WO2007026993A1 - Method for morning call service using mobile robot and mobile robot apparatus therefor - Google Patents

Method for morning call service using mobile robot and mobile robot apparatus therefor Download PDF

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Publication number
WO2007026993A1
WO2007026993A1 PCT/KR2006/002130 KR2006002130W WO2007026993A1 WO 2007026993 A1 WO2007026993 A1 WO 2007026993A1 KR 2006002130 W KR2006002130 W KR 2006002130W WO 2007026993 A1 WO2007026993 A1 WO 2007026993A1
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WIPO (PCT)
Prior art keywords
morning call
user
mobile robot
execution position
morning
Prior art date
Application number
PCT/KR2006/002130
Other languages
French (fr)
Inventor
Changsu Lee
Kyounghee Han
Shinyoung Park
Seongho Won
Original Assignee
Sk Telecom Co., Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sk Telecom Co., Ltd. filed Critical Sk Telecom Co., Ltd.
Publication of WO2007026993A1 publication Critical patent/WO2007026993A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/004—Artificial life, i.e. computing arrangements simulating life
    • G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Definitions

  • the present invention relates to a method for providing a morning call service using a mobile robot and a mobile robot apparatus for the method. More particularly, the present invention relates to a method for providing a morning call service using a mobile robot and a mobile robot apparatus for execution of the method, which can wake up a user at a reserved time point with an improved reliability through continuous recognition of a user's position.
  • conventional devices for providing such a morning call service usually have a function of only reproducing predetermined sounds or music at a reserved time point and have no means for recognizing if the user has woken up or not.
  • the conventional devices providing the morning call service cannot recognize if the user has woken up or not. Therefore, the conventional devices cannot provide reliability in waking up the users.
  • the present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a method for providing a morning call service using a mobile robot and a mobile robot apparatus for execution of the method, which can wake up a user at a reserved time point with an improved reliability through continuous recognition of a user's position.
  • a mobile robot apparatus comprising: a control unit for controlling a general operation of the mobile robot apparatus; a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data; a robot moving unit for moving the mobile robot apparatus to a position near the morning call execution position before the morning call time under control of the control unit; a user recognition unit for determining if a user is located at the morning call execution position; and a sound output unit for reproducing the morning call sound when a user is located at the morning call execution position.
  • a method for providing a morning call service using a mobile robot which comprises a control unit for controlling a general operation of the mobile robot, a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data, a sound output unit for reproducing morning call sound, a robot moving unit for moving the mobile robot, and a user recognition unit for recognizing a user
  • the method comprising the steps of: (a) moving the mobile robot to a position near the morning call execution position by the robot moving unit when the morning call time approaches; (b) determining by the user recognition unit if the user is located at the morning call execution position; and (c) reproducing the morning call sound by the sound output unit when the user is located at the morning call execution position; (d) measuring a distance between the user and the morning call execution position and transferring a result of the measurement by the user recognition unit to the control unit at a regular interval after the morning call time; and (e) stopping by the control unit reproduction of sound by the sound output unit
  • FIG. 1 is a block diagram of a mobile robot apparatus according to an embodiment of the present invention
  • FIG. 2 is a view for illustrating a method for measuring a distance between a user and a morning call execution position by a user recognition unit
  • FIG. 3 is a flowchart of a method for a morning call service according to an embodiment of the present invention.
  • FIG. 1 is a block diagram of a mobile robot apparatus according to an embodiment of the present invention.
  • the mobile robot apparatus 100 includes a control unit 101 for controlling the general operation of the mobile robot apparatus 100, a key input unit 102 for input of commands and data by a user, a display unit 103 for displaying a character and an image, a sound output unit 104 for reproducing and outputting sound, a voice input unit 105 for input of user's voice for voice recognition, a memory 106 for temporarily storing data, a Hard Disk Drive (HDD) 107 for storing programs and data, a wireless communication module 108 for connection to a wireless Internet network in order to download sound and acquire various types of information, a robot moving unit 109 for moving the mobile robot apparatus 100, a user recognition unit 110 for recognizing a user, and a timer 111 for checking passage of time.
  • a control unit 101 for controlling the general operation of the mobile robot apparatus 100
  • a key input unit 102 for input of commands and data by a user
  • a display unit 103 for displaying a character and an image
  • a sound output unit 104 for reproducing
  • the mobile robot apparatus 100 stores morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data, in the memory 106.
  • the morning call setup information is stored in the mobile robot apparatus 100 through user's input, and the user may select a particular place (for example, bed) from multiple places stored in the robot, in order to store the morning call execution position information in the mobile robot apparatus 100.
  • the morning call sound data may be downloaded from the wireless Internet network connected through the wireless communication module 108.
  • the robot moving unit 109 moves the robot to the morning call execution position or its vicinity by a command from the control unit 101 based on the morning call setup information stored in the memory 106.
  • the user recognition unit 110 determines if the user is located near the robot and transfers a result of the determination to the control unit 101.
  • the user recognition unit 110 keeps on measuring the distance between the user and the morning call execution position (e.g. bed) and transfers a result of the measurement to the control unit 101.
  • the control unit 101 determines that the user has not woken up yet and continues reproduction of the sound.
  • the control unit 101 determines that the user has woken up and stops reproduction of the sound.
  • the user recognition unit 110 recognizes the location of the user, obtains a vector
  • the user recognition unit 110 may receive a radio signal including a specific identifier of the user, which is transmitted from a transmitter carried by the user, and identify the specific identifier of the user obtained through demodulation of the received radio signal.
  • a thermal sensor may be utilized in order to recognize if the user is located at the expected position. In general, the thermal sensor operates in response to a frequency of a 8 ⁇ 10 micro-miter band radiated from a human, by using two lithium tantalite crystals.
  • the control unit 101 causes the robot moving unit 109 to move the robot to its original position and does not provide the morning call service. In contrast, if the user is located at the morning call execution position, the control unit 101 commands the sound output unit 104 to reproduce the morning call sound. Thereafter, based on the distance between the user and the morning call execution position measured by the user recognition unit 110, the control unit 101 determines if the user has woken up or not. When the user has woken up, the control unit 101 stops the reproduction of sound by the sound output unit 104 and the determination of user' s location by the user recognition unit 110.
  • the sound output unit 104 reproduces the morning call sound under the control of the control unit 101. Thereafter, when the user has not woken up yet, the sound output unit 104 keeps on reproducing the morning call sound under the control of the control unit 101. When the user has woken up, the sound output unit 104 stops the reproduction of the morning call sound.
  • FIG. 3 is a flowchart of a method for a morning call service according to an embodiment of the present invention.
  • the robot moving unit 109 moves the robot to a predetermined morning call execution position (step S220) .
  • the user recognition unit 110 determines if the user is located at a corresponding position (step S230) .
  • the sound output unit 104 reproduces predetermined morning call sound at predetermined morning call time (step S240) .
  • the user recognition unit 110 keeps on measuring the distance between the user and the morning call execution position and transfers the measured distance to the control unit 101, and the control unit 101 determines through comparison between the distance and a reference value if the position of the user has changed (step S260) .
  • the control unit 101 determines that the position of the user has changed when the distance between the user and the morning call execution position is larger than or equal to the reference value, and determines that the position of the user has not changed when the distance between the user and the morning call execution position is smaller than the reference value.
  • the user recognition unit 110 calculates a vector from the robot to the morning call execution position and a vector from the robot to the user as shown in FIG. 2 and then obtains the distance between the user and the morning call execution position by using a difference between the two vectors.
  • control unit 101 causes the sound output unit 104 to stop the reproduction of the morning call sound and causes the robot moving unit 109 to move the robot to its original position (step S270) .
  • control unit 101 determines that the user has not woken up and causes the sound output unit 104 to keep on reproducing the morning call sound.
  • a method for a morning call service using a mobile robot and a mobile robot apparatus for the method according to the present invention it is possible to keep on tracing a position of a user simultaneously while reproducing morning call sound, so that it is possible to determine if the user has woken up or not even while or after first providing the morning call service. Moreover, when the user has not woken up even after the morning call sound is reproduced, it is possible to keep on providing the morning call service until the user wakes up. Therefore, it is unnecessary to use multiple morning call device or ask another person to wake up the user. Further, the present invention can provide a morning call service with an enhanced reliability.

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Abstract

Disclosed is a mobile robot apparatus, which includes a control unit for controlling a general operation of the mobile robot apparatus; a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data; a robot moving unit for moving the mobile robot apparatus to a position near the morning call execution position before the morning call time under control of the control unit; a user recognition unit for determining if a user is located at the morning call execution position; and a sound output unit for reproducing the morning call sound when a user is located at the morning call execution position.

Description

METHOD FOR MORNING CALL SERVICE USING MOBILE ROBOT AND MOBILE ROBOT APPARATUS THEREFOR
Technical Field
The present invention relates to a method for providing a morning call service using a mobile robot and a mobile robot apparatus for the method. More particularly, the present invention relates to a method for providing a morning call service using a mobile robot and a mobile robot apparatus for execution of the method, which can wake up a user at a reserved time point with an improved reliability through continuous recognition of a user's position.
Background Art
In general, people get help from a morning call service provided by an alarm clock, a mobile phone, an audio device, an automatic turn-on function of a television, etc., in order to wake up at a time point which they reserve.
However, conventional devices for providing such a morning call service usually have a function of only reproducing predetermined sounds or music at a reserved time point and have no means for recognizing if the user has woken up or not.
Further, although the object of such a morning call service is to make a user wake up, the conventional devices providing the morning call service cannot recognize if the user has woken up or not. Therefore, the conventional devices cannot provide reliability in waking up the users.
Therefore, in an effort to make sure to wake up at a reserved time point, people have used either multiple morning call devices or a morning call device repeatedly reproducing sound. Moreover, instead of using the morning call service, people sometimes have asked another person to wake up them. Even in the case of using a morning call device repeatedly reproducing sound, a user may turn off the reproduced sound and then go to sleep again, and the repeatedly reproduced sound may serve as noise to people who do not want to use the morning call service.
Disclosure of the Invention
Therefore, the present invention has been made in view of the above-mentioned problems, and it is an object of the present invention to provide a method for providing a morning call service using a mobile robot and a mobile robot apparatus for execution of the method, which can wake up a user at a reserved time point with an improved reliability through continuous recognition of a user's position. According to an aspect of the present invention, there is provided a mobile robot apparatus comprising: a control unit for controlling a general operation of the mobile robot apparatus; a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data; a robot moving unit for moving the mobile robot apparatus to a position near the morning call execution position before the morning call time under control of the control unit; a user recognition unit for determining if a user is located at the morning call execution position; and a sound output unit for reproducing the morning call sound when a user is located at the morning call execution position.
According to another aspect of the present invention, A method for providing a morning call service using a mobile robot which comprises a control unit for controlling a general operation of the mobile robot, a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data, a sound output unit for reproducing morning call sound, a robot moving unit for moving the mobile robot, and a user recognition unit for recognizing a user, the method comprising the steps of: (a) moving the mobile robot to a position near the morning call execution position by the robot moving unit when the morning call time approaches; (b) determining by the user recognition unit if the user is located at the morning call execution position; and (c) reproducing the morning call sound by the sound output unit when the user is located at the morning call execution position; (d) measuring a distance between the user and the morning call execution position and transferring a result of the measurement by the user recognition unit to the control unit at a regular interval after the morning call time; and (e) stopping by the control unit reproduction of sound by the sound output unit and determination of user's position by the user recognition unit when the distance between the user and the morning call execution position is larger than or equal to a predetermined reference value, and returning to step (c) when the distance is smaller than the predetermined reference value.
Brief Description of the Drawings
The foregoing and other objects, features and advantages of the present invention will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings in which: FIG. 1 is a block diagram of a mobile robot apparatus according to an embodiment of the present invention;
FIG. 2 is a view for illustrating a method for measuring a distance between a user and a morning call execution position by a user recognition unit; and
FIG. 3 is a flowchart of a method for a morning call service according to an embodiment of the present invention.
Best Mode for Carrying Out the Invention
Reference will now be made in detail to the preferred embodiment of the present invention. It should be noted that the similar components are designated by similar reference numerals although they are illustrated in different drawings. Also, in the following description, a detailed description of known functions and configurations incorporated herein will be omitted when it may obscure the subject matter of the present invention.
FIG. 1 is a block diagram of a mobile robot apparatus according to an embodiment of the present invention.
As shown, the mobile robot apparatus 100 according to an embodiment of the present invention includes a control unit 101 for controlling the general operation of the mobile robot apparatus 100, a key input unit 102 for input of commands and data by a user, a display unit 103 for displaying a character and an image, a sound output unit 104 for reproducing and outputting sound, a voice input unit 105 for input of user's voice for voice recognition, a memory 106 for temporarily storing data, a Hard Disk Drive (HDD) 107 for storing programs and data, a wireless communication module 108 for connection to a wireless Internet network in order to download sound and acquire various types of information, a robot moving unit 109 for moving the mobile robot apparatus 100, a user recognition unit 110 for recognizing a user, and a timer 111 for checking passage of time.
In order to provide a morning call service, the mobile robot apparatus 100 according to the present invention stores morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data, in the memory 106. The morning call setup information is stored in the mobile robot apparatus 100 through user's input, and the user may select a particular place (for example, bed) from multiple places stored in the robot, in order to store the morning call execution position information in the mobile robot apparatus 100. Further, the morning call sound data may be downloaded from the wireless Internet network connected through the wireless communication module 108.
When the morning call time approaches, the robot moving unit 109 moves the robot to the morning call execution position or its vicinity by a command from the control unit 101 based on the morning call setup information stored in the memory 106.
When the robot has moved to the morning call execution position or its vicinity, the user recognition unit 110 determines if the user is located near the robot and transfers a result of the determination to the control unit 101.
Further, even after the user is detected near the robot and the morning call is executed, the user recognition unit 110 keeps on measuring the distance between the user and the morning call execution position (e.g. bed) and transfers a result of the measurement to the control unit 101. When the measured distance is smaller than a predetermined value, the control unit 101 determines that the user has not woken up yet and continues reproduction of the sound. In contrast, when the measured distance is larger than or equal to the predetermined value, the control unit 101 determines that the user has woken up and stops reproduction of the sound. At this time, the user recognition unit 110 recognizes the location of the user, obtains a vector
OB from the robot to the user and a vector OA from the robot to the morning call execution position as shown in FIG. 2, and then obtains the distance between the user and the morning call execution position by using a difference between the two vectors OB and OA . Meanwhile, in order to recognize the user, the user recognition unit 110 may receive a radio signal including a specific identifier of the user, which is transmitted from a transmitter carried by the user, and identify the specific identifier of the user obtained through demodulation of the received radio signal. Or, a thermal sensor may be utilized in order to recognize if the user is located at the expected position. In general, the thermal sensor operates in response to a frequency of a 8 ~ 10 micro-miter band radiated from a human, by using two lithium tantalite crystals.
At the initial stage, if the user is not located at the morning call execution position, the control unit 101 causes the robot moving unit 109 to move the robot to its original position and does not provide the morning call service. In contrast, if the user is located at the morning call execution position, the control unit 101 commands the sound output unit 104 to reproduce the morning call sound. Thereafter, based on the distance between the user and the morning call execution position measured by the user recognition unit 110, the control unit 101 determines if the user has woken up or not. When the user has woken up, the control unit 101 stops the reproduction of sound by the sound output unit 104 and the determination of user' s location by the user recognition unit 110.
When the user is still located at the morning call execution position, the sound output unit 104 reproduces the morning call sound under the control of the control unit 101. Thereafter, when the user has not woken up yet, the sound output unit 104 keeps on reproducing the morning call sound under the control of the control unit 101. When the user has woken up, the sound output unit 104 stops the reproduction of the morning call sound.
Hereinafter, a process of a morning call service by the mobile robot apparatus 100 according to the present invention will be described with reference to FIG. 3. FIG. 3 is a flowchart of a method for a morning call service according to an embodiment of the present invention. Referring to FIG. 3, when the morning call time approaches based on the morning call setup information stored in the memory 106 (step S210), the robot moving unit 109 moves the robot to a predetermined morning call execution position (step S220) . When the robot has been moved to the morning call execution position, the user recognition unit 110 determines if the user is located at a corresponding position (step S230) . When it is determined that the user is located at the corresponding position, the sound output unit 104 reproduces predetermined morning call sound at predetermined morning call time (step S240) .
After reproduction of the morning call sound is started, the user recognition unit 110 keeps on measuring the distance between the user and the morning call execution position and transfers the measured distance to the control unit 101, and the control unit 101 determines through comparison between the distance and a reference value if the position of the user has changed (step S260) . At this time, the control unit 101 determines that the position of the user has changed when the distance between the user and the morning call execution position is larger than or equal to the reference value, and determines that the position of the user has not changed when the distance between the user and the morning call execution position is smaller than the reference value.
Meanwhile, the user recognition unit 110 calculates a vector from the robot to the morning call execution position and a vector from the robot to the user as shown in FIG. 2 and then obtains the distance between the user and the morning call execution position by using a difference between the two vectors.
Next, from the result of the determination, when the position of the user has changed, the control unit 101 causes the sound output unit 104 to stop the reproduction of the morning call sound and causes the robot moving unit 109 to move the robot to its original position (step S270) .
In contrast, when it is determined that the position of the user has not changed and is still located at the morning call execution position or its vicinity, the control unit 101 determines that the user has not woken up and causes the sound output unit 104 to keep on reproducing the morning call sound.
Industrial Applicability
By a method for a morning call service using a mobile robot and a mobile robot apparatus for the method according to the present invention, it is possible to keep on tracing a position of a user simultaneously while reproducing morning call sound, so that it is possible to determine if the user has woken up or not even while or after first providing the morning call service. Moreover, when the user has not woken up even after the morning call sound is reproduced, it is possible to keep on providing the morning call service until the user wakes up. Therefore, it is unnecessary to use multiple morning call device or ask another person to wake up the user. Further, the present invention can provide a morning call service with an enhanced reliability. While this invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiment and the drawings, but, on the contrary, it is intended to cover various modifications and variations within the spirit and scope of the appended claims.

Claims

Claims
1. A mobile robot apparatus comprising: a control unit for controlling a general operation of the mobile robot apparatus; a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data; a robot moving unit for moving the mobile robot apparatus to a position near the morning call execution position before the morning call time under control of the control unit; a user recognition unit for determining if a user is located at the morning call execution position; and a sound output unit for reproducing the morning call sound when a user is located at the morning call execution position.
2. The mobile robot apparatus according to claim 1, wherein the user recognition unit recognizes a user by receiving a radio signal including a specific identifier from a transmitter and identifying the specific identifier through demodulation of the received radio signal.
3. The mobile robot apparatus according to claim 1, wherein the user recognition unit recognizes a user by using a thermal sensor.
4. The mobile robot apparatus according to one of claims 1 to 3, wherein: the user recognition unit measures a distance between the user and the morning call execution position and transfers a result of the measurement to the control unit at a regular interval after the morning call time; and the control unit stops reproduction of sound by the sound output unit and determination of user' s position by the user recognition unit when the distance between the user and the morning call execution position is larger than or equal to a predetermined reference value.
5. The mobile robot apparatus according to claim 4, wherein the user recognition unit measures the distance between the user and the morning call execution position by using a difference between a vector from the robot to the morning call execution position and a vector from the robot to the user.
6. A method for providing a morning call service using a mobile robot which comprises a control unit for controlling a general operation of the mobile robot, a memory for storing morning call setup information, which includes morning call time information, morning call execution position information, and morning call sound data, a sound output unit for reproducing morning call sound, a robot moving unit for moving the mobile robot, and a user recognition unit for recognizing a user, the method comprising the steps of: (a) moving the mobile robot to a position near the morning call execution position by the robot moving unit when the morning call time approaches; (b) determining by the user recognition unit if the user is located at the morning call execution position; and
(c) reproducing the morning call sound by the sound output unit when the user is located at the morning call execution position;
(d) measuring a distance between the user and the morning call execution position and transferring a result of the measurement by the user recognition unit to the control unit at a regular interval after the morning call time; and
(e) stopping by the control unit reproduction of sound by the sound output unit and determination of user' s position by the user recognition unit when the distance between the user and the morning call execution position is larger than or equal to a predetermined reference value, and returning to step (c) when the distance is smaller than the predetermined reference value.
7. The method according to claim 6, wherein, in step (b) , by receiving a radio signal including a specific identifier from a transmitter and then identifying the specific identifier through demodulation of the received radio signal, the user recognition unit determines if a user is located at a corresponding position.
8. The method according to claim 6, wherein, in step (b) , the user recognition unit determines using a thermal sensor if a user is located at a corresponding position.
9. The method according to one of claims 6 to 8, wherein the user recognition unit measures the distance between the user and the morning call execution position by using a difference between a vector from the robot to the morning call execution position and a vector from the robot to the user.
PCT/KR2006/002130 2005-09-03 2006-06-02 Method for morning call service using mobile robot and mobile robot apparatus therefor WO2007026993A1 (en)

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KR20020055788A (en) * 2000-12-29 2002-07-10 구자홍 Apparatus and Method of Destination Arrival Buzzer for Mobile Telephone
JP2003062776A (en) * 2001-08-22 2003-03-05 Taito Corp Small-sized robot communication system
JP2004012381A (en) * 2002-06-10 2004-01-15 Sharp Corp Alarm system and alarm clock
KR20050083103A (en) * 2004-02-21 2005-08-25 삼성전자주식회사 Apparatus and method for contolling in mobile terminal

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KR200231327Y1 (en) 2000-04-28 2001-07-19 김국웅 Moving alram clock
KR100706974B1 (en) * 2005-01-24 2007-04-11 에스케이 텔레콤주식회사 Mobile robot apparatus and its morning call service method

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20020055788A (en) * 2000-12-29 2002-07-10 구자홍 Apparatus and Method of Destination Arrival Buzzer for Mobile Telephone
JP2003062776A (en) * 2001-08-22 2003-03-05 Taito Corp Small-sized robot communication system
JP2004012381A (en) * 2002-06-10 2004-01-15 Sharp Corp Alarm system and alarm clock
KR20050083103A (en) * 2004-02-21 2005-08-25 삼성전자주식회사 Apparatus and method for contolling in mobile terminal

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