KR20230155065A - Pet care system and operating method thereof - Google Patents

Abstract

We present a pet care system and its operation method that uses UWB technology to precisely measure the location of a pet, and enables movement of a care robot and control of multiple home appliances in a smart home for pet care. . The presented pet care system includes a UWB tag worn on a pet, a first UWB anchor installed on a movable care robot, a second UWB anchor installed on a robot charger, and a location separate from the first and second UWB anchors. It includes a third UWB anchor that is fixedly installed, and the first to third UWB anchors are capable of UWB communication with a UWB tag, a first session between the UWB tag and the first UWB anchor, and a first UWB anchor and a second UWB. It operates by dividing into a second session between anchors, a third session between a UWB tag and a second UWB anchor, and a fourth session between the first UWB anchor and the third UWB anchor.

Description

Pet care system and operating method thereof}

The present invention relates to a pet care system and a method of operating the same, and more specifically, to a pet care system and a method of operating the same that can monitor pets and remotely control home appliances.

As industry becomes highly developed and life becomes more prosperous, the number of people raising pets such as dogs and cats at home is increasing. At the same time, as the number of single-person or dual-income households has increased rapidly, the number of pets left alone during work hours is also increasing. Because of this, there is a need for devices that can care for pets from a remote location.

Accordingly, various types of pet care robots are emerging. Current pet care robots can determine the pet's location by communicating with a positioning device worn on the pet's body. Accordingly, it is possible to track the pet and monitor its condition through a camera.

However, in the past, when cameras, LiDAR, etc. cannot secure visibility due to surrounding objects, precise location determination of pets cannot be performed due to the influence of the environment. This results in inaccurate location measurement, which may cause errors in remote control using smartphones, etc.

The matters described in the above background technology are intended to aid understanding of the background of the invention and may include matters that are not disclosed prior art.

Prior Art 1: Republic of Korea Patent Publication No. 10-2021-0099468 (Home appliance network system including pet tag and method of operation thereof) Prior art 2: Republic of Korea Patent No. 10-2381906 (Sensor-based pet ring for pet care and pet total care system using the same)

The present invention was proposed in consideration of the above-described conventional circumstances, and uses UWB technology to precisely measure the position of a pet, move a care robot for pet care, and control a number of home appliances in a smart home. The purpose is to provide a pet care system and a method of operating it that makes it possible.

In order to achieve the above object, a pet care system according to a preferred embodiment of the present invention includes a UWB tag worn on a pet; A first UWB anchor installed on the movable care robot; A second UWB anchor installed on the robot charger; and a third UWB anchor fixedly installed in a location separate from the first and second UWB anchors, wherein the first to third UWB anchors are capable of UWB communication with the UWB tag, and the UWB tag a first session between the first UWB anchor and the first UWB anchor, a second session between the first UWB anchor and the second UWB anchor, a third session between the UWB tag and the second UWB anchor, and the first UWB anchor. It operates divided into a fourth session between the UWB anchor and the third UWB anchor.

The first session may be a UWB communication session established between the UWB tag and the first UWB anchor to allow the care robot to follow the pet.

In the first session, the UWB tag becomes an initiator, the first UWB anchor becomes a responder, and the first UWB anchor responds to the UWB signal from the UWB tag and the UWB signal. The position of the UWB tag is measured based on the sent response signal, and the care robot can follow the pet based on the result of measuring the position of the UWB tag at the first UWB anchor.

The second session may be a UWB communication session established between the first UWB anchor and the second UWB anchor to move the care robot to the robot charger and charge it.

In the second session, the second UWB anchor becomes an initiator, the first UWB anchor becomes a responder, and the first UWB anchor receives the UWB signal from the second UWB anchor and the UWB The position of the second UWB anchor is measured based on a response signal sent in response to the signal, and the care robot can move to the robot charger based on the position measurement result of the second UWB anchor in the first UWB anchor. there is.

The third session is UWB communication established between the UWB tag and the second UWB anchor so that the second UWB anchor continuously determines the location of the UWB tag while the care robot is being charged in the robot charger. It could be a session.

In the third session, the UWB tag becomes an initiator, the second UWB anchor becomes a responder, and the second UWB anchor responds to the UWB signal from the UWB tag and the UWB signal. The location of the UWB tag can be measured based on the sent response signal.

The second UWB anchor may transmit the location of the UWB tag to the first UWB anchor as charging of the care robot is completed.

The fourth session is performed when the first UWB anchor cannot receive the UWB signal of the second UWB anchor because the robot charger is in a non-line-of-sight (NLOS) state. It may be a UWB communication session established between 3 UWB anchors.

In the fourth session, the third UWB anchor becomes an initiator, the first UWB anchor becomes a responder, and the first UWB anchor determines the location of the robot charger from the third UWB anchor. The position of the robot charger is measured based on a UWB signal containing information, and the care robot can move to the robot charger based on a result of measuring the position of the robot charger at the first UWB anchor.

The pet care system is applied to the UWB TDoA Uplink system, and there are multiple third UWB anchors, and one of the multiple third UWB anchors can play a master role and a slave role to minimize the number of anchor installations.

The third UWB anchor, which acts as the master and slave, can control one or more of the doors and home appliances through a separate UWB data communication session.

The third UWB anchor, which plays the role of the master and the slave, is installed one by one for each communication area, and the third UWB anchor, which acts as the master and the slave, transmits signals and data generated in each communication area to the server through the gateway. Can be transmitted.

The 3 UWB anchors playing the master role and the slave role may be responsible for handover to ensure the mobility of the UWB tag and the first UWB anchor.

The pet care system is applied to the UWB TDoA Downlink system, and there are multiple third UWB anchors, and one of the multiple third UWB anchors acts as an initiator only in one communication area and participates in other communication areas. In this case, it can act as a responder.

Meanwhile, a method of operating a pet care system according to a preferred embodiment of the present invention includes a UWB tag worn on a pet, a first UWB anchor installed on a movable care robot, a second UWB anchor installed on a robot charger, and A method of operating a pet care system comprising a third UWB anchor fixedly installed in a location separate from the first and second UWB anchors, wherein the first to third UWB anchors are capable of UWB communication with the UWB tag. Establishing a first session between the UWB tag and the first UWB anchor to allow the care robot to follow the pet; Establishing a second session between the first UWB anchor and the second UWB anchor to move the care robot to the robot charger and charge it; Establishing a third session between the UWB tag and the second UWB anchor so that the second UWB anchor continuously determines the location of the UWB tag while the care robot is being charged in the robot charger; And between the first UWB anchor and the third UWB anchor when the robot charger is in a non-line-of-sight (NLOS) state and the first UWB anchor cannot receive the UWB signal of the second UWB anchor. It includes; setting up a fourth session.

According to the present invention with this configuration, not only can multiple devices in a smart home be remotely controlled, but also precise control is possible through precise location measurement. In other words, UWB technology allows precise positioning by linking with multiple devices in a wide space.

On-device conversation recognition, UWB location recognition, and IoT home appliance control may be possible.

It can be interconnected with the user through the nearest smart device.

It can monitor all your smart devices and notify you when parts need to be replaced.

Energy costs can be reduced by analyzing usage patterns and supporting artificial intelligence power saving modes.

We can provide a more convenient one-stop service that allows you to connect with a counselor and make a business trip reservation all at once.

1 is a diagram to explain the concept of the pet care system of the present invention.
Figure 2 is a diagram for explaining the configuration of a pet care system according to an embodiment of the present invention.
Figure 3 is a diagram representing the first session in the description of the operation of the pet care system according to an embodiment of the present invention.
Figure 4 is a diagram representing the second session in the description of the operation of the pet care system according to an embodiment of the present invention.
Figure 5 is a diagram representing the third session in the description of the operation of the pet care system according to an embodiment of the present invention.
Figure 6 is a diagram representing the fourth session in the description of the operation of the pet care system according to an embodiment of the present invention.
Figure 7 is a diagram showing an example of application of the pet care system according to an embodiment of the present invention.
Figure 8 is a diagram showing another example in which the pet care system according to an embodiment of the present invention is applied.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all changes, equivalents, and substitutes included in the spirit and technical scope of the present invention.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the technical field to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted in an ideal or excessively formal sense unless explicitly defined in the present application. No.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the attached drawings. In order to facilitate overall understanding when describing the present invention, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

1 is a diagram to explain the concept of the pet care system of the present invention.

Basically, the pet care system of the present invention allows the care robot 20 to move along the pet 1. So, the care robot 20 can play with the pet 1. That is, as the care robot 20 moves near the pet 1, it can attract the attention of the pet 1 and cause the pet 1 to move.

Of course, if necessary, a robot vacuum cleaner may be used instead of the care robot 20.

The pet 1 is equipped with a UWB tag (Ultra-Wideband Tag) 10, and the care robot 20 is equipped with a UWB anchor (Ultra-Wideband anchor).

The pet care system of the present invention uses UWB (Ultra-Wideband) positioning technology.

UWB (Ultra-Wideband) has the advantages of enabling precise positioning, excellent communication reliability, real-time positioning, and excellent security. This UWB can be applied to smart cars, smart homes, smart factories, smart cities, etc.

UWB (Ultra-Wideband) positioning technology includes signal time of arrival (ToA; Time of Arrival), signal time difference of arrival (TDoA; Time Difference of Arrival), and signal angle of arrival (AoA; Angle of Arrival). You can. Here, ToA can measure (calculate) the distance between nodes, and AoA can measure (calculate) the direction of the signal. TDoA can measure (calculate) the direction and distance of a signal, so it can estimate the location of signal occurrence.

In the present invention, the time of arrival of the signal (ToA; Time of Arrival), the time difference of arrival of the signal (TDoA; Time Difference of Arrival), and the angle of arrival of the signal (AoA; Angle of Arrival) can be selectively operated through commands. . At this time, if positioning does not work properly due to the surrounding environment while selecting and operating the TDoA method, AoA or ToA ranging can be applied.

Ultimately, the present invention can apply the optimal UWB positioning method according to the surrounding environment to improve location accuracy and reduce costs.

The above-described UWB tag 10 includes an antenna (not shown) that transmits a UWB signal, a UWB IC (not shown) that generates a UWB signal and transmits it to the antenna, and an MCU module (Micro Controller Unit module) that commands the transmission of the UWB signal. ) (not shown) may be included. In the above, the antenna, UWB IC, and MCU module are not shown in separate drawings, but it is believed that anyone working in the same industry will be able to fully understand the configuration of the UWB tag 10 from the above description.

The UWB anchor of the care robot 20 can measure the location of the UWB tag 10 by transmitting a UWB signal to the UWB tag 10.

The UWB anchor of the care robot 20 may include an antenna (not shown), a UWB IC (not shown), and an MCU module. Here, the antenna can transmit and receive UWB signals. The UWB IC can generate UWB signals and transmit them to the antenna, analyze the UWB signals received by the antenna, and transmit them to the MCU module. The MCU module can command the transmission of UWB signals, process received data, and control positioning and data communication.

For example, the MCU module of the UWB anchor of the care robot 20 determines the time of arrival (ToA; Time of Arrival) of the signal, the time difference of arrival (TDoA) of the signal, and the angle of arrival of the signal depending on the setting method. One or more of the distance information and direction information of the UWB tag 10 can be calculated according to one of (AoA; Angle of Arrival).

In the above, the antenna, UWB IC, and MCU module of the UWB anchor of the care robot 20 are not shown in separate drawings, but those working in the same industry can understand the configuration of the UWB anchor of the care robot 20 from the above description. I think you can understand it well.

Of course, the care robot 20 may further include a battery module (not shown), a movement module (not shown), and a driving control module (not shown).

The battery module can supply the driving power necessary to drive the care robot 20. For example, the battery module may use a primary battery such as a lithium battery or a secondary battery such as a nickel-cadmium (NiCd) battery, a nickel-hydrogen (NiMH) battery, a lithium ion secondary battery, or a lithium ion polymer secondary battery. It is not limited.

Meanwhile, the care robot 20 may further include a module (not shown) that can check the remaining battery capacity.

The movement module allows the care robot 20 to move. For example, the movement module may be implemented in the form of wheels provided on both sides or the bottom of the care robot 20 and capable of moving in any direction in contact with the floor surface that the care robot 20 is in contact with.

The drive control module can control the mobile module to move in a specific direction forward, left, right, or rotate in a specific direction and provide a driving signal, power, and/or voltage accordingly.

An example of the positioning method in the above-described care robot 20 may be briefly described as follows.

First, the UWB tag 10 transmits a primary impulse signal to the care robot 20, and the care robot 20 receives the primary impulse signal. Accordingly, measurement of the relative position of the care robot 20 with respect to the UWB tag 10 is initiated. Here, the primary impulse signal may be transmitted at pre-scheduled intervals (eg, 100 ms, 50 ms, etc.). As a result, the care robot 20 recognizes that the UWB tag 10 is adjacent or has detected it and starts measuring the position. In other words, the primary impulse signal can be understood as a positioning start signal.

The care robot 20 transmits a predetermined response signal to the UWB tag 10 in response to the first impulse signal, and the UWB tag 10 transmits a secondary impulse signal in response to the response signal.

The care robot 20 can measure the distance between the UWB tag 10 and the care robot 20 and the direction in which the UWB tag 10 exists by calculating the round-trip time according to the response signal and the secondary impulse signal. At this time, when measuring distance and direction, the time difference of arrival (TDoA) of the signal can be used to measure it.

In this way, when the care robot 20 measures the distance and direction with the UWB tag 10, it can move near the pet 1 equipped with the UWB tag 10.

If necessary, the UWB tag 10 may further include a biosignal measurement sensor (not shown) that can acquire biometric data by detecting biosignals of the pet 1. Here, the biometric data may include the heart rate, respiratory rate, oxygen saturation, etc. of the pet 1. The biosignal measurement sensor can output health-related data of the pet 1 based on biometric data. For example, the biosignal measurement sensor may include a heart rate sensor, an oxygen saturation sensor, etc.

Meanwhile, the care robot 20 may further include a temperature sensor that detects the surrounding temperature of the pet 1. This is to provide appropriate care, such as automatically operating the air conditioner when the surrounding temperature of the pet (1) is high. Of course, if necessary, a temperature sensor may be installed in the UWB tag 10.

Meanwhile, the care robot 20 may further include an illumination sensor (not shown) and a timer (not shown). The illuminance sensor can measure the brightness of the surrounding environment. A timer can reveal time. This is to provide appropriate care, such as opening closed curtains and automatically turning on the TV in the morning. Of course, if necessary, an illuminance sensor and a timer may be installed in the UWB tag 10.

Figure 2 is a diagram for explaining the configuration of a pet care system according to an embodiment of the present invention.

The pet care system according to an embodiment of the present invention may include a UWB tag (10; T) mounted on the pet (1) within the communication area (100) and a plurality of UWB anchors installed within the communication area (100). You can.

Here, the communication area 100 may be a room, a living room, etc., and there may be a number of pets 1 within the communication area 100. Accordingly, the UWB tag 10 (T) may also be present for each pet 1.

Here, the plurality of UWB anchors includes a UWB anchor 22 installed on the care robot 20 moving within the communication area 100, a UWB anchor 32 installed on the robot charger 30 within the communication area 100, and a UWB anchor 22 installed on the care robot 20 moving within the communication area 100. Separately from the anchors 22 and 32, it may include UWB anchors 34, 36, and 38 fixedly installed at a specific location within the communication area 100.

The above-described UWB anchor 22 can be referred to as the first UWB anchor (B), and the first UWB anchor 22 (B) is a UWB anchor installed in the care robot 20 described without reference numerals in FIG. 1. . The UWB anchor 32 can be referred to as the second UWB anchor (H), and the UWB anchors 34, 36, and 38 can be referred to as the third UWB anchor.

It is preferable that the third UWB anchors 34, 36, and 38 are installed spaced apart from each other. For example, the third UWB anchors 34 and 36 may each act as a slave anchor (SA), and the third UWB anchor 38 may act as a master anchor (MA). Of course, if necessary, the third UWB anchor 38 can also function as a slave anchor. In this way, since the third UWB anchor 38 can serve as a master anchor and a slave anchor, the number of UWB anchors installed in a wide area can be minimized.

In addition, the above-described second UWB anchor 32 (H) can be called a slave anchor (SA) like the third UWB anchor (in this case, 34 and 36).

The pet care system according to an embodiment of the present invention can be divided into multiple sessions (i.e., UWB communication sessions) and operate.

Here, the plurality of sessions include a first session between the UWB tag 10 (T) and the first UWB anchor (22; B), and a first session between the first UWB anchor (22; B) and the second UWB anchor (32; H). A second session, between the UWB tag 10 (T) and the second UWB anchor 32 (H), and the third session between the first UWB anchor 22 (B) and the third UWB anchor 34, 36, 38. It can be divided into the fourth session.

The robot charger 30 can charge the power of the care robot 20.

Meanwhile, home appliances such as a TV 40, an air conditioner 42, and curtains 44 may be provided within the communication area 100. Accordingly, in the morning, if the curtain 44 is closed, it can be automatically opened and the TV 40 can be automatically turned on. Additionally, when the temperature around the care robot 20 is high, the air conditioner 42 can be automatically operated. In this way, the operation of the TV 40, the air conditioner 42, and the curtain 44 can be controlled by the third UWB anchor 38 (MA, SA), which can serve as a master.

The UWB tag 10 can transmit health-related data of the pet 1 to the third UWB anchor (38 among 34, 36, and 38; MA, SA). Of course, if necessary, the UWB tag 10 determines whether the pet 1 is asleep or active based on the biometric data of the pet 1 and sends the judgment result to the third UWB anchor 34, 36. , can be sent to 38 out of 38 (MA, SA). Accordingly, the third UWB anchor (38 among 34, 36, and 38; MA, SA) may transmit the received health-related data and/or activity status information to an external server through the gateway. The server may send the received health-related data and/or activity information to the user terminal.

Figure 3 is a diagram representing the first session in the description of the operation of the pet care system according to an embodiment of the present invention.

The first session may be a UWB communication session connected for information exchange between the UWB tag 10 (T) and the first UWB anchor 22 (B).

For example, the first session is a UWB communication session established between the UWB tag (10; T) and the first UWB anchor (22; B) to allow the care robot (20) to follow the pet (1). It can be.

In the case of the first session, the UWB tag 10 (T) can be an initiator, and the first UWB anchor 22 (B) can be a responder.

Accordingly, according to an example of the positioning method in the care robot 20 previously described in FIG. 1, the UWB tag 10 (T) transmits a first UWB signal (e.g., impulse) to the first UWB anchor 22 (B). signal) can be sent.

Accordingly, the first UWB anchor 22 (B) may send a first response signal to the UWB tag 10 (T) in response to receiving the first UWB signal, and the UWB tag 10 (T) may As the first response signal is received, a second UWB signal (eg, impulse signal) can be transmitted to the first UWB anchor 22 (B).

In this way, the UWB tag 10 (T) and the first UWB anchor 22 (B) can periodically exchange UWB signals and response signals.

Accordingly, the first UWB anchor 22 (B) can periodically calculate the round-trip time according to the response signal and the UWB signal from the UWB tag 10 (T).

The first UWB anchor 22 (B) may periodically measure the distance between the UWB tag 10 (T) and the care robot 20 and the direction in which the UWB tag 10 exists according to the calculation results. At this time, when measuring the position (distance and direction), it can be measured using the time difference of arrival (TDoA) of the signal.

In this way, as the first UWB anchor (22; B) periodically measures the distance and direction with the UWB tag (10; T), the care robot 20 detects the pet ( 1) You can easily move nearby. Because of this, the care robot 20 can follow the pet 1.

Of course, if necessary, the first UWB anchor 22 (B) may only receive the UWB signal from the UWB tag 10 (T) without sending a response signal. Even in this way, the first UWB anchor (22; B) can measure the position of the UWB tag (10; T), so the care robot 20 can detect the pet (1) equipped with the UWB tag (10; T). You will be able to easily move nearby.

Figure 4 is a diagram representing the second session in the description of the operation of the pet care system according to an embodiment of the present invention.

The second session may be a UWB communication session for information exchange between the first UWB anchor (22; B) and the second UWB anchor (32; H) in order to move the care robot (20) to the robot charger (30). there is.

For example, the care robot 20 can check the remaining battery capacity while following the pet 1. At this time, if the remaining battery capacity of the care robot 20 is below a predetermined standard value, the care robot 20 must move to the robot charger 30 to charge the battery. In this case, a second session can be set. .

In the second session, the second UWB anchor 32 (H) can be an initiator, and the first UWB anchor 22 (B) can be a responder.

Accordingly, the second UWB anchor 32 (H) can transmit a predetermined UWB signal to the first UWB anchor 22 (B).

Accordingly, upon receiving the first UWB signal from the second UWB anchor (32; H), the first UWB anchor (22; B) sends a first response signal to the second UWB anchor (32 (H)) in response. , and the second UWB anchor 32 (H) can transmit the second UWB signal (eg, impulse signal) to the first UWB anchor 22 (B) as it receives the first response signal.

In this way, the second UWB anchor 32 (H) and the first UWB anchor 22 (B) can periodically exchange UWB signals and response signals.

Therefore, the first UWB anchor (22; B) can periodically measure (estimate) the position of the robot charger (30) on which the second UWB anchor (32 (H)) is installed based on the response signal and the received UWB signal. . At this time, for position measurement (estimation), the time difference of arrival (TDoA) of the signal can be used to measure.

In this way, when the first UWB anchor (22; B) estimates the location of the robot charger (30), the care robot (20) on which the first UWB anchor (22 (B)) is installed can move to the robot charger (30). . Because of this, the care robot 20 docks with the robot charger 30 and charges.

Of course, if necessary, the first UWB anchor 22 (B) may only receive the UWB signal from the second UWB anchor 32 (H) without sending a response signal. Even in this way, the first UWB anchor (22; B) can measure the position of the second UWB anchor (32; H), so the care robot 20 is a robot equipped with the second UWB anchor (32; H). You will be able to move to the charger (30).

Figure 5 is a diagram representing the third session in the description of the operation of the pet care system according to an embodiment of the present invention.

The third session may be a UWB communication session for information exchange between the UWB tag 10 (T) and the second UWB anchor 32 (H).

For example, the third session may be to enable the robot charger 30 to continuously determine the location of the pet 1 while the care robot 20 is being charged in the robot charger 30 .

For the third session, the UWB tag 10 (T) can be an initiator, and the second UWB anchor 32 (H) can be a responder.

Accordingly, assuming that the care robot 20 is being charged in the robot charger 30, the UWB tag 10 (T) of FIG. 5 transmits the first UWB signal to the second UWB anchor 32 (H). You can send it to

Accordingly, the second UWB anchor (32; H) may send a first response signal to the UWB tag (10; T) in response to receiving the first UWB signal, and the UWB tag (10; T) Upon receiving the first response signal, a second UWB signal (eg, impulse signal) can be transmitted to the second UWB anchor 32 (H).

In this way, the UWB tag 10 (T) and the second UWB anchor 32 (H) can periodically exchange UWB signals and response signals.

Accordingly, the second UWB anchor 32 (H) can periodically measure (estimate) the location of the pet 1 equipped with the UWB tag 10 (T) based on the response signal and the received UWB signal. At this time, for position measurement (estimation), the time difference of arrival (TDoA) of the signal can be used to measure.

In this way, if the second UWB anchor (32; H) periodically measures (estimates) the position of the UWB tag (10; T) while the care robot 20 is being charged in the robot charger 30, after charging is completed The second UWB anchor (32; H) may transmit the current location of the pet (1) (i.e., the current location of the UWB tag (10; T)) to the first UWB anchor (22; B). Accordingly, the care robot 20 on which the first UWB anchor 22 (B) is installed can move near the pet 1 as charging is completed.

Figure 6 is a diagram representing the fourth session in the description of the operation of the pet care system according to an embodiment of the present invention.

The fourth session may be a UWB communication session for information exchange between the first UWB anchor 22 (B) and the third UWB anchors 34, 36, and 38.

For example, the fourth session may be a UWB communication session that can be applied when UWB communication between the first UWB anchor (22; B) and the second UWB anchor (32; H) of the robot charger 30 is not properly performed. there is. In other words, in the fourth session, the care robot 20 must move to the robot charger 30, but UWB communication between the first UWB anchor (22; B) and the second UWB anchor (32; H) may not be properly achieved. It can be applied when

In this case, the third UWB anchors 34, 36, and 38 can each be an initiator, and the first UWB anchor 22 (B) can be a responder. If necessary, it is not necessary to set all of the plurality of third UWB anchors 34, 36, and 38 as initiators, but only the UWB anchor 38, which plays a master role, may be set as the initiator.

Accordingly, the third UWB anchors 34, 36, and 38 can each periodically transmit their respective UWB signals to the first UWB anchor 22 (B).

Then, the first UWB anchor (22; B) can receive at least one UWB signal among the UWB signals (including the location of the robot charger 30) of the third UWB anchors (34, 36, and 38), and accordingly A response signal can be sent to the corresponding third UWB anchor.

In this way, the first UWB anchor 22 (B) can measure (estimate) where the robot charger 30 will be by transmitting and receiving a response signal and a UWB signal with the third UWB anchor. At this time, for position measurement (estimation), the time difference of arrival (TDoA) of the signal can be used to measure.

In this way, when the first UWB anchor 22 (B) estimates the location of the robot charger 30, the care robot 20 on which the first UWB anchor 22 (B) is installed can move toward the robot charger 30.

In other words, when the care robot 20 visits the robot charger 30, it must receive a signal sent by the second UWB anchor (32; H), and the robot charger 30 uses NLOS (non-line-of-sight) If the first UWB anchor 22 is unable to receive the UWB signal of the second UWB anchor 32, a fourth session may be established. Accordingly, the first UWB anchor 22 (B) of the care robot 20 will receive UWB signals (including the position of the robot charger 30) from the third UWB anchors 34, 36, 38. The first UWB anchor 22 (B) of the care robot 20 can determine the location of the robot charger 30 based on the received UWB signal (including the location of the robot charger 30). Then, the care robot 20 can go to the location of the robot charger 30.

Additionally, the fourth session may be a UWB communication session used when handing over the UWB tag 10 and/or the care robot 20 in the communication area 100 to another adjacent communication area. For example, if the robot charger 30 is not in the current communication area 100 but in another adjacent communication area, handover between communication areas (i.e. cells) must be enabled. When charging is required, the care robot 20 must move to the location where the robot charger 30 is located, so a handover will have to be performed. Accordingly, even if the first UWB anchor 22 (B) of the care robot 20 moves to another communication area, existing communication can be continued.

In the above-mentioned fourth session, the third UWB anchors 34, 36, and 38 can each be an initiator, and the first UWB anchor 22 (B) can be a responder. It's okay if it's the opposite. For example, the first UWB anchor 22 (B) can be an initiator, and the third UWB anchors 34, 36, and 38 can be responders.

Figure 7 is a diagram showing an example of application of the pet care system according to an embodiment of the present invention.

The pet care system according to an embodiment of the present invention can be applied to the UWB TDoA Uplink system as shown in FIG. 7.

In the case of FIG. 7, one master anchor 38 and one or more slave anchors (one or more of 32, 34, and 36) may be installed for each communication area (i.e., cell). And, the UWB tag 10 mounted on the pet 1 can be moved to another communication area.

In FIG. 7, between the UWB tag 10 and the first UWB anchor 22 (B), between the first UWB anchor 22 (B) and the second UWB anchor 32 (H), the first UWB anchor 22 (B) ) and the third UWB anchor 36, and between the first UWB anchor 22 (B) and the third UWB anchor 38 (MA/SA) can transmit and receive a UWB TDoA Blink message.

Here, the third UWB anchor 38 can serve as a master anchor and a slave anchor, thereby minimizing the number of UWB anchors installed in a wide area.

In FIG. 7, synchronization is performed between the second UWB anchor 32 (H) and the third UWB anchor 38 (MA/SA), and between the third UWB anchor 36 and the third UWB anchor 38 (MA/SA). For this purpose, UWB TDoA Time Sync signals can be sent and received.

7, between the third UWB anchor 38 (MA/SA) and the TV 40, between the third UWB anchor 38 (MA/SA) and the air conditioner 42, and between the third UWB anchor 38 (MA/SA) ) and the curtain 44, between the third UWB anchor (38; MA/SA) and the door, between the third UWB anchor (38; MA/SA) and the first UWB anchor (22; B), the third UWB anchor UWB data communication is performed between (38; MA/SA) and the UWB tag (10; T) and between the UWB tag (10; T) and the first UWB anchor (22; B) through a separate data communication dedicated session. can do. That is, between the third UWB anchor (38; MA/SA) and the TV 40, between the third UWB anchor (38; MA/SA) and the air conditioner 42, and between the third UWB anchor (38; MA/SA) Between the curtains 44, between the third UWB anchor (38; MA/SA) and the door, between the third UWB anchor (38; MA/SA) and the first UWB anchor (22; B), the third UWB anchor (38) ; MA/SA) and the UWB tag (10; T), and between the UWB tag (10; T) and the first UWB anchor (22; B) are separate data communication-only sessions, not a ranging session. It can be processed through . Because the data transmission capacity of the ranging session is very small, a separate session dedicated to data communication is used. The TV 40, air conditioner 42, curtain 44, and door may be operated based on data from the third UWB anchor 38 (MA/SA).

In the case of Figure 7, since a closed cell (one communication area) may not be able to communicate wirelessly with other cells, the third UWB anchor (38; MA/SA), which can act as a master, opens the door. Make it controllable. Although not shown in the drawing, a UWB device is installed at the door, so a mechanism that can open and close the door may be installed based on UWB data from the third UWB anchor 38 (MA/SA). The third UWB anchor (38; MA/SA), which can act as a master, ensures smooth hand even if the UWB tag (10) and/or the first UWB anchor (22; B) moves to another adjacent communication area (i.e., cell). It can make it possible to overdo it. Ultimately, it can be seen that the third UWB anchor (38; MA/SA) is responsible for handover to ensure the mobility of the UWB tag (10) and the first UWB anchor (22; B). Accordingly, smooth location measurement of the UWB tag 10 and/or the first UWB anchor 22 (B) is possible during handover.

In FIG. 7, UWB time synchronization is not possible between the third UWB anchors 38, one of which exists in each communication area and can serve as a master. The third UWB anchor 38, which acts as a master, can be time-synchronized by wired (Ethernet) or wirelessly (Wi-Fi).

In the case of FIG. 7, various signals and data generated in each communication area are transmitted to the server 60 through the gateway 70 through the corresponding third UWB anchor (38; MA/SA). You can.

The server 60 can accumulate and manage signals and data for each communication area and transmit the corresponding information to the user terminal 50 when there is a request for information from the user terminal 50. If necessary, the server 60 can automatically transmit the corresponding information to the user terminal 50 when a predetermined condition is met.

The user terminal 50 is a computing device with an arithmetic processing function and may be a mobile device or a fixed device. For example, the user terminal 50 may mean a computer, personal computer (PC), smartphone, navigation, laptop computer, tablet computer, wearable device, or tablet, but embodiments of the present invention are not limited thereto.

Figure 8 is a diagram showing another example in which the pet care system according to an embodiment of the present invention is applied.

The pet care system according to an embodiment of the present invention can be applied to the UWB TDoA Downlink system as shown in FIG. 8.

In the case of FIG. 8, a plurality of UWB anchors (a plurality of 32, 34, 34, and 38) may be installed for each communication area (cell). And, the UWB tag 10 mounted on the pet 1 can be moved to another communication area.

Here, the UWB anchor 32 can be the second UWB anchor (H), and the UWB anchors 34, 36, and 38 can be the third UWB anchor.

Figure 8 shows three cells, and a UWB anchor can be an initiator in only one cell. For example, the UWB anchor 38 of the leftmost cell can be set as the initiator, but if the UWB anchor 38 participates in another cell (i.e., the rightmost cell), it can be set as a responder. ) can play a role.

Accordingly, the UWB anchor 32 in the leftmost cell can be a second UWB anchor (H) capable of charging the robot, and the UWB anchor 36 can be a responder anchor (RA). Of course, the UWB anchor 38, which is the initiator anchor in the leftmost cell, may become a responder anchor (RA) depending on situational changes such as a change in the number of cells.

Additionally, the first UWB anchor 22 (B) of the care robot 20 and the UWB tag 10 mounted on the pet 1 are capable of handover between communication areas.

In Figure 8, the second UWB anchor 32 (H) may transmit a UWB DL-TDoA message to a third UWB anchor (in this case 38; RA/IA), which in this case 38; RA/IA) can transmit a UWB DL-TDoA response signal to the second UWB anchor (32; H).

8, the third UWB anchor (in this case, 36; RA) may transmit a UWB DL-TDoA message to the third UWB anchor (in this case, 38; RA/IA), and the third UWB anchor (in this case, 36; RA/IA) may transmit a UWB DL-TDoA message to the third UWB anchor (in this case, , 38; RA/IA) can transmit a UWB DL-TDoA response signal to the third UWB anchor (in this case, 36; RA).

In FIG. 8, between the UWB tag 10 and the first UWB anchor 22 (B), between the first UWB anchor 22 (B) and the second UWB anchor 32 (H), the first UWB anchor 22 (B) ) and the third UWB anchor 36 (RA), and between the first UWB anchor 22 (B) and the third UWB anchor 38 (RA/IA), a UWB TDoA Blink message can be transmitted and received.

In Figure 8, the distance measurement method in the UWB TDoA Downlink system based on the leftmost cell is explained as follows.

First, the initiator UWB anchor (38; RA/IA) broadcasts to the known addresses of other UWB anchors (i.e., listeners; 32, 36) at a time called TSP (Time of Sending Poll). Send a poll message.

Accordingly, when the UWB anchors 32 and 36, which are responders within the same cell (communication area), receive a poll message, they send a response signal in response to it to the UWB anchor 38 (RA/IA), which is the initiator.

The UWB tag 10 receives all broadcasted poll messages and provides all necessary information to the host for location calculation.

The above-described present invention has been described as a pet care system using a care robot or robot vacuum cleaner, but it can also be applied as a system for linking UWB devices in a smart home. For example, in the case of an embodiment of the present invention, the UWB RADAR function that can function as a UWB sensor can be implemented at the same time, and precise positioning of objects and people around the sensor function in NLOS state is also possible. Accordingly, it is possible to detect movement (theft) or entry of a new device from the previously memorized location.

On the other hand, the method of operating the pet care system according to the embodiment of the present invention includes a UWB tag 10 worn on the pet 1 and a first UWB installed on the movable care robot 20, as described above. An anchor (22; B), a second UWB anchor (32; H) installed on the robot charger 30, and a third UWB anchor (34, 36) fixed in a location separate from the first and second UWB anchors. It may be a method of operation in a pet care system including , 38).

Here, the first to third UWB anchors 22, 32, 34, 36, and 38 are capable of UWB communication with the UWB tag 10.

The operating method of the pet care system according to an embodiment of the present invention operates by dividing sessions according to situations, and can be divided into approximately four sessions.

More specifically, a method of operating a pet care system according to an embodiment of the present invention includes setting a first session between a UWB tag (10; T) and a first UWB anchor (22; B), a care robot ( Setting up a second session between the first UWB anchor (22; B) and the second UWB anchor (32; H) in order to move the robot 20) to the robot charger 30 and charge it, the care robot 20 While being charged in the robot charger 30, the second UWB anchor (32; H) connects the UWB tag (10; T) and the second UWB anchor (32) to continuously determine the location of the UWB tag (10; T). H) establishing a third session between, and the robot charger 30 is in a non-line-of-sight (NLOS) state so that the first UWB anchor 22 (B) is connected to the second UWB anchor 32 (H) It may include setting up a fourth session between the first UWB anchor (22; B) and the third UWB anchor (34, 36, 38) when the UWB signal cannot be received.

Although a separate flow chart for the operating method of the pet care system according to the embodiment of the present invention is not shown, those skilled in the art can understand the operating method of the pet care system according to the embodiment of the present invention by referring to the description of the pet care system described above. I think you can understand it well.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

10: UWB tag 20: Care robot
22: 1st UWB anchor 30: robot charger
32: second UWB anchor 34, 36, 38: third UWB anchor
40: TV 42: Air conditioner
44: Curtain 50: User terminal
60: Server 70: Gateway

Claims (20)

UWB tags worn on pets;
A first UWB anchor installed on the movable care robot;
A second UWB anchor installed on the robot charger; and
A third UWB anchor is fixedly installed in a separate location from the first and second UWB anchors,
The first to third UWB anchors are capable of UWB communication with the UWB tag,
a first session between the UWB tag and the first UWB anchor, a second session between the first UWB anchor and the second UWB anchor, a third session between the UWB tag and the second UWB anchor, and the first session. Operating separately in a fourth session between 1 UWB anchor and the 3rd UWB anchor,
Pet care system. According to clause 1,
The first session was,
A UWB communication session established between the UWB tag and the first UWB anchor to allow the care robot to follow the pet,
Pet care system. According to clause 2,
In the first session, the UWB tag becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the UWB tag based on a UWB signal from the UWB tag and a response signal sent in response to the UWB signal,
The care robot follows the pet based on the position measurement result of the UWB tag in the first UWB anchor,
Pet care system. According to clause 1,
The second session was,
A UWB communication session established between the first UWB anchor and the second UWB anchor to move the care robot to the robot charger and charge it,
Pet care system. According to clause 4,
In the second session, the second UWB anchor becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the second UWB anchor based on a UWB signal from the second UWB anchor and a response signal sent in response to the UWB signal,
The care robot moves to the robot charger based on the position measurement result of the second UWB anchor in the first UWB anchor,
Pet care system. According to clause 1,
The third session was,
A UWB communication session established between the UWB tag and the second UWB anchor so that the second UWB anchor continuously determines the location of the UWB tag while the care robot is being charged in the robot charger.
Pet care system. According to clause 6,
In the third session, the UWB tag becomes an initiator, and the second UWB anchor becomes a responder,
The second UWB anchor measures the location of the UWB tag based on a UWB signal from the UWB tag and a response signal sent in response to the UWB signal,
Pet care system. According to clause 7,
The second UWB anchor is,
As charging for the care robot is completed, transmitting the location of the UWB tag to the first UWB anchor,
Pet care system. According to clause 1,
The fourth session said,
Set between the first UWB anchor and the third UWB anchor when the robot charger is in a non-line-of-sight (NLOS) state and the first UWB anchor cannot receive the UWB signal of the second UWB anchor. A UWB communication session that is
Pet care system. According to clause 9,
In the fourth session, the third UWB anchor becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the robot charger based on a UWB signal including location information of the robot charger from the third UWB anchor,
The care robot moves to the robot charger based on the position measurement result of the robot charger at the first UWB anchor,
Pet care system. According to clause 1,
The pet care system is applied to the UWB TDoA Uplink system,
There are multiple third UWB anchors,
Among the plurality of third UWB anchors, one serves as a master and a slave to minimize the number of anchor installations.
Pet care system. According to clause 11,
The third UWB anchor, which acts as the master and slave, controls one or more of the doors and home appliances through a separate UWB data communication session.
Pet care system. According to clause 11,
The third UWB anchor, which plays the master role and the slave role, is installed one by one for each communication area,
The third UWB anchor, which acts as the master and slave, transmits signals and data generated in each communication area to the server through the gateway.
Pet care system. According to clause 11,
The 3 UWB anchors acting as the master and slave are responsible for handover to ensure the mobility of the UWB tag and the first UWB anchor.
Pet care system. According to clause 1,
The pet care system is applied to the UWB TDoA Downlink system,
There are multiple third UWB anchors,
Among the plurality of third UWB anchors, one acts as an initiator only in one communication area and acts as a responder when participating in another communication area.
Pet care system. A UWB tag worn on a pet, a first UWB anchor installed on a movable care robot, a second UWB anchor installed on a robot charger, and a third fixedly installed in a location separate from the first and second UWB anchors. A method of operating a pet care system comprising a UWB anchor, wherein the first to third UWB anchors are capable of UWB communication with the UWB tag,
establishing a first session between the UWB tag and the first UWB anchor to allow the care robot to follow the pet;
Establishing a second session between the first UWB anchor and the second UWB anchor to move the care robot to the robot charger and charge it;
Establishing a third session between the UWB tag and the second UWB anchor so that the second UWB anchor continuously determines the location of the UWB tag while the care robot is being charged in the robot charger; and
When the robot charger is in a non-line-of-sight (NLOS) state and the first UWB anchor cannot receive the UWB signal of the second UWB anchor, a first UWB anchor is installed between the first UWB anchor and the third UWB anchor. 4, including setting up a session;
How the pet care system works. According to clause 16,
In the first session, the UWB tag becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the UWB tag based on a UWB signal from the UWB tag and a response signal sent in response to the UWB signal,
The care robot follows the pet based on the position measurement result of the UWB tag in the first UWB anchor,
How the pet care system works. According to clause 16,
In the second session, the second UWB anchor becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the second UWB anchor based on a UWB signal from the second UWB anchor and a response signal sent in response to the UWB signal,
The care robot moves to the robot charger based on the position measurement result of the second UWB anchor in the first UWB anchor,
How the pet care system works. According to clause 16,
In the third session, the UWB tag becomes an initiator, and the second UWB anchor becomes a responder,
The second UWB anchor measures the location of the UWB tag based on a UWB signal from the UWB tag and a response signal sent in response to the UWB signal,
The second UWB anchor transmits the location of the UWB tag to the first UWB anchor as charging for the care robot is completed,
How the pet care system works. According to clause 16,
In the fourth session, the third UWB anchor becomes an initiator, and the first UWB anchor becomes a responder,
The first UWB anchor measures the location of the robot charger based on a UWB signal including location information of the robot charger from the third UWB anchor,
The care robot moves to the robot charger based on the position measurement result of the robot charger at the first UWB anchor,
How the pet care system works.

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