided around the main brush to generate suction force into the suction port 171.

Here, the suction unit includes a blower (not shown). That is, the suction unit of the main brush assembly 170 guides dust introduced into the suction port 171 to the dust collecting unit 112 using the blowing force of the blower, and the blowing force can be adjusted under the control of the controller.

The side brush assembly 174 is intended to improve cleaning efficiency by sweeping floor dust in the front and side directions of the main body 110 and floor dust in a place where the main brush 172 cannot use to the inlet 171. It includes a first side brush assembly 174a located on the left side of the front of the body 110, and a second side brush assembly 174b located on the right side of the front of the body 110.

These left and right first and second side brush assemblies 174a and 174b include a body detachably mounted on the body 110, a side arm rotatably mounted on the body and protruding outside the body, and It includes a side brush rotatably mounted on a side arm protruding outward.

In addition, the first and second side brush assemblies 174a and 174b may include only side brushes rotatably mounted on the front left and right sides of the main body 110.

The power supply unit 180 includes a battery that is electrically connected to various constituent units mounted on the main body 110 to supply power for driving to the various constituent units.

Here, the battery is a rechargeable secondary battery, which is electrically connected to the charging base 200 through two charging terminals 181 to receive power from the charging base 200 to perform charging.

The cleaning robot 100 not only performs cleaning while automatically driving the cleaning area based on the obstacle detection signal detected by the obstacle detection unit 151, but also performs cleaning while driving the cleaning area reflecting the user's intention. .

That is, when cleaning in the automatic mode, the cleaning robot 100 checks the obstacles such as furniture, office supplies, walls, etc. installed in the cleaning area and the distance to the obstacles through the obstacle detection unit 151, and according to the result, the moving assembly 160 By driving the wheels 161 and 162 of the unit, the cleaning area is cleaned while changing the direction by itself.

4 is a control block diagram of a cleaning robot according to an exemplary embodiment. The cleaning robot includes a user interface 120, an image unit 130, a communication unit 140, a detection unit 150, and a driving module 190.

The user interface 120 receives a command from a user and displays an operation state.

The user interface 120 includes an input unit 121 that receives cleaning reservation information, cleaning start/end, map creation, driving mode and driving pattern, etc., cleaning reservation information, charging status, dust collection status, driving pattern and driving mode, etc. It includes a display unit 122 that displays.

Here, the driving mode includes a cleaning mode, a map creation mode, a standby mode, a docking mode, a reservation mode, and the like.

The user interface 120 can be implemented as a touch screen. In addition, the power on-off button of the user interface may be a button provided separately from the touch screen.

In addition, the input unit 121 of the user interface may be implemented as a touch pad, and the display unit 122 may be implemented as a liquid crystal display (LCD).

The imaging unit 130 collects images around the main body 110. Here, the photographing direction of the image unit 130 faces an upward direction opposite to the bottom surface.

In the map creation mode, the image unit 130 collects images around the main body to create a map in the home, and in the cleaning mode, collects images around the main body to detect location information and obstacles of the main body.

The imaging unit 130 includes a first imaging unit 131 and a second imaging unit 132.

The first photographing unit 131 and the second photographing unit 132 each include a two-dimensional color camera, and respectively collect two-dimensional color images using the two-dimensional color camera. At this time, the two-dimensional images collected by the first and second photographing units 131 and 132 are used to acquire a three-dimensional image.

In addition, the first and second photographing units may include infrared (IR) transmitting and receiving devices.

In addition, the first photographing unit 131 may include a two-dimensional color camera, and the second photographing unit 132 may include a depth camera that is a three-dimensional camera.

In this way, the cleaning robot obtains a three-dimensional image using at least two cameras to grasp the internal structure of the groove.

In addition, the imaging unit 130 may operate both the first and second photographing units 131 and 132 in the map creation mode, and may operate only the first photographing unit 131 in the cleaning mode.

The communication unit 140 communicates with the charging station 200 in the docking mode.

In addition, the communication unit 140 may communicate with a remote control (not shown) that manipulates the operation of the cleaning robot.

The communication unit 140 communicates with the plurality of electric devices 300 in the map creation mode and the cleaning mode. At this time, the communication unit 140 receives basic information transmitted from the electric device 300.

The communication unit 140 communicates with the home monitoring device 400 and transmits map information to the home monitoring device 400.

In addition, the communication unit 140 may transmit operation information of the cleaning robot.

The communication unit 140 performs at least one of various wired and wireless communications such as ZigBee, Z-Wave, WiFi, and Ethernet for communication with the home monitoring device 400 and the electric device 300.

The communication unit 140 performs at least one of RF communication, infrared communication, and ultrasonic communication to perform docking.

The communication unit 140 may read a tag such as NFC or RFID attached to an electric device. In this tag, basic information about electric equipment and the like are recorded.

The detection unit 150 includes an obstacle detection unit 151 for detecting obstacles in the cleaning area by being mounted on the main body 110, and rotation of the wheel motors 163 and 164 to predict the moving distance of the main body. It is also possible to further include a rotation speed detection unit 152 for detecting the number.

That is, the cleaning robot 100 uses the image information collected by the imaging unit 130, the obstacle detection information detected by the obstacle detection unit 151, and the rotation speed detection information of the wheel motors 163 and 164 to generate a map. It is also possible to generate and drive using the generated map in the cleaning mode.

In addition, the detection unit 150 further includes a sound detection unit 153 that detects sound in the groove.

Here, the sound detection unit 153 includes one microphone or a microphone array.

In addition, the cleaning robot can improve the accuracy of recognizing a location to be cleaned by using both a microphone and a microphone array as a sound detection unit.

The driving module 190 drives the user interface 120 for input/output of information and the image unit 130 for an image collection operation, and the information input to the user interface 120 and the image unit 130 are collected. It drives the moving assembly 160 and the cleaning tool 170 based on image information and information detected by the detection unit 150, and includes a control unit 191, a storage unit 192, and driving units 193 and 194. .

If the current mode is the map creation mode, the controller 191 controls the driving of the moving assembly 160 and creates a map in the groove based on the image collected by the imaging unit 130.

At this time, the map creation is determined according to the functions of the first photographing unit 131, the second photographing unit 132, and the communication unit 140. An example of such a map creation will be described.

For example, the control unit 191 recognizes the location of the room based on the 2D image captured by the first imaging unit 131 and the 3D image captured by the second imaging unit 132, and whether an electric device exists. When it is determined that the electrical device exists, the 2D image or the 3D image is image-processed to recognize the type and location of the electrical device, and the identified location information is applied to the map to create a map in the home.

As another example, when the 2D image captured by the first imaging unit 131 and the 2D image captured by the second imaging unit 132 are received, the control unit 191 uses the received two 2D images to generate a 3D image. Is generated and the location of the room is recognized based on the generated 3D image, and the existence of an electric device is determined based on at least one of the two 2D and 3D images, and when it is determined that the electric device exists At least one image is image-processed to recognize the type and location of the electric device, and the identified location information is applied to the map to create a map in the home.

As another example, the controller 191 creates a map while recognizing the location of the room based on the 2D image captured by the first imaging unit 131 and the 3D image captured by the second imaging unit 132 While creating a map, periodically communicate with the electrical device 300 to determine whether basic information is received from the electrical device 300, and apply the received basic information to the map when it is determined that existing information is received from the electrical device 300. It is also possible to do it. At this time, the control unit 191 recognizes the location information of the electric device 300 by image-processing the 2D image or the 3D image.

The control unit 191 receives basic information from the communication unit 140, but receives only basic information in a signal having a size of a received signal equal to or greater than the reference size.

In addition, when a signal is received through the communication unit 140, the control unit 191 may control the movement of the main body 110 in the direction in which the signal is received.

In another example, the control unit 191 creates a map based on the image information collected by the image unit 130 and basic information of the electric device 300 received by the communication unit 140 in the map creation mode, Based on the detection signal of 152, the size or shape of the room is predicted, and the size, shape, and location of obstacles such as furniture are predicted based on the detection signal of the obstacle detection unit 151, and the predicted information is transferred to the map. Apply to create a map.

The control unit 191 classifies a space in the groove by using a visual difference occurring between images in the map creation mode, or by calculating a time difference or a degree of distortion of light that arrives by reflecting light transmitted from an infrared (IR) device.

If the current mode is a cleaning mode, the controller 191 controls the operation of the moving assembly 160 and the cleaning tool 170 to clean the cleaning area in the groove.

The control unit 191 periodically communicates with the electric device 300 in the cleaning mode, and when basic information is received from the electric device 300, the control unit 191 determines whether the electric device in communication is a pre-stored electric device, and the previously stored electric device is If it is determined that it is not, it is registered as a new device, and if it is determined that it is a pre-stored electrical device, the current location information of the electrical device is checked. If the current location information and the stored location information are inconsistent, the location information of the corresponding electric device is stored again. That is, the control unit 191 updates information stored in the storage unit 192.

When registering as a new device, the controller 191 checks the location information, stores the checked location information and basic information together, and controls the transmission of map information having information on the newly registered electric device.

In the cleaning mode, the control unit 191 may perform cleaning based on map information stored in the storage unit, and may also drive and clean based on a driving pattern. Here, the driving pattern is a predetermined pattern or a pattern selected by a user.

When a user's voice is detected in the cleaning mode, the controller 191 may perform voice recognition of the detected voice and control movement to a location where the voice is recognized.

In this case, the speech recognition includes recognizing the name of the room from the voice or recognizing the location where the voice was uttered.

For example, when the sound detection unit is a microphone, the control unit 191 checks the name of the room by performing voice recognition of the voice detected through the microphone and moves the moving assembly 160 to move to the room having the identified name. Control.

Alternatively, when the sound detector is a microphone array, the control unit 191 recognizes the utterance position by performing signal processing such as beamforming, and controls the moving assembly 160 to move to the identified utterance position.

In addition, the control unit 191 may control the moving assembly 160 to perform position recognition and move to the recognized position using both the microphone and the microphone array.

The storage unit 192 stores map information in the home and basic information and location information of electric devices in the map. At this time, the storage unit 192 stores the location information of the electric device for each room in the three-axis direction, that is, values of the X, Y, and Z axes. Here, the map information includes location information for each room.

The storage unit 192 stores reference image information for each type of electric device.

The storage unit 192 may also store the name of the room and audio information corresponding to the room name.

The first driving unit 193 drives the wheel motors 163 and 164 of the moving assembly based on a command from the control unit 191. At this time, by varying the rotation speed of the left and right wheel motors 163 and 164, the main body 110 can be rotated.

The second driving unit 194 drives the brush motor 173 of the cleaning tool 170 based on a command from the control unit 191.

5 is a control flowchart of a cleaning robot according to an exemplary embodiment.

When the power is turned on and an operation command is input 501 through the user interface 120, the cleaning robot 100 performs an operation corresponding to the input operation command.

The cleaning robot 100 determines (502) whether the input operation command is in the map creation mode.

If the current mode is the map creation mode, the cleaning robot 100 collects images in the home while moving within the home by operating the moving assembly 160 and the imaging unit 130 and creates a map using the collected images (503). do.

When creating a map in the home, the cleaning robot 100 divides and creates the rooms in the home by space, and sets a name for each spatially separated room.

Here, the name of the room is set as a number according to the movement order of the cleaning robot, but it can be set as a new name by the user later, or can be modified with a new number.

In addition, classifying the room includes discriminating whether a certain space in the image is a room that is spatially independent from the current room by using depth information in the 3D image.

In addition, when creating a map, the cleaning robot predicts the size or shape of the room based on the detection signal of the rotation speed detection unit 152, and the size, shape, and location of obstacles such as furniture based on the detection signal of the obstacle detection unit 151. It is also possible to predict the like and then apply the predicted information to the map.

Next, while creating a map, the cleaning robot 100 recognizes 504 electrical devices in the room where the main body is currently located, determines whether the recognized electrical device exists based on the recognition result (505), and determines that there is no electrical device at this time. If it is determined that the electric device is present, the movement is continuously performed, and basic information and location information of the recognized electric device are recognized (506).

Next, the cleaning robot applies the recognized basic information and location information of the electric device to the map information (507).

Examples (1) to (3) of creating a map to which information on electric devices is applied will be described.

(1) A cleaning robot provided with a first photographing unit 313 and a second photographing unit 132 respectively collecting 2D color images in the image unit 130 will be described as an example.

When the first image captured by the first imaging unit 131 and the second image captured by the second imaging unit 132 are received, the cleaning robot uses the received two-dimensional first image and the second image. Create an image.

Next, the cleaning robot recognizes the location of the room and the room based on the first image, the second image, and the 3D image, and the object determined to be an electric device in at least one of the first image, the second image, and the 3D image. Is recognized, and when it is determined that an object determined as an electric device is recognized, at least one of the first image, the second image, and the 3D image is image-processed to recognize the type and location of the electric device.

Here, checking the type of the electric device is to check whether there is an image matching the image of the recognized electric device among the reference images of the plurality of electric devices stored in the storage unit 192, and the criterion matching the image of the recognized electric device. If there is an image, it is possible to check the type of the recognized electric device by checking basic information corresponding to the reference image.

Recognizing the location of the electric device is to check the movement information based on the rotation information detected by the rotation speed detection unit 152, and check the location information of the main body in the room based on the confirmed movement information to determine the X, Y axis values. And acquiring a Z-axis value by acquiring and checking height information based on the image.

Next, the cleaning robot creates a map in the home by matching basic information and location information corresponding to the type of the recognized electric device with room information in the map.

(2) A cleaning robot including a first imaging unit 313 that collects a 2D image in the imaging unit 130 and a second imaging unit 132 that collects a 3D image will be described as an example. This will be described with reference to FIGS. 6A to 6D.

The cleaning robot 100 recognizes the location of the body in the room and the room based on the 2D image captured by the first imaging unit 131 and the 3D image captured by the second imaging unit 132.

As shown in FIG. 6A, the cleaning robot sets the first room in the home to travel as Room 1 and collects 2D and 3D images while moving the room 1.

As shown in FIG. 6B, a two-dimensional image m1 for ROM 1 is obtained through the first photographing unit 131, and a three-dimensional image having depth information for the room 1 through the second photographing unit 132 Acquire an image (m2).

The cleaning robot processes at least one of a 2D image and a 3D image to check whether an object determined to be an electric device has been recognized, and if it is determined that an object determined to be an electric device is recognized, one of the 2D and 3D images Recognize the type and location of an electric device by using at least one image.

As shown in FIG. 6D, X, Y axis values are obtained by checking movement information based on rotation information detected by the rotation speed detection unit 152 and checking the location information of the main body in the room based on the confirmed movement information. do.

In addition, the cleaning robot obtains a Z-axis value by checking height information of the electric device based on at least one of a 2D image and a 3D image.

In addition, the cleaning robot checks the type of the recognized electric device based on the reference image of the electric device stored in the storage unit 192.

Next, the cleaning robot creates a map in the home by matching basic information and location information corresponding to the type of the recognized electric device with room information in the map.

(3) A first photographing unit 313 for collecting a two-dimensional image and a second photographing unit 132 for collecting a three-dimensional image are provided in the imaging unit 130, and a communication unit for performing communication with an electric device ( 140) will be described as an example.

The cleaning robot 100 creates a map while recognizing the location of the body in the room and the room based on the 2D image captured by the first imaging unit 131 and the 3D image captured by the second imaging unit 132 do.

The cleaning robot determines whether basic information is received from an external electric device, and when it is determined that there is the received basic information, registers the electric device that has transmitted the basic information.

Next, the cleaning robot performs image processing on at least one of the 2D image and the 3D image, recognizes the location of the electric device, and stores the identified location information together with basic information.

At this time, the cleaning robot obtains X, Y, and Z axis values by checking plane location information in a room and height information of an electric device based on at least one of a 2D image and a 3D image.

In addition, the cleaning robot checks the movement information based on the rotation information detected by the rotation speed detection unit 152 and checks the location information of the main body in the room based on the checked movement information, thereby acquiring the X and Y axis values. It is also possible to save location information as a value. In this case, the small robot obtains the Z-axis value by checking height information of the electric device based on at least one of the 2D image and the 3D image.

Next, the cleaning robot creates a map in the home by matching the received basic information and location information of the electric device with the room information in the map.

As shown in Fig. 7, the cleaning robot creates a map inside the home, divides a plurality of rooms by space to create a map, and also creates a map by matching the location information of electric devices arranged for each room to the room. do. In this case, the structure of the multiple rooms and the actual location of the electric devices are applied to the map. In addition, obstacles such as furniture in the home can also be applied to the map.

The cleaning robot judges (508) the completion of movement of all rooms in the home. Determining the completion of the movement here includes determining whether the currently recognized room matches the previously recognized room.

When it is determined that the movement is complete, the cleaning robot completes the map creation operation, stores 509 map information including information on the electric device, and transmits the created map information to the home monitoring device 300 (510).

If the current mode is the cleaning mode, the cleaning robot operates the moving assembly 160 and the cleaning tool 170 to clean the cleaning area in the groove, and recognizes 511 the electric device while performing cleaning.

Here, the electric device is recognized based on the image collected by the first and second photographing units and basic information received through the communication unit.

The cleaning robot may operate only one of the first and second photographing units in the cleaning mode.

The cleaning robot determines whether an object determined to be an electric device is recognized in at least one image (512), and when it is determined that an object determined to be an electric device is recognized, the at least one image is image-processed to determine the type of the electric device. At this time, the cleaning robot checks basic information of the electric device by comparing it with the reference image stored in the storage unit.

In addition, the cleaning robot may receive basic information of the electric device from the communication unit 140.

The cleaning robot determines 513 whether the recognized electrical device is an electrical device stored in the storage unit 192, and if it is determined that the recognized electrical device is not an electrical device stored in the storage unit 192, the recognized electrical device is used as a new device. Register (514).

Registering the recognized electrical device as a new device is to check the type and location information of the recognized electrical device, and match basic information and location information corresponding to the type of the recognized electrical device to the room information in the map. Is updated (515) and the updated map information is stored in the storage unit (192).

When it is determined that the recognized electric device is an electric device stored in the storage unit 192, the cleaning robot checks the location information of the recognized electric device, and determines whether the identified location information matches the location information stored in the storage unit 192 ( 516).

At this time, if the location information of the recognized electric device matches the location information of the electric device stored in the storage unit 192, the cleaning robot ends the process of performing the recognition of the electric device, and the location information of the recognized electric device is stored in the storage unit. If the location information of the stored electric device is inconsistent, the location information of the electric device stored in the storage unit is corrected to the location information of the recognized electric device, the map information is updated 515, and the updated map information is stored in the storage unit 192. do.

The cleaning robot determines whether the user's voice is detected in the cleaning mode, and when the user's voice is detected, performs speech recognition of the detected voice, moves to the location where the voice is recognized, and then performs cleaning at the location where the voice is recognized. It is also possible to do it.

For example, when the user calls in the living room while cleaning in the kitchen, the cleaning robot recognizes the user's location based on the voice collected from the microphone array, and moves to the recognized location, the living room.

In addition, the cleaning robot may recognize the user's voice through a single microphone to determine which position the user instructs to move to.

In this way, when the cleaning robot moves to the living room, it can move to the place where the user is located.

If the current location is the recognized user's location, the cleaning robot determines the condition of the floor, and when it is determined that the location needs cleaning, the cleaning robot performs cleaning.

In addition, if the current location is the recognized user's location, the cleaning robot performs voice recognition again. At this time, when voice is detected again through the microphone array, it removes noise from the detected voice and performs pre-processing for voice recognition to determine the location and command of the user. Judge. Through this, the cleaning robot can more accurately recognize the user's location and command.

And when moving from the kitchen to the living room, the cleaning robot searches for an optimal path based on map information and moves to the searched optimal path.

As another example, the cleaning robot moves to the location where the user is located, recognizes the user through the image unit 130, and when the user is recognized, recognizes the user's posture, and if the user's posture is staring at the floor, the state of the floor If it is determined that water has been spilled on the floor, it is also possible to actively clean the floor.

The next cleaning robot determines whether cleaning is complete (518), and when it is determined that cleaning is complete, determines whether the map information is updated (519), and when it is determined that the map information is updated, transmits the updated map information to the home monitoring device (510). .

In addition, it is possible to always transmit the map information to the home monitoring device when cleaning is completed without a process of determining whether to update the map information.

FIG. 8 is a control configuration diagram of a home monitoring device 400 according to an exemplary embodiment. The home monitoring device includes a user interface 410, a control unit 420, a storage unit 430, and a communication unit 440.

The user interface 410 includes an input unit 411 for receiving a command from a user, and a display unit 412 for displaying monitoring information inside the home.

9, the input unit 411 of the user interface 410 includes a button for controlling heating and gas for each room, a button for controlling the operation of electric devices in the home, a button for energy management, and It includes buttons for managing crime prevention and the like, and the display unit 412 displays map information having arrangement information of electric devices for each room.

The input unit 411 of the user interface may further include a device registration button for manually inputting a device. This allows the user to manually register electric devices that are not recognized by the cleaning robot.

That is, the user can designate a room and a location within the room when manually registering an electric device.

* The display unit 412 of the user interface may display map information in three dimensions.

The input unit 411 of the user interface 410 may be implemented as a touch pad, and the display unit 412 may be implemented as a touch screen. In addition, the input unit 411 of the user interface 410 may be implemented as a touch pad, and the display unit 412 may be implemented as a liquid crystal display (LCD).

When the map information is received from the cleaning robot 100, the controller 420 controls the storage of the received map information and controls the display of the map information. At this time, the map information stores information on electric devices in the home for each room.

When a device manual registration button is input to the input unit 411 of the user interface 410, the control unit 420 switches the current display mode to the device manual registration mode and adds information on the device input to the input unit 411 to the map information. To update the map information.

The control unit 420 controls the display operation of the display unit 412 based on a user command input to the input unit 411 of the user interface, and also controls the operation of the electric device based on the input command.

The control unit 420 may manage and control each room and each device during energy management. This will be described with reference to FIGS. 10 and 12.

As shown in FIG. 10, the display unit 412 of the user interface 410 displays map information for each room in which the location information of the electric device is matched. At this time, when any one electric device is selected by the user, basic information on the selected electric device is enlarged and displayed to facilitate identification by the user.

In addition, when the room management button is selected during energy management, the user interface 410 outputs room numbers of a plurality of rooms in the home to the input unit 411. At this time, when at least one room is selected by the user, power applied to the electric device in the selected room is cut off.

For example, when the user selects Room 4, the control unit 420 controls the power to cut off the power applied to the PC and the lighting 4 arranged in the room 4 (Room 4).

As shown in FIG. 11, the display unit 412 of the user interface 410 displays map information for each room in which the location information of the electric device is matched.

In addition, when the lighting management button is selected during energy management, the user interface 410 outputs lighting numbers of a plurality of lights in the home to the input unit 411 and displays lights arranged for each room on the display unit 412.

At this time, the number of lights displayed on the display unit 412 corresponds to the number of lights output to the input unit 411.

In addition, the display unit 412 of the user interface may not display all electric devices in the home, but may display only the lighting selected by the user.

The controller 420 controls the power applied to the lighting corresponding to the lighting number selected by the user.

For example, the controller 420 controls the power so that the power applied to the lighting 4 arranged in the room 4 is cut off when the lighting 4 of the input unit 411 is selected by the user.

As shown in FIG. 12, the display unit 412 of the user interface 410 displays map information for each room in which the location information of the electric device is matched. In addition, when the air conditioner management button is selected during energy management, the user interface 410 outputs the number of the air conditioner disposed in the home to the input unit 411, and displays the air conditioner disposed for each room on the display unit 412. .

At this time, the number of the air conditioner displayed on the display unit 412 corresponds to the number of the air conditioner output to the input unit 411.

In addition, the display unit 412 of the user interface may not display all electric devices in the home, but may display only the air conditioner selected by the user, or display only the air conditioner differently from other electric devices.

The control unit 420 controls power applied to the air conditioner corresponding to the number of the air conditioner selected by the user.

In addition, the control unit 420 may control operations such as temperature setting and mode setting of the air conditioner selected by the user.

For example, when the user selects the air conditioner 2 of the input unit 411, the control unit 420 displays the selection of the air conditioner 2 so that it can be identified that the air conditioner 2 disposed in the room 2 is selected. And, at this time, when the off button is selected by the user, power is controlled so that the power applied to the air conditioner 2 is cut off.

Here, the selection display includes blinking the air conditioner 2 displayed on the display unit 412 or displaying a different color.

When the power consumption information is received from the electric device, the control unit 420 predicts the total power consumption in the home, predicts the power consumption of the electric device for each room, and displays the information on the predicted power consumption on the display unit 412. . That is, the home monitoring device provides information on power consumption to the user.

When the operation information is received from the electric device, the control unit 420 causes the operation information of each electric device to be displayed through the display unit 412.

The control unit 420 may provide information on efficient energy management based on power consumption information for each room.

The control unit 420 monitors safety information related to crime prevention and gas leakage, and controls it to notify the user.

That is, the control unit 420 may manage information on a user terminal or a server other than the home, and control provision of monitoring information in the home.

The storage unit 430 stores map information in which information on an electric device is matched.

The storage unit 430 stores basic information, operation information, power consumption information, and the like of at least one electric device.

The communication unit 440 communicates with a cleaning robot and other electric devices.

That is, the communication unit 440 receives map information in which information on the electric device is matched from the cleaning robot, and also receives operation information of the cleaning robot.

In addition, the communication unit 440 receives operation information from at least one electric device, receives power consumption information of the electric device, and transmits a control command to at least one electric device.

The communication unit 440 performs various wired and wireless communication such as ZigBee, Z-Wave, WiFi, and Ethernet.

In addition, the communication unit 440 may transmit monitoring information in the home to the user by performing communication with the user terminal.

In addition, the communication unit 440 may transmit monitoring information in the home to the server by performing communication with a server outside the home.

13 is an exemplary diagram of a cleaning robot according to another embodiment.

The home monitoring device of another embodiment is provided in the main body 110 of the cleaning robot, unlike the embodiment installed on the wall of any one of the plurality of rooms in the home.

As shown in FIG. 13, the cleaning robot 100 includes a main body 110 forming an external appearance, a bumper 111 mounted on the front side of the main body 110 to alleviate an impact when colliding with an obstacle, and the main body 110. ), a user interface 120 that receives operation information and reservation information and displays operation information, and a plurality of units that are integrally fixedly mounted on the upper part of the main body 110 to collect images around the main body in the cleaning area. The image unit 130 (131, 132) and a communication unit 140 for performing communication with an external device such as the charging base 200.

The images collected here are images used to create a map in the home and to recognize electric devices in the home. In addition, the collected image may be used to recognize the location of the main body and detect obstacles in the cleaning mode.

In addition, the image unit includes a first photographing unit 131 and a second photographing unit 132, and the first photographing part 131 and the second photographing part 132 are arranged left and right based on the driving direction, but the driving It is also possible to arrange it back and forth based on the direction.

The bumper 111 may be further mounted on the rear of the body 110.

The cleaning robot 100 further includes a dust collecting unit 112 provided at the rear of the main body 110 and provided around the main cleaning tool to collect foreign substances such as dust collected through the main cleaning tool 170.

The cleaning robot 100 may further include an obstacle detection unit 151 mounted on the front and left and right sides of the main body 110 to detect obstacles located in the front and left and right sides of the cleaning robot.

In addition, the cleaning robot may use the obstacle detection signal detected by the obstacle detection unit 151 to create a map. For example, a cleaning robot may recognize furniture such as a sofa or a dining table as an obstacle and apply it to a map.

The cleaning robot may further include a sound detection unit 153 that is provided in the main body and detects ambient sound.

The configuration of map creation and cleaning of the cleaning robot is the same as in the exemplary embodiment, and thus a description thereof will be omitted.

The cleaning robot further includes a home monitoring device 400 provided on the upper surface of the main body 110.

Here, the home monitoring device 400 applies a smart home solution to each home, and in addition to home control functions such as lighting control, gas valve control, heating control, energy usage information inquiry, energy management, and device control, based on a user interface, crime prevention, It performs various functions such as visitor confirmation, call, door opening, access management, and event notification.

The home monitoring device 400 communicates with a plurality of electric devices. In addition, the home monitoring device 400 also communicates with a device for monitoring security or the like.

The home monitoring apparatus 400 receives map information in which location information of at least one electric device is matched, and displays the information.

The home monitoring apparatus 400 receives operation information from a plurality of electric devices and transmits a control command to at least one of the plurality of electric devices.

Here, the control command is a command input by a user or a command determined based on the power state in the home.

A detailed function of the home monitoring device 400 is the same as that of the home monitoring device according to an exemplary embodiment, and thus a description thereof will be omitted.

14 is an exemplary view of a charging station of a cleaning robot according to another embodiment.

The home monitoring device according to another embodiment is provided on the charging base 200 that supplies power for charging to the cleaning robot, unlike the embodiment installed on the wall of any one of the plurality of rooms in the home.

The charging station 200 is connected to an external commercial AC power source to receive an external commercial AC power supply and converts the commercial AC power supplied from the outside, a rectifier unit for half-wave rectification or full-wave rectification of the converted power, and rectified power. A smoothing unit for smoothing and a voltage adjusting unit for outputting the smoothed power as DC power having a predetermined voltage, and supplying DC power output from the voltage adjusting unit to the cleaning robot 100 through a power terminal.

In addition, the charging base 200 further includes a docking communication unit (not shown) that transmits and receives a docking signal for docking with the cleaning robot 100 with the cleaning robot 100.

The charging base 200 further includes a home monitoring device 400 provided on the upper surface of the main body, which is a location that is easy for a user to identify.

The home monitoring device 400 receives driving power from a charging station and operates using the supplied power.

The home monitoring device 400 provided in the charging station communicates with the cleaning robot and communicates with a plurality of electric devices. In addition, the home monitoring device 400 also communicates with a device for monitoring security or the like.

The home monitoring device 400 receives map information in which location information of at least one electric device is matched from the cleaning robot 100 and displays the information.

The home monitoring apparatus 400 receives operation information from a plurality of electric devices and transmits a control command to at least one of the plurality of electric devices.

A detailed function of the home monitoring device 400 is the same as that of the home monitoring device according to an exemplary embodiment, and thus a description thereof will be omitted.

It is possible to automate the process of matching the location and type of electrical devices to a two-dimensional or three-dimensional map of the internal structure of the home.

In this way, by using the map information created by the cleaning robot for cleaning at the time of home management, the structure in the home can be realistically created, and electric devices located for each room can be automatically registered, so that the user can individually select the electric devices located for each room. UX (User Experience) difficulties such as having to register can be solved.

100: cleaning robot 110: main body
120: user interface 130: image unit
140: communication unit 151: obstacle detection unit
160: moving assembly 170: cleaning tool
180: power supply 200: charging base
300: electric device 400: home monitoring device

Claims (12)

main body;
A moving assembly for moving the main body within a groove;
A communication unit for communicating with the home monitoring device;
A first photographing unit disposed on the main body and collecting images around the main body but collecting a two-dimensional image;
A second photographing unit disposed on the main body, disposed at a different position from the first photographing unit, and collecting an image around the main body but collecting a two-dimensional image different from the first photographing unit; And
To obtain a 3D image by image processing the 2D image collected by the first and second photographing units, to classify a room in the home based on the 3D image, at least one of the 2D image and the 3D image Recognizes the type and location of electric devices in the divided rooms by image processing the images of, and creates a map in which information on the types and locations of the recognized electric devices in the divided rooms is matched, and the divided rooms And a control unit for controlling the communication unit to transmit a map in which information on the type and location of the recognized electric device is matched to the home monitoring device,
The information on the location of the recognized electric device in the divided room includes an axis value in the three-axis direction of the recognized electric device in the divided room. delete main body;
A moving assembly for moving the main body within a groove;
A communication unit for communicating with the home monitoring device;
At least one first photographing unit disposed on the main body and collecting images around the main body but collecting a two-dimensional image;
A second photographing unit disposed on the main body and collecting images around the main body but collecting a three-dimensional image;
The room in the home is classified based on the 3D image, and at least one of the 2D image and the 3D image is image-processed to recognize the type and location of the electric device in the separated room, and the classified Create a map in which information on the type and location of recognized electric devices in a room is matched, and transmit a map in which information on the type and location of recognized electric devices in the separated room is matched to the home monitoring device. Includes a control unit for controlling the communication unit,
The information on the location of the recognized electric device in the divided room includes an axis value in the three-axis direction of the recognized electric device in the divided room. delete delete The method of claim 1,
Further comprising a cleaning tool for collecting foreign matter on the bottom surface of the groove,
If the current mode is a cleaning mode, the control unit controls the operation of the moving assembly and the cleaning tool, recognizes the electric device in the groove while performing cleaning, and determines whether the recognized electric device is a new electric device or a previously registered electric device. And, if it is determined that it is a new electric device, the cleaning robot updates the map. The method of claim 6,
Further comprising a voice recognition unit for recognizing a voice,
The control unit controls the moving assembly to move to a position corresponding to the recognized voice. The method of claim 7,
The voice recognition unit includes a microphone array,
The control unit is a cleaning robot that recognizes the position of the voice detected through the microphone array. The method of claim 8, wherein the control unit,
And recognizing the voice detected through the microphone array and determining a room indicated by the recognized voice among the divided rooms. The method of claim 9,
The voice recognition unit includes one microphone,
The control unit is a cleaning robot that recognizes the voice detected through the microphone and determines a room indicated by the recognized voice among the divided rooms. The method of claim 1, wherein the home monitoring device,
A cleaning robot that is located on a charging station that supplies power to the main body and displays information on electric devices matched to the map. The method of claim 1, wherein the home monitoring device,
A cleaning robot positioned on the main body and displaying information on electric devices matched to the map in the home.

Images