KR20150126106A - Robot cleaner and method for operating the same - Google Patents

Abstract

The present invention relates to a robot cleaner and a method for operating the same. According to an embodiment of the present invention, the robot cleaner comprises: an audio input unit; a camera; a memory; a communication unit exchanging data with an external device; a cleaning unit cleaning; and a control unit controlling at least one among a cleaning mode and the care mode to be performed and performing surrounding recognition based on data obtained through at least one among the data stored in the memory and the audio input unit and the camera. Therefore, the cleaning mode and the care mode can be performed.

Description

[0001] Robot cleaner and method for operating same [0002]

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 a method of operating the robot cleaner.

Generally, a vacuum cleaner is a household appliance that sucks and removes foreign matters on the floor. In recent years, a vacuum cleaner in which such a cleaner is automatically cleaned is referred to as a robot cleaner. Such a robot cleaner sucks and removes foreign matters on the floor 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 operation method thereof.

According to an aspect of the present invention, there is provided a robot cleaner including 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 control unit for performing peripheral condition recognition based on data stored in the memory and data obtained through at least one of the audio input unit and the camera when the care mode is performed.

According to another aspect of the present invention, there is provided a method of operating a robot cleaner including a memory, an audio input unit, and a camera, the method comprising: entering a care mode; Acquiring data through at least one of a time, an audio input, or a camera; and performing ambient state recognition based on the 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. In the care mode, data stored in the memory and data obtained through at least one of the audio input unit and the camera And performs perimeter state recognition. Thereby, the cleaning mode and the care mode can be performed.

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 equal to or greater than a predetermined value, or when there is no matching portion between the stored data and the acquired data, It can be confirmed immediately. In particular, by transmitting a notification message to a terminal of a user located outside, the usability of the user can be increased.

On the other hand, when the difference between the image data stored in the memory and the image data obtained from the camera 230 is equal to or larger than the first predetermined value, or when the stored image data and the acquired image data do not coincide with each other, It is determined that the difference between the audio data stored in the memory 243 and the audio data obtained through the audio input unit is equal to or greater than the second predetermined value at the time of determining the first abnormal state, If there is no matching part with the data, it can be judged as the final abnormal state. Thus, it is possible to accurately determine whether or not there is an abnormality in the house.

1 is a block diagram of a communication system for a robot cleaner according to an embodiment of the present invention.
FIG. 2A is a perspective view of the robot cleaner of FIG. 1. FIG.
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.
4 is an internal block diagram of the mobile terminal of FIG.
5 is an internal block diagram of the server of FIG.
6 is a flowchart illustrating an operation method of the robot cleaner according to an embodiment of the present invention.
7 is a flowchart illustrating the peripheral state determination step of FIG.
8 to 23C are diagrams referred to in the explanation of the operation method of Fig.

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

The suffix "module" and " part "for components used in the following description are given merely for convenience of description, and do not give special significance or role in themselves. Accordingly, the terms "module" and "part" may be used interchangeably.

1 is a block 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 apparatus 400, a server 300, a network 550, 500a, 500b.

The robot cleaner 200 is a cleaner that is automatically cleaned, and can perform automatic running and automatic cleaning.

The robot cleaner 200 includes a communication unit (not shown) in addition to a traveling function and a cleaning function and includes electronic devices in the internal network 10 or electronic devices connectable through the external network 550 Data can be exchanged. To this end, the communication unit (not shown) can perform data exchange with the AP apparatus 400 both wirelessly and wirelessly.

An access point (AP) device 400 may provide an internal network 10 to an adjacent electric device. In particular, a wireless network can be provided.

On the other hand, the AP apparatus 400 can allocate a radio channel according to a predetermined communication method to the 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 can perform monitoring, remote control, and the like for the robot cleaner 200 by connecting to the robot cleaner 200 through the AP apparatus 400 .

Meanwhile, the AP apparatus 400 can perform data communication with an external electronic device via the external network 550 in addition to the internal network 10. [

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

At this time, the mobile terminal 500a located in the external network 550 accesses the robot cleaner 200 through the external network 550 and the AP apparatus 400 to monitor the robot cleaner 200, Remote control, and the like.

As another example, the AP apparatus 400 may perform wireless data communication with an externally located server 300 via an external network 550.

The server 300 may include a speech recognition algorithm. In receiving the voice data, the received voice data can be converted into text format data and output.

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

Meanwhile, the robot cleaner 200 controls the robot cleaner 200 to perform at least one of a cleaning mode and a care mode. In the care mode, data stored in the memory (243 in FIG. 3) (270 in FIG. 3) that performs perimeter state recognition based on data obtained through at least one of the camera (252 in FIG. 3) and the camera (230 in FIG. 3).

Accordingly, the user can immediately check the abnormality of the specific user through the robot cleaner. Therefore, the silver care mode can be simply performed.

Meanwhile, the silver care mode command can be transmitted through the mobile terminal, and the notification message is received and displayed on the mobile terminal, so that the user at the remote location can immediately check whether there is an abnormality with respect to the specific user. Therefore, the usability of the user can be increased. A detailed description thereof will be described later with reference to FIG. 6 and the following figures.

FIG. 2A is a perspective view illustrating 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 to 2C, a robot cleaner 200 according to an embodiment of the present invention includes a main body 210 having a lower opening 210h opened toward the bottom.

The main body 210 moves a region to be cleaned (hereinafter, referred to as a cleaning region) as the left wheel 261a and the right wheel 262a rotate, and the dust and waste in the cleaning region Inhale foreign substances.

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

The suction unit 270 may further include a filter (not shown) for collecting foreign substances in the air stream sucked through the suction port 271 and a foreign matter receiver (not shown) in which foreign substances collected by the filter are accumulated have.

(Not shown) for driving the left wheel 261a and the right wheel 262a. Particularly, the travel driving unit (not shown) may include a left wheel driving unit (not shown) for driving the left wheel 261a and a right wheel driving unit (not shown) for driving the right wheel 262a.

The operation of the left wheel drive unit (not shown) and the operation of the right wheel drive unit (not shown) are independently controlled by the control unit 270 (FIG. 3), so that the main body 210 can be straightened, reversed, or turned. For example, when the left wheel 261a is rotated in the forward direction by the left wheel driving unit (not shown) and the right wheel 262a is rotated in the reverse direction by the right wheel driving unit (not shown), the main body 210 rotates leftward or rightward do. The control unit 270 may control the rotational speed of the left wheel driving unit (not shown) and the right wheel driving unit (not shown) so as to induce a translational motion of the main body 210 serving also as a rectilinear motion and a rotational motion Do. The movement of the main body 210 through the control of the controller 270 (Fig. 3) enables avoidance or turning of the obstacle. At least one auxiliary wheel 213 for stably supporting the main body 210 may be further provided.

The main body 210 may include a main body lower portion 211 for accommodating a rotation driving portion (not shown), a driving driving portion (not shown), and a main body upper portion 212 covering the main body lower portion 211.

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

The position sensing sensor 220 emits light toward the obstacle and senses the position or distance of the obstacle. The position sensor 220 is rotatably mounted on the main body 210. The position detection sensor 220 may include a light emitting unit (not shown) for outputting light and a light receiving unit (not shown) for receiving light. The light emitting unit (not shown) may include an LED, a laser diode, and the like.

In addition to the position sensing sensor 200, a camera 230 may be disposed on the upper portion 212 of the body in order to grasp the object positioned in front of the robot cleaner 200. In particular, the camera 230 may be disposed on the transparent member frame 231 on which the opening is provided and on the transparent member 232. Thus, it is possible to photograph the image of the robot cleaner 200 on the upper side and the front side.

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

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 for displaying the operation state of the robot cleaner, A memory unit 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 the robot cleaner, an input unit 295 for user input ).

The sensor unit 220 may include a position sensor for sensing 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 sensing sensor. The position detecting sensor 220 may include a light emitting unit (not shown) for outputting light and a light receiving unit (not shown) for receiving light corresponding to the output light.

On the other hand, the position detection sensor may be provided with a GPS module. The position of the robot cleaner 200 may be detected by receiving the GPS signal.

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) so that wireless communication with the AP apparatus 400 is possible. Here, the wireless communication unit (not shown) can perform WiFi communication. The communication unit 222 can perform wireless data communication with the mobile terminal 500 through the AP apparatus 400. [ For example, it may receive a remote control signal from the mobile terminal 500 and deliver it to the controller 270.

On the other hand, the communication unit 222 can receive power information from a power information transmission apparatus (not shown). To this end, the communication unit 222 may be provided with a communication module (not shown) separately from 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 the internal circuit of the robot cleaner by wire.

The camera 230 may be disposed in the upper portion 212 of the body to detect an object positioned in front of the robot cleaner 200 in addition to the position sensing sensor 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 camera for detecting a distance to an external object. On the other hand, a plurality of RGB cameras may be provided.

The display unit 231 can display the operation state and the like of the robot cleaner 200 under the control of the control unit 270. [ To this end, the display section 231 may include an LED. Or an LCD or the like so as to further display various kinds of information.

The memory 243 may store various data for operation of the entire robot cleaner 200. On the other hand, the memory 243 may be equipped with 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 can be driven by the traveling unit 280, and the cleaning unit 245 can be operated during driving or during a temporary stop to suck foreign matter.

To this end, the scavenging section 245 may comprise a suction unit 270, as described in FIGS. 2A-2C and the description thereof. The suction unit 270 may include a suction fan 272 provided in the main body 210 to generate a suction force and a suction port 271 through which the airflow generated by the rotation of the suction fan 272 is sucked . The suction unit 270 may further include a filter (not shown) for collecting foreign substances in the air stream sucked through the suction port 271 and a foreign matter receiver (not shown) in which foreign substances collected by the filter are accumulated have.

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

The audio output unit 254 converts an electric signal from the control unit 270 into an audio signal and outputs the audio signal. For this purpose, a speaker or the like may be provided.

The control unit 270 can 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, The driving unit 280, the input unit 295, and the like.

The control unit 270 controls at least one of the cleaning mode and the care mode to be performed and transmits the data stored in the memory 243 and at least one of the audio input unit 252 and the camera 230 It is possible to perform the peripheral state recognition based on the data.

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

The control unit 270 determines whether the difference between the image data stored in the memory 243 and the image data obtained from the camera 230 is equal to or larger than the first predetermined value, The difference between the audio data stored in the memory 243 and the audio data obtained through the audio input unit 252 is equal to or greater than the second predetermined value or the stored audio data If there is no matching part between the data and the audio data to be acquired, it is determined to be a final abnormal state, and the communication unit 222 can be controlled to transmit a notification message when a final error is detected.

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

The control unit 270 controls the driving unit 280 to move to the set position and controls the data stored in the memory 243 and the data stored in the memory 253, Based on the data obtained through at least one, peripheral state recognition can be performed.

The control unit 270 recognizes the surrounding state based on the data stored in the memory 243 and the data obtained through at least one of the audio input unit 252 and the camera 230 during the care mode, can do.

On the other hand, the control unit 270 can control the cleaning mode to be performed together while driving.

The cleaning mode includes at least one of 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 .

The running section 280 can run the robot cleaner. To this end, the travel unit 280 includes a left wheel 261a and a right wheel 262a, a travel drive unit (not shown) for driving the left wheel 261a and the right wheel 262a, as described in FIGS. 2A to 2C, Not shown). Particularly, the travel driving unit (not shown) may include a left wheel driving unit (not shown) for driving the left wheel 261a and a right wheel driving unit (not shown) for driving the right wheel 262a.

On the other hand, the running unit 280 controls the control unit 270 to control either the forward rotation or the reverse rotation of the left wheel 261a and the right wheel 262a, Or turning, etc. may be 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 to the left or right. Meanwhile, the control unit 270 may control the rotational speed of the left wheel 261a and the right wheel 262a to be different from each other, thereby inducing the translational motion of the main body 210, which also serves as a rectilinear motion and a rotational motion.

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

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

4, the mobile terminal 500 includes a wireless communication unit 510, an A / V input unit 520, a user input unit 530, a sensing unit 540, an output unit 550, A memory 560, an interface unit 570, a control unit 580, and a power supply unit 590.

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 can receive at least one of a broadcast signal and broadcast related information from an external broadcast management server through a broadcast channel. At this time, the broadcast channel may include a satellite channel, a terrestrial channel, and the like.

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

The wireless Internet module 515 is a module for wireless Internet access, and the wireless Internet module 515 can be built in or externally attached 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 can perform wireless communication. The NFC module 517 can receive data from the corresponding home appliance or transmit data to the home appliance when the user approaches or is tagged within a predetermined distance from the home appliance equipped with the NFC tag or the NFC module.

In addition, Bluetooth, RFID (radio frequency identification), infrared data association (IrDA), ultra wideband (UWB), ZigBee, and the like can be used as the short distance communication technology.

GPS (Global Position System) module 519 may receive position 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 for controlling the operation of the terminal. To this end, the user input unit 530 may include a key pad, a dome switch, a touch pad (static pressure / static electricity), and the like. Particularly, when the touch pad has a mutual layer structure with the display 551, it can be called a touch screen.

The sensing unit 540 senses the current state of the mobile terminal 500 such as the open / close state of the mobile terminal 500, the position of the mobile terminal 500, A sensing signal can be generated.

The sensing unit 540 may include a sensing sensor 541, a pressure sensor 543, a motion sensor 545, and the like. The motion sensor 545 can detect the movement or the 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 for measuring the angular velocity, and it can sense the direction (angle) of rotation about the reference direction.

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

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 have a mutual layer structure to constitute 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 the output device .

The audio 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, it is possible to output a signal in a vibration mode. .

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

The memory 560 may store a program for processing and controlling the control unit 580 and may store a function for temporarily storing input or output data (e.g., a phone book, a message, a still image, .

The interface unit 570 serves as an interface with all the external devices connected to the mobile terminal 500. The interface unit 570 receives data from the external device or receives power from the external device and transmits the data to each component in the mobile terminal 500 so that data in the mobile terminal 500 can be transmitted to the external device .

The controller 580 typically controls the operation of the respective units to control the overall operation of the mobile terminal 500. For example, perform related controls and processing for voice calls, data communications, video calls, and the like. In addition, the control unit 580 may include a multimedia playback module 581 for multimedia playback. The multimedia playback module 581 may be configured in hardware in the controller 580 or may be configured in software separately from the controller 580. [

The power supply unit 590 receives external power and internal power under the control of the controller 580 and supplies power necessary for operation of the respective components.

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 depending on the specifications of the actual implemented mobile terminal 500. That is, two or more constituent elements may be combined into one constituent element, or one constituent element may be constituted by two or more constituent elements, if necessary. In addition, the functions performed in each block are intended to illustrate the embodiments of the present invention, and the specific operations and apparatuses do not limit the scope of the present invention.

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

5, the server 300 receives data for the robot cleaner 200 or the mobile terminal 500 and transmits related information. The server 300 includes a communication module 330, a storage unit 340, and a processor 320.

The communication module 330 in the server 300 can receive voice data from the robot cleaner 200 or the mobile terminal 500. [ Then, voice data in a voice-recognized text format can be transmitted to the robot cleaner 200 or the mobile terminal 500.

The communication module 330 in the server 300 can receive product information and the like related to the robot cleaner 200 from the robot cleaner 200 or the mobile terminal 500. Accordingly, The registration completion information can be transmitted.

On the other hand, the communication module 330 in the server 300 can receive a firmware update request of the robot cleaner 200 from the robot cleaner 200 or the mobile terminal 500, To the robot cleaner (200) or the mobile terminal (500).

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

On the other hand, the processor 320 can control the overall operation of the server 300. [ For example, after the voice data received from the robot cleaner 200 or the mobile terminal 500 is converted into voice data in a text format using a voice recognition algorithm, the converted voice data is transmitted to the robot cleaner 200, Or to the mobile terminal 500. [

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

As another example, when the processor 320 receives a firmware update request from the robot cleaner 200 or the mobile terminal 500, the processor 320 may update the firmware in the robot cleaner 200 or move When the product information is received from the terminal 500, it can be controlled to be transmitted to the robot cleaner 200 or the mobile terminal 500.

FIG. 6 is a flowchart illustrating an operation method of the robot cleaner according to an embodiment of the present invention, FIG. 7 is a flowchart illustrating a peripheral state determination step in FIG. 6, and FIGS. 8 to 23C are flowcharts Fig.

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

For example, the plurality of operation modes of the robot cleaner may be a clean mode (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. A care mode, and a charging mode.

The clean mode may be classified into an automatic cleaning mode and a manual cleaning mode.

The care mode may include a home care mode, a silver care mode, a baby care mode, a child care mode, a power care mode, A sleep mode, a sleep mode, and a sleeping care mode.

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

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

The communication unit 222 of the robot cleaner 200 receives the remote control signal from the remote control device 105 and the control unit 270 of the robot cleaner 200 transmits the remote control signal in response to the received remote control signal, It is possible to enter the care mode.

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

In this case, the audio input unit 252 of the robot cleaner 200 receives a predetermined voice, and the control unit 270 of the robot cleaner 200 performs a care mode (a care mode) corresponding to the audio data corresponding to the received voice ). ≪ / RTI >

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

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

8A, the mobile terminal 500 is connected to the robot cleaner 200 via the AP apparatus 400, for example, when the mobile terminal 500 is located in the home Wireless connection is possible. The mobile terminal 500 can wirelessly connect to the robot cleaner 200 via the external network 600 and the AP apparatus 400. In this case,

After the mobile terminal 500 is wirelessly connected to the robot cleaner 200, the mobile terminal 500 can transmit a care mode entry command for executing the mode. Accordingly, the communication unit 222 of the robot cleaner 200 can receive the care mode entry command. The control unit 270 of the robot cleaner 200 can enter the care mode in response to the 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 condition and determines the surrounding condition (S620). Then, the recognition and judgment step is repeatedly performed (S630). At this time, depending on the type of the care mode, the robot cleaner 200 may also be driven.

Meanwhile, the operation 620 (S620) may be carried out specifically as shown in FIG.

7, the control unit 270 of the robot cleaner 200 obtains previous data stored in the memory 243 (S710), and obtains current data from at least one of the camera 230 and the audio input unit 252 (S715). Then, the previous data is compared with the current data to determine whether there is an abnormality (S720).

If it is judged to be abnormal (S725), control is performed so that abnormal information such as an alarm message is transmitted to the abnormality notification target (S730).

The control unit 270 controls at least one of the cleaning mode and the care mode to be performed and transmits the data stored in the memory 243 and at least one of the audio input unit 252 and the camera 230 It is possible to perform the peripheral state recognition based on the data.

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

The control unit 270 determines whether the difference between the image data stored in the memory 243 and the image data obtained from the camera 230 is equal to or larger than the first predetermined value, The difference between the audio data stored in the memory 243 and the audio data obtained through the audio input unit 252 is equal to or greater than the second predetermined value or the stored audio data If there is no matching part between the data and the audio data to be acquired, it is determined to be a final abnormal state, and the communication unit 222 can be controlled to transmit a notification message when a final error is detected.

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

The control unit 270 controls the driving unit 280 to move to the set position and controls the data stored in the memory 243 and the data stored in the memory 253, Based on the data obtained through at least one, peripheral state recognition can be performed.

The control unit 270 recognizes the surrounding state based on the data stored in the memory 243 and the data obtained through at least one of the audio input unit 252 and the camera 230 during the care mode, can do.

On the other hand, the control unit 270 can control the cleaning mode to be performed together while driving.

The cleaning mode includes at least one of 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 .

10A illustrates that the robot cleaner 200 acquires data in a fixed position near the front porch 1050 of the house 10 in accordance with the care mode. For example, the current data may be obtained through at least one of the audio input unit 252 and the camera 230. If the difference is equal to or larger than the first predetermined value, or if there is no corresponding portion between the stored image data and the acquired image data, it is determined as abnormal and the notification message is transmitted The communication unit 222 can be controlled.

For example, when an image of a person who has not been registered is acquired through the front door, the controller 270 of the robot cleaner determines that the robot cleaner is abnormal, and transmits a notification message indicating the trespass- To an emergency contact such as a mobile terminal or 119. The care mode at this time may be the home care mode.

10 (b) illustrates that the robot cleaner 200 acquires data while traveling in various places 1010, 1020, 1030, 1040, and 1050 in the house 10, in accordance with the care mode. For example, the current data may be obtained through at least one of the audio input unit 252 and the camera 230. If the difference is equal to or larger than the first predetermined value, or if there is no corresponding portion between the stored image data and the acquired image data, it is determined as abnormal and the notification message is transmitted The communication unit 222 can be controlled.

For example, when an image of a person who has not been previously registered is obtained near the window 1010 of the room 1010, the controller 270 of the robot cleaner determines that an abnormality has occurred, To an emergency contact such as a mobile terminal of the user of the user or 119. The care mode at this time may be the home care mode.

On the other hand, Figs. 11A to 11D illustrate various methods of data acquisition.

First, FIG. 11A illustrates acquiring an image related to the baby 1105 in the house through the camera 230 of the robot cleaner 200, with reference to baby care, and FIG. 11C illustrates an infrared signal for the intruding thief 1109 through the sensor unit 230 of the robot cleaner 200. FIG. FIG. 11D illustrates acquiring a human body detection signal through the heat sensing sensor 1108 of the robot cleaner 200. FIG.

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

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

In the stored image data 1205, there is no thief, but the obtained image data 1210 shows that the thief is in the living room. The control unit 270 of the robot cleaner can perform the abnormality determination by the difference data 1230. [

The controller 270 of the robot cleaner can control the alarming message to be transmitted to the pre-registered user terminal 500 as shown in FIG. 12B.

Thus, an alarm message 1245 can be displayed on the pre-registered user terminal 500. The monitoring signal can be transmitted to the communication unit 222 of the robot cleaner 200 when the user selects the alarm message 1245, that is, when the monitoring mode for the robot cleaner is performed. The control unit 270 of the robot cleaner transmits at least one of the image data photographed through the camera 230 and the obtained audio data through the audio input unit 252 to the pre- To the user terminal 500.

The figure illustrates that the obtained image data 1250 or image data and audio data 1255 are outputted to the user's mobile terminal 500. [ Then, the emergency notification contact item 1257 such as 119 can be displayed on the mobile terminal 500 by a user's operation or automatically, and when a call is made to the emergency notification contact such as 119 Can be connected. Thus, the user can easily perform the home care in the house through the mobile terminal 500 and the robot cleaner 200.

The control unit 270 of the robot cleaner may control to output a warning message 258 via the audio output unit 254 as shown in FIG.

At this time, the controller 270 of the robot cleaner can control the traveling unit 280 so as to be positioned near the thief 1259, which is the target of the home care. When the robot 280 reaches the vicinity of the thief 1259, Similarly, through the audio output unit 254, a warning message 258 may be output to be output.

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

Alternatively, a voice message, which is received from the user terminal 500, may be output in real time. In order to do this, it is necessary that the robot cleaner 200 and the user terminal 500 are connected to each other and receive the user's voice after connection.

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

13A to 13E and Figs. 13C to 13E correspond to Figs. 12A to 12C.

13A, the home care mode is performed by the user voice 1300, and the robot cleaner 200 moves the robot cleaner 200 to the inside of the house 10, 1010, 1020, 1030, 1040, 1050 ), There is a difference in obtaining image or audio data. Accordingly, the description of FIGS. 13C to 13E is omitted.

On the other hand, if only the care mode is selected and the subcare items below it are not selected, a home care mode, a silver care mode, a baby care mode, a child care mode, Mode, a power care mode, a sleeping care mode, and the like can be performed together.

As shown in FIG. 14A, while traveling around the house 1010, 1020, 1030, 1040, and 1050, the controller 270 of the robot cleaner may store image or audio data related to the home, image or audio data associated with grandparents or grandmothers, Image or audio data associated with a child, image or audio data associated with a power cable, image or audio data associated with a sleeping person.

14A shows a state in which the baby 1102 is located in the main room 1010 and the grandfather 1107 is located in the middle room 1020 and the child 1105 is located in the small room 1030 and the fire 1109 And the thief 1259 is located on the porch 1050. [

The control unit 270 of the robot cleaner is able to control the operation of the robot cleaner 200 through the camera 230 of the robot cleaner 200 so that the image including the image 1410 including the baby 1102 and the child 1105 The image 1420 includes an image 1430 including grandfather 1107, an image 1440 containing a thief 1259, an image 1450 containing fire 1109, and a TV 1108 in the living room An image 1460 and the like, which are obtained by the image processing unit 1460, respectively.

The controller 270 of the robot cleaner can determine whether there is an abnormality based on the difference between the acquired image and the previously stored image.

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

On the other hand, as shown in FIG. 14B (b), when the child 1105 is crying, since there is a difference compared to that before, it can be judged as abnormal in the child care mode.

On the other hand, when the grandfather 1107 falls down as shown in (c) of FIG. 14, since there is a difference compared to before, it can be judged as an abnormality in the silver care mode.

On the other hand, when there is a thief 1259 as shown in (d) of FIG. 14B, since there is a difference compared to that before, it can be judged as an abnormality in the home care mode.

On the other hand, when there is a fire 1450 as shown in (e) of FIG. 14B, since there is a difference compared to before that, it can be judged 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, there is a difference compared to that before, so that it can be judged as an abnormality in the power care mode.

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

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

When the user 1501 outputs a voice 1505 indicating " I should confirm that my father is well, "the mobile terminal 500 can receive the voice through the microphone 523. Then, the control unit 580 can perform recognition processing on the received voice. When the speech recognition algorithm is provided in the speech recognition apparatus itself, speech recognition can be performed using the algorithm. Alternatively, it is possible to transmit the received voice data to the server 300 and receive the voice recognition content data recognized from the server 300.

After completion of speech recognition, the mobile terminal 500 can display an object 1510 indicating a silver care mode on the screen. If there is a separate user input, the mobile terminal 500 can transmit a silver care entry command to the robot cleaner 200 have. On the other hand, even if there is no separate user input, it is also possible to automatically transmit a silver care entry command to the robot cleaner 200 after voice recognition is completed.

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

FIG. 15B illustrates that the robot cleaner 200 travels in various places in the house 10 according to the silver care mode. In particular, the robot cleaner 200 looks for a specific user, for example, grandfather 1107 and illustrates driving the robot cleaner 200 in some places 1010, 1020, 1030, 1040 and 1050 in the house 10.

At this time, audio data or image data can be obtained through the activated audio input unit 252 and the camera 230.

Then, the control unit 270 compares the acquired data with the data stored in the memory 243, and if the difference is greater than or equal to a predetermined value, the control unit 270 can determine the abnormal state.

FIG. 15C illustrates shooting a situation where the grandfather 1107 located in the middle room 1107 is collapsed through the camera 230. FIG.

Thereby, the control unit 270 can acquire the image data whose grandfathers have fallen, and can compare the image data stored and held in the memory 243 with the standing image data, and judge that the difference is equal to or more than a predetermined value . That is, it can be determined as an abnormal state.

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

At this time, the abnormal message may be a text-based message or other video message. That is, a message including an image is also possible.

In this regard, FIG. 15D illustrates that the mobile terminal 500 receiving the anomaly message including the image displays the received anomaly message. Through such an image containing error message, the user can immediately grasp the abnormal state.

Then, the mobile terminal 200 can display the abnormal message together with the contacts related to the fire station, the police station, the hospital, and the like together.

15D illustrates that the contact object 1525 associated with the fire station is displayed with an error message. When the user selects this object 1525, it becomes possible to connect directly to the fire department. For example, call connection becomes possible. Alternatively, connection via the Internet is possible.

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

16A illustrates that the baby care mode entry is performed through the robot cleaner 200. Fig.

When the user 1601 outputs a voice 1605 indicating "Let me know if my baby is awake, " while moving out of the house 10, the robot cleaner 200 transmits, via the audio input unit 252, The control unit 270 can perform a recognition process on the received voice. When the voice recognition algorithm is included in the voice recognition algorithm, the voice recognition is performed using the corresponding algorithm Alternatively, the server 300 may transmit the received voice data and receive the voice recognition content data recognized from the server 300.

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

16B illustrates that the robot cleaner 200 travels in various places in the house 10 in accordance with the baby care mode. In particular, the robot cleaner 200 searches for a specific user, for example, a baby 1102, and travels around the house 10, 1010, 1030, 1040 in the house 10. Particularly, it is exemplified that the host vehicle 1010, the small room 1030, and the living room 1040 are driven.

At this time, audio data or image data can be obtained through the activated audio input unit 252 and the camera 230.

Then, the control unit 270 compares the acquired data with the data stored in the memory 243, and if the difference is greater than or equal to a predetermined value, the control unit 270 can determine the abnormal state.

FIG. 16C illustrates taking a picture of a situation where the baby 1102 located in the room 111020 is crying, through the camera 230. FIG.

The control unit 270 can obtain the image data 1410 that the baby 1102 is crying and compares the image data 1410 stored in the memory 243 with the baby laughing image data, Or more. That is, it can be determined as an abnormal state.

In this case, the robot cleaner 200 can 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, other video message, or voice message. That is, messages including video or audio are also possible.

In this regard, FIG. 16D illustrates that the mobile terminal 500 receiving the anomaly message including the image displays the received anomaly message 1620. Through such an image containing error message, the user can immediately grasp the abnormal state.

Then, the mobile terminal 500 can display an object message 1625 for voice transmission together with an error message display.

16D illustrates that an object 1625 for voice transmission is displayed with an error message. When the user selects this object 1625, it is possible to directly record the user's voice and transmit the recorded voice data to the robot cleaner 200. For example, it is possible to exchange voice data, such as a call connection.

16E, when the user of the mobile terminal 500 outputs a predetermined voice, the robot cleaner 200 receives the voice 1630 such as "Do not cry baby, do not cry. And output it via the audio output unit 254. Accordingly, it is possible to calm the baby 1102 crying.

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

17A illustrates that child care mode entry is performed via the mobile terminal 500. FIG.

When the user 1501 located in the house outputs a voice 1705 saying "Please watch the child while preparing meals ", the mobile terminal 500 transmits the voice through the microphone 523 . Then, the control unit 580 can perform recognition processing on the received voice. When the speech recognition algorithm is provided in the speech recognition apparatus itself, speech recognition can be performed using the algorithm. Alternatively, it is possible to transmit the received voice data to the server 300 and receive the voice recognition content data recognized from the server 300.

After completion of speech recognition, the mobile terminal 500 can display an object 1710 indicating a child care mode on the screen. If there is a separate user input, the mobile terminal 500 can transmit a child care entry command to the robot cleaner 200 have. On the other hand, even if there is no separate user input, it is also possible to automatically transmit a child care entry command to the robot cleaner 200 after voice recognition is completed.

The control unit 270 of the robot cleaner 200, which has received the instruction to enter the child care, controls to enter the child care mode.

17B illustrates that the robot cleaner 200 travels in various places in the house 10 according to the child care mode. In particular, it locates a specific user, for example, a child 1105 and illustrates that the robot cleaner 200 travels around the house 10, 1010, 1030, 1040. Particularly, it is exemplified that the host vehicle 1010, the small room 1030, and the living room 1040 are driven.

At this time, audio data or image data can be obtained through the activated audio input unit 252 and the camera 230.

Then, the control unit 270 compares the acquired data with the data stored in the memory 243, and if the difference is greater than or equal to a predetermined value, the control unit 270 can determine the abnormal state.

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

Thereby, the control unit 270 compares the image data with the image data laughing by the child 1105 and acquiring the image data 1420, and the child 1105 previously stored in the memory 243, It can be judged that it is more than politics. That is, it can be determined as an abnormal state.

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

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

In this regard, FIG. 17D illustrates that the mobile terminal 500 displays an anomaly message 1720 that includes an image. Through such an image containing error message, the user can immediately grasp the abnormal state.

Then, the mobile terminal 500 can display an error message together with an object 1725 for voice transmission of the user.

17D illustrates that an object 1725 for voice transmission is displayed with an error message. When the user selects this object 1725, it is possible to directly record the user's voice and transmit the recorded voice data to the robot cleaner 200. For example, it is possible to exchange voice data, such as a call connection.

17E, when the user of the mobile terminal 500 outputs a predetermined voice, the robot cleaner 200 receives the voice 1730 and displays a voice 1730 such as " And output it via the audio output unit 254. Accordingly, it is possible to calm the child 1105 crying.

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

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

The mobile terminal 500 can receive the voice through the microphone 523 when the user 1501 located in the house outputs a voice 1805 of "Home Care Care ". Then, the control unit 580 can perform recognition processing on the received voice.

After completing the voice recognition, the mobile terminal 500 can display an object 1810 indicating the home care mode on the screen. If there is a separate user input, the home care entry command can be transmitted to the robot cleaner 200 have. On the other hand, even if there is no separate user input, it is also possible to automatically transmit a home care entry command to the robot cleaner 200 after voice recognition is completed.

The control unit 270 of the robot cleaner 200 receiving the home care entry command controls the home care mode.

Home care can mean fire detection, thief detection, gas leak detection, and so on.

18B illustrates that the robot cleaner 200 travels in various places 1010, 1030, and 1040 in the house 10 for detecting a fire, a thief, a gas leak, or the like, in accordance with the home care mode. Particularly, it is exemplified that the host vehicle 1010, the small room 1030, and the living room 1040 are driven.

At this time, audio data or image data can be obtained through the activated audio input unit 252 and the camera 230.

Then, the control unit 270 compares the acquired data with the data stored in the memory 243, and if the difference is greater than or equal to a predetermined value, the control unit 270 can determine the abnormal state.

FIG. 18C illustrates that the soup is overflowing in the vessel during operation of the gas-type cooking apparatus 1800. The control unit 270 compares the acquired image with the pre-stored image through the camera 230, and can determine that the difference is abnormal if the difference is greater than or equal to a predetermined value.

The controller 270 of the robot cleaner 200 accesses the user 1801 as shown in FIG. 18D to warn him or her about the possibility of gas leakage, And output through the audio output unit 2554.

18D, the control unit 270 of the robot cleaner 200 notifies the mobile terminal 500 of the sleeping user 1801 of ashes or gas leakage risk Can be controlled to be transmitted through the communication unit 222. Thereby, the user can immediately grasp the danger.

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

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

Meanwhile, the controller 270 of the robot cleaner 200 can designate the position where the home care is performed when the home care mode is set. It is possible to set the entire house, or to set only a specific zero.

On the other hand, the controller 270 of the robot cleaner 200 can perform emergency call setting when the home care mode is set. For example, a setting for an emergency contact such as a particular user's mobile terminal or 112, 119 can be performed.

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

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

The mobile terminal 500 can receive the voice 1905 through the microphone 523 when the user 1501 outputs a voice 1905 of "Power Care Request". Then, the control unit 580 can perform recognition processing on the received voice. When the voice recognition algorithm is provided in the mobile terminal 500, speech recognition can be performed using the corresponding algorithm. Alternatively, the mobile terminal 500 can transmit the received voice data to the server 300 and receive the voice recognition content data recognized from the server 300, for voice recognition.

After completion of speech recognition, the mobile terminal 500 can display an object 1910 indicating a power care mode on the screen. If there is a separate user input, the mobile terminal 500 can transmit a power care entry command to the robot cleaner 200 have. On the other hand, even if there is no separate user input, it is also possible to automatically transmit a power-care entry command to the robot cleaner 200 after voice recognition is completed.

When the robot cleaner 200 receives the power care entry command, the robot cleaner 200 enters the power care mode.

19B illustrates that the robot cleaner 200 travels in various places in the house 10 according to the power care mode. Particularly, the robot cleaner 200 searches various electric devices in the house and illustrates driving the robot cleaner 200 in the house 10 (1010, 1020, 1030, 1040, 1050).

The robot cleaner 200 can acquire audio data or image data through the activated audio input unit 252 or the camera 230 at the time of driving.

Then, the control unit 270 of the robot cleaner 200 compares the acquired data with the data stored in the memory 243, and if the difference is greater than or equal to a predetermined value, it can be determined as an abnormal state.

FIG. 19C illustrates various electrical devices 400a, 400b, 400c, and 400d disposed in the house 10, and particularly illustrates electrical devices that are searched during travel of the robot cleaner 200. FIG. In the drawing, the TV 400a, the air conditioner 400b, the cooking appliance 400c, and the lighting device 400d are illustrated as the electric devices 400a, 400b, 400c, and 400d.

19D, when the TV 400a is powered on and the predetermined image 1970 is displayed, the robot cleaner 200 displays the TV image 400a displaying the broadcast image 1970, And transmits a remote control signal 1932 for power-off. Thus, the power supply of the TV 400a is turned off.

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

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

20A illustrates entering a sleep care mode when there is a voice 2005, such as a specific voice of the user 2001, i.e., a "roving sleep mode. &Quot;

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

The control unit 270 of the robot cleaner 200 may control the sound output unit 254 to output the sound 2010 related to the water surface induction as shown in FIG. At this time, the sleep induction sound may be music preset by the user.

The control unit 270 of the robot cleaner 200 determines whether the user 2001 is asleep based on the data acquired through the camera 230 or the audio input unit 252. If the user 2001 is asleep, It is possible to control so that the related sound 2010 is no longer output.

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

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

FIG. 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. FIG.

When the charging mode item 2106 is selected, the remote control signal is transmitted to the robot cleaner 200, and the robot cleaner 200 can move to the charging apparatus 100 and perform the charging operation.

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

FIG. 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.

FIG. 21B illustrates that the care mode setting item 2114 is selected in the mobile terminal 500. FIG.

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

The care mode setting screen 2120 can be classified into a time setting item, an operation blur item, a priority setting item when performing a plurality of functions, and a notification item selection item.

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

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

Priority setting items when performing multiple functions can include home care items, silver care items, baby care items, child care items, power care items, sleep care items, and the like, and priority can be set for them.

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

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

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

The cleaning mode setting screen 2310 includes a custom cleaning item 2312, a zigzag mode item 2314, a compact mode item 2316, an intensive cleaning mode item 2317, a pollution source mode item 2318, a cleaning start item 2319 ), And the like.

22C illustrates a zigzag cleaning mode corresponding to the zigzag mode item 2314 and Fig. 22E illustrates a customized cleaning item 2312 corresponding to the zigzag mode item 2314. Fig. Lt; RTI ID = 0.0 > mode. ≪ / RTI >

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

FIG. 23A illustrates that the robot cleaner 200 receives the 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 electric signal.

Based on the received electric signal, the control unit 270 determines whether the input sound is a sound generated in daily life or a sound requiring cleaning. And can receive the information from the external server 300 or the mobile terminal 500. [

23B illustrates that the robot cleaner 200 moves by the travel unit 280 and moves to the vicinity of the generated sound.

The control unit 270 of the robot cleaner 200 can grasp the sound position based on the recognition of the sound 2402 in Fig. 23A and control to move to the generation position of the sound.

In the drawing, the user 2401 uses a hair dryer to illustrate that the sound 2403 is generated. Since the hair 2406 may fall around the user 2401 when the hair dryer is used, the embodiment of the present invention controls the robot cleaner 200 to perform automatic cleaning when a specific sound is generated.

FIG. 23C illustrates performing an automatic clean at the sound location.

When the user 2401 stops using the hair dryer, that is, when the 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 section 245 of the robot cleaner 200 can operate the motor or the like to suck the hair 2406 and perform automatic cleaning. As a result, it is possible to perform the automatic cleaning at a predetermined sound, that is, at a specific sound source position, simply and quickly.

Meanwhile, when the automatic cleaning is completed, the robot cleaner 200 can transmit an automatic cleaning completion message to the user's mobile terminal 500. Accordingly, the user can recognize through the mobile terminal 500 that the automatic cleaning has been completed. Thus, the usability of the user can be increased.

In addition to the sound 2403 from the hair dryer described in Figs. 23A to 23C, various sounds are possible for the sound for executing the automatic cleaning mode. For example, it is possible to perform the automatic cleaning mode by the voice of the user.

On the other hand, in Figs. 23A to 23C, it is also possible to recognize a pollution source through an image obtained, although the pollution source is recognized through sound recognition.

That is, the image data photographed through the camera 230 is compared with the previously stored image data, and if there is a difference, the control unit 270 can recognize that the contamination source is discharged. Then, it is possible to control the automatic cleaning mode to be performed.

The robot cleaner and the operation method thereof according to the present invention are not limited to the configuration and the method of the embodiments described above but the embodiments may be modified so that all or some of the embodiments Or may be selectively combined.

Meanwhile, the operation method of the robot cleaner of the present invention can be implemented as a code that can be read by a processor on a recording medium readable by a processor included in the robot cleaner. The processor-readable recording medium includes all kinds of recording apparatuses in which data that can be read by the processor is stored. Examples of the recording medium that can be read by the processor include a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like, and may also be implemented in the form of a carrier wave such as transmission over the Internet . In addition, the processor-readable recording medium may be distributed over network-connected computer systems so that code readable by the processor in a distributed fashion can be stored and executed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention.

Claims (16)

An audio input unit;
camera;
Memory;
A communication unit for exchanging data with an external device;
A cleaning unit for performing cleaning; And
And performing at least one of a cleaning mode and a care mode so as to perform peripheral condition recognition based on data stored in the memory and data obtained through at least one of the audio input unit and the camera when the care mode is performed And a controller for controlling the robot cleaner. The method according to claim 1,
Wherein,
Wherein the control unit controls the communication unit to transmit a notification message when the difference between the stored data and the acquired data is equal to or greater than a predetermined value or when the stored data does not match the acquired data. . The method according to claim 1,
Wherein,
When the difference between the image data stored in the memory and the image data obtained from the camera is equal to or larger than the first predetermined value or there is no portion in which the stored image data and the acquired image data coincide with each other, And when the difference between the audio data stored in the memory and the audio data obtained through the audio input unit is equal to or larger than a second predetermined value at the time of the first abnormal state determination or the difference between the stored audio data and the obtained audio data The control unit controls the communication unit to transmit a notification message when the final abnormality is determined. The method according to claim 2 or 3,
Wherein,
And controls the communication unit to transmit the notification message to the pre-registered user terminal or the emergency contact. The method according to claim 1,
And a traveling unit for moving the robot cleaner,
Wherein,
Wherein the control unit controls the driving unit to move to a set position when performing the care mode, and based on data stored in the memory and data obtained through at least one of the audio input unit and the camera, And performs recognition of the robot. The method according to claim 1,
And a traveling unit for moving the robot cleaner,
Wherein,
And performs peripheral environment recognition based on data stored in the memory and data acquired through at least one of the audio input unit and the camera during driving in the care mode. The method according to claim 6,
Wherein,
And controls the cleaning mode to be performed together during the traveling. The method according to claim 1,
In the cleaning mode,
Manual cleaning mode, and automatic cleaning mode,
In the care mode,
Wherein the robot cleaner 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. A method of operating a robot cleaner having a memory, an audio input unit, and a camera,
Entering a care mode;
Obtaining data through at least one of the audio input unit and the camera when performing the care mode;
And performing peripheral environment recognition based on the data stored in the memory and the acquired data. 10. The method of claim 9,
And transmitting a notification message when the difference between the stored data and the obtained data is equal to or greater than a predetermined value or when the stored data and the obtained data do not match each other, How the cleaner works. 10. The method of claim 9,
The peripheral state recognition step may include:
When the difference between the image data stored in the memory and the image data obtained from the camera is equal to or larger than the first predetermined value or there is no portion in which the stored image data and the acquired image data coincide with each other, ; And
Wherein when the 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 at the time of the first abnormal state determination, And if it does not exist, judging a final abnormal state,
And transmitting a notification message to the robot cleaner when the final abnormality is determined. The method according to claim 10 or 11,
The notification message transmission step includes:
And the notification message is transmitted to the pre-registered user terminal or the emergency contact. 10. The method of claim 9,
Driving in accordance with the care mode,
The peripheral state recognition step may include:
Moving to a set position when performing the care mode; And
And performing peripheral environment recognition based on data stored in the memory and data obtained through at least one of the audio input unit and the camera at the set position. . 10. The method of claim 9,
Driving in accordance with the care mode,
The peripheral state recognition step may include:
Wherein during the running of the care mode, peripheral condition recognition is performed based on data stored in the memory and data acquired through at least one of the audio input unit and the camera during driving. 15. The method of claim 14,
Wherein during the traveling, the cleaning mode is performed together. 10. The method of claim 9,
In the cleaning mode,
Manual cleaning mode, and automatic cleaning mode,
In the care mode,
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.

Images