KR102600269B1 - Cleaning robot for airport and method thereof - Google Patents

Abstract

A method of performing cleaning using a cleaning robot within an airport according to an embodiment of the present invention includes analyzing airport floating population data, detecting a first area where a predetermined number of people or more is detected, and the first area. It is characterized in that it includes the step of selecting a second region where the population is detected to be relatively small among regions within a predetermined range in region 1 and calling at least one cleaning robot to the selected second region.

Description

Airport cleaning robot and its operation method {CLEANING ROBOT FOR AIRPORT AND METHOD THEREOF}

The present invention relates to a robot deployed at an airport and its operating method. More specifically, it is about an airport cleaning robot that is deployed at the airport and cleans trash within the airport. Airport cleaning robots can be controlled by a server. The server can collect floating population data within the airport in real time. This relates to a cleaning robot that performs cleaning while moving to a location that can achieve optimal efficiency according to the airport's floating population and its operating method.

Recently, the functions of robots are expanding due to developments in deep learning technology, autonomous driving technology, automatic control technology, and the Internet of Things.

To explain each technology in detail, deep learning corresponds to a field of machine learning. Deep learning is a technology that allows the program to make similar decisions in various situations, rather than checking conditions and setting commands in advance in the program. Therefore, according to deep learning, computers can think similar to the human brain and enable the analysis of vast amounts of data.

Autonomous driving is a technology that allows machines to make their own decisions to move and avoid obstacles. According to autonomous driving technology, robots can autonomously recognize their location through sensors and move and avoid obstacles.

Automatic control technology refers to a technology that automatically controls the operation of a machine by feeding back the measured values of the machine's status to the control device. Therefore, control without human operation is possible, and the desired control object can be automatically adjusted to reach the target value, that is, within the desired range.

The Internet of Things refers to intelligent technologies and services that connect all objects based on the Internet to communicate information between people and objects, and between objects. Through the Internet of Things, devices connected to the Internet exchange information and communicate autonomously without human assistance.

The application fields of robots are generally classified into industrial, medical, space, and undersea applications. For example, in machining industries such as automobile production, robots can perform repetitive tasks. In other words, many industrial robots are already in operation that can repeat the same movements for hours after being taught just once what a human arm does.

The purpose of the present invention is to provide a cleaning robot that increases cleaning efficiency without interfering with the floating population within an airport.

Another object of the present invention is to accurately calculate airport floating population.

Another purpose of the present invention is to ensure that cleaning objects such as trash within an airport can be cleaned in a short time.

The server that controls the airport cleaning robot according to the present invention can monitor airport floating population data in real time. In addition, according to changes in the airport's floating population, cleaning robots can be moved to appropriate locations to perform cleaning.

The server that controls the airport cleaning robot according to the present invention can use a mobile communication system. In other words, the server can calculate the user's location or population density using mobile terminals within the airport.

The server that controls the airport cleaning robot according to the present invention can place the cleaning robots on standby around an area where a predetermined number of people or more is detected. And, when the population of the area decreases below a certain level, the cleaning robot can immediately perform cleaning.

The airport cleaning robot according to the present invention can perform cleaning while moving according to changes in the airport's floating population. Accordingly, airport cleaning can be performed while avoiding densely populated areas. As a result, it is effective in carrying out cleaning without disturbing the airport's floating population.

The server that controls the airport cleaning robot according to the present invention can use a mobile communication system and can calculate the user's location or population density using the user's mobile terminal. As a result, it has the effect of calculating the floating population with much higher accuracy than measuring the population using cameras.

The server that controls the airport cleaning robot according to the present invention can place the cleaning robots on standby around an area where a predetermined number of people or more is detected. And, when the population of the area decreases below a certain level, the cleaning robot can immediately perform cleaning. Through this prediction system, cleaning objects within the airport can be cleaned within a short period of time.

Figure 1 is a block diagram showing the hardware configuration of an airport robot according to an embodiment of the present invention.
Figure 2 is a diagram illustrating in detail the configuration of a microcomputer and AP of an airport robot according to another embodiment of the present invention.
Figure 3 is a diagram for explaining the structure of an airport robot system according to an embodiment of the present invention.
Figure 4 is a block diagram for explaining a mobile terminal related to the present invention.
Figure 5 is a diagram for explaining various types of cleaning robots according to an embodiment of the present invention.
Figures 6 and 7 are diagrams to explain an example in which a server manages cleaning robots and CCTV images installed in an airport according to an embodiment of the present invention.
Figures 8 to 10 are diagrams to explain an example in which cleaning robots sense a densely populated area and perform cleaning according to an embodiment of the present invention.
Figures 11 to 14 are diagrams to explain how a cleaning robot management server collects population flow information according to an embodiment of the present invention.
Figures 15 to 17 are diagrams to explain another method in which a cleaning robot management server collects population flow information according to an embodiment of the present invention.

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

The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

Figure 1 is a block diagram showing the hardware configuration of an airport robot according to an embodiment of the present invention.

As shown in FIG. 1, the hardware of the airport robot 100 according to an embodiment of the present invention may be composed of a Micom group and an AP group. The microcomputer 110 group may include a microcomputer 110, a power supply unit 120, an obstacle recognition unit 130, and a travel drive unit 140. The AP group may include an AP (150), a user interface unit (160), an object recognition unit (170), a location recognition unit (180), and a LAN (190). The user interface unit 160 may be called a communication unit.

Among the hardware of the airport robot, the microcomputer 110 can manage the power supply unit 120 including a battery, the obstacle recognition unit 130 including various sensors, and the travel driving unit 140 including a plurality of motors and wheels. .

The power supply unit 120 may include a battery driver 121 and a lithium-ion battery 122. The battery driver 121 can manage charging and discharging of the lithium-ion battery 122. The lithium-ion battery 122 can supply power to drive the airport robot. The lithium-ion battery 122 can be configured by connecting two 24V/102A lithium-ion batteries in parallel.

The obstacle recognition unit 130 may include an IR remote control receiver 131, USS 132, Cliff PSD 133, ARS 134, Bumper 135, and OFS 136. The IR remote control receiver 131 may include a sensor that receives a signal from an IR (Infrared) remote control for remotely controlling the airport robot. USS (Ultrasonic sensor, 132) may include a sensor for determining the distance between an obstacle and an airport robot using ultrasonic signals. Cliff PSD 133 may include a sensor to detect cliffs or cliffs in the 360-degree omnidirectional airport robot driving range. ARS (Attitude Reference System, 134) may include a sensor that can detect the attitude of the airport robot. The ARS 134 may include a sensor consisting of three acceleration axes and three gyro axes for detecting the rotation amount of the airport robot. Bumper 135 may include sensors that detect collisions between the airport robot and obstacles. The sensor included in Bumper (135) can detect collisions between airport robots and obstacles in a 360-degree range. OFS (Optical Flow Sensor, 136) may include a sensor that can measure the spinning phenomenon of the airport robot while driving and the driving distance of the airport robot on various floor surfaces.

The traveling drive unit 140 includes motor drivers (141), wheel motors (142), rotation motors (143), main brush motors (144), side brush motors (145), and suction motors (Suction Motors, 146). It can be included. The motor driver 141 may serve to drive wheel motors, brush motors, and suction motors for driving and cleaning the airport robot. The wheel motor 142 can drive a plurality of wheels for driving the airport robot. The rotation motor 143 may be driven to rotate the main body of the airport robot or the head of the airport robot left and right, up and down, or to change the direction or rotate the wheels of the airport robot. The main brush motor 144 can drive a brush that sweeps up dirt from the airport floor. The side brush motor 145 can drive a brush that sweeps away dirt from the area around the outer surface of the airport robot. The suction motor 146 may be driven to suction dirt from the airport floor.

AP (Application Processor, 150) can function as a central processing unit that manages the entire hardware module system of the airport robot. The AP 150 can use location information received through various sensors to drive an application program for driving and transmit user input/output information to the microcomputer 110 to drive a motor, etc.

The user interface unit 160 includes a user interface processor (UI Processor) 161, an LTE router (162), a WIFI SSID (163), a microphone board (164), a barcode reader (165), a touch monitor (166), and It may include a speaker 167. The user interface processor 161 can control the operation of the user interface unit responsible for user input and output. The LTE router 162 can receive necessary information from the outside and perform LTE communication to transmit information to the user. The WIFI SSID 163 can perform location recognition of a specific object or airport robot by analyzing the signal strength of WiFi. The microphone board 164 can receive a plurality of microphone signals, process the voice signal into voice data, which is a digital signal, and analyze the direction of the voice signal and the corresponding voice signal. The barcode reader 165 can read barcode information written on a plurality of tickets used at the airport. The touch monitor 166 may include a touch panel configured to receive user input and a monitor to display output information. The speaker 167 may perform the role of informing the user of specific information by voice.

The object recognition unit 170 may include a 2D camera 171, an RGBD camera 172, and a recognition data processing module 173. The 2D camera 171 may be a sensor for recognizing people or objects based on two-dimensional images. RGBD camera (Red, Green, Blue, Distance, 172) for detecting people or objects using captured images with depth data obtained from cameras with RGBD sensors or other similar 3D imaging devices. It could be a sensor. The recognition data processing module 173 can recognize people or objects by processing signals such as 2D images/videos or 3D images/videos obtained from the 2D camera 171 and the RGBD camera 172.

The location recognition unit 180 may include a stereo board (Stereo B/D) 181, Lidar (182), and a SLAM camera (183). SLAM cameras (Simultaneous Localization And Mapping cameras, 183) can implement simultaneous location tracking and mapping technology. The airport robot can detect information about the surrounding environment using the SLAM camera 183, process the obtained information, create a map corresponding to the mission performance space, and estimate its absolute position at the same time. Lidar (Light Detection and Ranging: Lidar, 182) is a laser radar and may be a sensor that performs location recognition by irradiating a laser beam and collecting and analyzing backscattered light among the light absorbed or scattered by aerosol. The stereo board 181 can process and process sensing data collected from the lidar 182 and the SLAM camera 183 and manage data for location recognition and obstacle recognition of the airport robot.

The LAN 190 may communicate with the user interface processor 161, the recognition data processing module 173, the stereo board 181, and the AP 150 related to user input and output.

Figure 2 is a diagram illustrating in detail the configuration of a microcomputer and AP of an airport robot according to another embodiment of the present invention.

As shown in FIG. 2, the microcomputer 210 and AP 220 can be implemented in various embodiments to control the recognition and behavior of the airport robot.

As an example, the microcomputer 210 may include a data access service module (Data Access Service Module, 215). The data access service module 215 includes a data acquisition module (211), an emergency module (212), a motor driver module (213), and a battery manager module (214). may include. The data acquisition module 211 may acquire sensed data from a plurality of sensors included in the airport robot and transmit it to the data access service module 215. The emergency module 212 is a module that can detect an abnormal state of the airport robot. When the airport robot performs a predetermined type of action, the emergency module 212 detects that the airport robot has entered an abnormal state. You can. The motor driver module 213 can manage the driving control of the wheels, brushes, and suction motors for driving and cleaning the airport robot. The battery manager module 214 is responsible for charging and discharging the lithium-ion battery 122 of FIG. 1 and can transmit the battery status of the airport robot to the data access service module 215.

The AP 220 can receive various cameras, sensors, user input, etc., recognize and process them, and control the operation of the airport robot. The interaction module 221 integrates the recognition data received from the recognition data processing module 173 and the user input received from the user interface module 222, and manages software that allows users and airport robots to interact with each other. It may be a module that does this. The user interface module 222 receives the user's short-range commands such as the display unit 223, which is a monitor for the current status and operation/information provision of the airport robot, and keys, touch screens, readers, etc., or operates the airport robot. It is possible to manage user input received from the user input unit 224, which receives a long-distance signal such as a signal from an IR remote control for remote control, or receives a user input signal from a microphone or barcode reader. When at least one user input is received, the user interface module 222 may transmit the user input information to the state management module (State Machine module, 225). The state management module 225 that receives user input information can manage the overall state of the airport robot and issue appropriate commands in response to user input. The planning module 226 can determine the start and end time/actions for a specific operation of the airport robot according to the command received from the state management module 225, and calculate which path the airport robot should move. The navigation module 227 is responsible for the overall driving of the airport robot and can cause the airport robot to drive according to the driving route calculated in the planning module 226. The motion module 228 can perform basic airport robot operations in addition to driving.

Additionally, the airport robot according to another embodiment of the present invention may include a location recognition unit 230. The location recognition unit 230 may include a relative location recognition unit 231 and an absolute location recognition unit 234. The relative position recognition unit 231 can correct the movement amount of the airport robot through the RGM mono (232) sensor, calculate the movement amount of the airport robot for a certain period of time, and recognize the current surrounding environment of the airport robot through LiDAR (233). can do. The absolute location recognition unit 234 may include a Wifi SSID 235 and UWB 236. Wifi SSID (235) is a UWB sensor module for absolute location recognition of airport robots, and is a WIFI module for estimating the current location through Wifi SSID detection. The Wifi SSID (235) can recognize the location of the airport robot by analyzing the Wifi signal strength. The UWB 236 can sense the absolute position of the airport robot by calculating the distance between the transmitter and the receiver.

Additionally, the airport robot according to another embodiment of the present invention may include a map management module 240. The map management module 240 may include a grid module 241, a path planning module 242, and a map division module 243. The grid module 241 can manage a grid-shaped map generated by the airport robot through a SLAM camera or map data of the surrounding environment for location recognition input to the airport robot in advance. The path planning module 242 may be responsible for calculating the driving path of the airport robots in dividing the map for collaboration between a plurality of airport robots. Additionally, the path planning module 242 can also calculate the driving path that the airport robot must travel in an environment in which one airport robot operates. The map division module 243 can calculate in real time the areas each of the multiple airport robots are responsible for.

Data sensed and calculated from the location recognition unit 230 and the map management module 240 may be transmitted back to the state management module 225. The state management module 225 may issue a command to the planning module 226 to control the operation of the airport robot based on data sensed and calculated from the location recognition unit 230 and the map management module 240.

Next, Figure 3 is a diagram for explaining the structure of an airport robot system according to an embodiment of the present invention.

The airport robot system according to an embodiment of the present invention may include a mobile terminal 310, a server 320, an airport robot 300, and a camera 330.

The mobile terminal 310 can transmit and receive data with the server 320 within the airport. For example, the mobile terminal 310 may receive airport-related data such as flight time schedule, airport map, etc. from the server 320. The user can obtain necessary information by receiving it from the server 320 at the airport through the mobile terminal 310. Additionally, the mobile terminal 310 can transmit data such as photos, videos, and messages to the server 320. For example, a user can send a photo of a lost child to the server 320 to register a lost child, or take a photo of an area that needs cleaning in the airport with a camera and send it to the server 320 to request cleaning of the area.

Additionally, the mobile terminal 310 can transmit and receive data with the airport robot 300.

For example, the mobile terminal 310 may transmit a signal calling the airport robot 300, a signal commanding the airport robot 300 to perform a specific operation, or an information request signal to the airport robot 300. The airport robot 300 may move to the location of the mobile terminal 310 in response to a call signal received from the mobile terminal 310 or perform an operation corresponding to a command signal. Alternatively, the airport robot 300 may transmit data corresponding to the information request signal to each user's mobile terminal 310.

Next, the airport robot 300 can perform roles such as patrolling, guiding, cleaning, quarantine, and transport within the airport.

The airport robot 300 can transmit and receive signals with the mobile terminal 310 or the server 320. For example, the airport robot 300 can transmit and receive signals including situation information within the airport with the server 320. Additionally, the airport robot 300 can receive image information captured from each area of the airport from the camera 330 within the airport. Therefore, the airport robot 300 can monitor the airport situation by combining the image information captured by the airport robot 300 and the image information received from the camera 330.

The airport robot 300 can receive commands directly from the user. For example, a command can be received directly from the user through a touch input or voice input on the display unit provided in the airport robot 300. The airport robot 300 may perform operations such as patrolling, guiding, and cleaning according to commands received from a user, mobile terminal 310, or server 320.

Next, the server 320 may receive information from the mobile terminal 310, the airport robot 300, and the camera 330. The server 320 can integrate, store, and manage information received from each device. The server 320 may transmit the stored information to the mobile terminal 310 or the airport robot 300. Additionally, the server 320 may transmit a command signal for each of the plurality of airport robots 300 deployed at the airport.

The camera 330 may include a camera installed within the airport. For example, the camera 330 may include a plurality of closed circuit television (CCTV) cameras, infrared heat detection cameras, etc. installed within the airport. The camera 330 may transmit the captured image to the server 320 or the airport robot 300.

Figure 4 is a block diagram for explaining a mobile terminal related to the present invention.

The mobile terminal 310 includes a wireless communication unit 410, an input unit 420, a sensing unit 440, an output unit 450, an interface unit 460, a memory 470, a control unit 480, and a power supply unit 490. ), etc. may be included. The components shown in FIG. 4 are not essential for implementing the mobile terminal, so the mobile terminal described herein may have more or fewer components than the components listed above.

More specifically, among the above components, the wireless communication unit 410 is used between the mobile terminal 310 and the wireless communication system, between the mobile terminal 310 and another mobile terminal 310, or between the mobile terminal 310 and an external server. It may include one or more modules that enable wireless communication between the devices. Additionally, the wireless communication unit 410 may include one or more modules that connect the mobile terminal 310 to one or more networks.

This wireless communication unit 410 may include at least one of a broadcast reception module 411, a mobile communication module 412, a wireless Internet module 413, a short-range communication module 414, and a location information module 415. .

The input unit 420 includes a camera 421 or video input unit for inputting video signals, a microphone 422 or an audio input unit for inputting audio signals, and a user input unit 423 for receiving information from the user, for example. , touch keys, push keys (mechanical keys, etc.). Voice data or image data collected by the input unit 420 may be analyzed and processed as a user's control command.

The sensing unit 440 may include one or more sensors for sensing at least one of information within the mobile terminal, information on the surrounding environment surrounding the mobile terminal, and user information. For example, the sensing unit 440 includes a proximity sensor (441), an illumination sensor (442), a touch sensor, an acceleration sensor, a magnetic sensor, and a gravity sensor. Sensor (G-sensor), gyroscope sensor, motion sensor, RGB sensor, IR sensor (infrared sensor), fingerprint scan sensor, ultrasonic sensor , optical sensors (e.g., cameras (see 421)), microphones (see 422), battery gauges, environmental sensors (e.g., barometers, hygrometers, thermometers, radiation detection sensors, It may include at least one of a heat detection sensor, a gas detection sensor, etc.) and a chemical sensor (e.g., an electronic nose, a healthcare sensor, a biometric sensor, etc.). Meanwhile, the mobile terminal disclosed in this specification can utilize information sensed by at least two of these sensors by combining them.

The output unit 450 is for generating output related to vision, hearing, or tactile sense, and includes at least one of a display unit 451, an audio output unit 452, a haptip module 453, and an optical output unit 454. can do. The display unit 451 can implement a touch screen by forming a layered structure or being integrated with the touch sensor. This touch screen functions as a user input unit 423 that provides an input interface between the mobile terminal 310 and the user, and can simultaneously provide an output interface between the mobile terminal 310 and the user.

The interface unit 460 serves as a passageway for various types of external devices connected to the mobile terminal 310. This interface unit 460 connects devices equipped with a wired/wireless headset port, an external charger port, a wired/wireless data port, a memory card port, and an identification module. It may include at least one of a port, an audio input/output (I/O) port, a video input/output (I/O) port, and an earphone port. In response to the external device being connected to the interface unit 460, the mobile terminal 310 may perform appropriate control related to the connected external device.

Additionally, the memory 470 stores data supporting various functions of the mobile terminal 310. The memory 470 may store a number of application programs (application programs or applications) running on the mobile terminal 310, data for operating the mobile terminal 310, and commands. At least some of these applications may be downloaded from an external server via wireless communication. Additionally, at least some of these applications may be present on the mobile terminal 310 from the time of shipment for the basic functions of the mobile terminal 310 (e.g., incoming and outgoing calls, receiving and sending functions). Meanwhile, the application program may be stored in the memory 470, installed on the mobile terminal 310, and driven by the control unit 480 to perform the operation (or function) of the mobile terminal.

In addition to operations related to the application program, the control unit 480 typically controls the overall operation of the mobile terminal 310. The control unit 480 can provide or process appropriate information or functions to the user by processing signals, data, information, etc. input or output through the components discussed above, or by running an application program stored in the memory 470.

Additionally, the control unit 480 may control at least some of the components examined with FIG. 4 in order to run an application program stored in the memory 470. Furthermore, the control unit 480 may operate at least two of the components included in the mobile terminal 310 in combination with each other in order to run the application program.

The power supply unit 490 receives external power and internal power under the control of the control unit 480 and supplies power to each component included in the mobile terminal 310. This power supply unit 490 includes a battery, and the battery may be a built-in battery or a replaceable battery.

At least some of the above components may operate in cooperation with each other to implement operation, control, or a control method of a mobile terminal according to various embodiments described below. Additionally, the operation, control, or control method of the mobile terminal may be implemented on the mobile terminal by running at least one application program stored in the memory 470.

Below, before looking at various embodiments implemented through the mobile terminal 310 discussed above, the components listed above will be looked at in more detail with reference to FIG. 4.

First, looking at the wireless communication unit 410, the broadcast reception module 411 of the wireless communication unit 410 receives broadcast signals and/or broadcast-related information from an external broadcast management server through a broadcast channel. The broadcast channels may include satellite channels and terrestrial channels. Two or more broadcast reception modules may be provided in the mobile terminal 310 for simultaneous broadcast reception of at least two broadcast channels or broadcast channel switching.

The mobile communication module 412 uses technical standards or communication methods for mobile communication (e.g., Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), EV -DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced, etc.), wireless signals are transmitted and received with at least one of a base station, an external terminal, and a server on a mobile communication network constructed according to (Long Term Evolution-Advanced), etc.).

The wireless signal may include various types of data based on voice call signals, video call signals, or text/multimedia message transmission and reception.

The wireless Internet module 413 refers to a module for wireless Internet access and may be built into or external to the mobile terminal 310. The wireless Internet module 413 is configured to transmit and receive wireless signals in a communication network based on wireless Internet technologies.

Wireless Internet technologies include, for example, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), and WiMAX (Worldwide). Interoperability for Microwave Access), HSDPA (High Speed Downlink Packet Access), HSUPA (High Speed Uplink Packet Access), LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced), etc., and the wireless Internet module ( 413) transmits and receives data according to at least one wireless Internet technology, including Internet technologies not listed above.

From the perspective that wireless Internet access by WiBro, HSDPA, HSUPA, GSM, CDMA, WCDMA, LTE, LTE-A, etc. is achieved through a mobile communication network, the wireless Internet module 413 performs wireless Internet access through the mobile communication network. ) may be understood as a type of the mobile communication module 412.

The short-range communication module 414 is for short-range communication, including Bluetooth™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, and NFC. Short-distance communication can be supported using at least one of (Near Field Communication), Wi-Fi (Wireless-Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technologies. This short-range communication module 114 is used between the mobile terminal 100 and a wireless communication system, between the mobile terminal 310 and another mobile terminal 310, or between the mobile terminal 310 through wireless area networks. ) can support wireless communication between a network where another mobile terminal (310, or an external server) is located. The short-range wireless communication networks may be wireless personal area networks.

Here, the other mobile terminal 310 is a wearable device (e.g., smartwatch, smart glass) capable of exchanging data with (or interoperating with) the mobile terminal 310 according to the present invention. (smart glass), HMD (head mounted display)). The short-range communication module 414 may detect (or recognize) a wearable device capable of communicating with the mobile terminal 310 around the mobile terminal 310 . Furthermore, if the detected wearable device is a device authenticated to communicate with the mobile terminal 310 according to the present invention, the control unit 480 sends at least a portion of the data processed by the mobile terminal 310 to the short-range communication module ( 414) can be transmitted to a wearable device. Accordingly, the user of the wearable device can use data processed in the mobile terminal 310 through the wearable device. For example, according to this, when a call is received on the mobile terminal 310, the user makes a phone call through a wearable device, or when a message is received on the mobile terminal 310, the user makes a phone call through the wearable device. It is possible to check the message.

The location information module 415 is a module for acquiring the location (or current location) of the mobile terminal, and representative examples thereof include a Global Positioning System (GPS) module or a Wireless Fidelity (WiFi) module. For example, if a mobile terminal uses a GPS module, it can acquire the location of the mobile terminal using signals sent from GPS satellites. As another example, when a mobile terminal utilizes a Wi-Fi module, the location of the mobile terminal can be obtained based on information from the Wi-Fi module and a wireless AP (Wireless Access Point) that transmits or receives wireless signals. If necessary, the location information module 415 may replace or additionally perform any of the functions of other modules of the wireless communication unit 410 to obtain data regarding the location of the mobile terminal. The location information module 415 is a module used to obtain the location (or current location) of the mobile terminal 310, and is not limited to a module that directly calculates or obtains the location of the mobile terminal.

Next, the input unit 420 is for inputting video information (or signal), audio information (or signal), data, or information input from the user. For input of video information, the mobile terminal 310 is one Alternatively, a plurality of cameras 421 may be provided. The camera 421 processes image frames, such as still images or moving images, obtained by an image sensor in video call mode or shooting mode. The processed image frame may be displayed on the display unit 451 or stored in the memory 470. Meanwhile, the plurality of cameras 421 provided in the mobile terminal 310 may be arranged to form a matrix structure, and through the cameras 421 forming the matrix structure, the mobile terminal 310 can be viewed at various angles or focuses. A plurality of image information may be input. Additionally, the plurality of cameras 421 may be arranged in a stereo structure to acquire left and right images for implementing a three-dimensional image.

The microphone 422 processes external acoustic signals into electrical voice data. The processed voice data can be utilized in various ways depending on the function (or application program being executed) being performed in the mobile terminal 310. Meanwhile, various noise removal algorithms may be implemented in the microphone 422 to remove noise generated in the process of receiving an external acoustic signal.

The user input unit 423 is for receiving information from the user. When information is input through the user input unit 423, the control unit 480 can control the operation of the mobile terminal 310 to correspond to the input information. . This user input unit 423 is a mechanical input means (or mechanical key, for example, a button located on the front, rear, or side of the mobile terminal 310, a dome switch, a jog wheel, a jog switches, etc.) and touch input means. As an example, the touch input means consists of a virtual key, soft key, or visual key displayed on the touch screen through software processing, or a part other than the touch screen. It can be done with a touch key placed in . Meanwhile, the virtual key or visual key can be displayed on the touch screen in various forms, for example, graphic, text, icon, video or these. It can be made up of a combination of .

Meanwhile, the sensing unit 440 senses at least one of information within the mobile terminal, information about the surrounding environment surrounding the mobile terminal, and user information, and generates a sensing signal corresponding thereto. Based on these sensing signals, the control unit 480 may control the driving or operation of the mobile terminal 310 or perform data processing, functions, or operations related to an application program installed on the mobile terminal 310. Representative sensors among the various sensors that may be included in the sensing unit 440 will be looked at in more detail.

First, the proximity sensor 441 refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing nearby without mechanical contact using the power of an electromagnetic field or infrared rays. This proximity sensor 441 may be placed in the inner area of the mobile terminal surrounded by the touch screen as seen above or near the touch screen.

Examples of the proximity sensor 441 include a transmissive photoelectric sensor, a direct reflection photoelectric sensor, a mirror reflection photoelectric sensor, a high-frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, and an infrared proximity sensor. When the touch screen is capacitive, the proximity sensor 441 may be configured to detect the proximity of a conductive object by changing the electric field according to the proximity of the object. In this case, the touch screen (or touch sensor) itself can be classified as a proximity sensor.

Meanwhile, for convenience of explanation, the act of approaching an object on the touch screen without touching it so that the object is recognized as being located on the touch screen is called "proximity touch," and the touch The act of actually touching an object on the screen is called “contact touch.” The position at which an object is close-touched on the touch screen means the position at which the object corresponds perpendicularly to the touch screen when the object is close-touched. The proximity sensor 441 can detect proximity touch and proximity touch patterns (e.g., proximity touch distance, proximity touch direction, proximity touch speed, proximity touch time, proximity touch position, proximity touch movement state, etc.). there is. Meanwhile, the control unit 480 processes data (or information) corresponding to the proximity touch operation and proximity touch pattern detected through the proximity sensor 441, as described above, and further provides visual information corresponding to the processed data. It can be output on the touch screen. Furthermore, the control unit 480 may control the mobile terminal 310 to process different operations or data (or information) depending on whether a touch to the same point on the touch screen is a proximity touch or a contact touch. .

The touch sensor detects a touch (or touch input) applied to the touch screen (or display unit 451) using at least one of several touch methods such as resistive method, capacitive method, infrared method, ultrasonic method, and magnetic field method. sense

As an example, a touch sensor may be configured to convert changes in pressure applied to a specific part of the touch screen or capacitance occurring in a specific part into an electrical input signal. The touch sensor may be configured to detect the position, area, pressure at the time of touch, capacitance at the time of the touch, etc., at which the touch object that touches the touch screen is touched on the touch sensor. Here, the touch object is an object that applies a touch to the touch sensor, and may be, for example, a finger, a touch pen or stylus pen, or a pointer.

In this way, when there is a touch input to the touch sensor, the corresponding signal(s) are sent to the touch controller. The touch controller processes the signal(s) and then transmits corresponding data to the control unit 480. As a result, the control unit 480 can determine which area of the display unit 451 has been touched. Here, the touch controller may be a separate component from the control unit 480 or may be the control unit 480 itself.

Meanwhile, the control unit 480 may perform different controls or the same control depending on the type of touch object that touches the touch screen (or touch keys provided other than the touch screen). Whether to perform different controls or the same controls depending on the type of touch object may be determined depending on the current operating state of the mobile terminal 310 or the application program being executed.

Meanwhile, the touch sensor and proximity sensor discussed above are used independently or in combination to provide short (or tap) touch, long touch, multi touch, and drag touch on the touch screen. ), flick touch, pinch-in touch, pinch-out touch, swipe touch, hovering touch, etc. Touch can be sensed.

An ultrasonic sensor can recognize the location information of a sensing object using ultrasonic waves. Meanwhile, the control unit 480 is capable of calculating the location of the wave generator through information sensed from an optical sensor and a plurality of ultrasonic sensors. The location of the wave generator can be calculated using the property that light is much faster than ultrasonic waves, that is, the time for light to reach the optical sensor is much faster than the time for ultrasonic waves to reach the ultrasonic sensor. More specifically, the location of the wave source can be calculated using the time difference between the arrival time of the ultrasonic waves using light as a reference signal.

Meanwhile, looking at the configuration of the input unit 420, the camera 421 includes at least one of a camera sensor (eg, CCD, CMOS, etc.), a photo sensor (or image sensor), and a laser sensor.

The camera 421 and the laser sensor can be combined with each other to detect the touch of the sensing object for a 3D stereoscopic image. A photo sensor can be laminated on the display element, and this photo sensor is made to scan the movement of a detection object close to the touch screen. More specifically, the photo sensor mounts photo diodes and TR (transistors) in rows/columns and scans the contents placed on the photo sensor using electrical signals that change depending on the amount of light applied to the photo diode. In other words, the photo sensor calculates the coordinates of the sensing object according to the amount of change in light, and through this, location information of the sensing object can be obtained.

The display unit 451 displays (outputs) information processed in the mobile terminal 310. For example, the display unit 451 may display execution screen information of an application running on the mobile terminal 310, or UI (User Input) and GUI (Graphic User Input) information according to this execution screen information. .

Additionally, the display unit 451 may be configured as a three-dimensional display unit that displays a three-dimensional image.

A three-dimensional display method such as a stereoscopic method (glasses method), an autostereoscopic method (glasses-free method), or a projection method (holographic method) may be applied to the three-dimensional display unit.

The audio output unit 452 may output audio data received from the wireless communication unit 410 or stored in the memory 470 in call signal reception, call mode or recording mode, voice recognition mode, broadcast reception mode, etc. The sound output unit 452 also outputs sound signals related to functions performed in the mobile terminal 310 (eg, call signal reception sound, message reception sound, etc.). This sound output unit 452 may include a receiver, speaker, buzzer, etc.

The haptic module 453 generates various tactile effects that the user can feel. A representative example of a tactile effect generated by the haptic module 453 may be vibration. The intensity and pattern of vibration generated by the haptic module 453 can be controlled by the user's selection or settings of the control unit. For example, the haptic module 453 may synthesize and output different vibrations or output them sequentially.

In addition to vibration, the haptic module 453 responds to stimulation such as pin arrays moving perpendicular to the contact skin surface, blowing force or suction force of air through a nozzle or inlet, grazing the skin surface, contact with electrodes, and electrostatic force. A variety of tactile effects can be generated, including effects by reproducing hot and cold sensations using elements that can absorb heat or heat.

The haptic module 453 can not only deliver a tactile effect through direct contact, but can also be implemented so that the user can feel the tactile effect through muscle senses such as fingers or arms. Two or more haptic modules 453 may be provided depending on the configuration of the mobile terminal 310.

The optical output unit 454 uses light from the light source of the mobile terminal 310 to output a signal to notify that an event has occurred. Examples of events occurring in the mobile terminal 310 may include receiving a message, receiving a call signal, a missed call, an alarm, a schedule notification, receiving an email, receiving information through an application, etc.

The signal output by the optical output unit 454 is realized as the mobile terminal emits light of a single color or multiple colors to the front or back. The signal output may be terminated when the mobile terminal detects the user's confirmation of the event.

The interface unit 460 serves as a passageway for all external devices connected to the mobile terminal 310. The interface unit 460 receives data from an external device, receives power and transmits it to each component inside the mobile terminal 310, or transmits data inside the mobile terminal 310 to an external device. For example, wired/wireless headset port, external charger port, wired/wireless data port, memory card port, port for connecting a device equipped with an identification module. A port, an audio input/output (I/O) port, a video input/output (I/O) port, an earphone port, etc. may be included in the interface unit 460.

Meanwhile, the identification module is a chip that stores various information for authenticating the use authority of the mobile terminal 310, and includes a user identification module (UIM), subscriber identity module (SIM), and general user authentication. It may include a module (universal subscriber identity module; USIM), etc. A device equipped with an identification module (hereinafter referred to as an 'identification device') may be manufactured in a smart card format. Therefore, the identification device can be connected to the terminal 310 through the interface unit 460.

In addition, the interface unit 460 serves as a path through which power from the cradle is supplied to the mobile terminal 310 when the mobile terminal 310 is connected to an external cradle, or provides power input from the cradle by the user. It can be a passage through which various command signals are transmitted to the mobile terminal 310. Various command signals or the power input from the cradle may be operated as signals for recognizing that the mobile terminal 310 is correctly mounted on the cradle.

The memory 470 can store programs for operating the control unit 480, and can also temporarily store input/output data (eg, phone book, messages, still images, videos, etc.). The memory 470 can store data on various patterns of vibration and sound output when a touch is input on the touch screen.

The memory 470 is a flash memory type, hard disk type, solid state disk type, SDD type (Silicon Disk Drive type), and multimedia card micro type. ), card-type memory (e.g. SD or XD memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), EEPROM (electrically erasable programmable read) -only memory), PROM (programmable read-only memory), magnetic memory, magnetic disk, and optical disk may include at least one type of storage medium. The mobile terminal 100 may be operated in connection with web storage that performs the storage function of the memory 470 on the Internet.

Meanwhile, as discussed above, the control unit 480 controls operations related to application programs and generally controls the overall operation of the mobile terminal 310. For example, if the state of the mobile terminal satisfies a set condition, the control unit 480 can execute or release a lock state that restricts the user's input of control commands to applications.

In addition, the control unit 480 performs control and processing related to voice calls, data communications, video calls, etc., or performs pattern recognition processing to recognize handwriting input or drawing input made on the touch screen as text and images, respectively. You can. Furthermore, the control unit 480 may control any one or a combination of the components described above in order to implement various embodiments described below on the mobile terminal 310 according to the present invention.

The power supply unit 490 receives external power and internal power under the control of the control unit 480 and supplies power necessary for the operation of each component. The power supply unit 490 includes a battery, and the battery can be a built-in battery that can be recharged, and can be detachably coupled to the terminal body for charging, etc.

Additionally, the power supply unit 490 may be provided with a connection port, and the connection port may be configured as an example of the interface 460 to which an external charger that supplies power for charging the battery is electrically connected.

As another example, the power supply unit 490 can charge the battery wirelessly without using the connection port. In this case, the power supply unit 490 uses one or more of the inductive coupling method based on magnetic induction phenomenon or the magnetic resonance coupling method based on electromagnetic resonance phenomenon from an external wireless power transmitter. Power can be transmitted.

Meanwhile, various embodiments below may be implemented in a recording medium readable by a computer or similar device, for example, using software, hardware, or a combination thereof.

Next, we will look at a communication system that can be implemented through the mobile terminal 310 according to the present invention.

First, communication systems may utilize different wireless interfaces and/or physical layers. For example, wireless interfaces available by the communication system include Frequency Division Multiple Access (FDMA), Time Division Multiple Access (TDMA), and Code Division Multiple Access (CDMA). ), Universal Mobile Telecommunications Systems (UMTS) (especially LTE (Long Term Evolution), LTE-A (Long Term Evolution-Advanced)), Global System for Mobile Communications (GSM), etc. This may be included.

Hereinafter, for convenience of explanation, the description will be limited to CDMA. However, it is obvious that the present invention can be applied to all communication systems, including not only CDMA wireless communication systems but also OFDM (Orthogonal Frequency Division Multiplexing) wireless communication systems.

The CDMA wireless communication system includes at least one terminal 100, at least one base station (BS (may be named Node B or Evolved Node B)), and at least one base station controller (Base Station Controllers, BSCs). ), and may include a mobile switching center (MSC). The MSC is configured to connect to the Public Switched Telephone Network (PSTN) and BSCs. BSCs can be paired and connected to a BS through a backhaul line. The backhaul line may be provided according to at least one of E1/T1, ATM, IP, PPP, Frame Relay, HDSL, ADSL, or xDSL. Accordingly, multiple BSCs may be included in a CDMA wireless communication system.

Each of the plurality of BSs may include at least one sector, and each sector may include an omni-directional antenna or an antenna pointing in a specific radial direction from the BS. Additionally, each sector may include two or more antennas of various types. Each BS may be configured to support multiple frequency allocations, and each of the multiple frequency allocations may have a specific spectrum (eg, 1.25 MHz, 5 MHz, etc.).

The intersection of sector and frequency allocation may be called a CDMA channel. BS may be called Base Station Transceiver Subsystem (BTSs). In this case, one BSC and at least one BS may be collectively referred to as a “base station.” A base station may also refer to a “cell site.” Alternatively, each of a plurality of sectors for a specific BS may be referred to as a plurality of cell sites.

A broadcasting transmitter (BT) transmits broadcast signals to terminals 310 operating within the system. The broadcast reception module 411 shown in FIG. 4 is provided in the terminal 310 to receive a broadcast signal transmitted by BT.

In addition, the CDMA wireless communication system may be linked to a global positioning system (GPS) to confirm the location of the mobile terminal 310. The satellite helps determine the location of the mobile terminal 310. Useful location information may be obtained by two or more satellites. Here, the location of the mobile terminal 310 can be tracked using not only GPS tracking technology but also any technology that can track location. Additionally, at least one of the GPS satellites may be selectively or additionally responsible for satellite DMB transmission.

The location information module 415 provided in the mobile terminal is used to detect, calculate, or identify the location of the mobile terminal, and representative examples may include a Global Position System (GPS) module and a Wireless Fidelity (WiFi) module. If necessary, the location information module 415 may replace or additionally perform any of the functions of other modules of the wireless communication unit 410 to obtain data regarding the location of the mobile terminal.

The GPS module 415 calculates distance information and accurate time information from three or more satellites and then applies trigonometry to the calculated information to accurately calculate three-dimensional current location information according to latitude, longitude, and altitude. can do. Currently, a method of calculating location and time information using three satellites and correcting errors in the calculated location and time information using another satellite is widely used. Additionally, the GPS module 415 can calculate speed information by continuously calculating the current location in real time. However, it is difficult to accurately measure the location of the mobile terminal using a GPS module in areas where satellite signals are shadowed, such as indoors. Accordingly, WPS (WiFi Positioning System) can be used to compensate for GPS-based positioning.

The WiFi Positioning System (WPS) uses a WiFi module provided in the mobile terminal 310 and a wireless AP (Wireless Access Point) that transmits or receives wireless signals with the WiFi module. As a technology for tracking the location of a device, it refers to a location determination technology based on WLAN (Wireless Local Area Network) using WiFi.

The Wi-Fi location tracking system may include a Wi-Fi location determination server, a mobile terminal 310, a wireless AP connected to the mobile terminal 310, and a database storing arbitrary wireless AP information.

The mobile terminal 310 connected to the wireless AP may transmit a location information request message to the Wi-Fi location determination server.

The Wi-Fi location determination server extracts information on the wireless AP connected to the mobile terminal 310 based on the location information request message (or signal) of the mobile terminal 310. Information on the wireless AP connected to the mobile terminal 310 may be transmitted to the Wi-Fi location determination server through the mobile terminal 310, or may be transmitted from the wireless AP to the Wi-Fi location determination server.

Based on the location information request message of the mobile terminal 310, the extracted wireless AP information includes MAC Address, Service Set IDentification (SSID), Received Signal Strength Indicator (RSSI), Reference Signal Received Power (RSRP), and RSRQ ( Reference Signal Received Quality), channel information, privacy, network type, signal strength, and noise strength.

As described above, the Wi-Fi location determination server can receive information on the wireless AP connected to the mobile terminal 310 and extract wireless AP information corresponding to the wireless AP to which the mobile terminal is connected from a pre-built database. At this time, information on any wireless APs stored in the database includes MAC Address, SSID, channel information, Privacy, Network Type, latitude and longitude coordinates of the wireless AP, name of the building where the wireless AP is located, number of floors, and detailed indoor location information (GPS coordinates). available), and may be information such as the AP owner’s address and phone number. At this time, in order to remove mobile APs or wireless APs provided using illegal MAC addresses from the positioning process, the Wi-Fi location determination server may extract only a certain number of wireless AP information in order of high RSSI.

Thereafter, the Wi-Fi location determination server may extract (or analyze) the location information of the mobile terminal 310 using at least one wireless AP information extracted from the database. By comparing the included information with the received wireless AP information, the location information of the mobile terminal 310 is extracted (or analyzed).

As a method for extracting (or analyzing) the location information of the mobile terminal 310, the Cell-ID method, the fingerprint method, the triangulation method, and the landmark method can be used.

The Cell-ID method is a method of determining the location of the wireless AP with the strongest signal strength among the surrounding wireless AP information collected by the mobile terminal as the location of the mobile terminal. It has the advantage of being simple to implement, requiring no additional costs, and being able to obtain location information quickly, but has the disadvantage of lowering the positioning accuracy if the installation density of wireless APs is low.

The fingerprint method is a method of collecting signal strength information by selecting a reference location in the service area and estimating the location through signal strength information transmitted from the mobile terminal based on the collected information. In order to use the fingerprint method, it is necessary to create a database of radio wave characteristics in advance.

The triangulation method is a method of calculating the location of a mobile terminal based on the distance between the coordinates of at least three wireless APs and the mobile terminal. To measure the distance between a mobile terminal and a wireless AP, the signal strength is converted into distance information, or the time the wireless signal is transmitted (Time of Arrival, ToA), and the time difference between the signal is transmitted (Time Difference of Arrival, TDoA). , the angle at which the signal is transmitted (Angle of Arrival, AoA), etc. can be used.

The landmark method is a method of measuring the location of a mobile terminal using a landmark transmitter whose location is known.

In addition to the methods listed, various algorithms can be used as a method to extract (or analyze) location information of a mobile terminal.

The location information of the mobile terminal 310 extracted in this way is transmitted to the mobile terminal 310 through the Wi-Fi location determination server, so that the mobile terminal 310 can obtain the location information.

The mobile terminal 310 can obtain location information by connecting to at least one wireless AP. At this time, the number of wireless APs required to obtain location information of the mobile terminal 310 may vary depending on the wireless communication environment in which the mobile terminal 310 is located.

Figure 5 is a diagram for explaining various types of cleaning robots according to an embodiment of the present invention.

As shown in Figure 5, cleaning robots according to an embodiment of the present invention can be classified according to the object of cleaning. For example, there may be a first cleaning robot 510 whose main task is cleaning the floor, such as wiping dry floors or cleaning water. Additionally, there may be a second cleaning robot 520 whose main task is to suck up dust or small foreign substances. Furthermore, there may be a third cleaning robot 530 whose main task is to pick up large trash or large foreign substances. Various cleaning tasks may be required within the airport, and the first cleaning robot 510, the second cleaning robot 520, and the third cleaning robot 530 may be placed in the right place.

Figures 6 and 7 are diagrams to explain an example in which a server manages cleaning robots and CCTV images installed in an airport according to an embodiment of the present invention.

As shown in FIG. 6, a plurality of CCTVs 611, 612, and 613 may be randomly placed within the airport. A plurality of CCTVs (611, 612, 613) can capture the situation within the airport in real time. Additionally, a plurality of CCTVs 611, 612, and 613 may transmit real-time captured image data to at least one airport robot 601, 602, 603, 604, 605, and 606. At least one airport robot (601, 602, 603, 604, 605, 606) can search for cleaning objects in various places within the airport using video data received from CCTV. Additionally, a plurality of CCTVs 611, 612, and 613 may transmit real-time captured image data to the server 620. In addition, at least one airport robot (601, 602, 603, 604, 605, 606) can receive real-time video data captured by a specific CCTV from the server.

Also, as shown in FIG. 7, the manager uses various data received by the server 620 to operate a plurality of CCTVs (611, 612, 613) and at least one airport robot (601, 602, 603, 604, 605, 606) can be managed. For example, a manager can discover a cleaning object in video data captured by a specific CCTV. Additionally, the manager may select a robot that can process the cleaning object among the first cleaning robot 510, the second cleaning robot 520, and the third cleaning robot 530. Additionally, the manager may transmit a message to the cleaning robot located closest to the cleaning object to clean the cleaning object. Additionally, the manager can control video data captured by the specific CCTV to be transmitted to the cleaning robot. The cleaning robot that receives the video data captured by the specific CCTV from the server can discover the cleaning object in the video data captured by the specific CCTV. Additionally, the cleaning robot can detect information about the location where a specific CCTV is filming. Then, the cleaning robot can move to the relevant location and clean the cleaning object.

Figures 8 to 10 are diagrams to explain an example in which cleaning robots sense a densely populated area and perform cleaning according to an embodiment of the present invention.

Depending on the special environment of an airport, an area where users are concentrated for a certain period of time may be created and then disappear at a specific time. For example, the immigration gate may be opened according to the boarding time of a specific flight. Additionally, airport users boarding the plane can gather in the area surrounding the designated immigration gate. And once the immigration process is over, airport users gathered in the area around the immigration gate may disappear. In other words, due to the special environment of airports, there may be significant variation in floating population. Therefore, the cleaning robots 510, 520, and 530 according to an embodiment of the present invention can monitor information on changes in floating population in real time. Additionally, densely populated areas may generate more waste than sparsely populated areas. Accordingly, the cleaning robots 510, 520, and 530 within the airport can move to the area and clean cleaning objects when a densely populated area changes to a sparsely populated area.

For example, as shown in FIG. 8, airport users may be concentrated in the area 810 around the check-in counter at a specific time. At this time, a plurality of CCTVs installed at the airport can capture the area 810 around the boarding counter. Additionally, the CCTVs may transmit video data captured in the area around the boarding counter 810 to a server or to cleaning robots 510, 520, and 530 disposed around the area around the boarding counter 810. The server can analyze the area 810 around the boarding counter by analyzing video data received from CCTVs. For example, the server can collect flight information for which airport users are currently processing. Additionally, the server can calculate how many airport users are currently gathered in the area 810 around the check-in counter. Additionally, the server can predict at what time current airport users will disperse. Likewise, the cleaning robots 510, 520, and 530 can analyze the area 810 around the check-in counter by analyzing video data received from CCTVs. For example, the cleaning robots 510, 520, and 530 can collect flight information on which airport users are currently completing check-in procedures. Additionally, the cleaning robots 510, 520, and 530 can calculate how many airport users are currently gathered in the area 810 around the check-in counter.

Additionally, the server may transmit a message to gather the cleaning robots 510, 520, and 530 from the first area 810 around the check-in counter to the nearby second area 820. Cleaning robots 510, 520, and 530 that have received the message may gather in the second area 820. Additionally, the server may transmit information to the cleaning robots 510, 520, and 530 about the time when airport users gathered in the first area 810 are expected to disperse. Additionally, the second area 820 may be selected by the server. The server may select an area with a small number of airport users among areas surrounding the first area 810 as the second area 820.

As shown in FIG. 9, after the airport users gathered in the first area 810 disappear, many cleaning objects may be located in the first area 810. The cleaning robots 510 , 520 , and 530 waiting in the second area 820 may scan cleaning objects located in the first area 810 . Additionally, the cleaning robots 510, 520, and 530 can sense how many airport users are currently located in the first area 810 using a camera.

And as shown in FIG. 10 , the cleaning robots 510 , 520 , and 530 may clean cleaning objects located in the first area 810 . At this time, the cleaning robots 510, 520, and 530 may perform cleaning when there are less than a predetermined number of airport users in the first area 810.

The method of arranging cleaning robots according to population density shown in FIGS. 8 to 10 is only an example. The server that manages airport robots can collect big data on population movements within the airport and update data on densely populated areas by zone and time within the airport on a daily basis. And, new cleaning robots can be deployed every day according to updated data. In this case, many cleaning robots may be deployed around areas where population density frequently occurs. Additionally, the server can collect information on flights departing and arriving at the airport every day. And the server can estimate the area where the population is expected to be densely populated based on the collected departure/arrival flight information. And the server can place cleaning robots in the estimated area.

Additionally, cleaning robots can follow airport users and scan cleaning objects. Additionally, cleaning robots can follow airport users and clean objects. Additionally, cleaning robots can enter trash can mode while waiting for cleaning. The cleaning robot may be equipped with a function that can voluntarily dispose of the cleaning objects collected in the trash can mode at the loading dock.

In this way, inconvenience to airport users can be reduced by deploying cleaning robots in real time according to population flow. Additionally, there is a technical effect of increasing cleaning efficiency by deploying cleaning robots in real time according to population flow.

Figures 11 to 14 are diagrams to explain how a cleaning robot management server collects population flow information according to an embodiment of the present invention.

The server that manages the cleaning robot according to an embodiment of the present invention can detect the floating population within the airport in real time. In this case, the server can detect floating population information using images directly captured by CCTV of users within the airport. Additionally, the server can detect population distribution information using identification information of mobile terminals such as smartphones of users within the airport.

Referring to FIG. 11, in an airport where a cleaning robot according to an embodiment of the present invention is deployed, there are a plurality of base station devices 1101, 1102, and 1103, and between the plurality of base station devices 1101, 1102, and 1103. A mobile communication system 1100 may be constructed including a core network 1104 that connects and controls session connection and packet delivery. Additionally, the mobile communication system 1100 may be connected to a server device 1200 for predicting the airport floating population.

The plurality of base station devices 1101, 1102, and 1103 are each deployed in one or more areas within the airport and can support wireless communication for a plurality of user terminals 1150 located within each coverage area. Here, the user terminal 1150 is one of the above-described plurality of base station devices 1101, 1102, and 1103 operated by the server device 1200 for predicting the airport floating population from the user terminal 1150 possessed or used by each user. It can be a terminal that can use a communication service through at least one.

The mobile communication system 1100 of the present invention having the above configuration collects big data generated according to session connections of user terminals 1150 connected to each base station device 1101, 1102, and 1103, specifically related to session connections. Based on user access information, it is possible to support predicting population density in real time through the distribution of user terminals 1150 located in the coverage area of the base station devices 1101, 1102, and 1103. In other words, real-time airport floating population information can be calculated from the density and movement status of user terminals 1150 connected to the base station devices 1101, 1102, and 1103 by area within the airport. Accordingly, the mobile communication system 1100 of the present invention sets information about one or more zones or areas where users move within the actual airport based on the placement location and coverage area of the base station devices 1101, 1102, and 1103, User terminals 1150 connected to the corresponding base station devices 1101, 1102, and 1103 are extracted based on user access information generated according to the session connection of the user terminal 1150, and through this, the floating population density by zone within the airport is calculated. can be supported to calculate in real time and accurately.

In particular, the server device 1200 of the present invention provides certain data for calculating airport floating population data from user access information collected according to session connections made through the base station devices 1101, 1102, and 1103 connected to the user terminal 1150. By generating structural statistical information, it is possible to support the more systematic analysis and operation of large amounts of information.

The base station devices 1101, 1102, and 1103 may be devices that provide a certain coverage area where communication is possible. These base station devices 1101, 1102, and 1103 can each be deployed in specific regions according to the designer's method. Additionally, the coverage areas of the base station devices 1101, 1102, and 1103 may be divided into one or more cells. Additionally, the base station devices 1101, 1102, and 1103 may be operated in conjunction with devices that can form separate independent cells to support shadow areas, areas with poor communication, or areas where specific types of communication are available. These base station devices 1101, 1102, and 1103 can support various types of communication methods, such as 2G, 3G, and 4G, depending on the communication method they support. In particular, the base station devices 1101, 1102, and 1103 are capable of transmitting and receiving data with user terminals 1150 arranged within a communicable coverage area, and at this time, the core according to the session connection for data transmission of the user terminals 1150 Network 1104 may generate user access information. The user access information may be, for example, a Charging Data Record (CDR) and a User Data Record (UDR) generated for billing in a mobile communication system. Here, UDR is user access information related to session connection, which can be generated through the core network 1104, specifically, a packet core device (EPC: Envolved Packet Core) that performs session connection and control.

Specifically, the core network 1104, when the user terminal 1150 is successfully connected to the core network 1104 through the base station devices 1101, 1102, and 1103, identification information of the user terminal 1150, For example, connection start information indicating the start of a session, connection intermediate information, and connection termination information are generated in response to the IP address. In addition, a UDR is generated by collecting user information related to the session connection, such as identification information of the base station device passed through for the session connection (hereinafter referred to as base station identification information) and session connection time information. In addition, the core network 1104 can generate the CDR by monitoring the packet usage of the user terminal 1150 after the session connection is established. The server of the present invention can predict the airport floating population using user access information generated in real time according to the session connection of the user terminal 1150, such as CDR or UDR.

Accordingly, the server device 1200 according to the present invention can collect user access information generated in real time from the mobile communication system 1100, especially the core network 1104. In addition, the server device 1200 may further collect user information about the user terminal 1150 from the user information DB of the core network 1104. Specifically, the user information may be collected through a user information management device that manages user information of communication service subscribers of the core network 1104.

The user information may include identification information of the user terminal, gender, and age of the user using the user terminal, and the user access information may include terminal identification information of the corresponding user terminal, the user terminal It may include one or more of base station identification information for a connected base station device, cell identification information indicating a cell to which the user terminal is connected in the access area of the base station device, and an access time of the user terminal.

Meanwhile, in the above drawing, for convenience of explanation, the arrangement of three base station devices 1101, 1102, and 1103 located within the airport is shown, but the present invention is not limited thereto. That is, at least one of the base station devices 1101, 1102, and 1103 of the present invention can be deployed in various areas.

The server device 1200 according to an embodiment of the present invention includes a coverage area covered by the base station devices 1101, 1102, and 1103, and a user terminal located in the area for each region based on cells that further subdivide the coverage area. The airport floating population can be predicted based on the density of (1150). Additionally, the server device 1200 may determine that an area where the user terminals 1150 are more densely populated has a higher population density, and an area with a lower density of user terminals 1150 may determine that the population density is lower.

As shown in FIG. 12, the server device 1200 may include a service interface unit 1210, a communication interface unit 1220, a device storage unit 1250, and a device control unit 1260.

The service interface unit 1210 is configured to provide airport floating population information generated by the server device 1200 through a communication network. That is, the service interface unit 1210 can form a communication channel under the control of the device control unit 1260 and provide information related to the airport floating population. For example, the service interface unit 1210 supports access to a specific terminal that requests real-time floating population information in a certain area, and can support delivering the calculated floating population to the corresponding terminal. For example, the service interface unit 1210 may provide floating population information on a web basis.

The communication interface unit 1220 generates user information of user terminals 1150 connected to a plurality of base station devices 1101, 1102, and 1103 necessary for calculating the airport floating population and session connections of the user terminals 1150. As a configuration for collecting user access information, it is connected to the mobile communication system 1100, especially the core network 1104, and can receive the user information and user access information in real time from the components of the core network 104. there is.

The device storage unit 1250 is a component that stores various programs and various data for operating the server device 1200. In particular, the device storage unit 1250 stores user information 1251, user access information 1253, and device control unit 1260 received from the mobile communication system 1100 in order to provide real-time prediction of airport floating population of the present invention. The generated floating population information (1255) can be stored.

As described above, the user information 1251 may have a data structure that includes one or more of terminal identification information, gender, and age. This user information 1251 may be stored corresponding to each user terminal 1150 connected to the base station devices 1101, 1102, and 1103. In another case, it may even include user information of a user terminal that can access the base station devices 1101, 1102, and 1103.

The user connection information 1253 is provided to the core of the mobile communication system 1100 to monitor the session connection status as at least one user terminal 1150 connects to the base station device 1101, 1102, and 1103 and requests a session connection. As information generated in the network 1104, the user connection information 1253 includes terminal identification information for the user terminal 1150 and corresponding to the base station devices 1101, 1102, and 1103 to which the user terminal 1150 is connected. It may include base station identification information, cell identification information, and access time. User access information 1253 may also change in real time according to the movement of the user terminal 1150.

The floating population information 1255 determines how many user terminals 1150 exist in each area within the airport set up with a plurality of base station devices 1101, 1102, and 1103 based on the user information 1251 and user access information 1253. This may be information related to the calculated floating population.

The device control unit 1260 can support signal processing, data transmission, and information collection, storage, and operation for population density prediction according to the present invention. For example, the device control unit 1260 receives user information 1251 related to the user terminal 1150 and session connection of the user terminal 1150 from the mobile communication system 1100 at a certain period, according to predefined schedule information, or in real time. Accordingly, the generated user access information 1253 can be collected. Additionally, the device control unit 1260 can calculate the population density for each region based on the collected user information 1251 and user access information 1253. For this purpose, the device control unit 1260 collects location information where the base station devices 1101, 1102, and 1103 are placed in advance, information about the coverage area of the base station devices 1101, 1102, and 1103, cell information, etc., and based on this, It is possible to segment one or more airport areas to predict floating population. Additionally, the device control unit 1260 can support calculation and mapping of floating population for each divided area.

As shown in FIG. 13, the airport floating population prediction method performed by the server device 1200 according to an embodiment of the present invention first includes supplying power to the components of the server device 1200 (S1301). may include. This process can be implemented in the form of providing commercial power or a separate independent power source. Then, the server device 1200 performs an initialization process for interworking with the mobile communication system 1100 and receives information including user information 1251 and user access information 1253 from the mobile communication system 1100. You can (S1303). In this case, the server device 1200 may request transmission of the corresponding information to the mobile communication system 1100, and accordingly, specific components of the mobile communication system 1100 (e.g., packet core device and user information management device, etc. ) provides user information 1251 of user terminals 1150 located within the communication coverage area of the base station devices 1101, 1102, and 1103, and user connection information 1253 generated in real time according to the session connection of the user terminal 1150. It can be provided to the server device 1200.

And, the server device 1200 can calculate floating population information for each airport area based on the received information (S1305). And by repeatedly performing steps S1303 and S1305 at predetermined intervals, the movement status of people holding terminals within the airport can be identified in real time.

To be described in more detail with reference to FIG. 14, in step S1303, the server device 1200 extracts the corresponding user information 1251 based on the terminal identification information of the collected user access information 1253, and extracts By combining the user information 1251 and the user access information 1253, first statistical information including one or more of base station identification information, cell identification information, gender, age, and access time can be generated. The server device 1200 may determine how many users are concentrated in which area of the airport through the first statistical information.

And, the server device 1200 may generate second statistical information in the same manner after a predetermined time (first cycle) (S1403). Additionally, the server device 1200 may compare the first statistical information and the second statistical information (S1405) and calculate airport floating population information during the first period (S1407). Therefore, the shorter the first cycle, the higher the accuracy of airport floating population information can be.

Figures 15 to 17 are diagrams to explain another method in which a cleaning robot management server collects population flow information according to an embodiment of the present invention.

The airport floating population analysis system according to an embodiment of the present invention may include a user terminal 1500, a measurement means 1510, and a floating population analysis server 1520. As an example, GPS, which provides location information of the user terminal 1500, may be included in the floating population analysis system. The user terminal 1500 may receive airport map data including location information of a plurality of measurement means 1610 and an airport map for a specific area from the data analysis unit 1620 of the floating population analysis server. The user terminal 1500 can receive information (for example, information on floating population near the desired gate) about a desired specific space (boarding counter, duty-free shop, boarding gate, etc.) using the provided airport map. The user terminal 1500 can receive information on the floating population of the space using the measurement means 1510 installed at the airport.

The user terminal 1500 may be a portable terminal capable of two-way communication with the measurement means 1510, such as a mobile phone, PDA, or MP3 player. The measuring means 1510 may be installed randomly inside or outside each area within the airport, and may exchange signals with the user terminal 1500 through two-way wireless communication. The measuring means 1510 may be any means that can transmit and receive data through two-way wireless communication, such as a wireless AP or RFID. The measuring means 1510 may receive a signal from the user terminal 1500 using two-way wireless communication with the user terminal 1500. When the user terminal 1500 is close to the measuring means 1510, the signal from the user terminal 1500 is strong, and when the user terminal 1500 is far from the measuring means 1510, the signal from the user terminal 1500 is strong. may be weak. The measuring means 1510 provides information requested by the user terminal 1500 through communication with the user terminal 1500, and, if necessary, can transmit the information provided from the user terminal 1500 to an external server. As an example, the measurement means 1510 provides the user terminal 1500 with information on the floating population of a specific area within the airport desired by the user, specifies a specific area from the user terminal 1500, and provides information related to the analysis of the floating population in the area. It can be received and transmitted to the floating population analysis server.

That is, the user terminal 1500 performs two-way wireless communication with a plurality of measuring means 1510 and can measure the strength of the received signal of the user terminal 1500 between the user terminal 1500 and the measuring means 1510. The measuring unit 1510 may transmit the received signal strength information of the user terminal 1500 between the user terminal 1500 and the measuring unit 1510 to the floating population analysis server 1520. The measuring means 1510 can utilize not only a Wi-Fi router but also a cell tower and GPS reception signals as resources.

As shown in FIG. 16, the floating population analysis server 1520 may include a receiving unit 1610, a data analysis unit 1620, a storage unit 1630, and a transmitting unit 1640.

The receiving unit 1610 may receive signals between the plurality of measuring means 1510 and the user terminal 1500 from the plurality of measuring means 1510.

The data analysis unit 1620 has information such as an airport map including location information of the plurality of measuring means 1610 and signals of the plurality of measuring means 1510 and the user terminal 1500 received by the receiving unit 1610. The position of the user terminal 1500 can be measured using triangulation using the distance between each measuring means 1510 and the user terminal 1500.

The data analysis unit 1620 can measure the location of the user terminal 1500 and calculate the number of floating population in a specific area within the airport or the number of floating population passing through a specific area. The data analysis unit 1620 may determine information on the number of floating population by age in a specific area within the airport based on information on the owners of terminals of people in the specific area.

The storage unit 1630 includes an airport map database 1631 that stores map data including the locations of a plurality of wireless databases within the airport, and an analysis unit database 1632 that stores data of the data analysis unit 1620. may include.

The transmitter 1640 may transmit the number of floating populations in a specific area and the number of floating populations passing through a specific area analyzed by the analysis unit to a cleaning robot management server, etc., using wireless communication.

As shown in FIG. 17, the position of the first user terminal 1701 can be measured by the triangulation method of the first measuring means 1711, the second measuring means 1712, and the fifth measuring means 1715. there is. Since the location of the first user terminal 1701 is not inside the first gate, the data analysis unit 1620 can identify the first user terminal 1701 as the number of floating people passing through the first gate. Likewise, the positions of the second user terminal 1702 and the third user terminal 1703 can be measured in real time in the same manner.

As described in FIGS. 11 to 17, the management server according to an embodiment of the present invention can collect floating population information within the airport using user terminal communication information. Additionally, the management server may place the cleaning robots 510, 520, and 530 in a certain area within the airport based on the collected information. Additionally, the management server may instruct the cleaning robots 510, 520, and 530 to move and clean according to the floating population. Through this method, the convenience of airport users and the cleaning efficiency of cleaning robots can be increased.

1. A computer-readable storage medium containing computer-executable instructions for execution by a processing system according to an embodiment of the present invention, wherein the computer-executable instructions for controlling an airport cleaning robot include: Commands for analyzing data, commands for detecting a first area in which a population greater than a predetermined number is detected, commands for selecting a second area in which a population is detected to be relatively small among areas within a predetermined range in the first area, and It may include commands for calling at least one cleaning robot to the selected second area. Commands for analyzing airport floating population data include user information related to a plurality of user terminals connected to at least one base station device deployed in one or more areas within the airport and user connection information generated according to session connections of the plurality of user terminals. Commands for receiving in real time from a mobile communication system, commands for storing user information and user access information received in real time, and based on the user information and user access information, a user located in one or more areas within the airport. It may include commands for extracting statistical information of terminals in real time and commands for calculating the number of floating populations at one or more airports within the airport in real time based on the extracted statistical information. The user information may include one or more of identification information of the user terminal, gender, and age of the user using the user terminal. The user access information includes terminal identification information of the corresponding user terminal, base station identification information for the base station device connected to the user terminal, cell identification information indicating the cell to which the user terminal is connected in the access area of the base station device, It may include one or more of the access times of the user terminal. Commands for extracting statistical information of user terminals located in one or more areas within the airport in real time based on the user information and user access information include user information corresponding to the terminal identification information of the collected user access information. It may include instructions for extracting and combining the extracted user information and the user access information to generate first statistical information including one or more of base station identification information, cell identification information, and access time. Commands for extracting statistical information of user terminals located in one or more areas within the airport in real time based on the user information and user access information include commands for generating second statistical information in the same manner after a predetermined time. It can be included. Commands for calculating the number of floating population at one or more airports within the airport in real time based on extracted statistical information compare the first statistical information and the second statistical information to determine the number of floating population at the airport in one or more areas within the airport. It may include commands that are calculated in real time. Commands for analyzing airport floating population data include commands for receiving a signal from a measuring means and commands for analyzing the floating population in a specific area within the airport desired by the user using a map containing the measuring means location information and the received signal. may include. The measuring means can measure the strength of signals measured from user terminals within the airport and measure the location of the user terminal using a plurality of measuring means. It may include commands for determining the number of cleaning robots in proportion to the number of people detected in the first area. The computer-executable instructions may further include instructions for detecting that the population of the first region decreases below a predetermined number. The computer-executable instructions may include instructions to move at least one cleaning robot to the first area, instructions to cause the at least one cleaning robot to scan a cleaning object in the first area, and instructions to cause the at least one cleaning robot to scan a cleaning object in the first area, and It may include commands that cause one or more cleaning robots to clean the scanned cleaning objects.

A method of performing cleaning using a cleaning robot within an airport according to an embodiment of the present invention includes analyzing airport floating population data, detecting a first area where a predetermined number of people or more is detected, and The method may include selecting a second region in which a small population is detected among regions within a predetermined range and calling at least one cleaning robot to the selected second region. The step of analyzing the airport floating population data includes user information related to a plurality of user terminals connected to at least one base station device located in one or more areas within the airport and user connection generated according to session connections of the plurality of user terminals. Receiving information in real time from a mobile communication system, storing user information and user access information received in real time, and based on the user information and user access information, a user terminal located in one or more areas within the airport. It may include the step of extracting statistical information in real time and the step of calculating the number of floating populations at one or more airports within the airport in real time based on the extracted statistical information. Based on the user information and user access information, the step of extracting statistical information of user terminals located in one or more areas within the airport in real time includes extracting corresponding user information based on the terminal identification information of the collected user access information. Extracting and combining the extracted user information and the user access information may include generating first statistical information including one or more of base station identification information, cell identification information, and access time. The step of extracting statistical information of user terminals located in one or more areas within the airport in real time based on the user information and user access information includes generating second statistical information in the same manner after a predetermined time. It can be included. The step of calculating in real time the number of floating populations at one or more airports within the airport based on the extracted statistical information includes comparing the first statistical information and the second statistical information to determine the number of floating populations at the airport in one or more areas within the airport. It may include a step of calculating in real time. It may include determining the number of cleaning robots in proportion to the number of people detected in the first area. It may include detecting that the population of the first region decreases below a predetermined number. The at least one cleaning robot moving to the first area, the at least one cleaning robot scanning a cleaning object in the first area, and the at least one cleaning robot cleaning the scanned cleaning object. may include.

The above-described present invention can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. It also includes those implemented in the form of carrier waves (e.g., transmission via the Internet). Additionally, the computer may include the AP 150 of the airport robot. Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (20)

1. A computer-readable storage medium containing computer-executable instructions for execution by a processing system,
The computer-executable instructions for controlling the airport cleaning robot include:
Commands to analyze airport foot traffic data;
Commands for detecting a first region where a population greater than a predetermined number is detected;
Commands for selecting a second region with a relatively small population among regions within a predetermined range from the first region; and
Containing instructions for calling at least one cleaning robot to the selected second area,
Computer-readable storage medium.
According to claim 1,
Commands for analyzing airport floating population data are:
A command for receiving user information related to a plurality of user terminals connected to at least one base station device located in one or more areas of the airport and user access information generated according to session connection of the plurality of user terminals in real time from a mobile communication system. field;
Commands for storing the user information and user access information received in real time;
Commands for extracting statistical information of user terminals located in one or more areas within the airport in real time, based on the user information and user access information; and
Containing commands to calculate the number of floating population at one or more airports in the airport in real time based on extracted statistical information,
Computer-readable storage medium.
According to clause 2,
The user information includes one or more of identification information of the user terminal, gender, and age of the user using the user terminal.
Computer-readable storage medium.
According to clause 2,
The user access information includes terminal identification information of the corresponding user terminal, base station identification information for the base station device connected to the user terminal, and a cell to which the user terminal is connected in the access area of the base station device.
Containing one or more of cell identification information and access time of the user terminal,
Computer-readable storage medium.
According to clause 2,
Commands for extracting statistical information of user terminals located in one or more areas within the airport in real time based on the user information and user access information are:
Extract corresponding user information based on the terminal identification information of the collected user access information, combine the extracted user information with the user access information, and include one or more of base station identification information, cell identification information, and access time. Comprising instructions for generating first statistical information,
Computer-readable storage medium.
According to clause 5,
Commands for extracting statistical information of user terminals located in one or more areas within the airport in real time based on the user information and user access information are:
Containing instructions for generating second statistical information in the same manner after a predetermined time,
Computer-readable storage medium.
According to clause 6,
Commands that calculate the number of floating populations at one or more airports within the airport in real time based on extracted statistical information are:
Comprising commands for calculating the number of airport floating population in one or more areas within the airport in real time by comparing the first statistical information and the second statistical information,
Computer-readable storage medium.
According to claim 1,
Commands for analyzing airport floating population data are:
Commands for receiving signals from measuring means; and
Containing commands for analyzing the floating population of a specific area within the airport desired by the user using a map containing the location information of the measuring means and the received signal,
Computer-readable storage medium.
According to clause 8,
The measuring means measures the strength of signals measured from user terminals in the airport,
Measuring the location of the user terminal using a plurality of measuring means,
Computer-readable storage medium.
According to claim 1,
The computer-executable instructions include:
Comprising instructions for determining the number of cleaning robots in proportion to the number of people detected in the first area,
Computer-readable storage medium.
According to claim 1,
The computer-executable instructions include:
Further comprising instructions for detecting that the population of the first region decreases below a predetermined number,
Computer-readable storage medium.
According to claim 11,
The computer-executable instructions include:
Commands for moving the at least one cleaning robot to the first area;
Commands for causing the at least one cleaning robot to scan a cleaning object in the first area; and
Containing instructions for causing the at least one cleaning robot to clean the scanned cleaning objects,
Computer-readable storage medium.
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