KR101485870B1 - Mobile robot device for video synchronization output and video synchronization output method of the mobile robot device - Google Patents

Mobile robot device for video synchronization output and video synchronization output method of the mobile robot device Download PDF

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Publication number
KR101485870B1
KR101485870B1 KR20140021575A KR20140021575A KR101485870B1 KR 101485870 B1 KR101485870 B1 KR 101485870B1 KR 20140021575 A KR20140021575 A KR 20140021575A KR 20140021575 A KR20140021575 A KR 20140021575A KR 101485870 B1 KR101485870 B1 KR 101485870B1
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KR
South Korea
Prior art keywords
image
main display
output
display device
mobile robot
Prior art date
Application number
KR20140021575A
Other languages
Korean (ko)
Inventor
김상철
양정웅
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(주)다윈텍
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Priority to KR20140021575A priority Critical patent/KR101485870B1/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1615—Programme controls characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
    • B25J9/162—Mobile manipulator, movable base with manipulator arm mounted on it
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/01—Mobile robot

Abstract

Disclosed are a mobile robot apparatus capable of performing a video synchronized output and a video synchronized output method of the mobile robot apparatus. Embodiments of the present invention provide the mobile robot apparatus which moves to a position where a user has moved and outputs the same video as the video having been outputted via a main display device in case the user carrying a mobile terminal is out of a predetermined area while the user is watching the video via the main display device and the video synchronized output method of the mobile robot apparatus, thereby assisting the user to continue to watch the same video without other operations even though the user moves from a position where the main display device has been installed to other positions.

Description

TECHNICAL FIELD [0001] The present invention relates to a mobile robot apparatus capable of outputting an image synchronous output, and a video synchronous output method of the mobile robot apparatus. BACKGROUND OF THE INVENTION 1. Field of the Invention [0002]

The embodiments of the present invention can be applied to a technique for supporting a user to continuously view the same image even when moving a video viewed through a main display device installed in a specific place to another place where the main display device is not installed will be.

2. Description of the Related Art Recently, smart TVs equipped with smart phones, tablet PCs, and wireless LANs and capable of accessing the Internet have become widespread, and technologies related to interworking between these smart devices are actively being introduced.

In particular, in recent years, there has been an active introduction of an N-screen-based service that enables users to view the same image using various smart devices regardless of their location.

In addition, since technology for enabling image data sharing between a portable smart device and a smart TV is introduced, an environment in which a user can easily view an image stored in a portable smart device through a TV having a large screen size is established .

These technologies do not allow a user to view an image through only one device, but rather to support the user to continuously view images through various devices in various situations, They are.

However, existing video sharing technologies are somewhat lacking in the intelligent aspects of outputting images through a device according to the current situation of the user in consideration of the user's use environment.

For example, if a user moves from a living room of a house to a room while watching a predetermined video through a TV, if the user wishes to view the video in the living room through his / her smartphone, It is inconvenient for the user to directly perform an interlocking process between the TV and the smartphone.

Therefore, when the user moves from a certain state of watching a video through a TV in the living room to a specific point, it is possible to grasp the moving state of the user so that the user does not need to perform an inter- The researchers need to study the technology to support the continuous viewing of the images.

In the embodiments of the present invention, when a user having a mobile terminal moves out of a predetermined area while viewing an image through the main display device, the user moves to the point where the user moved, A mobile robot device for outputting the same image as the image being output through the mobile robot device and an image synchronization output method for the mobile robot device can be provided so that even if the user moves from the location where the main display device is installed to the other location, We want to support the same video continuously.

A mobile robot apparatus capable of outputting an image synchronizing output according to an embodiment of the present invention includes position information on a current position acquired by the mobile terminal from a mobile terminal possessed by a user, An area determining unit for determining whether the mobile terminal is located within a predetermined area centered on the main display device based on the location information; A movement controller for controlling the movement of the mobile robot apparatus to a position where the mobile terminal is located based on the position information, and a movement controller for controlling movement of the mobile robot apparatus, For video Based on the video signal and the video signal receiving unit for receiving the received signal to include a video sync output unit for outputting the same image as the image is being outputted through the main display unit.

According to another aspect of the present invention, there is provided an image synchronization output method of a mobile robot apparatus, comprising the steps of: receiving position information on a current position collected by a mobile terminal from a mobile terminal held by a user, Determining whether the mobile terminal is located within a predetermined area centered on the main display device based on the location information, if it is determined that the mobile terminal is not located within the predetermined area, Controlling a movement of the mobile robot apparatus to a position where the mobile terminal is located based on the detected position of the main display device; And And outputting the same image as the image being output through the main display device based on the received image signal.

In the embodiments of the present invention, when a user having a mobile terminal moves out of a predetermined area while viewing an image through the main display device, the user moves to the point where the user moved, A mobile robot device for outputting the same image as the image being output through the mobile robot device and an image synchronization output method for the mobile robot device can be provided so that even if the user moves from the location where the main display device is installed to the other location, So that the same image can be continuously watched.

1 is a system conceptual diagram briefly illustrating a mobile robot apparatus capable of outputting an image synchronization output according to an embodiment of the present invention.
2 is a diagram illustrating a structure of a mobile robot apparatus capable of outputting an image synchronizing output according to an embodiment of the present invention.
3 is a flowchart illustrating an image synchronization output method of a mobile robot apparatus according to an embodiment of the present invention.

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

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

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

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

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

1 is a system conceptual diagram briefly illustrating a mobile robot apparatus capable of outputting an image synchronization output according to an embodiment of the present invention.

FIG. 1 shows a mobile robot device 110, a mobile terminal 120, and a main display device 130 capable of synchronizing images output.

Here, the mobile robot apparatus 110 is equipped with a display module capable of outputting images, and is equipped with a wheel for moving the body. The mobile terminal 120, the main display device 130 And a microprocessor for performing data processing such as enabling a positional movement between regions based on predetermined movement route information.

Also, the main display device 130 means a display device including a wireless communication module and a microprocessor for performing data processing, such as a smart TV.

First, as shown in FIG. 1, when a user holds a mobile terminal 120 in a predetermined area 140 centered on the main display device 130, the main display device 130 ) Of the user.

For example, the main display device 130 may be a TV installed in a living room, and the predetermined area 140 may be a range of an area set to include a living room area around the main display device 130.

At this time, the mobile terminal 120 owned by the user collects location information of the mobile terminal 120 using a location information collection module such as a GPS module installed in the mobile terminal 120, To the mobile robot apparatus 110 capable of outputting an image synchronized for each predetermined time interval.

At this time, the mobile robot apparatus 110 capable of outputting the synchronized image can receive position information on the current position collected by the mobile terminal 120 from the mobile terminal 120 owned by the user, by the predetermined time interval have.

Then, the mobile robot apparatus 110 capable of outputting an image synchronizing output can determine whether or not the mobile terminal 120 is located within the predetermined area 140 set on the main display device 130 based on the location information Can be determined.

If it is determined that the mobile terminal 120 is located within the predetermined area 140, the mobile robot apparatus 110 capable of outputting the image synchronization output does not perform a specific operation, ) To continue to view the video material.

However, when the user moves from the living room to the inside of the room while watching TV, the mobile robot apparatus 110 capable of outputting the image synchronization output by varying the position of the mobile terminal 120 receives from the mobile terminal 120 If it is determined that the mobile terminal 120 is not located within the predetermined area 140 as a result of analyzing the location information, the mobile robot apparatus 110 capable of outputting the image synchronization output The mobile terminal 120 can move to a location where the mobile terminal 120 has moved based on the location information.

According to an embodiment of the present invention, when the mobile terminal 120 moves out of the predetermined area 140, the mobile robot apparatus 110 capable of outputting an image synchronization output moves to a moving point of the mobile terminal 120 , It is possible to operate based on the following configuration.

In the present invention, a predetermined supportable area for supporting the image synchronization output through the mobile robot apparatus 110 capable of outputting image synchronization may be preset.

For example, the supportable area may be set as a house area in which the user lives. In this case, if the user moves out of the house while holding the mobile terminal 120, the mobile robot apparatus 110 capable of outputting the image synchronization output may not perform the operation according to the present invention.

At this time, the supportable area may be divided into a plurality of zones based on the selected zone classification criterion so that the mobile robot device 110 capable of outputting image synchronization can move within the supportable zone .

For example, in the case where the supportable area is the home area of the user, the supportable area may include 'living area', 'living area 2', 'toilet area 3' 4 '. ≪ / RTI >

At this time, in the mobile robot apparatus 110 capable of outputting the image synchronization output, information on the plurality of zones that the supportable zone is divided on the basis of the predetermined zone classification criterion, a range for each of the plurality of zones And a zone information database in which the position information to be covered corresponds to each other.

In addition, a mobile robot apparatus 110 capable of outputting an image synchronizing output is provided with a movement path storing information on a preset movement path so that the mobile robot apparatus 110 capable of synchronizing video output among the plurality of zones can move, A database may be included.

For example, when the supportable area is divided into 'ZONE 1' and 'ZONE 2', 'ZONE 1' and 'ZONE 1' that cover the range for 'ZONE 1' And 'location information 2' covering a range for 'area 2' may be stored so as to correspond to each other.

In addition, on the movement route database, 'travel route information 1' enabling the mobile robot apparatus 110 capable of image synchronization output to move from 'zone 1' to 'zone 2' And " route information 2 " to enable movement to zone 1 'may be stored.

At this time, location information on a point indicating a movement path between each zone may be stored on the movement path database based on the map data covering the supportable zone with information on the movement path between the zones, The mobile robot apparatus 110 capable of outputting the synchronized image can refer to the position information of the point indicating the movement path between the respective zones stored on the movement path database based on the map data covering the supportable region Movement can be performed between each zone.

When it is determined that the mobile terminal 120 is not located within the predetermined area 140 in the state that the mobile robot apparatus 110 capable of outputting the image synchronization includes the zone information database and the movement route database The mobile robot apparatus 110 capable of outputting the image synchronization outputs the zone information to the location where the mobile terminal 120 is located among the plurality of zones based on the location information of the mobile terminal 120, 1 zone can be confirmed.

The mobile robot apparatus 110 capable of outputting a video synchronizing output collects position information on the current position of the mobile robot apparatus 110 capable of synchronizing video output, The second zone for the point where the mobile robot apparatus 110 capable of synchronous output is currently located can be confirmed.

Then, the mobile robot apparatus 110 capable of outputting the image synchronization output can extract information on the movement path for moving from the second zone to the first zone by referring to the movement path database.

When the information on the movement path for moving from the second zone to the first zone is extracted, the mobile robot apparatus 110 capable of outputting the image synchronization outputs the moving path information from the second zone By moving to the first zone, it is possible to move to the current point of movement of the mobile terminal 120.

In this case, according to an embodiment of the present invention, the mobile robot apparatus 110 capable of outputting the image synchronization outputs position information about the points indicating the movement path from the second zone to the first zone in the movement route database Extracting the supportable area from the second area to the first area by referring to the positional information on the points indicating the movement path from the second area to the first area based on the map data covering the supportable area Can be moved.

When the mobile robot device 110 capable of outputting the video synchronizing output completes the movement to the position where the mobile terminal 120 moves, the mobile robot device 110 can move from the main display device 130 to the main display device 130, The controller 130 can receive the image signal for the image being output through the controller 130.

In this case, according to an embodiment of the present invention, the mobile robot apparatus 110 capable of outputting an image synchronization output may receive the image signal of the image being output from the main display device 130 through the main display device 130 , And may transmit an output stop control signal to the main display device 130 to control the stop of the output to the image being output through the main display device 130. [

In this case, when the output stop control signal is received, the main display device 130 stops outputting the image output through the main display device 130 based on the output stop control signal, And transmits the generated reproduction point information to the mobile robot apparatus 110 capable of outputting the image synchronization output.

At this time, the mobile robot apparatus 110 capable of synchronizing video output can receive the reproduction point information about the last reproduction point of the image being output from the main display device 130 through the main display device 130, And outputs the same image as the image being output through the main display device 130 based on the video signal received from the main display device 130, The reproduction of the image can be started from the same point as the last reproduction point of the outputted image.

As a result, the mobile robot apparatus 110 capable of outputting the image synchronizing output according to the embodiment of the present invention can not output the predetermined synchronized image (s) during the viewing of the image through the main display device 130 by the user having the mobile terminal 120 The main display device 130 receives the video signal of the video image output from the main display device 130 and transmits the video signal to the main display device 130 based on the video signal Even if the user moves from the position where the main display device 130 is installed to the other position by moving the display device 130 to the same position as that of the main display device 130, It is possible to easily support the same image continuously through the robot apparatus 110.

2 is a diagram illustrating a structure of a mobile robot apparatus capable of outputting an image synchronizing output according to an embodiment of the present invention.

2, a mobile robot apparatus 210 capable of outputting an image synchronization output according to an exemplary embodiment of the present invention includes a position information receiver 211, an area determiner 212, a movement controller 213, a video signal receiver 214 and an image synchronization output unit 215. [

The location information receiving unit 211 receives location information on the current location collected by the mobile terminal 230 from the mobile terminal 230 owned by the user, at predetermined time intervals.

The area determination unit 212 determines whether the mobile terminal 230 is located within a predetermined area set on the main display device 240 based on the location information.

If it is determined that the mobile terminal 230 is not located within the predetermined area, the movement control unit 213 determines whether the mobile terminal 230 is located at the location where the mobile terminal 230 is located based on the location information. Control the movement.

According to an embodiment of the present invention, the mobile robot apparatus 210 capable of outputting an image synchronization output may further include a zone information database 216 and a movement route database 217.

The zone information database 216 stores information on a plurality of zones that are divided based on a predetermined zone classification criterion in order to support image synchronization output through the mobile robot apparatus 210, , And position information covering a range for each of the plurality of zones correspond to each other.

The movement route database 217 stores information on the movement route set in advance so that the mobile robot apparatus 210 can move between the plurality of zones.

In this case, according to one embodiment of the present invention, the movement control unit 213 includes a first zone identification unit 218, a second zone identification unit 219, a movement path extraction unit 220, and a mobile robot control unit 221 .

If it is determined that the mobile terminal 230 is not located within the predetermined area, the first zone identifying unit 218 refers to the zone information database 216 to determine whether the mobile terminal 230 is mobile And confirms the first zone for the point where the terminal 230 is located.

The second zone identifying unit 219 collects position information on the current position of the mobile robot apparatus 210 and refers to the zone information database 216 to determine whether the mobile robot apparatus 210 Identify Zone 2 for the location where you are currently located.

The movement path extracting unit 220 extracts information on the movement path from the second zone to the first zone with respect to the mobile robot apparatus 210 with reference to the movement path database 217. [

The mobile robot controller 221 controls the movement of the mobile robot apparatus 210 to the first zone on the basis of the extracted information about the movement route.

The video signal receiving unit 214 receives the video signal for the video output from the main display device 240 through the main display device 240 in cooperation with the main display device 240. [

The image synchronization output unit 215 outputs the same image as the image being output through the main display device 240 based on the received image signal.

According to an embodiment of the present invention, the video signal receiving unit 214 receives the playback point information about the last playback point of the video being output from the main display device 240 through the main display device 240, And a point information receiving unit 222. [

At this time, the video synchronization output unit 215 outputs the same image as the image being output through the main display device 240 based on the received video signal, and the main display device 240 It is possible to start the reproduction of the image from the same point as the last reproduction point of the image being output through the image processing unit.

In this case, according to an embodiment of the present invention, the mobile robot apparatus 210 capable of outputting an image synchronization output may further include a control signal transmitter 223.

The control signal transmitting unit 223 transmits the control signal to the main display device 240 for the main display device 240 when the video signal for the image being output from the main display device 240 through the main display device 240 is received, And an output stop control signal for controlling the stopping of the output to the image being output via the output stop control signal.

In this case, when the output stop control signal is received, the main display device 240 stops outputting the image output through the main display device 240 based on the output stop control signal, and the main display device 240 The playback point information for the last playback point of the image being output through the playback point information generating unit.

The mobile robot apparatus 210 capable of outputting the image synchronization according to the embodiment of the present invention has been described above with reference to FIG. Here, the mobile robot apparatus 210 capable of outputting an image synchronization output according to an embodiment of the present invention can correspond to the configuration of the mobile robot apparatus 110 capable of outputting the image synchronization output described with reference to FIG. 1, A detailed description will be omitted.

3 is a flowchart illustrating an image synchronization output method of a mobile robot apparatus according to an embodiment of the present invention.

In step S310, location information on the current location collected by the mobile terminal from the mobile terminal held by the user is received for each predetermined time interval.

In step S320, the mobile terminal determines whether the mobile terminal is located within a predetermined area centered on the main display device based on the location information.

In step S330, when it is determined that the mobile terminal is not located within the predetermined area, the movement of the mobile robot apparatus to the point where the mobile terminal is located is controlled based on the position information.

In this case, according to an embodiment of the present invention, the method of outputting the synchronized image of the mobile robot apparatus may include a step of selecting a supportable region preset in order to support the image synchronization output through the mobile robot apparatus before the step S310 Maintaining a zone information database in which information on a plurality of zones that are divided based on the zone classification criterion and position information that covers a range for each of the plurality of zones correspond to each other; And maintaining a movement route database in which information on a predetermined movement route is stored between the zones so that the mobile robot apparatus can move.

If it is determined in step S330 that the mobile terminal is not located within the predetermined area, the mobile terminal refers to the zone information database and determines, based on the location information, And a controller for collecting position information on the current position of the mobile robot apparatus and referring to the zone information database to determine a position of the mobile robot apparatus on which the mobile robot apparatus is currently located, 2 zone, extracting information on the movement path from the second zone to the first zone with respect to the mobile robot apparatus by referring to the movement path database, and extracting information on the extracted movement path And controls the movement of the mobile robot apparatus to the first zone It can include.

In step S340, the main display device receives the video signal for the image being output from the main display device through the main display device in cooperation with the main display device.

In step S350, based on the received image signal, the same image as the image being output through the main display device is output.

According to an embodiment of the present invention, the step S340 may include receiving the reproduction point information on the last reproduction point of the image being output from the main display device through the main display device.

At this time, in step S350, based on the received video signal, an image identical to the video being output through the main display device is output, and based on the reproduction point information, The reproduction of the image can be started from the same point as the last reproduction point of the image.

In addition, according to an embodiment of the present invention, when the image signal for the image being output from the main display device through the main display device is received before the step S350, And transmitting an output stoppage control signal for controlling stoppage of the output of the image to the main display device through the main display device.

At this time, when the output stop control signal is received, the main display device stops outputting the image output through the main display device based on the output stop control signal, And generate the reproduction point information for the last reproduction point of the image.

The method for outputting the image synchronization of the mobile robot apparatus according to the embodiment of the present invention has been described above with reference to FIG. Here, the image synchronization output method of the mobile robot apparatus according to an embodiment of the present invention may correspond to the configuration of the operation of the mobile robot apparatuses 110 and 210 capable of outputting the image synchronization output described with reference to FIG. 1 and FIG. Therefore, a detailed description thereof will be omitted.

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

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

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

110: Mobile robot device capable of synchronizing video output
120: mobile terminal 130: main display device
140: a predetermined area
210: Mobile robot device capable of synchronizing video output
211: position information receiving unit 212:
213: movement control unit 214: video signal receiving unit
215: video synchronization output unit 216: zone information database
217: Movement path database 218:
219: second zone confirmation unit 220: movement path extracting unit
221: Mobile robot controller 222: Playback point information receiver
223: Control signal transmission unit
230: mobile terminal
240: main display device

Claims (9)

1. A mobile robot apparatus capable of synchronizing video output,
A location information receiver for receiving location information on a current location collected by the mobile terminal from a mobile terminal owned by the user, at predetermined time intervals;
An area determination unit for determining whether the mobile terminal is located within a predetermined area centered on the main display device based on the location information;
A movement controller for controlling movement of the mobile robot device to a position where the mobile terminal is located based on the position information when it is determined that the mobile terminal is not positioned within the predetermined area;
A video signal receiving unit operable to receive a video signal for an image being output from the main display device through the main display device in cooperation with the main display device; And
An image synchronization output unit for outputting the same image as the image being output through the main display device based on the received image signal,
Lt; / RTI >
The image signal receiving unit
A reproduction point information receiving section for receiving reproduction point information on a last reproduction point of the image being output from the main display device through the main display device,
/ RTI >
The image synchronization output unit
And outputting the same image as the image being output through the main display device based on the received video signal, wherein, based on the reproduction point information, from the same point as the last reproduction point of the image being output through the main display device A mobile robot device capable of outputting an image synchronized to start reproduction of an image. The method according to claim 1,
Wherein the supportable area set in advance for supporting the image synchronization output through the mobile robot apparatus includes information on a plurality of zones divided on the basis of a predetermined zone classification criterion, A zone information database in which position information covering the zone information is stored so as to correspond to each other; And
A movement path database in which information about a movement path set in advance so as to enable movement of the mobile robot apparatus is stored between the plurality of zones,
Further comprising:
The movement control unit
If it is determined that the mobile terminal is not located within the predetermined area, refers to the zone information database to identify a first zone of the plurality of zones on which the mobile terminal is located based on the location information A first zone identification unit;
And a second zone confirmation unit for collecting position information on the current position of the mobile robot apparatus and referring to the zone information database to identify a second zone for a point at which the mobile robot apparatus is currently located among the plurality of zones, ;
A moving path extracting unit for extracting information on a moving path from the second zone to the first zone with respect to the mobile robot apparatus by referring to the moving path database; And
A mobile robot controller for controlling the movement of the mobile robot apparatus to the first zone based on the extracted information about the movement route,
The mobile robot device comprising: delete The method according to claim 1,
And an output stop control unit for controlling the main display unit to stop outputting the image to the main display unit when the image signal for the image output from the main display unit through the main display unit is received, A control signal transmission unit
Further comprising:
The main display device
The control unit stops the output of the video output through the main display device based on the output stop control signal and stops the output of the video output through the main display device Wherein the reproducing apparatus is capable of outputting an image synchronizing output for generating the reproducing point information. A method for synchronizing an image of a mobile robot apparatus,
The method comprising: receiving location information on a current location collected by the mobile terminal from a mobile terminal owned by a user, according to predetermined time intervals;
Determining whether the mobile terminal is located within a predetermined area centered on the main display device based on the location information;
Controlling movement of the mobile robot apparatus to a position where the mobile terminal is located based on the position information when it is determined that the mobile terminal is not located within the predetermined area;
Receiving an image signal for an image being output from the main display device through the main display device in cooperation with the main display device; And
Outputting the same image as the image being output through the main display device based on the received video signal
Lt; / RTI >
The step of receiving the video signal
Receiving playback point information on the last playback point of the video being output from the main display device through the main display device
/ RTI >
The step of outputting the image
And outputting the same image as the image being output through the main display device based on the received video signal, wherein, based on the reproduction point information, from the same point as the last reproduction point of the image being output through the main display device A method for synchronizing an image of a mobile robot apparatus that starts reproduction of an image. 6. The method of claim 5,
Wherein the supportable area set in advance for supporting the image synchronization output through the mobile robot apparatus includes information on a plurality of zones divided on the basis of a predetermined zone classification criterion, Maintaining a zone information database in which positional information covering the zone information is stored so as to correspond to each other; And
Maintaining a movement path database in which information on a predetermined movement path is stored between the plurality of zones so as to enable movement of the mobile robot apparatus
Further comprising:
The step of controlling movement of the mobile robot apparatus
If it is determined that the mobile terminal is not located within the predetermined area, refers to the zone information database to identify a first zone of the plurality of zones on which the mobile terminal is located based on the location information ;
Collecting positional information on a current position of the mobile robot apparatus and referring to the zone information database to identify a second zone of the plurality of zones with respect to a point where the mobile robot apparatus is currently located;
Extracting information on a movement path from the second zone to the first zone with respect to the mobile robot apparatus by referring to the movement path database; And
Controlling movement of the mobile robot apparatus to the first zone based on information on the extracted movement path
And outputting the synchronized image to the mobile robot device. delete 6. The method of claim 5,
And an output stop control unit for controlling the main display unit to stop outputting the image to the main display unit when the image signal for the image output from the main display unit through the main display unit is received, Transmitting a control signal
Further comprising:
The main display device
The control unit stops the output of the video output through the main display device based on the output stop control signal and stops the output of the video output through the main display device And generating the reproduction point information. A computer-readable recording medium recording a program for performing the method according to any one of claims 5 to 6 or 8.
KR20140021575A 2014-02-24 2014-02-24 Mobile robot device for video synchronization output and video synchronization output method of the mobile robot device KR101485870B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101053875B1 (en) * 2008-07-14 2011-08-03 삼성전자주식회사 Event execution method and system for robots synchronized with mobile terminal
KR101127490B1 (en) * 2009-12-22 2012-03-22 (주)이산솔루션 System for providing customer service by interacting between robot and display device and method thereof
KR101264049B1 (en) 2012-03-30 2013-05-21 이성종 Pet robot for synchronizing with imaginary robot in mobile device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101053875B1 (en) * 2008-07-14 2011-08-03 삼성전자주식회사 Event execution method and system for robots synchronized with mobile terminal
KR101127490B1 (en) * 2009-12-22 2012-03-22 (주)이산솔루션 System for providing customer service by interacting between robot and display device and method thereof
KR101264049B1 (en) 2012-03-30 2013-05-21 이성종 Pet robot for synchronizing with imaginary robot in mobile device

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