KR20090095765A - Nanny robot system and its control method - Google Patents

Abstract

A nanny robot system and its control method are provided to allow the nanny robot to take care a baby in real time by monitoring the baby situation. In a nanny robot system and its control method, sensor units(10, 30, 50) measure humidity, temperature, an obstacle front of the nanny robot system. A controller(40) determines a direction for autonomic driving based on a state measurement value of the measured obstacle. A traveling unit(60) drives a certain place according to the determined automatic driving.

Description

Nanny robot device and control method thereof {NANNY ROBOT SYSTEM AND ITS CONTROL METHOD}

The present invention relates to a nanny robot device and a control method thereof that can provide a role of a baby carriage and a cradle and a mediating role between a baby and a parent (or nanny) in and out of a house.

The present invention is derived from the research conducted as part of the IT new growth engine core technology development project of the Ministry of Information and Communication and the Ministry of Information and Telecommunication Research and Development. [Task Management Number: 2005-S-033-03, Assignment Name: Embedded Component Technology for URC] And standardization techniques].

As is well known, the cradle type stroller device, which is used to perform a combination of a moving function, a play tool function, and a sleeping aid function in a baby's growth process, is a manual type that moves by shaking a person directly, such as a motor and a motor. It is divided into the electric system that moves by shaking by the device, and in recent years, various kinds of products are developed and sold more professionally and easily as the quality of life is improved.

On the other hand, as described above, the similar reference patent for the cradle-type stroller device is related to the "driven electric cradle capable of traveling" of the application number 1997-012433, this similar reference patent is formed on the lower side of the cradle frame body to the inside The output shaft of the reducer connected to the motor is formed long on both sides, and the driving electromagnetic clutch and the pulley are installed on both output shafts of the reducer, the swinging electromagnetic clutch and the swinging weight are installed on one output shaft, and the driving wheel pulleys on both sides of the cradle frame body. Form a shaft and combine it with the cradle frame body by the shaft at its center, and combine it with the pulley of the shaft and the output shaft pulley and the belt, attach the contact switch and the pedestal to the front and rear of the cradle frame, and install the auxiliary roller at the lower side of the cradle frame body. The weight of the center of gravity is attached to the lower side of the device so that the cradle frame can travel and swing. Since the lamp body can be dragged out, there is a technical feature that can also perform the function of the stroller when going out.

However, the cited patent of the electric cradle that can run as in the prior art as described above is highly appreciated in that the cradle can be dragged around like a stroller and made a cradle that can vibrate, but still has to be dragged by a person. There is a problem that can not escape the level of the cradle.

Accordingly, the technical problem of the present invention has been devised to solve the above-described problems, the nanny robot device itself that can provide the role of the stroller and the cradle and the mediation role between the baby and the parent (or nanny) inside and outside the house The present invention provides a nanny robot device and a control method thereof that can take care of the baby actively and independently by grasping the current actual environment from the state of the baby in the device.

In accordance with one aspect of the present invention, a nanny robot device includes a plurality of sensor units for measuring a state of a humidity and a temperature detection value, a front screen video and an obstacle located on the front screen, and the measured humidity and temperature detection values are set humidity. And a controller configured to determine a direction value for autonomous driving based on the measured state of the obstacle and the measured temperature, and a driving unit for autonomous driving to a specific place according to the determined direction value for autonomous driving. It is characterized by.

In addition, according to another aspect of the present invention, a method for controlling a nanny robot device includes measuring sensing values sensed by a plurality of sensors, and among the sensing values, measured humidity and temperature sensing values are set humidity values and settings. If the temperature is above the value, the step of determining the direction value for autonomous driving based on the measured state of the measured obstacle with the measured value, and the step of autonomous driving to a specific place according to the direction value for the determined autonomous driving Characterized in that.

The present invention is active by identifying the current actual environment from the state of the baby riding in the nanny robot device itself that can provide the role of the stroller and the cradle and the intermediary role between the baby and the parent (or nanny) inside and outside the house. By caring for the baby in a subjective manner, a person must be dragged around as in the past and can solve the problem of not leaving the level of a simple stroller or cradle.

In addition, the present invention provides a function to inform the time to eat milk (or breast milk), the ability to ride and move the baby, the function of shaking the baby's cradle, the ability to inform and approach the babysitter when the baby cries, when the baby sees the toilet It can take on the role of a parent (or nanny) by providing the ability to detect and notify you, the ability to autonomously follow your nanny when you walk or shop with you, or avoid obstacles.

Hereinafter, with reference to the accompanying drawings will be described in detail the operating principle of the present invention. In the following description of the present invention, when it is determined that a detailed description of a known function or configuration may unnecessarily obscure the subject matter of the present invention, the detailed description thereof will be omitted. Terms to be described later are terms defined in consideration of functions in the present invention, and may be changed according to intentions or customs of users or operators. Therefore, the definition should be made based on the contents throughout the specification.

1 is a block diagram for a nanny robot device according to an embodiment of the present invention, cradle sensor unit 10, the motor unit 20, the cover sensor unit 30, the control unit 40 and the drive sensor unit ( 50 and the driving unit 60.

The cradle sensor unit 10 includes a humidity sensor 10a, a temperature sensor 10b, and a tactile sensor 10c, as shown in the structure of the nanny robot shown in FIG. 2. Here, the humidity sensor 10a, the temperature sensor 10b, and the tactile sensor 10c are attached to the baby's buttock when the baby is lying down or seated in a soft and safe material.

The humidity sensor 10a is attached to the baby's buttock to be placed on the side where the baby's butt is placed, and when the baby looks at the toilet, the controller 40 provides a humidity detection value measured while the electrical resistance value changes exponentially with respect to the change in humidity.

The temperature sensor 10b is attached to the baby's butt where the baby's butt is positioned to provide the control unit 40 with a temperature sensing value measured when the baby looks at the toilet.

The tactile sensor 10c is attached to the baby's butt where the baby's butt is positioned to provide the controller 40 with the measured tactile sensed value when the baby is up and sitting.

The motor unit 20 is driven according to the motor on signal applied from the controller 40 to shake the cradle S1 (for example, vibration and movement of any one of left / right, front / back, and up / down). On the other hand, the cradle S1 is stopped to be free from vibration and shaking according to the motor off signal applied from the control unit 40. Here, the motor part 10d is provided in the specific position (for example, lower end) of the cradle S1 so that the cradle S1 can be shaken.

The cover sensor unit 30 includes a camera 30a, a microphone 30b, and a speaker 30c, as shown in the structure of the nanny robot shown in FIG. Here, the camera 20a and the microphone 20b are attached to a place where the baby inside the cover fixed above the cradle S1 faces, and the speaker 20c is attached to both sides of the outside of the cover fixed above the cradle S1. The cover is divided into a fixed cover and a cover that can be opened and closed.

The camera 30a photographs the facial expressions of the baby in real time and provides the controller 40 with the captured facial expression video.

The microphone 30b provides the controller 40 with an audio signal generated when the baby is crying or a voice signal that enables the cradle S1 to be shaken by voice by a user (eg, a parent (or nanny)).

The speaker 30c outputs a sound related to the current state of the baby (for example, the crying of the baby or the sound informing that the baby has seen the toilet) applied by the control unit 40 so that the user can listen.

The controller 40 determines that the baby has seen a toilet when the humidity sensed value applied by the humidity sensor 10a or the temperature sensed value applied by the temperature sensor 10b is equal to or greater than the set humidity value or the set temperature value. Provides a sound to the speaker (30c) indicating that the saw. Here, the control unit 40 may produce a sound indicating that the toilet has been seen as text or voice information and transmit it to the mobile communication terminal S4 owned by the user through the network S3 or the baby's cradle ( The motor on signal may be provided to the motor unit 20 in order to move S1 to be shaken, or the measured value of the driving sensor unit 50 may be changed to move to a specific place (for example, the place where the user is located). The autonomous driving signal may be provided to the driving unit 60 based on the above.

In addition, when the tactile sense value detected by the tactile sensor 10c is not input, the controller 40 determines that the baby has occurred at the seat and provides a motor ON signal to the motor unit 20, and then, the tactile sense If a value is input, it is determined that the baby is seated again and provides a motor off signal to the motor unit 20. Here, the controller 40 may provide an alarm function for the baby's meal time.

In addition, the controller 40 compares the facial expression video of the baby input from the camera 30a with a preset face shape to determine whether the baby is crying or laughing and crying. The motor on signal is provided to the motor unit 20, and then the motor off signal is provided to the motor unit 20 when the motor unit 20 is smiling. Here, when the baby is crying, the controller 40 may provide a sound informing that the baby is crying to the speaker 30c, and produces a text or voice information informing that the baby is crying through the network S3. It may be transmitted to the mobile communication terminal (S4) that the user has, or may provide an autonomous driving signal to the driving unit 60 based on the measured value of the driving sensor unit 50 to move to the place where the user is located. .

In addition, the controller 40 may include a distance between the obstacle measured by the ultrasonic sensor 50b and the laser sensor 50e and a temperature of the obstacle measured by the infrared sensor 50c (for example, a person whose body temperature has an obstacle and Determine whether the object is an animal or an object) and the driving sensing value of contact whether measured by the bumper sensor 50d and the direction value for autonomous driving based on the front screen video captured by the camera 50a. Provided with the autonomous driving signal to the running unit 60. Here, the direction value for autonomous driving determines the destination direction value through the front screen video and the temperature of the obstacle using the user recognition function, and when the autonomous driving starts, the forward / backward direction value and the left and right direction are determined through the distance and contact with the obstacle. It is to determine the right / right direction value in real time.

The driving sensor unit 50 includes a camera 50a, an ultrasonic sensor 50b, an infrared sensor 50c, a bumper sensor 50d, and a laser sensor 50e, as shown in the structure of the nanny robot shown in FIG.

The camera 50a photographs the front screen in the moving direction in real time, and provides the controller 40 with a front screen video for the user recognition function to be photographed.

The ultrasonic sensor 50b measures the distance to various obstacles located on the front screen in the traveling direction through ultrasonic waves and provides the ultrasonic waves to the controller 40 in real time.

The infrared sensor 50c measures the temperature of various obstacles for the user recognition function located on the front screen in the forward direction through infrared rays and provides them to the controller 40 in real time.

The bumper sensor 50d measures whether or not contact with various obstacles located on the front screen in the traveling direction is provided to the controller 40 in real time.

The laser sensor 50e measures the distance to various obstacles located on the front screen in the forward direction through a laser and provides it to the controller 40 in real time.

The driving unit 60 autonomously drives the rotary wheel S2 to a desired place to allow obstacle avoidance and autonomous driving according to the direction value for the autonomous driving and the autonomous driving signal applied from the control unit 40.

Accordingly, the present invention provides a nanny robot device which can provide a function of informing a time to eat milk (or breast milk), a role of a stroller and a cradle in and out of the house, and a mediating role between a baby and a parent (or nanny). By grasping the current actual environment from the state of the baby riding and actively and subjectively caring for the baby, a person needs to be dragged around as before and can solve the problem of not leaving the level of a simple stroller or cradle.

Next, the operation process of the nanny robot device in the present embodiment having the above-described configuration will be described.

3A to 3C are flowcharts sequentially illustrating a method of operating the nanny robot device according to the preferred embodiment of the present invention.

First, the control unit 40 first determines whether the operation of the nanny robot device is an automatic mode or a manual mode (S301).

As a result of the determination (S301), in the manual mode, the motor unit 20 or the driving unit 60 is controlled according to the motor driving or driving selection signal input by the user (S303). Then, the motor unit 20 is driven in accordance with the motor on signal applied from the control unit 40 (S305) is operated so that the cradle (S1) can be shaken (S307), the driving unit 60, the control unit 40 The rotary wheel S2 is moved to a desired place according to the driving signal S309 and the left / right direction value and the front / rear direction value applied from the step S311.

As a result of the determination (S301), in the automatic mode, the sensing value input from each of the cradle sensor unit 10, the cover sensor unit 30, and the driving sensor unit 50 is checked (S313).

As a result of the check (S313), the humidity detection value detected by the humidity sensor 10a in the cradle sensor unit 10 or the temperature detection value detected by the temperature sensor 10b is input (S315), and the humidity detection inputted. If the value or the temperature detection value is more than the set humidity value or the set temperature value (S317), the current output setting option is analyzed (S319).

As a result of the analysis (S319), when the output setting option is the speaker output (S321), it is determined that the baby has seen the toilet, and outputs the sound for the user to hear through the speaker (30c) indicating that the toilet has been seen (S323). )do.

As a result of the analysis (S319), when the output setting option is an output (S325) to the mobile communication terminal (S4), the user through the network (S3) by making a sound or text information indicating that the baby saw the toilet It transmits to the mobile communication terminal (S4) it has (S327).

As a result of the analysis (S319), when the output setting option is the output (S329) for the cradle (S1) control, the motor on signal to the motor unit 20 to move the cradle (S1) that the baby is riding to enable shaking It provides (S331). Then, the motor unit 20 is driven in accordance with the motor on signal applied from the control unit 40 to operate the cradle (S1) to shake (S333).

As a result of the analysis (S319), when the output setting option is an output (S335) for moving to a place where the user is located, the direction value and the autonomous driving signal for autonomous driving determined based on the measured value of the driving sensor unit 50. To the running unit 60 (S337). Then, the driving unit 60 autonomously drives the rotary wheel S2 to a desired place so that obstacle avoidance and autonomous driving are possible according to the direction value for the autonomous driving and the autonomous driving signal applied from the control unit 40. Move to a place (S339). Here, the controller 40 is a distance between the obstacle measured by the ultrasonic sensor 50b and the laser sensor 50e, the temperature of the obstacle measured by the infrared sensor 50c, and the contact measured by the bumper sensor 50d. The direction value for autonomous driving is determined based on the driving sensing value of the camera and the front screen video captured by the camera 50a, and is provided to the driving unit 60 together with the autonomous driving signal.

As a result of the check (S313), it is determined whether or not the tactile sense value detected by the tactile sensor 10c in the cradle sensor unit 10 is input (S341). The motor on signal is provided to the step 20 (S343). Then, the motor unit 20 is driven according to the motor on signal applied from the control unit 40 to operate the cradle (S1) to shake (S345).

As a result of the determination (S341), when the tactile sense value detected by the tactile sensor 10c in the cradle sensor unit 10 is input, it is determined that the baby is seated and provides a motor off signal to the motor unit 20. (S347). Then, the motor unit 20 stops the cradle S1 without shaking in accordance with the motor off signal applied from the control unit 40 (S349).

As a result of the check (S313), the facial expression video of the baby inputted from the camera 30a in the cover sensor unit 30 is compared with the preset face shape to see if the baby is crying or laughing. If it is determined that the crying (S351), the current output setting option is analyzed (S353).

As a result of the analysis (S353), when the output setting option is the speaker output (S355), the user outputs a sound informing that the baby is crying through the speaker 30c (S357).

As a result of the analysis (S353), when the output setting option is an output (S359) to the mobile communication terminal (S4), the user having a network (S3) by making a sound or notifying that the baby is crying to the text (S3) It transmits to the mobile communication terminal S4 (S361).

As a result of the analysis (S353), when the output setting option is the output (S363) for the cradle (S1) control, the motor on signal to the motor unit 20 to move the baby cradle (S1) to enable shaking Provide (S365). Then, the motor unit 20 is driven according to the motor on signal applied from the control unit 40 to operate the cradle S1 to be shaken (S367). Here, the controller 40 provides the motor off signal to the motor unit 20 when the face expression video of the baby input from the camera 30a is compared with the preset face shape. . Then, the motor unit 20 stops the cradle S1 without shaking in accordance with the motor off signal applied from the control unit 40.

As a result of the analysis (S353), when the output setting option is an output (S369) for moving to a location where the user is located, the direction value and the autonomous driving signal for autonomous driving determined based on the measured value of the driving sensor unit 50. To the traveling unit 60 (S371). Then, the driving unit 60 autonomously drives the rotary wheel S2 to a desired place so that obstacle avoidance and autonomous driving are possible according to the direction value for the autonomous driving and the autonomous driving signal applied from the control unit 40. Move to a place (S373). Here, the controller 40 is a distance between the obstacle measured by the ultrasonic sensor 50b and the laser sensor 50e, the temperature of the obstacle measured by the infrared sensor 50c, and the contact measured by the bumper sensor 50d. The direction value for autonomous driving is determined based on the driving sensing value of the camera and the front screen video captured by the camera 50a, and is provided to the driving unit 60 together with the autonomous driving signal.

As a result of the determination (S351), when the baby is smiling, a motor off signal is provided to the motor unit 20 (S375). Then, the motor unit 20 stops the cradle S1 without shaking in accordance with the motor off signal applied from the control unit 40 (S377).

Therefore, the present invention is the ability to ride and move the baby, to shake the baby's cradle, to notify and approach the babysitter when the baby crying, the function to detect and notify when the baby sees the stool, walking or shopping for the baby When you go out, you can take over the role of the parent (or nanny) by providing the ability to follow the nanny and avoid obstacles.

Meanwhile, in the detailed description of the present invention, specific embodiments have been described, but various modifications are possible without departing from the scope of the present invention. Therefore, the scope of the present invention should not be limited to the described embodiments, but should be defined not only by the scope of the following claims, but also by those equivalent to the scope of the claims.

1 is a block diagram for a nanny robot device according to an embodiment of the present invention,

2 is a structure of a nanny robot according to the present invention;

3A to 3C are flowcharts sequentially showing a method of operating the nanny robot device according to the preferred embodiment of the present invention.

<Description of the symbols for the main parts of the drawings>

10: cradle sensor unit 10a: humidity sensor

10b: temperature sensor 10c: tactile sensor

20: motor portion 30: cover sensor portion

30a: camera 30b: microphone

30c: speaker 40: control unit

50: driving sensor unit 50a: camera

50b: ultrasonic sensor 50c: infrared sensor

50d: bumper sensor 50e: laser sensor

60: driving unit

Claims (24)

A plurality of sensor units which measure humidity and temperature detection values, a front screen video, and a state of an obstacle located on the front screen; A control unit for determining a direction value for autonomous driving based on a measured state of the obstacle and the measured temperature when the measured humidity and temperature detection value is equal to or greater than a set humidity value and a set temperature value; The driving unit for autonomous driving to a specific place according to the determined direction value for autonomous driving Nanny robot device comprising a. The method of claim 1, The plurality of sensor units, nanny robot device, characterized in that for measuring the tactile sense values and facial expression video and audio. The method of claim 2, The control unit, The nanny robot device, characterized in that for operating or stopping the cradle in accordance with the measurement of the tactile sense value. The method of claim 2, The control unit, When the baby is crying by comparing the measured facial expression video with a preset facial shape or when the audio is measured, the direction for autonomous driving based on the measured state of the measured obstacle with the measured obstacle. A nanny robotic device, characterized in that for determining a value. The method of claim 2, The control unit, The measured facial expression video is compared to a preset face shape, or when the baby is crying, or when the audio is measured, a sound indicating that the baby is crying is output through a speaker. Nanny robot device. The method of claim 2, The control unit, Compare the measured facial expression video with a preset face shape or when the baby is crying, or when the voice audio is measured, a sound indicating that the baby is crying is produced by text or voice information. Nanny robot device characterized in that the transmission to the mobile communication terminal through. The method of claim 2, The control unit, And comparing the measured facial expression video with a preset facial shape, when the baby is crying, or when the audio is measured, operating the baby's cradle. The method of claim 1, The control unit, When the measured humidity and temperature detection value is more than the set humidity value and the set temperature value, nanny robot device, characterized in that for outputting the sound through the speaker that the baby to see the toilet. The method of claim 1, The control unit, When the measured humidity and temperature detection value is more than the set humidity value and the set temperature value, the nanny, characterized in that the sound that the baby to see the toilet produced by the text or voice information and transmitting to the mobile terminal through the network Robotic device. The method of claim 1, The control unit, When the measured humidity and temperature detection value is more than the set humidity value and the set temperature value, the nanny robot device, characterized in that for operating the baby's cradle. The method of claim 1, The plurality of sensor units, A cradle sensor unit comprising a humidity sensor measuring the humidity, a temperature sensor measuring temperature, and a tactile sensor measuring touch; A cover sensor unit comprising a camera measuring the facial expression video and a microphone measuring voice audio; Ultrasonic and laser sensors for measuring the distance state between the camera measuring the front screen video, the obstacle located on the front screen, infrared sensor for measuring the temperature state of the obstacle and bumper sensor for measuring the contact of the obstacle Drive sensor Nanny robot device comprising a. The method of claim 1, The state measurement value, Nanny robot apparatus characterized in that the front screen video of the obstacle and the distance between the obstacle, the temperature of the obstacle and whether the obstacle is in contact. The method of claim 1, The direction value for autonomous driving determines the destination direction value through the front screen video and the obstacle temperature, and when the autonomous driving starts, the forward / backward direction value and the left / right direction value through the distance and contact with the obstacle Nanny robot device, characterized in that for determining in real time. Measuring sensing values sensed by a plurality of sensors, Determining a direction value for autonomous driving based on a state measurement value of an obstacle measured among the sensing values, when the measured humidity and temperature sensing values of the sensing values are equal to or greater than a set humidity value and a set temperature value; , Autonomous driving to a specific place according to the determined direction value for autonomous driving Method of controlling a nanny robot device comprising a. The method of claim 14, The control method, If the measured humidity and temperature detection value of the sensing value is more than the set humidity value and the set temperature value, the step of outputting a sound through the speaker indicating that the baby saw the toilet Control method of the nanny robot device further comprising. The method of claim 14, The control method, If the measured humidity and temperature detection value of the sensing value is more than the set humidity value and the set temperature value, the step of producing a sound indicating that the baby has seen the toilet as text or voice information and transmitting to the mobile terminal through the network Control method of the nanny robot device further comprising. The method of claim 14, The control method, Operating the baby's cradle when the measured humidity and temperature detection values of the sensing values are equal to or greater than a set humidity value and a set temperature value; Control method of the nanny robot device further comprising. The method of claim 14, The control method, Operating or stopping the cradle according to whether or not the measured tactile sense value is measured among the sensing values Control method of the nanny robot device further comprising. The method of claim 14, The control method, Among the sensing values, the measured facial expression video is compared with a preset face shape, and when the baby is crying or voice audio is measured, the measured state value of the sensing value is measured with the measured obstacle. Determining a direction value for autonomous driving based on Control method of the nanny robot device further comprising. The method of claim 14, The control method, Comparing the measured facial expression video among the sensing values with a preset face shape or outputting a sound indicating that the baby is crying through the speaker when the baby is crying or voice audio is measured. Control method of the nanny robot device further comprising. The method of claim 14, The control method, Among the sensing values, the measured facial expression video is compared with a preset face shape, and when the baby is crying or voice audio is measured, a sound indicating that the baby is crying is produced as text or voice information. Transmitting to a mobile communication terminal through a network Control method of the nanny robot device further comprising. The method of claim 14, The control method, Comparing the measured facial expression video among the sensing values with a preset face shape, or operating the baby's cradle when voice audio is measured. Control method of the nanny robot device further comprising. The method of claim 14, The state measurement value, And a front screen video photographing a measured obstacle among the sensing values, a distance between the obstacle, a temperature of the obstacle, and whether the obstacle is in contact with the obstacle robot. The method of claim 14, The direction value for autonomous driving determines the destination direction value through the front screen video and the obstacle temperature, and when the autonomous driving starts, the forward / backward direction value and the left / right direction value through the distance and contact with the obstacle Control method of a nanny robot device, characterized in that for determining in real time.

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