KR20150026529A

KR20150026529A - Robot cleaner, mobile terminal and method for operating the same

Info

Publication number: KR20150026529A
Application number: KR20130105511A
Authority: KR
Inventors: 이해수; 강민정
Original assignee: 엘지전자 주식회사
Priority date: 2013-09-03
Filing date: 2013-09-03
Publication date: 2015-03-11

Abstract

The present invention relates to a robot cleaner, a mobile terminal, and an operating method thereof. According to an embodiment of the present invention, the robot cleaner comprises: an audio input unit; a camera; a communications unit which exchanges data with an external device; a cleaning unit which performs cleaning; and a control unit which controls the communications unit in order to acquire at least one between audio data and video data of a specific user through the audio input unit and the camera at entry into a silver care mode, and to transmit a notifying message when a difference between the acquired data and the previously save data is above a fixed amount. Therefore, the robot cleaner can simply perform the silver care mode.

Description

Technical Field [0001] The present invention relates to a robot cleaner, a mobile terminal, and a method of operating the robot cleaner,

The present invention relates to a robot cleaner, a mobile terminal, and a method of operating the same. More particularly, the present invention relates to a robot cleaner capable of performing a silver care mode, a mobile terminal, and an operation method thereof.

Generally, a vacuum cleaner is a household appliance that sucks and removes foreign matters on the floor. In recent years, a vacuum cleaner in which such a cleaner is automatically cleaned is referred to as a robot cleaner. Such a robot cleaner sucks and removes foreign matters on the floor while moving by the driving force of a motor operated by a rechargeable battery.

It is an object of the present invention to provide a robot cleaner capable of performing a silver care mode, a mobile terminal and an operation method thereof.

According to an aspect of the present invention, there is provided a robot cleaner including an audio input unit, a camera, a communication unit for exchanging data with an external device, a cleaning unit for performing cleaning, And a control unit for controlling at least one of audio data and video data for a specific user through an input unit or a camera and controlling the communication unit to transmit a notification message when the difference between the acquired data and the stored data is equal to or greater than a predetermined value do.

According to another aspect of the present invention, there is provided a mobile terminal including a controller for exchanging data with a robot cleaner, a control unit for controlling the robot cleaner to transmit a silver care mode entry command through a wireless communication unit, And a display for displaying an abnormal message when receiving an abnormal message from the robot cleaner via the wireless communication unit.

According to another aspect of the present invention, there is provided a method of operating a robot cleaner, including: entering a silver care mode; entering a silver care mode; And transmitting a notification message when the difference between the acquired data and the stored data is equal to or greater than a predetermined value.

According to another aspect of the present invention, there is provided a method of operating a mobile terminal, including wirelessly connecting to a robot cleaner, transmitting a silver care mode entry command to the robot cleaner, And receiving an abnormal message.

According to an embodiment of the present invention, the robot cleaner enters the silver care mode to acquire at least one of audio data or video data for a specific user, and when the difference between the acquired data and the stored data is equal to or greater than a predetermined value , A notification message is transmitted. Accordingly, the user can immediately check the abnormality of the specific user through the robot cleaner. Therefore, the silver care mode can be simply performed.

Meanwhile, the silver care mode command can be transmitted through the mobile terminal, and the notification message is received and displayed on the mobile terminal, so that the user at the remote location can immediately check whether the specific user is abnormal. Therefore, the usability of the user can be increased.

1 is a block diagram of a communication system for a robot cleaner according to an embodiment of the present invention.
FIG. 2A is a perspective view of the robot cleaner of FIG. 1. FIG.
2B is a bottom view of the robot cleaner of FIG. 2A.
2C is an exploded perspective view of the robot cleaner of FIG. 2A.
3 is a simplified internal block diagram of the robot cleaner of FIG.
4 is an internal block diagram of the mobile terminal of FIG.
5 is an internal block diagram of the server of FIG.
6 is a flowchart illustrating an operation method of the robot cleaner according to an embodiment of the present invention.
7 is a flowchart illustrating an operation method of a mobile terminal according to another embodiment of the present invention.
Figs. 8A to 11 are views referred to the description of the operation method of Fig. 6 or Fig.

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

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

1 is a block diagram of a communication system for a robot cleaner according to an embodiment of the present invention.

Referring to the drawings, a communication system 10 for a robot cleaner according to an embodiment of the present invention includes a robot cleaner 200, an AP apparatus 400, a server 300, a network 550, 500a, 500b.

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

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

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

On the other hand, the AP apparatus 400 can allocate a radio channel according to a predetermined communication method to the electric devices in the internal network 10, and perform wireless data communication through the channel. Here, the predetermined communication method may be a WiFi communication method.

At this time, the mobile terminal 500b located in the internal network 10 can perform monitoring, remote control, and the like for the robot cleaner 200 by connecting to the robot cleaner 200 through the AP apparatus 400 .

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

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

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

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

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

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

Meanwhile, the robot cleaner 200 according to the embodiment of the present invention enters the silver care mode, acquires at least one of audio data or video data for a specific user, and obtains difference between the obtained data and the stored data Is greater than or equal to a predetermined value, a notification message is transmitted. Accordingly, the user can immediately check the abnormality of the specific user through the robot cleaner. Therefore, the silver care mode can be simply performed. A detailed description thereof will be described later with reference to FIG. 6 and the following figures.

FIG. 2A is a perspective view illustrating a robot cleaner according to an embodiment of the present invention, FIG. 2B is a bottom view of the robot cleaner of FIG. 2A, and FIG. 2C is an exploded perspective view of the robot cleaner of FIG.

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

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

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

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

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

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

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

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

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

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

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

The robot cleaner 200 includes a sensor unit 220, a communication unit 222 for communication with other external devices, a camera 230, a display unit 231 for displaying the operation state of the robot cleaner, A memory unit 243, a cleaning unit 245, an audio input unit 252, an audio output unit 254, a control unit 270 for internal control, a driving unit 280 for driving the robot cleaner, an input unit 295 for user input ).

The sensor unit 220 may include a position sensor for sensing the position of the robot cleaner 200. That is, as described in FIGS. 2A to 2C and the description thereof, the sensor unit 220 may include a position sensing sensor. The position detecting sensor 220 may include a light emitting unit (not shown) for outputting light and a light receiving unit (not shown) for receiving light corresponding to the output light.

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

Meanwhile, the communication unit 222 may include at least a wireless communication unit (not shown) capable of wireless communication.

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

On the other hand, the communication unit 222 can receive power information from a power information transmission apparatus (not shown). To this end, the communication unit 222 may be provided with a communication module (not shown) separately from the wireless communication unit (not shown).

Meanwhile, the communication unit 222 may be provided in the robot cleaner, but may be separately attached to the case of the robot cleaner 200 and connected to the internal circuit of the robot cleaner by wire.

The camera 230 may be disposed in the upper portion 212 of the body to detect an object positioned in front of the robot cleaner 200 in addition to the position sensing sensor 200. [

The camera 230 may be one RGB camera. The RGB camera may have a CCD module or a CMOS module. Meanwhile, the camera 230 may be an IR camera for detecting a distance to an external object. On the other hand, a plurality of RGB cameras may be provided.

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

The memory 243 may store various data for operation of the entire robot cleaner 200. On the other hand, the memory 243 may be equipped with a speech recognition algorithm.

The cleaning unit 245 sucks foreign substances located on the lower surface of the robot cleaner 200. To this end, the robot cleaner 200 can be driven by the traveling unit 280, and the cleaning unit 245 can be operated during driving or during a temporary stop to suck foreign matter.

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

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

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

The control unit 270 can control the overall operation of the robot cleaner. The control unit 270 includes a sensor unit 220, a communication unit 222, a camera 230, a display unit 231, a memory 243, a cleaning unit 245, an audio input unit 252, an audio output unit 254, The driving unit 280, the input unit 295, and the like.

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

On the other hand, the running unit 280 controls the control unit 270 to control either the forward rotation or the reverse rotation of the left wheel 261a and the right wheel 262a, Or turning, etc. may be performed.

For example, when the left wheel 261a is rotated in the forward direction and the right wheel 262a is rotated in the reverse direction, the main body 210 is rotated to the left or right. Meanwhile, the control unit 270 may control the rotational speed of the left wheel 261a and the right wheel 262a to be different from each other, thereby inducing the translational motion of the main body 210, which also serves as a rectilinear motion and a rotational motion.

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

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

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

The wireless communication unit 510 may include a broadcast receiving module 511, a mobile communication module 513, a wireless Internet module 515, an NFC module 517, and a GPS module 519.

The broadcast receiving module 511 can receive at least one of a broadcast signal and broadcast related information from an external broadcast management server through a broadcast channel. At this time, the broadcast channel may include a satellite channel, a terrestrial channel, and the like.

The broadcast signal and / or broadcast related information received through the broadcast receiving module 511 may be stored in the memory 560.

The mobile communication module 513 transmits and receives a radio signal to at least one of a base station, an external terminal, and a server on a mobile communication network. Here, the wireless signal may include various types of data according to a voice call signal, a video call signal, or a text / multimedia message transmission / reception.

The wireless Internet module 515 is a module for wireless Internet access, and the wireless Internet module 515 can be built in or externally attached to the mobile terminal 500. For example, the wireless Internet module 515 may perform WiFi based wireless communication or WiFi Direct based wireless communication.

The NFC module 517 can perform wireless communication. The NFC module 517 can receive data from the corresponding home appliance or transmit data to the home appliance when the user approaches or is tagged within a predetermined distance from the home appliance equipped with the NFC tag or the NFC module.

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

GPS (Global Position System) module 519 may receive position information from a plurality of GPS satellites.

The A / V (Audio / Video) input unit 520 is for inputting an audio signal or a video signal, and may include a camera 521 and a microphone 523.

The user input unit 530 generates key input data that the user inputs for controlling the operation of the terminal. To this end, the user input unit 530 may include a key pad, a dome switch, a touch pad (static pressure / static electricity), and the like. Particularly, when the touch pad has a mutual layer structure with the display 551, it can be called a touch screen.

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

The sensing unit 540 may include a sensing sensor 541, a pressure sensor 543, a motion sensor 545, and the like. The motion sensor 545 can detect the movement or the position of the mobile terminal 500 using an acceleration sensor, a gyro sensor, a gravity sensor, or the like. In particular, the gyro sensor is a sensor for measuring the angular velocity, and it can sense the direction (angle) of rotation about the reference direction.

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

The display 551 displays and outputs information processed by the mobile terminal 500. [

Meanwhile, as described above, when the display 551 and the touch pad have a mutual layer structure to constitute a touch screen, the display 551 may be used as an input device capable of inputting information by a user's touch in addition to the output device .

The audio output module 553 outputs audio data received from the wireless communication unit 510 or stored in the memory 560. [ The sound output module 553 may include a speaker, a buzzer, and the like.

The alarm unit 555 outputs a signal for notifying the occurrence of an event of the mobile terminal 500. For example, it is possible to output a signal in a vibration mode. .

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

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

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

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

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

Meanwhile, the block diagram of the mobile terminal 500 shown in FIG. 4 is a block diagram for an embodiment of the present invention. Each component of the block diagram may be integrated, added, or omitted depending on the specifications of the actual implemented mobile terminal 500. That is, two or more constituent elements may be combined into one constituent element, or one constituent element may be constituted by two or more constituent elements, if necessary. In addition, the functions performed in each block are intended to illustrate the embodiments of the present invention, and the specific operations and apparatuses do not limit the scope of the present invention.

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

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

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

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

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

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

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

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

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

FIG. 6 is a flowchart illustrating an operation method of a robot cleaner according to an embodiment of the present invention, FIG. 7 is a flowchart illustrating an operation method of a mobile terminal according to another embodiment of the present invention, FIGS. 8A to 11 Fig. 6 is a diagram referred to in the explanation of the operation method of Fig. 6 or Fig.

7 and 8 together, the mobile terminal 500 wirelessly connects to the robot cleaner 200 (S705). Then, the care mode entry command, particularly the silver care mode entry command, is transmitted to the robot cleaner 200 (S708).

The mobile terminal 500 can execute a robot cleaner 200 related application for remotely controlling the robot cleaner 200 by user input. The mobile terminal 500 may display a remote control screen for remotely controlling the robot cleaner 200.

In the state where the remote control screen is displayed, a silver care mode for care of a predetermined grandfather or grandmother by user input can be selected.

The silver care mode may be a mode for informing the user of an abnormality, or notifying the hospital, the fire department, or the like, when the abnormality occurs, while checking the state of the predetermined grandfather or grandmother.

When the silver care mode is executed, a user who falls to the remote place can easily grasp the state of the grandfather or the grandmother by using the robot cleaner provided in the home of the grandmother or grandmother.

When the silver care mode is selected, the control unit 580 of the mobile terminal 500 can control the robot cleaner 200 to transmit a silver care mode entry command through the wireless communication unit 510. [ Accordingly, the wireless communication unit 510 of the mobile terminal 500 transmits a silver care entry command.

For example, when the mobile terminal 500 is located in the home, the mobile terminal 500 can wirelessly connect to the robot cleaner 200 via the AP device 400. [ The mobile terminal 500 can wirelessly connect to the robot cleaner 200 via the external network 600 and the AP apparatus 400. In this case,

After the mobile terminal 500 is wirelessly connected to the robot cleaner 200, the mobile terminal 500 can transmit a silver care mode entry command for executing the silver care mode. Accordingly, the communication unit 222 of the robot cleaner 200 can receive the silver care mode entry command.

Next, the robot cleaner 200 receives the silver care mode entry command from the mobile terminal 500, and enters the silver care mode (S610). Then, in accordance with the silver care mode, a certain user can travel to approach the neighborhood (S620).

The control unit 270 of the robot cleaner 200 can receive the silver care mode entry command through the communication unit 222 and thereby control to enter the silver care mode. Upon entering the silver care mode, the audio input unit 252 and the camera 230 can be activated.

When the video data or the audio data for the grandfather or grandmother is stored in the memory 243 in advance, it is possible to control the silver care mode to be performed using this data.

More specifically, the controller 270 of the robot cleaner 200 controls the travel unit 280 to cause the robot cleaner 200 to travel in the house, and during the travel, using the data stored in the memory 243 , The location of a grandfather or grandmother, and so on.

Next, the robot cleaner 200 acquires at least one of audio data or video data related to a specific user during driving or after completion of driving (S630).

The control unit 270 of the robot cleaner 200 can acquire audio data or video data through the audio input unit 252 and the camera 230 in the activated robot cleaner 200 during driving.

On the other hand, when the robot cleaner 200 approaches the vicinity of a specific user, for example, grandfather or grandmother, the traveling is terminated and the audio data or audio data is transmitted through the audio input unit 252 and the camera 230 It is also possible to acquire video data.

Next, the robot cleaner 200 compares the acquired data with the stored data, and determines whether the difference is equal to or greater than a predetermined value (S640). If so, a notification message is transmitted (S650).

The control unit 270 of the robot cleaner 200 compares audio data or video data for the grandfather or grandmother continuously obtained with the audio data or video data previously stored in the memory 243, Or more.

For example, if the video data stored in the memory 243 is stored in the grandfather, if the video data lying in the grandfather is received for a predetermined time or longer via the camera 230 according to the silver care mode, According to the difference, it can be judged that the condition of the grandfather is abnormal.

Another example is that the audio data related to the voice of the grandfather is stored in the memory 243 but the voice of the grandfather is not obtained over the reference time via the audio input unit 252 according to the silver care mode, Likewise, when audio data indicating that the grandfather is collapsed is received, it can be judged that the state of the grandfather is abnormal according to the difference.

On the other hand, when determining an abnormal state based on audio data, it is preferable to exclude audio data related to the surrounding living environment. The data related to the living environment may be audio data related to the sound of the refrigerator door opening / closing, the sound of the sink / sink water, and the sound of windows / doors.

The audio data related to this living environment can be stored in the memory 243 in advance and can be compared with the voice of the grandfather stored in the memory 243 again after excluding the audio data related to the living environment from the obtained audio data have.

On the other hand, as another example, it is possible to judge the abnormal situation when the recognition of the daily life pattern sound source event is not confirmed during a predetermined time interval (for example, 12 hours or more) by reflecting the life pattern of the user. For example, a daily life pattern sound source event may be a sound of a refrigerator door opening / closing, a sink / sink water sound, a window / door opening / closing sound, and the like.

In this case, the control unit 270 of the robot cleaner 200 can generate an error message and control the transmission through the communication unit 222 to the mobile terminal 500. [

Meanwhile, the control unit 270 of the robot cleaner 200 may control the audio output unit 254 to output an error message as an audio signal. Thereby, another user in the house can quickly grasp the abnormal state.

Next, the mobile terminal 500 receives an error message from the robot cleaner 200 (S750). The wireless communication unit 510 of the mobile terminal 500 receives an error message from the robot cleaner 200 and transmits the error message to the controller 580.

The control unit 580 of the mobile terminal 500 can control the display unit 551 to display the received error message. It is also possible to control so that the preset contact is displayed on the display 551 together with the error message. Here, the predetermined contact may be a hospital, a fire department, a police station, or the like.

8A illustrates that, via the mobile terminal 500, a silver care mode entry is performed.

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

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

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

8B illustrates that the robot cleaner 200 travels throughout the house 10 in the silver care mode. In particular, the robot cleaner 200 looks for a specific user, for example, grandfather 1107 and illustrates driving the robot cleaner 200 in some places 1010, 1020, 1030, 1040 and 1050 in the house 10.

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

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

FIG. 8C illustrates shooting a situation where the grandfather 1107 located in the middle room 1107 is collapsed through the camera 230. FIG.

Thereby, the control unit 270 can acquire the video data whose grandfather has fallen, and can compare the video data stored and stored in the memory 243 with the video data stored in the memory 243, and judge that the difference is equal to or greater than a predetermined value . That is, it can be determined as an abnormal state.

In this case, the robot cleaner 200 can generate an abnormal message and transmit it to the mobile terminal 500 through the communication unit 222, as shown in FIG. 8D.

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

In this regard, FIG. 8D illustrates that the mobile terminal 500 receiving the abnormal message including the image displays the received abnormal message. Through such an image containing error message, the user can immediately grasp the abnormal state.

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

8D illustrates that the contact object 1525 associated with the fire station is displayed with an error message. When the user selects this object 1525, it becomes possible to connect directly to the fire department. For example, a connection by a call becomes possible. Alternatively, connection via the Internet is possible.

9 exemplifies an abnormal judgment based on a comparison of video data.

Referring to the drawing, the robot cleaner 200 acquires the video data 1210 including the grandfather 1107 in the area where the grandfather is located, via the camera 230 at the second time t2. The control unit 270 of the robot cleaner 200 compares the video data 1205 acquired in the first time t1 with the video data 1205 stored in the memory 243.

In the stored video data 1205, although the grandfather 1107 is standing, it can be seen that the grandfather 1107 is collapsed in the obtained video data 1210. This difference data 1230 makes it possible to perform an anomaly determination.

10 illustrates an anomaly judgment based on a comparison of audio data.

10A illustrates that the external audio Sk is received through the audio input unit 252 while the robot cleaner 200 is running.

Particularly, the robot cleaner 200 moves near the grandfather, which is the object of the silver care mode, by traveling. Then, audio data generated in the vicinity of the grandfather 1107 is received.

10B illustrates that the audio data Sko to be "banged " is obtained through the audio input unit 252 when the grandfather 1107 suddenly collapses.

The controller 270 of the robot cleaner 200 compares the obtained audio data Sko with the audio data related to the living environment previously stored in the memory 243 and if the difference is greater than or equal to a predetermined value, .

Figure 11 illustrates various examples of silver care mode command transmission.

The transmission of the silver care mode command can be received by various methods other than the mobile terminal.

11A illustrates that the specific key 107 of the remote control device 105 operates when the robot cleaner 200 is located in the charging cradle 100. [ The communication unit 222 of the robot cleaner 200 can receive the silver care mode command according to the operation of the specific key 107 and enter the silver care mode.

FIG. 11B illustrates that the user 800 outputs a voice 803 of "look over" while leaving the house. In this case, the audio input unit 252 of the robot cleaner 200 can perform speech recognition according to an algorithm in the server 300 by receiving the voice and accessing the internal algorithm or the server 300. Since the recognized voice contents are related to the outgoing mode, the robot cleaner 200 can perform the silver care mode for care of the grandfather or grandmother in the house. At this time, various modes may be included in the outgoing mode, and a silver care mode may be performed as one of them.

11C illustrates that the care mode, particularly the silver care mode item 12030, is selected in the state that the remote control screen of the mobile terminal 500 is displayed. Accordingly, Mode command to the robot cleaner 200, and the robot cleaner 200 can enter the silver care mode.

The robot cleaner, the mobile terminal and the operation method thereof according to the present invention are not limited to the configuration and the method of the embodiments described above, but the embodiments can be applied to all of the embodiments Or some of them may be selectively combined.

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

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

Claims

An audio input unit;
camera;
A communication unit for exchanging data with an external device;
A cleaning unit for performing cleaning; And
Acquiring at least one of audio data or video data for a specific user through the audio input unit or the camera in accordance with the silver care mode when entering the silver care mode, And a controller for controlling the communication unit to transmit a notification message when the difference is greater than a predetermined value.

The method according to claim 1,
And a traveling unit for moving the robot cleaner,
Wherein,
Wherein at least one of the audio data and the video data is acquired after or during the running.

The method according to claim 1,
Wherein,
Wherein the control unit controls the silver care mode to be performed when receiving the silver care mode entering command wirelessly through the communication unit.

The method according to claim 1,
Wherein,
Wherein the control unit controls the silver care mode to be performed based on a user's voice received through the audio input unit.

A wireless communication unit for exchanging data with the robot cleaner; And
A controller for controlling the robot cleaner to transmit a silver care mode entry command through the wireless communication unit; And
And a display unit for displaying the abnormal message when receiving an abnormal message from the robot cleaner through the wireless communication unit.

6. The method of claim 5,
Wherein the display comprises:
And upon receiving the anomaly message, displays a specific contact associated with the anomaly message.

6. The method of claim 5,
Further comprising: a microphone;
Wherein,
Wherein the silver care mode enter command is generated when receiving the user voice associated with the silver care mode through the microphone.

A method of operating a robot cleaner,
Entering a silver care mode;
Obtaining at least one of audio data or video data for a specific user when entering the silver care mode; And
And transmitting a notification message when the difference between the acquired data and the stored data is greater than or equal to a predetermined value.

9. The method of claim 8,
Driving in accordance with the care mode,
Wherein at least one of the audio data or the video data is obtained after the running or during the running.

9. The method of claim 8,
Wherein the silver care mode entry step comprises:
And a silver care mode entry command received wirelessly.

9. The method of claim 8,
Wherein the silver care mode entry step comprises:
Wherein the step of performing the operation is performed based on the received user voice.

Wirelessly connecting to a robot cleaner;
Transmitting a silver care mode entry command to the robot cleaner; And
And receiving an abnormal message from the robot cleaner.

13. The method of claim 12,
Displaying the error message; And
And displaying a specific contact associated with the anomaly message.

13. The method of claim 12,
The silver care mode entry instruction may include:
Based on the voice of the user.