KR20210101015A - Companion exercise training method using autonomous driving robot - Google Patents

Abstract

The present invention relates to a companion animal exercise and training method using an autonomous driving robot to compensate for lack of exercise of a companion animal. According to one embodiment of the present invention, the companion animal exercise and training method comprises the following steps: partially opening an opening part provided in an autonomous driving robot to accommodate snacks for a companion animal in response to a control signal from a user terminal or at time preset through the user terminal; moving the autonomous driving robot according to a driving route set by using biometric information of the companion animal; detecting location information of the companion animal and information on a distance of the companion animal from the autonomous driving robot on the basis of a signal received from a sensor module attached to a body part of the companion animal; operating an air circulation unit provided in the opening part on the basis of distance information so that smell of snacks for the companion animal is leaked to the outside of the opening part; and extracting an activity score for evaluating exercise performance of the companion animal on the basis of the location information and determining the amount of feed discharged through the opening part on the basis of the extracted activity score.

Description

Companion animal exercise training method using autonomous driving robot {COMPANION EXERCISE TRAINING METHOD USING AUTONOMOUS DRIVING ROBOT}

The present invention relates to a companion animal exercise training method using an autonomous driving robot. In more detail, when a preset time is reached by a control signal from the user terminal or through the user terminal, the opening part provided in the autonomous driving robot and containing snacks for companion animals is partially opened. moving according to a set driving route using the use of a companion animal, detecting the location information of the companion animal and distance information from the autonomous driving robot of the companion animal based on the signal received from the sensor module attached to the body part of the companion animal, the distance By operating the air circulation unit provided in the open part based on the information, the activity score for evaluating the exercise performance of the companion animal is derived and derived based on the step and location information of the smell of the companion animal snack leaking out to the outside of the opening It relates to a companion animal exercise training method using an autonomous driving robot comprising the step of determining the amount of feed discharged through an opening based on the obtained activity score.

As the number of households with companion animals increases, the size of the companion animal market is also increasing. When looking at the trend of the size of single-person households, it is predicted that by 2030, one in two people will be single. As the number of single-person households increases, the number of modern people with companion animals is also increasing. Pets are considered a member of the family in modern times. However, due to busy daily life, business trips, and travel, there are often situations in which you have no choice but to leave your pet alone at home. If a companion animal is left alone in the house, it can adversely affect mental health, such as depression or memory impairment, just like humans, and can lead to physical diseases such as hunger.

Time for companion animals passes six times faster than humans, and 1 in 4 companion animals with depression due to loneliness, and 56% of companion animals who are overweight due to insufficient exercise and bad eating habits. Pets left alone for various reasons, such as to work, may show symptoms of overweight and separation anxiety due to a lethargic and repeated life, insufficient amount of exercise, eating habits, or problematic behaviors.

Republic of Korea Patent Publication No. 10-2001-0047952 (published date: August 09, 2001)

The present invention is to solve the above-mentioned problems, and to provide a companion animal exercise training method using an autonomous driving robot that can supplement the insufficient amount of exercise while stimulating interest in companion animals in a single household even if the guardian is away from home. It has its purpose in

In an embodiment of the present invention, a companion animal exercise training method using an autonomous driving robot may be provided.

In a companion animal exercise training method using an autonomous driving robot according to an embodiment of the present invention, when a preset time is reached according to a control signal from a user terminal or through a user terminal, an opening part is provided in the autonomous driving robot to accommodate companion animal snacks. Partially opened step, the autonomous driving robot moves along a set driving route using the companion animal’s biometric information, the companion animal’s location information and companion animal based on a signal received from a sensor module attached to a part of the companion animal’s body Sensing the distance information from the autonomous driving robot of the animal, the step of leaking the smell of the companion animal snack to the outside of the opening by operating the air circulation unit provided in the opening based on the distance information, and the companion animal based on the location information It may include a step of deriving an activity score for evaluating the exercise performance of the person, and determining the amount of snacks for companion animals discharged through the opening based on the derived activity score.

In the companion animal exercise training method using the autonomous driving robot according to an embodiment of the present invention, in the step of leaking the smell of the companion animal snack to the outside of the opening, the companion animal is located in the second area based on the distance information If it is determined that the autonomous driving robot moves in the direction of the companion animal until the companion animal is located in the first area, if it is determined that the companion animal is located in the first area, the output of the air circulation unit is transmitted between the companion animal and the autonomous driving robot. The operation is proportional to the separation distance, the first area is an area including a virtual circle having a predetermined reference length as the radius of the autonomous driving robot as the center, and the second area is a living area of the companion animal except for the first area. It may be an area.

In the companion animal exercise training method using the autonomous driving robot according to an embodiment of the present invention, the user terminal includes a pressure sensor installed to correspond to the distal end of all fingers of the user, and a flex sensor installed to correspond to the first to third joints of the user's fingers. , a gyro sensor installed at the distal end of the user's index finger, a communication module for communicating with the autonomous driving robot 100, a storage module for storing one or more instructions, and a processor for executing one or more instructions stored in the storage module, including a processor determines the input signal for inputting the virtual QWERTY keyboard from the first sensing data obtained from the pressure sensor, and determines the position where the input signal is detected from the virtual QWERTY keyboard from the second sensing data obtained from the flex sensor, from the gyro sensor An output signal may be generated based on the result of determining the position of the input signal input from the index finger from the obtained third sensing data, and the output signal may be transmitted to the autonomous driving robot as a user signal using the communication module.

According to the companion animal exercise training method using the autonomous driving robot of the present invention, even if the guardian is away from home, there is an effect of stimulating the interest in the companion animal in the single-person household and supplementing the insufficient amount of exercise.

1 is an exemplary diagram illustrating a state in which an autonomous driving robot is exercising a companion animal using the companion animal exercise training method using the autonomous driving robot according to an embodiment of the present invention.
2 is an exemplary diagram illustrating a first area and a second area in a companion animal exercise training method using an autonomous driving robot according to an embodiment of the present invention.
3 to 4 are exemplary views illustrating a user interface screen provided through a user terminal in a companion animal exercise training method using an autonomous driving robot according to an embodiment of the present invention.
5 is an exemplary diagram illustrating an example of a user terminal in a companion animal exercise training method using an autonomous driving robot according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those of ordinary skill in the art can easily implement them. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Terms used in this specification will be briefly described, and the present invention will be described in detail.

The terms used in the present invention have been selected as currently widely used general terms as possible while considering the functions in the present invention, but these may vary depending on the intention or precedent of a person skilled in the art, the emergence of new technology, and the like. In addition, in a specific case, there is a term arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the term used in the present invention should be defined based on the meaning of the term and the overall content of the present invention, rather than the name of a simple term.

When a part "includes" a certain element throughout the specification, this means that other elements may be further included, rather than excluding other elements, unless otherwise stated. In addition, terms such as "...unit" and "module" described in the specification mean a unit that processes at least one function or operation, which may be implemented as hardware or software, or a combination of hardware and software. . In addition, when a part is "connected" to another part throughout the specification, it includes not only a case in which it is "directly connected" but also a case in which it is connected "with another element in the middle".

1 is an exemplary diagram illustrating a state in which an autonomous driving robot 100 is exercising a companion animal using the companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention, and FIG. In the companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention, it is an exemplary view showing the first area 41 and the second area 42 , and FIGS. 3 to 4 . is an exemplary diagram illustrating a user interface screen provided through a user terminal in the companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention. Hereinafter, the present invention will be described in detail with reference to the drawings described above.

In an embodiment of the present invention, a companion animal exercise training method using the autonomous driving robot 100 may be provided. In the present specification, the type of companion animal 20 is not limited, and various types of companion animals 20 including dogs and cats may be included.

The companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention is provided in the autonomous driving robot 100 according to a control signal from a user terminal or when a preset time is reached through the user terminal. The step of partially opening the opening 110 in which the snack 30 is accommodated, the step of moving the autonomous driving robot 100 according to the driving route set using the biometric information of the companion animal 20, the step of the companion animal 20 Detecting location information of the companion animal 20 and distance information from the autonomous driving robot 100 of the companion animal 20 based on a signal received from a sensor module attached to a body part of the To evaluate the exercise performance of the companion animal 20 based on the step and location information in which the smell of the snack for companion animal 30 flows out of the opening 110 by operating the air circulation unit provided in the opening 110 . It may include a step of deriving an activity score for the purpose, and determining the amount of the companion animal snack discharged through the opening part 110 based on the derived activity score.

The autonomous driving robot 100 according to one disclosure is a moving object capable of autonomously moving, and may be operated by a control unit in the autonomous driving robot 100 , and the autonomous driving robot 100 includes a user terminal and a body of a companion animal 20 . A communication unit for performing communication with the sensor module attached to the part may be included.

The control unit may, for example, drive software or a program to control at least one other component (Ex. hardware or software component) of the autonomous driving robot 100 connected to the control unit, and perform various data processing and calculations. can be done The control unit may load a command or data received from another component (Ex. communication unit) into a volatile memory for processing, and store the result data in a non-volatile memory. The control unit operates independently of the main processor (Ex. central processing unit or application processor), and additionally or alternatively, uses less power than the main processor, or a secondary processor (Ex. graphic processing unit, image signal processor, sensor hub processor, or communication processor). Here, the auxiliary processor may be operated separately from or embedded in the main processor.

In addition, the autonomous driving robot 100 according to an embodiment of the present invention may include a communication unit. The communication unit may support establishment of a wired or wireless communication channel with a user terminal and other devices, which will be described later, and performing communication through the established communication channel. The communication unit may include one or more communication processors that support wired communication or wireless communication operated independently of the control unit. The communication unit is a wireless communication module (Ex. cellular communication module, short-range wireless communication module, or GNSS (global navigation satellite system) communication module) or wired communication module (Ex. LAN (local area network) communication module, or power line communication module) may include.

In addition, an opening 110 in which the snack 30 for companion animals is accommodated may be provided on one side of the autonomous driving robot 100 according to the disclosure. The opening 110 may be formed in a hexahedral shape.

In the opening 110 according to one disclosure, a plurality of frames 111 are provided in a lattice form on a side surface of the opening 110 so that gas, such as air, may be transferred between the inside and the outside of the opening 110 . The lower side 112 of the opening 110 may be rotated by being connected to a portion of the side of the opening 110 in a hinged form. That is, the snack for companion animal 30 is accommodated inside the opening 110 . When the snack for companion animal 30 moves from the inside of the opening 110 to the outside or from the outside to the inside, the opening part It can move through the lower side 112 of 110 . The autonomous driving robot 100 may be provided with a driving unit (not shown) for controlling the rotational movement of the lower surface 112 of the open part 110 , and an operation signal by the control unit of the autonomous driving robot 100 . Based on the operation of the driving unit, the lower surface 112 of the opening 110 may be rotated.

According to one disclosure, the control signal may be a signal for operating the autonomous driving robot 100 by the user terminal. That is, upon receiving the control signal, the autonomous driving robot 100 may open a part of the opening 110 so that the smell of the snack 30 for companion animals flows to the outside of the opening 110 .

The start time according to one start may be preset by the user terminal. That is, the autonomous driving robot 100 may start an operation of opening a part of the opening part 110 when a preset start time arrives.

Partial opening of the opening 110 according to one disclosure may indicate opening through partial rotation of the lower surface 112 of the above-described opening 110 . That is, when the control signal from the user terminal or the start time arrives, the lower surface 112 of the opening 110 may be rotated toward the ground by a predetermined angle. The predetermined angle according to one disclosure may be an angle such that the snack for companion animals 30 does not escape to the outside of the opening 110 . That is, even if the lower side 112 of the opening 110 rotates by a predetermined angle toward the ground, the snack 30 for companion animals accommodated inside the opening 110 is still accommodated inside the opening 110 , there may be

The autonomous driving robot 100 according to one disclosure may set a driving route using the biometric information of the companion animal 20 and may move according to the set driving route. The biometric information may include all of the type, body type, weight, size, and health status of the companion animal 20 . In addition, the biometric information may further include a daily required amount of exercise of the companion animal 20 . The daily required exercise amount may be information predetermined based on the type, body type, weight, size, and health condition of the companion animal 20 of the companion animal 20 . That is, the autonomous driving robot 100 may determine the required daily exercise amount as, for example, 150 kcal in consideration of the weight and health condition of the companion animal 20, and according to the determined daily required exercise amount, the companion animal ( 20) may determine the movement distance to move, and based on the determined movement distance, a travel route within the living area 40 of the companion animal 20 may be generated. For example, it is possible to create a driving route in which the companion animal 20 can move at a speed of 5 km/h by 500 m in order to consume as much as 150 kcal. The living area 40 of the companion animal 20 according to the disclosure may be a space in which the user and the companion animal 20 live together.

According to one disclosure, a sensor module may be attached to a part of the body of the companion animal 20 . The sensor module is for confirming the location of the companion animal 20 and uses various sensors such as GPS, radar, and lidar to provide location information of the companion animal 20 and the autonomous driving robot 100 of the companion animal 20 ) from the distance information can be derived. The sensor module may further include a communication device for enabling data transmission/reception with the autonomous driving robot 100 .

In the companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention, in the step in which the smell of the companion animal snack 30 is leaked to the outside of the opening 110, based on distance information Thus, if it is determined that the companion animal 20 is located in the second area 42 , the autonomous driving robot 100 moves in the direction of the companion animal 20 until the companion animal 20 is located in the first area 41 . If it moves and it is determined that the companion animal 20 is located in the first area 41, the output of the air circulation unit is operated to be proportional to the separation distance between the companion animal 20 and the autonomous driving robot 100, and the first area Reference numeral 41 denotes an area including an imaginary circle having a predetermined reference length as a radius around the autonomous driving robot 100 , and the second area 42 is the first of the living areas 40 of the companion animal 20 . It may be an area other than the first area 41 .

That is, if it is determined that the companion animal 20 is located in the second region 42 , the companion animal 20 is stimulated by the smell of the companion animal snack 30 to move along the autonomous driving robot 100 . The traveling robot 100 may move in the direction of the companion animal 20 .

If it is determined that the companion animal 20 is located in the first area 41, the output of the air circulation unit is operated to be proportional to the separation distance, thereby providing the companion animal 20 with respect to the companion animal snack 30. By maximizing the stimulus, the moving speed of the companion animal 20 can be increased, and the companion animal 20 can be made to move along the autonomous driving robot 100 within the first area 41 . .

The air circulation unit (not shown) according to one disclosure may be attached to the upper surface of the opening 110 . The air circulation unit may be operated based on an operation signal of the control unit of the autonomous driving robot 100, and as the separation distance between the companion animal 20 and the autonomous driving robot 100 becomes closer, the output of the air circulation unit may be increased. . That is, the air circulation unit can more rapidly deliver the smell of the companion animal snack 30 toward the companion animal 20 so that the companion animal 20 moves along with the autonomous driving robot 100 .

In the companion animal exercise training method using the autonomous driving robot 100 according to an embodiment of the present invention, the user terminal includes a pressure sensor installed to correspond to the distal end of all fingers of the user, and to correspond to the first to third joints of the user's fingers. A flex sensor installed, a gyro sensor installed at the distal end of the user's index finger, a communication module for communicating with the autonomous driving robot 100, a storage module for storing one or more instructions, and a processor for executing one or more instructions stored in the storage module and, the processor determines an input signal for inputting the virtual QWERTY keyboard from the first sensing data obtained from the pressure sensor, and determines the position where the input signal is detected from the virtual QWERTY keyboard from the second sensing data obtained from the flex sensor, It is possible to generate an output signal based on the result of determining the position of the input signal input from the index finger from the third sensing data obtained from the gyro sensor, and transmit the output signal as a user signal to the autonomous driving robot using the communication module.

)는 하기 수학식 1에 기초하여 결정될 수 있다.According to one disclosure, an activity score for evaluating the exercise performance of a companion animal may be derived based on location information. Activity score according to the start of work (

) may be determined based on Equation 1 below.

[Equation 1]

는 활동계수이고,

는 제 1 영역 내에서의 반려동물의 이동거리이며,

는 평균이동속도이며,

는 활동상수이며,

는 자율주행로봇이 개방부 일부를 개방한 시점부터 반려동물이 제 1 영역에 위치하고 있는 시간의 총 합이며,

는 자율주행로봇이 개방부 일부를 개방한 시점부터 반려동물이 제 2 영역에 위치하고 있는 시간의 총 합일 수 있다.here,

is the activity coefficient,

is the moving distance of the companion animal in the first area,

is the average moving speed,

is the activity constant,

is the sum of the time the companion animal is located in the first area from the time when the autonomous driving robot partially opened the opening,

may be the total of the time the companion animal is located in the second area from the time when the autonomous driving robot partially opens the opening.

According to one disclosure, the amount of snacks for companion animals may be determined in proportion to the activity score. The snack for companion animal may indicate the amount of the snack for companion animal based on units such as the number, weight, and calories of the snack.

That is, according to the activity score indicating the amount of activity of the companion animal, the amount of snacks for the companion animal can be adjusted as a reward for the companion animal.

The user terminal according to one disclosure may be implemented as a portable mobile terminal in which portability and mobility are guaranteed. The terminal includes a Personal Communication System (PCS), a Global System for Mobile communications (GSM), a Personal Digital Cellular (PDC), and a Personal Handyphone System (PHS). ), personal digital assistant (PDA), WiBro (Wireless Broadband Internet, WiBro) terminal, smartphone, tablet PC, etc. All kinds of handheld-based wireless communication devices may be included. . In particular, the user terminal is an intelligent device in which computer support functions such as Internet communication and information search are added to a portable device, and may be a smartphone capable of installing and executing a plurality of applications desired by the user. In addition, the user terminal may be implemented as a general-purpose computer such as a desktop or a laptop, and may also be implemented in the form of a dedicated terminal for controlling the autonomous driving robot.

5 is an exemplary diagram illustrating a wearable glove type user terminal to which a user's control signal can be input in the autonomous driving robot 100 for improving programming ability according to an embodiment of the present invention.

Referring to FIG. 6 , the user terminal includes a pressure sensor installed to correspond to the distal end of all fingers of the user, a flex sensor installed to correspond to the first joint to the third joint of the user's finger, a gyro sensor installed to the distal end of the user's index finger, autonomous driving A communication module for communicating with the robot 100, a storage module for storing one or more instructions, and a processor for executing one or more instructions stored in the storage module, wherein the processor is a virtual QWERTY keyboard from the first sensing data obtained from the pressure-sensitive sensor Determine the input signal to input, determine the position where the input signal is detected in the virtual QWERTY keyboard from the second sensing data obtained from the flex sensor, the input signal input from the index finger from the third sensing data obtained from the gyro sensor It is possible to generate an output signal based on the result of determining the position of , and transmit the output signal as a user signal to the autonomous driving robot using a communication module.

Hereinafter, a user terminal for inputting a user signal to the autonomous driving robot 100 of the present invention will be described in detail.

According to one disclosure, the user terminal 700 may be manufactured in the form of a pair of gloves. According to one disclosure, the user terminal 700 is a device for performing an input by being worn on the user's hand, and in particular, refers to a keyboard without a keyboard. According to one disclosure, the user terminal 700 may recognize a user's hand motion through a sensor, and transmit an output value of recognizing a character meaning a hand motion to the autonomous driving robot 100 using a wireless communication module.

According to one disclosure, the user terminal 700 determines an input signal for inputting the virtual QWERTY keyboard from the first sensing data obtained from the pressure-sensitive sensor 701 , and virtual from the second sensing data obtained from the flex sensor 711 . Determine the position at which the input signal is detected in the QWERTY keyboard, and generate an output signal based on the result of determining the position of the input signal input from the index finger from the third sensing data obtained from the gyro sensor 703, and connect the communication module The output signal may be transmitted to the autonomous driving robot 100 through the

According to one disclosure, the user terminal 700 and the autonomous driving robot 100 may be divided into a master terminal and a slave terminal according to who serves as a host or an access point. In other words, a terminal that generates an identifier, that is, an SSID (Service Set Identifier) for pairing and accepts pairing becomes a master, and a terminal that requests pairing from such a master terminal becomes a slave. Also, the terminal may be a master or a slave. Also, the terminal may download and install an application for performing such a pairing function from an online market. Also, the terminal may receive and use an application from a cloud server that provides a cloud computing service.

According to one disclosure, the user terminal 700 may recognize a user's hand gesture using at least three types of sensors. More specifically, the user terminal 700 recognizes the user's hand gestures using the pressure-sensitive sensor 701, the flex sensor 711, and the gyro sensor 703, and autonomously selects the characters desired to be input by the user from the recognized hand gestures as output values. It can be transmitted to the driving robot 100 .

According to one disclosure, the pressure-sensitive sensor 701 may be installed to correspond to the positions of all finger distal ends of the user, and may determine whether the user inputs the virtual keyboard. When a pressure equal to or greater than a predetermined threshold is input, the user terminal 700 may determine that the user has inputted the virtual keyboard, and may determine the signal input by the user as the input signal.

According to one disclosure, the flex sensor 711 may be installed to correspond to the first joint to the third joint of the user's finger. According to one disclosure, the flex sensor 711 may measure the bending information of the finger from a resistance value that is changed according to the bending degree of the user's finger in order to measure the bending degree of the user's finger. The flex sensor 711 may be made of a flexible element, and may include a bending resistance measuring element detachably attached to the terminal of the head socket. Accordingly, the flex sensor 711 is easily replaceable in the glove-type user terminal 700 .

According to one disclosure, the gyro sensor 703 may be installed to correspond to the user's index finger. The gyro sensor 703 is generally used to accurately determine the input position of the index finger, which has the widest keyboard input range. More specifically, the user terminal 700 may determine the output value by determining the left and right (x-axis) positions of the index finger from the sensing signal of the gyro sensor 703 .

According to one disclosure, the virtual QWERTY keyboard is a means for receiving an input of a key set on each finger of the user terminal 700 other than the actual keyboard, and the user can input the virtual QWERTY keyboard through a finger input according to inertia. have.

According to one disclosure, the user terminal 700 may determine whether the first sensing data obtained from the pressure-sensitive sensor corresponds to a threshold value or more. According to one disclosure, the first sensed data represents a pressure signal recognized by the user terminal 700 through the pressure sensor. For example, when the user applies pressure to the flat floor surface while the user terminal 700 is mounted, when the magnitude of the pressure applied by the pressure sensor is equal to or greater than a threshold value, the input value is converted to the first sensing data. can decide According to one disclosure, when the value of the first sensed data falls below the threshold value, the user terminal 700 may reduce energy for analyzing unnecessary input by determining it as an error value rather than data for inputting the keyboard. .

According to one disclosure, the user terminal 700 may compare the pressure input from the pressure sensor with a predetermined threshold, and select and recognize the input level according to the comparison result. The threshold value by one start may be a value preset by the user. In addition, the threshold value according to the initiation may be a pressure value customized to the user based on the user's profile.

By one start, the user terminal 700 may set a time point at which a pressure greater than a threshold is inputted as a specific time point or a specific time period, and selects the input level according to the pressure input at a recognition time. can be characterized as Here, the recognition time may be set to a time of 50 ms to 150 ms based on a point in time when a pressure of a predetermined level or more is started to be input from the pressure-sensitive sensor.

According to one disclosure, the user terminal 700 may determine the y-axis position of the input signal from the second sensing data obtained from the flex sensor. According to one disclosure, the user terminal 700 may determine a preset output value for the predetermined finger based on the predetermined finger that has acquired the first sensing data.

According to one disclosure, the preliminary output value indicates one keyboard key per line of a predetermined virtual QWERTY keyboard. For example, based on the English virtual QWERTY keyboard keyboard, W. S. X may be assigned to the left ring finger, and E, D, and C may be assigned to the left middle finger. However, in the case of the index finger, two keyboard keys may be assigned per line of the virtual QWERTY keyboard. For example, based on the English virtual QWERTY keyboard, Y, U, H, J, N, M may be assigned to the index finger of the right hand, and T, R, G, F, B, and V may be assigned to the index finger of the left hand. can be

According to one disclosure, the user terminal 700 may determine the output value of the signal input by the user by determining the y-axis position of the finger at which the input signal is detected from the second sensing data. In this case, after starting pairing with the autonomous driving robot 100 , the user terminal 700 may determine a reference point for determining the y-axis position before inputting a character. For example, the user terminal 700 may receive a message requesting the start of text input from the autonomous driving robot 100 , and may set the reference point in response to receiving the message requesting to set the y-axis reference point. Also, according to another embodiment, the user terminal 700 may set a reference point through an application for keyboard input. The method of setting the y-axis reference point is not limited.

According to one disclosure, the user terminal 700 may determine whether the input signal is a signal obtained from the index finger. When the input signal is the index finger, since it has two preliminary output values at the same y-axis position, an additional process for accurate position determination is required.

According to one disclosure, when it is determined that the input signal is an input signal from the index finger, the user terminal 700 may determine the x-axis position of the input signal from the third sensing data. According to one disclosure, the user terminal 700 may preset a reference point for determining the x-axis position. According to one disclosure, the user terminal 700 may set a reference point for determining the left and right positions of the input signal at a predetermined point in time after being connected to the autonomous driving robot 100 . The user terminal 700 may determine whether the signal is detected from the left side or the right side from the reference point using the signal sensed by the gyro sensor. For example, when the y-axis position of the input signal acquired from the right index finger is the uppermost part, the preliminary output values are Y and U, and when it is determined as the right value based on the reference point, the final output value is U.

According to one disclosure, the user terminal 700 may determine an output value from the location information of the input signal. The user terminal 700 may determine the final output value by combining the location information of the input signal. For example, when a plurality of input signals are input, a value obtained by combining the plurality of input signals may be transmitted to the autonomous driving robot 100 as an output value.

According to one disclosure, the user terminal 700 may transmit an output value to the autonomous driving robot 100 using the communication module 719 . According to one disclosure, the communication module 719 may include a module capable of wireless or wired communication. More specifically, the communication module may include a short-range wireless communication module, for example, the short-range wireless communication method may include various methods such as NFC method, Bluetooth, Wi-Fi, Zigbee, barcode recognition method, QR code recognition method, etc. have.

According to one disclosure, the user terminal 700 may include ten pressure-sensitive sensors 701 installed to correspond to the distal end of each of the user's ten fingers. According to one disclosure, the ten pressure-sensitive sensors 701 may include unique identification information corresponding to each finger. Accordingly, when the pressure equal to or greater than the threshold value is sensed, the user terminal 700 may determine the preliminary output value by determining the finger at which the signal is sensed.

According to one disclosure, the flex sensor 711 may be installed to correspond to the first joint to the third joint of the user's finger in order to measure the degree of bending of the user's finger. According to one disclosure, the flex sensor 711 may be attached to the glove only at both ends and the middle portion of the flex sensor 711 for the convenience of movement of the user's finger.

According to one disclosure, the gyro sensor 703 may be installed on the index finger of both hands of the user to determine the x-axis position to which the index finger is input. The gyro sensor 703 measures the direction information of the hand. Additionally, the user terminal 700 may include an acceleration sensor for measuring acceleration information, a gyro sensor for measuring rotation information of the hand, and a geomagnetic sensor for measuring the direction of the geomagnetism. The measured value of the gyro sensor 703 may be provided to an inertial measurement unit (IMU). The inertial measuring device may be provided in the form of one integrated unit consisting of a total of three sensors: an accelerometer capable of measuring movement inertia, a gyrometer capable of measuring rotational inertia, and a magnetic field capable of measuring an azimuth. Rotation information on three axes, that is, pitch, roll, and yaw, may be obtained by using the measured values of the gyroscope and the magnetic field.

According to one disclosure, the processor 715 sets the hysteresis parameter range to less than 20% in order to reduce the error rate of the user input signal recognized by the pressure-sensitive sensor 701 , the gyro sensor 703 and the flex sensor 711 . can

7 is a view for explaining an operation of recognizing first sensed data in a user terminal according to one disclosure. In FIG. 7 , L1, L2, and L3 refer to graphs representing increases and decreases in pressure when the user intentionally applies forces of different magnitudes to the first to third input levels. In other words, it refers to a case where the force is applied to a weak level, a medium level, and a strong level, respectively. By the start, it can be confirmed that the force applied to the floor according to the user's input starts to increase rapidly at about 40-50 ms, peaks at about 80-100 ms, and then ends at about 110-120 ms.

Considering the experimental results as described above, the recognition time is preferably set to a time of 50 ms to 150 ms based on the time when the pressure of a predetermined size or more is started to be input from the pressure-sensitive sensor unit 200 . And it is more preferably set to a time of 70 ms to 110 ms. Here, when a time less than 50 ms or greater than 150 ms is set as the recognition time, it can be confirmed that the magnitude of the pressure applied according to the input applied to the user terminal cannot be measured correctly.

The recognition time may be set based on a time when the pressure has a maximum value during a predetermined time from the time when the pressure of a predetermined level or more is started to be input from the pressure reduction sensor 701 . Preferably, the time when the pressure has a maximum value may be the recognition time.

Here, the user terminal 700 may analyze the change in the magnitude of the input pressure without setting a fixed recognition time, and select the input level based on the magnitude of the pressure at the point in time when the pressure has a maximum value. In this way, when the maximum pressure value is used, there is an effect that the user can more accurately recognize the amount of pressure intended by the user and determine the input level accordingly.

To this end, the user terminal 700 may store the magnitude of the pressure input from the pressure reduction sensor 701 over time according to time, and determine the input level using the largest pressure among the stored pressures.

However, in the case of using the maximum value as described above, a storage module is required to identify the maximum value and power for signal processing may be consumed, so that the previously set recognition time may be used in order to save power. In the case of using the preset recognition time as described above, since the input level can be determined using only the pressure input at the corresponding recognition time, power consumption for signal processing can be minimized.

According to another embodiment, the user terminal 700 may set the most suitable threshold for each user according to the user's input in order to recognize the input level.

According to one disclosure, the threshold value may be selected and set according to a user's selection input from among a plurality of values presented to the user by a setting program driven by the user terminal 700 . For example, the designer of the setting program measures the degree of force applied to the user terminal 700 for each age, gender, and physical condition for users with each age, gender, and physical condition according to the statistical result of the experiment. A threshold value most suitable for a user having a condition may be determined, and accordingly, a threshold value for each user profile may be set in a setting program according to the user's age, gender, and physical condition. For example, in the setting program driven by the user terminal 700, a threshold value is preset for each user profile, and a preset threshold value can be used for the selected profile by receiving a user's selection input for the user profile. . For example, if the setting program pre-stores a threshold value corresponding to a user profile for each age and age group, and the user selects a female user profile or a user profile in her twenties, the user terminal 700 is configured with respect to the user profile of a woman or a user in their twenties. A preset threshold value (first threshold value: 0.5N, second threshold value 3N) may be used.

Alternatively, the threshold value may be set in such a way that the user terminal 700 uses pressure generated according to each user's touch input. Here, the user terminal 700 may set a predetermined threshold as a comparison standard in order to select the input level using the pressure input from the pressure reduction sensor 701 .

The user terminal 700 may include a sensor unit, a battery, and a storage module 712 .

According to one disclosure, the sensor unit may include various sensors including a pressure sensor, a gyro sensor, and a flex sensor. For example, the sensor unit includes a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biometric sensor, a temperature sensor, a humidity sensor, or an illuminance sensor. can do.

According to one disclosure, the battery includes a battery for supplying power required to perform a function of the user terminal 700 , and may include, for example, a lithium polymer battery.

In addition, the user terminal 700 may include a storage module 712 for storing one or more instructions and a processor 715 for executing one or more instructions stored in the storage module 712 .

According to one disclosure, the processor 715, for example, by driving software (eg, a program) to at least one other component (eg, hardware or software component) of the user terminal 700 connected to the processor 715 can be controlled, and various data processing and operations can be performed. The processor 715 may load a command or data received from another component (eg, the communication module 719 ) into a volatile memory for processing, and store the result data in a non-volatile memory. According to an embodiment, the processor 715 is operated independently of the main processor (eg, central processing unit or application processor), and additionally or alternatively, uses less power than the main processor, or an auxiliary specialized for a specified function. It may include a processor (eg, a graphics processing unit, an image signal processor, a sensor hub processor, or a communication processor). Here, the auxiliary processor may be operated separately from or embedded in the main processor.

According to one disclosure, when the first keyboard input is an input by the index finger, the processor 715 additionally determines the position of the first keyboard input in the x-axis direction by using the third sensing data, and It is characterized in that an output value corresponding to the x-axis position and the y-axis position is determined.

According to one disclosure, the processor 715 determines a threshold value of the first sensing data based on the user's profile, and when a pressure equal to or greater than the threshold value is sensed through the pressure-sensitive sensor, at least one corresponding to the pressure-detected finger. It is possible to determine a key of as a preliminary output value, and determine any one of the preliminary output values as an output value based on location information obtained from at least one of the second sensing data and the third sensing data.

According to one disclosure, the processor 715 maps at least one preliminary output value to each of the ten pressure-sensitive sensors installed in the user terminal, and when it is determined that the position of the input signal is not clear, the input signal is mapped to the pressure-sensitive sensor obtained The at least one preliminary output value may be transmitted to the autonomous driving robot 100 , and an output signal may be determined based on a user input for selecting any one of the at least one preliminary output value.

According to one disclosure, the storage module 712 may store a program for processing and control of the processor 715 , and may also store data input to or output from the device of the present invention. Programs stored in the storage module 712 may be classified into a plurality of modules according to their functions, where the plurality of modules are software, not hardware, and are functionally operated modules.

Programs stored in the storage module 712 may be classified into a plurality of modules according to their functions. Here, the plurality of modules are software, not hardware, and may mean modules that operate functionally.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

Although the preferred embodiment of the present invention has been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also provided. is within the scope of the That is, the scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be interpreted as being included in the scope of the present invention. do.

20: Pets 30: Snacks for pets
40: life area
41: first area 42: second area
100: autonomous driving robot
110: opening
111: frame 112: lower side

Claims (3)

In a companion animal exercise training method using an autonomous driving robot,
A step of partially opening an opening provided in the autonomous driving robot in response to a control signal from a user terminal or a preset start time through the user terminal, and accommodating snacks for companion animals;
moving the autonomous driving robot according to a driving route set using the biometric information of the companion animal;
detecting the location information of the companion animal and distance information of the companion animal from the autonomous driving robot based on a signal received from a sensor module attached to the body part of the companion animal;
a step of operating an air circulation unit provided in the opening part based on the distance information, so that the odor of the companion animal snack is leaked to the outside of the opening part; and
Deriving an activity score for evaluating the exercise performance of the companion animal based on the location information, and determining the amount of the companion animal snack discharged through the opening based on the derived activity score ,
A companion animal exercise training method using an autonomous driving robot. The method of claim 1,
In the step of leaking the smell of the companion animal snack to the outside of the opening,
If it is determined that the companion animal is located in the second area based on the distance information, the autonomous driving robot moves in the direction of the companion animal until the companion animal is located in the first area,
If it is determined that the companion animal is located in the first area, the output of the air circulation unit is operated to be proportional to the separation distance between the companion animal and the autonomous driving robot,
The first area is an area including a virtual circle having a predetermined reference length as a radius around the autonomous driving robot, and the second area is an area other than the first area among the living areas of the companion animal. sign,
A companion animal exercise training method using an autonomous driving robot. The method of claim 1,
The user terminal is
a pressure sensor installed to correspond to the end of all fingers of the user;
a flex sensor installed to correspond to the user's first joint to the third joint;
a gyro sensor installed at the distal end of the user's index finger;
a communication module for communicating with the autonomous driving robot;
a storage module for storing one or more instructions; and
A processor for executing the one or more instructions stored in the storage module;
The processor determines an input signal for inputting a virtual QWERTY keyboard from the first sensing data obtained from the pressure sensor, and determines a position where the input signal is detected from the virtual QWERTY keyboard from the second sensing data obtained from the flex sensor and generates an output signal based on a result of determining the position of the input signal input from the index finger from the third sensing data obtained from the gyro sensor, and uses the communication module to convert the output signal as a user's control signal. It is transmitted to an autonomous driving robot,
A companion animal exercise training method using an autonomous driving robot.

Images