KR101191978B1 - Mobile robot including a control unit controllable by a user terminal and home caring system using the mobile robot - Google Patents
Mobile robot including a control unit controllable by a user terminal and home caring system using the mobile robot Download PDFInfo
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- KR101191978B1 KR101191978B1 KR1020100038534A KR20100038534A KR101191978B1 KR 101191978 B1 KR101191978 B1 KR 101191978B1 KR 1020100038534 A KR1020100038534 A KR 1020100038534A KR 20100038534 A KR20100038534 A KR 20100038534A KR 101191978 B1 KR101191978 B1 KR 101191978B1
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Abstract
A mobile robot controllable by a user terminal is provided. The mobile robot includes a mobile robot driver for moving the mobile robot according to a drive control signal; And a control unit which transmits a telephony signal including a video signal encoded to the user terminal, and generates the drive control signal in accordance with a control signal included in the telephony signal from the user terminal. Also provided is a home care system comprising at least one PIR sensor unit and a mobile robot in communication with the unit. In the home care system, the image transmission and the controller of the mobile robot, when the motion detection signal is generated by the at least one PIR sensor unit, the telephony signal including the video signal captured by the camera and encoded by the video encoder is a user terminal Control the imager, video encoder, first communication signal processor, and communication connector to be transmitted to the network. Therefore, the user of the user terminal can control the mobile robot based on the image information provided by the mobile robot, without having to construct a spatial database of a place where the mobile robot is located in a separate database. Accurately control the mobile robot. Since the mobile robot communicates with the PIR sensor unit external to the mobile robot, the mobile robot can be used for home care without being restricted by the location of the mobile robot.
Description
The present invention relates to a mobile robot, and more particularly, to a mobile robot having a control unit controllable by a user terminal and a home care system using the same.
A mobile robot is a robot that can perform specific tasks while driving by itself, and refers to a cleaning robot and a surveillance robot. Among these mobile robots, a cleaning robot has recently formed a new market, and its size is growing.
There has been a need for a mobile robot system that can be remotely controlled so that even when the user is out of the house, the robot can be controlled by cleaning the robot at home. In particular, as mobile robots used for home use, such as cleaning robots, are competitively released, a need for a technology capable of lowering the manufacturing cost of a mobile robot system capable of remote control is increasing.
Korean Registered Utility Model Publication No. 20-0414637 [R1] discloses a "remote control device for a cleaning robot" that enables a remote control of a cleaning robot outside the home. The remote control device R1 of the cleaning robot receives the DTMF signal generated by the button operation of the user terminal and controls the cleaning robot according to the received DTMF signal.
Korean Patent Publication No. 10-0645848 (Registration date November 07, 2006) [R2] also discloses a "mobile robot system and mobile robot remote control method" that controls the mobile robot using the DTMF signal of the telephone line. According to this publication [R2], work to be performed by the mobile robot, for example, to clean the whole house and to clean only a specific room, is assigned to the mobile robot through the DTMF signal, and the mobile robot performs the specified work.
However, since the cleaning robot of the above-described prior art R1 does not provide image information to the user terminal, it is difficult to control the cleaning robot when the user does not keep the cleaning robot within the visible range. Since the mobile robot of the prior art R2 can perform only a selected task among registered tasks, there is a problem in that the use of the mobile robot is restricted.
Therefore, the above-described robots of the related arts have no choice but to control without information about the real space that lies in the robot. As a result, the robotic technologies disclosed in the prior arts have a problem that they are not suitable for application in an environment requiring real space information such as home care ring. Here, Home Caring is a mobile robot equipped with a control unit with various monitoring functions installed in the place where the target is living, and when and where the status of the target is based on wired / wireless Internet telephone network. It refers to the FMC (Fixed Mobile Convergence) service that checks the status of a protected object and makes a call through a mobile phone / WIFI phone / VoIP phone / PC.
The present invention is to solve the above problems, to provide a mobile robot that can be controlled by the user terminal.
The present invention also provides a home care system utilizing a mobile robot as a control unit controllable by a user terminal.
According to an embodiment of the present invention, there is provided a mobile robot controllable by a user terminal, the mobile robot comprising: a mobile robot driver for moving the mobile robot according to a driving control signal; And a control unit for transmitting a telephone communication signal including a video signal captured and encoded to the user terminal, and generating the driving control signal in accordance with a control signal included in the telephone communication signal from the user terminal.
According to another embodiment, the control unit comprises: a PIR sensor; Camera; A video encoder for encoding the video signal generated by the camera to produce an encoded video signal; A communication connector for receiving a telephony signal including a control signal from the user terminal and transmitting a telephony signal including an encoded video signal to the user terminal; A first communication signal for transmitting a driving control signal to the mobile robot driver, separating a control signal from a telephone communication signal received through the communication connector from the user terminal, and generating a telephone communication signal including an encoded video signal; Processor; And when the motion detection signal is generated by the PIR sensor, the telephony signal including the video signal captured by the camera and encoded by the video encoder is transmitted to the user terminal. 1 controls the communication signal processor and the communication connector, and when a control signal is received from the communication signal processor, generates a drive control signal for controlling the mobile robot driver to move the mobile robot according to the received control signal. With a controller.
According to yet another embodiment, the control unit comprises: a microphone; And an audio processor configured to generate an encoded audio signal by encoding the audio signal generated by the microphone, wherein the first communication signal processor generates a telephony signal including the encoded audio signal. A telephony signal comprising the encoded audio signal is transmitted to the user terminal.
According to another embodiment, the control unit further comprises a speaker, wherein the audio processor receives the audio signal separated from the telephone communication signal by the first communication signal processor, and processes the received audio signal to sound A signal is generated, and the speaker converts a sound signal generated by the audio processor into sound.
According to yet another embodiment, the control unit comprises: a movable module; And a pan / tilt controller for horizontally moving and moving the movable module, wherein the movable module includes the photographing device, an illuminator, and a microphone, wherein the controller according to a control signal from a first communication signal processor. The pan / tilt controller is controlled to move the movable module horizontally and vertically.
According to another embodiment, the first communication signal processor generates a communication signal including a drive control signal, the mobile robot driver receives a communication signal from the first communication signal processor, from the received communication signal A second communication signal processor separating the drive control signal; And a driver for moving the mobile robot according to the drive control signal.
According to yet another embodiment, a home care system is provided, which includes at least one PIR sensor unit; And a mobile robot in communication with the at least one PIR sensor unit as the mobile robot of any one of claims 1 to 6, which is controllable by a user terminal, wherein the image transmission and controller of the mobile robot are at least one. The motion detection signal is generated by the PIR sensor unit of the camera, the telephony signal captured by the camera and including the video signal encoded by the video encoder is transmitted to the user terminal. Controls a communication signal processor, and the communication connector.
According to the present invention, since the mobile robot provides the captured image information to the user terminal, the user of the user terminal can control the mobile robot based on the image information provided by the mobile robot. Therefore, it is possible to accurately control the mobile robot without the need to build a spatial database of the location of the mobile robot in a separate database.
In addition, the home care system utilizing the mobile robot of the present invention transmits a motion detection signal to the mobile robot when motion of a person or the like is detected at locations outside the detectable area by the PIR sensor mounted on the mobile robot. Since the PIR sensor unit is provided, there is an advantage that the mobile robot can be used for home care without being restricted by the location of the mobile robot.
1 is a conceptual diagram illustrating a home care system utilizing a mobile robot that can be controlled by a user terminal.
2 is a block diagram showing a conceptual configuration of a mobile robot according to a preferred embodiment of the present invention.
3 is a view for explaining the case of controlling the mobile robot of Figure 2 using a 3G phone, smart phone, WIFI phone, or SoIP phone.
FIG. 4 is a diagram illustrating a case where the mobile robot of FIG. 2 is controlled using a web browser of a PC.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.
1 is a conceptual diagram of a home care system in which a mobile robot controllable by a user terminal may be used. The home care system shown in FIG. 1 includes a
Voice over Internet Protocol (VoIP) is an Internet phone that uses a packet network for data communication. It is a communication service technology that allows voice calls to be converted into Internet protocol data packets to enable calls over general telephone networks. Such VoIP is a transport technology for the delivery of voice communications over IP networks such as the Internet or other packet switched networks. Common terms used as synonyms for VoIP include IP telephony, Internet telephony, voice over broadband (VOBB), broadband telephony, and broadband phone. Internet telephony refers to communication services via the Internet, such as voice, facsimile, and / or voice-messaging applications, rather than a public switched telephone network (PSTN).
The
2 is a block diagram showing a conceptual configuration of a mobile robot according to a preferred embodiment of the present invention. Referring to FIG. 2, the
2 shows a preferred embodiment of the present invention. The
In the
The first
The
When the
In the mobile robot of FIG. 2, the
As the mobile
The
1 and 2, the operation of the
First, when at least one
If the image information transmitted by the
DTMF can be used for generation in the control signal by the
When the telephone communication signal containing the drive control signal for pan / tilt control or the movement of the mobile robot is transmitted by the
3 is a view for explaining the case of controlling the mobile robot of Figure 2 using a 3G phone, smart phone, WIFI phone, or SoIP phone. 3, the
In the description of FIG. 2, the signals actually transmitted between the
FIG. 4 is a diagram for explaining a case where the
The information actually transmitted between the
In the embodiment of FIG. 2 a variant of the embodiment of FIG. 2 is possible in which the
1: HOME 2: Mobile Robot
3: control unit 4: mobile robot drive unit
5: home Internet connection device 6: network
7: user terminal 8: PIR sensor unit
10: operation module 20: non-operation module
Claims (7)
A mobile robot driver for moving the mobile robot according to a driving control signal; And
When the motion detection signal is generated by the PIR sensor, a telephony signal including a video signal photographed and encoded by a camera is transmitted to the user terminal, and the drive control according to a control signal included in the telephony signal from the user terminal. A control unit for generating a signal,
The control unit
A communication connector for receiving a telephony signal including a control signal from the user terminal and transmitting a telephony signal including an encoded video signal to the user terminal; And
A first communication for transmitting the driving control signal to the mobile robot driver, separating a control signal from a telephone communication signal received through the communication connector from the user terminal, and generating a telephone communication signal including an encoded video signal; Includes a signal processor,
The mobile robot drive unit
And a second communication signal processor that receives a telephone communication signal from the first communication signal processor and separates the driving control signal from the received telephone communication signal.
A video encoder for encoding the video signal generated by the camera to produce an encoded video signal; And
When the motion detection signal is generated by the PIR sensor, the camera, the video encoder and the first camera are configured to transmit a telephony signal captured by the camera and including a video signal encoded by the video encoder to the user terminal. The mobile robot further comprises a communication signal processor, and a controller for controlling the communication connector.
microphone; And
An audio processor configured to generate an encoded audio signal by encoding the audio signal generated by the microphone,
The first communication signal processor generates a telephony signal comprising the encoded audio signal,
And the communication connector transmits a telephone communication signal including the encoded audio signal to the user terminal.
The audio processor receives an audio signal separated from a telephone communication signal by a first communication signal processor, processes the received audio signal to generate a sound signal,
The speaker is a mobile robot, characterized in that for converting the sound signal generated by the audio processing unit to the sound.
Movable module; And
It further comprises a pan / tilt controller for moving the movable module left and right, and move,
The movable module,
The camera, an illuminator, a microphone,
And the controller controls the pan / tilt controller to move the movable module side to side and to move the movable module in accordance with a control signal from a first communication signal processor.
The mobile robot drive unit,
The mobile robot further comprises a driver for moving the mobile robot according to the drive control signal.
A home care system comprising a mobile robot controllable by a user terminal and in communication with the at least one PIR sensor unit,
The mobile robot
A mobile robot driver for moving the mobile robot according to a driving control signal; And
When the motion detection signal is generated by the at least one PIR sensor unit, a telephony signal including a video signal captured and encoded by the camera is transmitted to the user terminal, and a control signal included in the telephony signal from the user terminal. A control unit for generating the drive control signal according to
The control unit includes a communication connector for receiving a telephone communication signal including a control signal from the user terminal, and transmits a telephone communication signal including an encoded video signal to the user terminal; And
A first communication for transmitting the driving control signal to the mobile robot driver, separating a control signal from a telephone communication signal received through the communication connector from the user terminal, and generating a telephone communication signal including an encoded video signal; Includes a signal processor,
The mobile robot driver includes a second communication signal processor for receiving a telephone communication signal from the first communication signal processor and separating the driving control signal from the received telephone communication signal,
The control unit comprises a video encoder for encoding the video signal generated by the camera to produce an encoded video signal; And when the motion detection signal is generated by the PIR sensor unit, the telephony signal including the video signal captured by the camera and encoded by the video encoder is transmitted to the user terminal. And a first communication signal processor and a controller for controlling the communication connector.
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KR1020100038534A KR101191978B1 (en) | 2010-04-26 | 2010-04-26 | Mobile robot including a control unit controllable by a user terminal and home caring system using the mobile robot |
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KR1020100038534A KR101191978B1 (en) | 2010-04-26 | 2010-04-26 | Mobile robot including a control unit controllable by a user terminal and home caring system using the mobile robot |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US11731262B2 (en) | 2021-06-28 | 2023-08-22 | Samsung Electronics Co., Ltd. | Robot and method for operating the same |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN107659659A (en) * | 2017-10-14 | 2018-02-02 | 广东宝乐机器人股份有限公司 | A kind of mobile robot and its data transmission method |
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KR100588626B1 (en) | 2004-06-15 | 2006-06-14 | 주식회사 케이티프리텔 | Method and device for controlling robot over Fixed/Mobile Convergence Telecommunication Network |
KR100750407B1 (en) | 2006-05-04 | 2007-08-17 | 성균관대학교산학협력단 | Remote control system for robot using user interface and method thereof |
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Patent Citations (2)
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KR100588626B1 (en) | 2004-06-15 | 2006-06-14 | 주식회사 케이티프리텔 | Method and device for controlling robot over Fixed/Mobile Convergence Telecommunication Network |
KR100750407B1 (en) | 2006-05-04 | 2007-08-17 | 성균관대학교산학협력단 | Remote control system for robot using user interface and method thereof |
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US11731262B2 (en) | 2021-06-28 | 2023-08-22 | Samsung Electronics Co., Ltd. | Robot and method for operating the same |
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