Home robot system for providing customized services

Abstract

The present invention relates to a home robot system for providing customized services and, more specifically, to a home robot system for providing customized services that offers a variety of functions to assist a user's life, such as air purification, fire prevention, and intrusion protection, and provides an experience to the user in which the robot extracts the center point of the user's face from an image captured by a camera, adjusts the position thereof such that the center point of the captured image aligns with the center point of the user's face, and thereby allows the robot to autonomously move to a position facing the user, thus enabling a home automation system with enhanced emotional interaction with the user.

Description

A home robot system that provides customized services

[0001] The present invention relates to a home robot system that provides a user-tailored service, and more particularly, to a home robot system that provides a variety of functions to assist the user's life, such as air purification, fire security, and intrusion security, and provides an experience in which the robot autonomously moves to a position facing the user by extracting the center point of the face from an image captured by a camera and controlling the center point of the captured image to match the center point of the face, thereby implementing a home automation system and providing a user-tailored service with enhanced emotional communication with the user.

[0002]

[0003] Recently, demand for home automation systems has been increasing. These systems have primarily been implemented by controlling IoT-enabled home appliances through user interfaces such as wall pads or smartphones. For example, users could purchase IoT-enabled air purifiers and home CCTVs to maintain indoor air quality and ensure residential safety. However, these traditional home automation systems have the disadvantage of requiring separate appliances for each application (air purification, security), which increases user inconvenience.

[0004] Meanwhile, domestic robots may have great potential for implementing home automation. However, conventional domestic robots have evolved to perform specific functions, such as information provision, healthcare, and emotional connection. Therefore, most are mass-produced with embedded capabilities, making them incapable of performing a variety of functions.

[0005]

[0006] In other words, there is a need for technology that supports various functions while maintaining the functions provided by home robots, such as information provision and emotional communication, so that users can implement home automation systems more easily.

[0007]

[0008] The present invention provides a variety of functions to assist the user's life, such as air purification, fire security, and intrusion security, and provides a home robot system that provides a user-tailored service with enhanced emotional connection with the user by extracting the center point of the face from an image captured by a camera and controlling the center point of the captured image to match the center point of the face, thereby implementing a home automation system and providing a home robot system that provides a user-tailored service.

[0009]

[0010] In order to solve the above problem, one embodiment of the present invention relates to a home robot system that provides a user-customized service, comprising: a robot body including a moving module including a full case and wheels coupled to the lower side of the full case and a motor for driving the wheels; a mounting protrusion including a mounting groove portion in which a portion of a side surface of the full case protrudes outward and is concave inward in some areas; a rotating member that is rotatably arranged on the inside of the mounting groove portion and has a bar shape; An input module unit that generates sensing information including motion sensing information, including a shooting camera arranged on the upper side of the mounting protrusion, a recognition camera arranged on the rotating member and having a shooting angle adjusted up and down according to the rotation of the rotating member, an infrared camera arranged on the rotating member and having a shooting angle adjusted up and down according to the rotation of the rotating member, a temperature sensor module arranged on the rotating member and having a recognition angle adjusted up and down according to the rotation of the rotating member, a flame sensor module arranged on the inside of the mounting groove and having a detection angle adjusted up and down according to the rotation of the rotating member, a plurality of illumination sensor modules arranged on the inside of the mounting groove and having a detection angle, a microphone module arranged on the inside of the mounting groove, and a PIR sensor module arranged on the lower side of the mounting protrusion and having a detection angle of motion sensing information; an output module unit that includes a display module arranged on the mounting protrusion, an infrared lighting module arranged on the rotating member, and a speaker module arranged on the inside of the entire case; A home robot system is provided, comprising: a robot control unit that includes a communication unit and controls the movement module, the rotation member, the input module unit, and the output module unit; and a server system that receives the sensing information transmitted by the communication unit; wherein the robot control unit recognizes a human object from an image captured by the recognition camera and controls the movement module and the rotation member so that the face of the human object is positioned at a preset point in the captured image.

[0011] In some embodiments of the present invention, the robot body part includes a plurality of air intake ports formed in a side portion of the entire case and an air exhaust port formed in an upper portion of the entire case, and the home robot system further includes an air purification device part including a filter part disposed inside the robot body part so as to be in communication with the air intake ports, and an exhaust pump part that exhausts air from the filter part side to the air exhaust port side; wherein indoor air is introduced through the plurality of air intake ports, the indoor air passes through the filter part, and after being filtered of oil vapor, water vapor, dust, and odor, is exhausted indoors through the air exhaust port by the exhaust pump part, thereby purifying the indoor air.

[0012] In some embodiments of the present invention, the robot control unit includes a face recognition unit, and the face recognition unit may perform steps including: a landmark detection step of detecting a face region from an image captured by the recognition camera and detecting a plurality of preset landmarks from the detected face region; an extraction step of extracting a center point of a face of a recognized user based on the positions of a plurality of preset landmarks in the image; a first movement step of controlling the movement module to move the robot body so that the area of ​​a reference region formed by the outlines of the plurality of preset landmarks is within a preset range; a second movement step of controlling the movement module to move the robot body so that the horizontal coordinate of the center point of the face and the horizontal coordinate of the preset center point of the image captured by the recognition camera correspond to each other; and a third movement step of controlling the rotation member to rotate the rotation member so that the vertical coordinate of the center point of the face and the vertical coordinate of the preset center point of the image captured by the recognition camera correspond to each other.

[0013] In some embodiments of the present invention, the robot control unit includes an intrusion security unit, and the intrusion security unit can perform a motion information storage step of storing motion sensing information generated by a PIR sensor module in a time series to generate a motion detection log; a motion determination step of determining whether a movement has occurred according to a preset motion determination rule based on the motion detection log; a warning sound output step of generating an intrusion warning sound by the speaker module when it is determined in the motion determination step that a movement has occurred; a motion recording step of turning on the power of the infrared lighting module and recording an intrusion recording image by the infrared camera when it is determined in the motion determination step that a movement has occurred; and an intrusion alarm step of transmitting the motion detection log and the intrusion recording image to a user terminal or a server system.

[0014] In some embodiments of the present invention, the robot control unit includes a fire safety unit, and the fire safety unit may perform a fire information storage step of storing information generated by the flame sensor module and temperature information generated by the temperature sensor module in a time series manner to create a fire detection log; a fire occurrence determination step of determining whether a fire has occurred according to a preset fire determination rule based on the fire detection log; and a fire notification step of capturing a fire recording image using a camera and transmitting the image to a user terminal and a server system in real time when it is determined that a fire has occurred in the fire occurrence determination step.

[0015] In some embodiments of the present invention, the server system may include a data recording unit that inputs, stores, and classifies the sensing information transmitted by the communication unit; and a pattern prediction unit that predicts a user pattern at a future point in time, including the user's expected sleeping time, expected waking time, and expected going out time, based on the user information input by the data recording unit.

[0016]

[0017] According to one embodiment of the present invention, a home robot system can provide various functions that can implement a home automation system, such as intrusion prevention, fire prevention, air purification, and assisting the user's daily life, while simultaneously providing a function for emotional communication with the user.

[0018] According to one embodiment of the present invention, since the mounting protrusion includes a mounting groove, the surface area is relatively increased compared to a general robot case, and thus, the effect of being able to mount more components can be achieved.

[0019] According to one embodiment of the present invention, a home robot system includes a plurality of cameras including a photographing camera, a recognition camera, and an infrared camera, thereby being able to more accurately recognize the environment of a residence and an indoor space and effectively understand the situation, detect the location of obstacles in the residence and indoor space to perform precise movement, and provide a real-time environment monitoring function.

[0020] According to one embodiment of the present invention, a home robot system includes a plurality of sensor modules including a temperature sensor module, a flame sensor module, and a PIR sensor module, thereby enabling the system to immediately collect information on situations occurring in a residence and indoors, and to perform control and operations necessary for implementing home automation based on such information, thereby enhancing user convenience.

[0021] According to one embodiment of the present invention, a home robot system includes a microphone module, thereby receiving voice and sound information generated indoors and transmitting the same to a user terminal or server system, and enabling the user to communicate with the home robot system using voice, thereby enhancing user convenience.

[0022] According to one embodiment of the present invention, the display module can have the effect of improving user experience and enhancing emotional empathy function by displaying an expression image corresponding to the briefing content.

[0023] According to one embodiment of the present invention, a home robot system includes an air purification unit and autonomously determines air quality by the air purification unit to determine whether the indoor air is purified, thereby achieving the effect of more efficiently maintaining indoor air quality.

[0024] According to one embodiment of the present invention, a home robot system includes a pattern prediction unit, thereby being able to more accurately predict a user's behavioral pattern at a future point in time, and thereby provide a user-tailored service.

[0025] According to one embodiment of the present invention, a home robot system can provide a gaze contact function that follows the user's face and makes eye contact with the user even when the user moves, thereby maximizing the effect of emotional communication with the user.

[0026] According to one embodiment of the present invention, a home robot system can be linked with a user terminal so that the user can remotely give commands, thereby realizing home automation and improving usability.

[0027]

[0028] Figure 1 schematically illustrates a home robot system according to one embodiment of the present invention.

[0029] FIG. 2 schematically illustrates a configuration of a home robot system including an air purification unit according to one embodiment of the present invention.

[0030] FIG. 3 schematically illustrates an enlarged view of a portion of a home robot system according to one embodiment of the present invention.

[0031] Figure 4 schematically illustrates a block diagram of a control unit according to one embodiment of the present invention.

[0032] FIG. 5 illustrates an example of steps performed by a face recognition unit according to one embodiment of the present invention.

[0033] FIG. 6 illustrates an example of a process in which a face recognition unit follows a user's face according to one embodiment of the present invention.

[0034] Figure 7 schematically illustrates a process of a face recognition unit according to one embodiment of the present invention.

[0035] Figure 8 schematically illustrates steps performed by an intrusion security unit according to one embodiment of the present invention.

[0036] FIG. 9 illustrates an example of a motion detection log generated by an intrusion security unit according to one embodiment of the present invention.

[0037] Figure 10 schematically illustrates steps performed by a fire safety department according to one embodiment of the present invention.

[0038] FIG. 11 illustrates an example screen of an APP running on a user terminal according to one embodiment of the present invention.

[0039]

[0040] Hereinafter, various embodiments and / or aspects are now disclosed with reference to the drawings. In the following description, for purposes of explanation, numerous specific details are set forth to provide a thorough understanding of one or more aspects. However, it will be apparent to one skilled in the art that such aspects may be practiced without these specific details. The following description and the attached drawings detail specific exemplary aspects of one or more aspects. However, these aspects are exemplary, and it is to be understood that any of the various methods within the principles of the various aspects may be utilized, and the description is intended to encompass all such aspects and their equivalents.

[0041] Additionally, various aspects and features will be presented by systems that may include a number of devices, components, and / or modules. It is also to be understood and appreciated that various systems may include additional devices, components, and / or modules, and / or may not include all of the devices, components, and modules discussed in connection with the drawings.

[0042] The terms “embodiment,” “example,” “aspect,” “example,” and the like as used herein may not be construed to imply that any aspect or design described is better or advantageous over other aspects or designs.

[0043] Additionally, it should be understood that the terms “comprises” and / or “comprising” imply the presence of the features and / or components, but do not preclude the presence or addition of one or more other features, components and / or groups thereof.

[0044] Additionally, terms including ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by these terms. These terms are used solely to distinguish one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. The term and / or includes a combination of a plurality of related described items or any of a plurality of related described items.

[0045] Additionally, in the embodiments of the present invention, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by those of ordinary skill in the art to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and shall not be interpreted in an ideal or overly formal sense unless explicitly defined in the embodiments of the present invention.

[0046]

[0047] Domestic robots are expected to be highly useful in realizing home automation, but conventional domestic robots have been developed to perform specific functions such as information provision, healthcare, and emotional communication, making it difficult for them to perform a variety of functions.

[0048]

[0049] To solve this problem, the present invention discloses a home robot system (1) that provides a user-customized service.

[0050]

[0051] *More specifically, the home robot system (1) of the present invention can provide an experience as if the user is making eye contact with the home robot by utilizing a gaze matching function that extracts the center point (N) of the face from an image captured by a camera and controls the robot body (1000) and the rotating member (3000) so that the center point (N) of the face and the preset center point (M) of the captured image are aligned.

[0052] In addition, the home robot system (1) of the present invention can automatically detect whether an intruder has occurred or a fire has occurred in the user's residence based on sensing information generated from a plurality of cameras and sensor modules, such as a plurality of cameras, a temperature sensor module (4400), a flame sensor module (4500), a light sensor module (4600), a microphone module (4700), and a PIR sensor module (4800), thereby implementing a home automation system.

[0053]

[0054] That is, the home robot system (1) according to one embodiment of the present invention can provide the effect of implementing various functions that can implement a home automation system such as intrusion prevention, fire prevention, air purification, and user's daily life assistance, while simultaneously providing a function for emotional communication with the user.

[0055]

[0056] Below, the detailed configuration of a home robot system (1) according to one embodiment of the present invention will be described in more detail.

[0057]

[0058] Figure 1 schematically illustrates a home robot system (1) according to one embodiment of the present invention.

[0059]

[0060] According to one embodiment of the present invention, a home robot system (1) providing a user-customized service comprises: a robot body (1000) including a full case (1100) and a moving module (1200) including wheels coupled to the lower side of the full case (1100) and a motor for driving the wheels; a mounting protrusion (2000) including a mounting groove (2100) formed such that a portion of a side surface of the full case (1100) protrudes outward and is concave inward at a portion; a rotating member (3000) arranged to be rotatable on the inside of the mounting groove (2100) and having a bar shape; A shooting camera (4100) arranged on the upper side of the above-mentioned mounting protrusion (2000), a recognition camera (4200) arranged on the above-mentioned rotating member (3000) and having a shooting angle adjusted up and down according to the rotation of the above-mentioned rotating member (3000), an infrared camera (4300) arranged on the above-mentioned rotating member (3000) and having a shooting angle adjusted up and down according to the rotation of the above-mentioned rotating member (3000), a temperature sensor module (4400) arranged on the above-mentioned rotating member (3000) and having a recognition angle adjusted up and down according to the rotation of the above-mentioned rotating member (3000), a flame sensor module (4500) arranged on the inside of the above-mentioned mounting groove (2100) and detecting whether a flame has occurred, a plurality of illumination sensor modules (4600) arranged on the inside of the above-mentioned mounting groove (2100) and detecting illumination, and a plurality of illumination sensor modules (4600) arranged on the inside of the above-mentioned mounting groove (2100) An input module unit (4000) that generates sensing information including motion sensing information, including a microphone module (4700) and a PIR sensor module (4800) that is disposed at the lower portion of the mounting protrusion (2000) and generates motion sensing information; an output module unit (5000) that includes a display module (5100) disposed at the mounting protrusion (2000), an infrared lighting module (5200) disposed at the rotating member (3000), and a speaker module (5300) disposed inside the entire case (1100);It may include a robot control unit (6000) that includes a communication unit (6100) and controls the moving module (1200), the rotating member (3000), the input module unit (4000), and the output module unit (5000); and a server system (8000) that receives the sensing information transmitted by the communication unit (6100).

[0061] By this configuration, the robot control unit (6000) can recognize a human object from an image captured by the recognition camera (4200) and control the movement module (1200) and the rotation member (3000) so that the face of the human object is positioned at a preset point in the captured image.

[0062]

[0063] The above robot body part (1000) corresponds to a configuration that integrates components of a home robot system (1) excluding the server system (8000). The robot body part (1000) may include a full case (1100) having an internal storage space, and a movement module (1200) including wheels arranged on the lower side of the full case (1100) and a motor for driving the wheels. As illustrated in Fig. 1, the full case (1100) may have a truncated cone shape, but the shape of the full case (1100) in the present invention is not limited to the shape illustrated in Fig. 1.

[0064] Meanwhile, according to one embodiment of the present invention, the robot body (1000) can smoothly move through the entire case (1100) in the user's residence or the room where the robot body (1000) is placed by the movement module (1200).

[0065]

[0066] The above-mentioned mounting protrusion (2000) corresponds to a configuration in which some of the components of the input module (4000) and some of the components of the output module (5000) are mounted.

[0067] In one embodiment of the present invention, the mounting protrusion (2000) may have a shape in which a portion of the side area of ​​the entire case (1100) protrudes outward. At this time, it is preferable that the end of the protruding area forms a flat protruding surface (2000-1). In one embodiment of the present invention, the mounting protrusion (2000) may include a mounting recess (2100) in which a portion of the protruding surface (2000-1) is concave inward. As illustrated in FIG. 1, the mounting recess (2100) may be located on the upper side of the mounting protrusion (2000).

[0068] According to one embodiment of the present invention, since the mounting protrusion (2000) includes a mounting groove (2100), the surface area is relatively increased compared to a general robot case, and thus, it is possible to achieve the effect of being able to mount more components.

[0069]

[0070] The above rotating member (3000) corresponds to a configuration in which other parts of the input module unit (4000) and output module unit (5000) are mounted.

[0071] In one embodiment of the present invention, the rotating member (3000) has a bar shape and is arranged on the inside of the mounting groove (2100) so as to be rotatable in the up-and-down direction about the rotation axis.

[0072] In one embodiment of the present invention, the rotating member (3000) may be equipped with a recognition camera (4200), an infrared camera (4300), and a temperature sensor module (4400) among the components of the input module unit (4000), and may be equipped with an infrared lighting module (5200) among the components of the output module unit (5000). That is, depending on the rotation of the rotating member (3000), the shooting angle of the recognition camera (4200), the shooting angle of the infrared camera (4300), the recognition angle of the temperature sensor module (4400), and the angle at which the infrared lighting module (5200) irradiates light may rotate in the vertical direction.

[0073] The face recognition unit (6200), intrusion security unit (6300), and fire security unit (6400) included in the robot control unit (6000) according to one embodiment of the present invention can utilize a configuration in which the shooting angle of the recognition camera (4200), the shooting angle of the infrared camera (4300), the recognition angle of the temperature sensor module (4400), and the angle at which the infrared lighting module (5200) irradiates light rotate in the up and down directions, and a detailed description thereof will be described in the drawings described below.

[0074]

[0075] The above input module unit (4000) corresponds to a plurality of modules that perform the role of inputting information into the home robot system (1) according to one embodiment of the present invention, such as a camera and a sensor.

[0076] More specifically, the input module unit (4000) may include a plurality of cameras, including a photographing camera (4100) capable of taking pictures under general lighting, a recognition camera (4200) for recognizing a human face, and an infrared camera (4300) capable of taking pictures under infrared lighting. As described above, the recognition camera (4200) and the infrared camera (4300) are mounted on the rotating member (3000) and can rotate the shooting angle in the up and down direction according to the rotation of the rotating member (3000). Meanwhile, in one embodiment of the present invention, the photographing camera (4100) is preferably disposed above the mounting groove (2100) among the protruding surfaces (2000-1) of the mounting protrusion (2000).

[0077] That is, according to one embodiment of the present invention, the home robot system (1) includes a plurality of cameras including a photographing camera (4100), a recognition camera (4200), and an infrared camera (4300), thereby being able to more accurately recognize the environment of a residence and an indoor space and effectively understand the situation, detect the location of obstacles in the residence and an indoor space to perform precise movement, and provide a real-time environment monitoring function.

[0078]

[0079] In addition, the input module unit (4000) may include a plurality of sensor modules, including a temperature sensor module (4400) for measuring temperature such as a user's body temperature, a flame sensor module (4500) for detecting a light source generated from a flame, a plurality of light sensor modules (4600) for detecting indoor illuminance, and a PIR sensor module (4800) for detecting human movement.

[0080] Here, the PIR sensor is an abbreviation for Passive Infrared Sensor, and is an electrical sensor that uses infrared to identify objects within the sensor's field of view, and can operate by detecting infrared rays emitted by or reflected from the object. Generally, objects emit thermal energy above absolute zero, and most of this thermal energy is emitted as infrared rays. The PIR sensor can detect human movement by detecting infrared rays in the wavelength range emitted by humans (e.g., infrared rays of 8 to 14 μm) among the infrared rays emitted by the object.

[0081] As described above, the temperature sensor module (4400) is mounted on the rotating member (3000) and can rotate the angle at which the temperature is recognized up and down according to the rotation of the rotating member (3000). As illustrated in FIG. 1, according to one embodiment of the present invention, the flame sensor module (4500) is preferably disposed on the upper side of the inner side of the mounting groove (2100), the plurality of light sensor modules (4600) are preferably disposed on the lower side of the inner side of the mounting groove (2100), and the PIR sensor module (4800) is preferably disposed on the lower side of the protruding surface (2000-1) of the mounting protrusion (2000).

[0082] That is, according to one embodiment of the present invention, the home robot system (1) includes a plurality of sensor modules including a temperature sensor module (4400), a flame sensor module (4500), and a PIR sensor module (4800), thereby enabling the system to immediately collect information on situations occurring in a residence and indoors, and to perform control and operation necessary for implementing home automation based on such information, thereby enhancing user convenience.

[0083]

[0084] In addition, the input module unit (4000) may include a microphone module (4700). As illustrated in FIG. 1, according to one embodiment of the present invention, the microphone module (4700) is preferably positioned on the lower side of the inner side of the mounting home unit (2100).

[0085] That is, according to one embodiment of the present invention, the home robot system (1) includes a microphone module (4700), and thus can receive voice and sound information generated indoors and transmit the same to a user terminal (9000) or a server system (8000), and the user can communicate with the home robot system (1) using his or her voice, thereby implementing an emotional empathy function.

[0086]

[0087] The above output module unit (5000) corresponds to a plurality of modules that perform the role of outputting images, sounds, and lights, etc. from the home robot system (1), such as a display and a speaker.

[0088] More specifically, the output module unit (5000) may include a display module (5100), an infrared lighting module (5200), and a speaker module (5300). Preferably, the display module (5100) is disposed between the mounting groove (2100) and the PIR sensor module (4800) among the protruding surfaces (2000-1) of the mounting protrusion (2000), and the infrared lighting module (5200) is preferably mounted on the rotating member (3000) so that the angle at which the illumination is irradiated rotates according to the rotation of the rotating member (3000). Meanwhile, the speaker module (5300) is preferably disposed on the inside of the entire case (1100).

[0089] That is, by this configuration, the home robot system (1) can transmit information to the user through multiple means of visual and auditory means.

[0090]

[0091] In one embodiment of the present invention, the display module (5100) can enhance user experience by displaying a preset facial expression image according to information to be conveyed, which can enhance the emotional empathy function of the home robot system (1).

[0092] For example, when the home robot system (1) wants to brief the user about information regarding the weather forecast, the display module (5100) can display an expression image corresponding to a smiling expression along with a briefing that the weather is expected to be good, and can display an expression image corresponding to a worried expression along with a briefing that the weather is expected to be bad.

[0093] That is, according to one embodiment of the present invention, the display module (5100) can have the effect of improving user experience and enhancing emotional empathy function by displaying an expression image corresponding to the briefing content.

[0094]

[0095] The above robot control unit (6000) includes a communication unit (6100) and is configured to be electrically connected to the movement module (1200), input module unit (4000), and output module unit (5000) of the robot body unit (1000) to control each of them.

[0096] At this time, the robot control unit (6000) may be implemented by one or more memories and one or more processors, and is preferably located in the internal space of the entire case (1100). The robot control unit (6000) may include a communication unit (6100), and may transmit information generated in the input module unit (4000) to the server system (8000) by the communication unit (6100).

[0097] By this configuration, the robot control unit (6000) according to one embodiment of the present invention can recognize a human object from an image captured by the recognition camera (4200) and control the movement module (1200) and the rotation member (3000) so that the face of the human object is positioned at a preset point in the captured image. A more detailed description thereof will be provided with reference to the drawings described below.

[0098]

[0099] Meanwhile, as illustrated in FIG. 1, a home robot system (1) according to one embodiment of the present invention can be linked with a user terminal (9000) and can transmit commands to the robot control unit (6000) through an APP (9100) installed in the user terminal (9000).

[0100]

[0101] FIG. 2 schematically illustrates a configuration of a home robot system (1) according to one embodiment of the present invention including an air purification device unit (7000).

[0102]

[0103] According to one embodiment of the present invention, the robot body (1000) may include a plurality of air intake ports (1110) formed on the side of the entire case (1100) and an air exhaust port (1120) formed on the upper portion of the entire case (1100).

[0104] In addition, the home robot system (1) may further include an air purification device (7000) including a filter unit (7100) arranged inside the robot body (1000) so as to be in communication with the air intake port (1110), and an exhaust pump unit that exhausts air from the filter unit (7100) side to the air exhaust port (1120).

[0105] In this configuration, indoor air is drawn in through the plurality of air intake ports (1110), the indoor air passes through the filter unit (7100), and after oil vapor, water vapor, dust, and odor are filtered, the indoor air is discharged to the indoor side through the air outlet (1120) by the discharge pump unit, thereby purifying the indoor air.

[0106]

[0107] Typically, air purifiers that purify indoor air are fixed to a certain space in the room, so when users want to purify the air in a different space in the room, they have to move the air purifier themselves, which is a hassle.

[0108] To solve this, a home robot system (1) according to one embodiment of the present invention may have an air purification device (7000) including a filter unit (7100) and an exhaust pump unit integrated into the robot body unit (1000).

[0109] More specifically, as illustrated in FIGS. 1 and 2, a plurality of air intakes (1110) may be formed at the lower portion of the side surface of the entire case (1100). At this time, the plurality of air intakes (1110) may have a slit shape extending in the longitudinal direction, and the plurality of air intakes (1110) may be positioned lower than the mounting protrusion (2000). Meanwhile, an air outlet (1120) may be formed at the upper portion of the entire case (1100).

[0110] In addition, as illustrated in FIG. 2, a filter unit (7100) may be arranged in the internal space of the entire case (1100). The filter unit (7100) is preferably arranged at the lower side of the internal space of the entire case (1100) so as to communicate with the plurality of air intakes (1110). The filter unit (7100) may filter out vapor, water vapor, dust, fine dust, and molecules that generate odors when air passes through it. In one embodiment of the present invention, the filter unit (7100) may include a semi HEPA filter, a HEPA filter, a deodorizing filter, and a pre-filter.

[0111] Meanwhile, although not shown in FIG. 2, the internal space of the entire case (1100) may include an exhaust pump unit that can discharge air that has passed through the filter unit (7100) to the outside of the entire case (1100) through the air outlet (1120).

[0112] By this configuration, the home robot system (1) according to one embodiment of the present invention can purify indoor air. More specifically, when indoor air is introduced through the plurality of air intake ports (1110), the indoor air passes through the filter unit (7100) and molecules that generate oil vapor, water vapor, dust, and odors can be filtered out. Thereafter, the filtered indoor air can be moved from the filter unit (7100) side to the air outlet (1120) side by the discharge pump unit and discharged to the outside of the entire case (1100).

[0113]

[0114] Meanwhile, although not shown in the drawing, the air purifier unit (7000) may include an air quality measurement unit (not shown) arranged to communicate with the plurality of air intake ports (1110). The air quality measurement unit may generate air quality information including dust concentration, fine dust concentration, and humidity of air drawn into the interior of the entire case (1100) through the plurality of air intake ports (1110).

[0115] In addition, in one embodiment of the present invention, the robot control unit (6000) may include an air purification unit. The air purification unit may perform an air quality judgment step of judging whether the indoor air quality is below a preset air quality standard based on air quality information measured by the air quality measurement unit, and an air purification step of turning on the power of the discharge pump unit when the indoor air quality is judged to be below the preset air quality standard in the air quality judgment step, so that the indoor air is drawn into the entire case (1100) through the plurality of air intake ports (1110), passes through the filter unit (7100), and then is discharged to the outside of the entire case (1100) through the air discharge port (1120).

[0116] Meanwhile, in one embodiment of the present invention, the air purifier unit (7000) can purify indoor air by turning on the power of the exhaust pump unit in response to a user's voice command and a command through the APP (9100) of the user terminal (9000).

[0117]

[0118] As described above, the robot body (1000) can move indoors by means of the movement module (1200). That is, according to one embodiment of the present invention, the home robot system (1) includes an air purification device (7000) and autonomously determines the air quality by means of the air purification unit to determine whether the indoor air is purified, thereby achieving the effect of more efficiently maintaining the indoor air quality.

[0119]

[0120] Figure 3 schematically illustrates an enlarged view of a portion of a home robot system (1) according to one embodiment of the present invention.

[0121]

[0122] As described above, the rotary member (3000) can rotate vertically about the rotation axis. FIG. 3(a) illustrates an example of a state in which the rotary member (3000) according to one embodiment of the present invention is arranged to rotate upward, and FIG. 3(b) illustrates an example of a state in which the rotary member (3000) according to one embodiment of the present invention is arranged to rotate downward.

[0123] As illustrated in FIG. 3(a) and FIG. 3(b), a recognition camera (4200), an infrared camera (4300), a temperature sensor module (4400), and an infrared lighting module (5200) may be mounted on the rotating member (3000). In this configuration, as the rotating member (3000) rotates up and down, the angle at which the recognition camera (4200) captures images, the angle at which the infrared camera (4300) captures images, the angle at which the temperature sensor module (4400) recognizes temperature, and the angle at which the infrared lighting module (5200) irradiates infrared light may all rotate up and down.

[0124] By this configuration, a home robot system (1) according to one embodiment of the present invention has a recognition camera (4200) and a temperature sensor module (4400) mounted on a rotating member (3000), so that the angle captured by the recognition camera (4200) and the angle recognized by the temperature sensor module (4400) can rotate in the up-and-down direction, thereby enabling the indoor environment to be grasped not only in the left-right direction but also in the up-and-down direction, thereby exerting the effect of enabling a comprehensive grasp of the surrounding situation.

[0125] Meanwhile, as described above, the display module (5100) can display a preset facial expression image. In FIGS. 3(a) and 3(b), one facial expression image is displayed on the display module (5100), but according to one embodiment of the present invention, the display module (5100) can display a different facial expression image depending on the information that the home robot system (1) wants to convey.

[0126] By this configuration, the home robot system (1) can enhance user experience by strengthening interaction between users.

[0127]

[0128] Figure 4 schematically illustrates a block diagram of a control unit according to one embodiment of the present invention.

[0129]

[0130] As illustrated in Fig. 4, the robot control unit (6000) may include a communication unit (6100), a face recognition unit (6200), an intrusion security unit (6300), and a fire security unit (6400). The robot control unit (6000) may transmit and receive information and commands with the server system (8000) and the user terminal (9000) via the communication unit (6100).

[0131] The above-described face recognition unit (6200) corresponds to a configuration that recognizes the face of a human object and controls the movement module (1200) and the rotation member (3000) so that the human object and the robot body (1000) are positioned face to face with each other. In addition, the above-described intrusion security unit (6300) corresponds to a configuration that determines whether a person other than the user, i.e., an intruder, has occurred in the room and controls the home robot system (1) when an intruder has occurred. Meanwhile, the above-described fire security unit (6400) corresponds to a configuration that determines whether a fire has occurred in the room and controls the home robot system (1) when a fire has occurred.

[0132] A more detailed description of the above facial recognition unit (6200), intrusion security unit (6300), and fire security unit (6400) will be provided in the drawings described later.

[0133]

[0134] Meanwhile, according to one embodiment of the present invention, the server system (8000) may include a data recording unit (8100) that inputs, stores, and classifies the sensing information transmitted by the communication unit (6100); and a pattern prediction unit (8200) that predicts a user pattern at a future point in time, including the user's expected sleep time, expected wake-up time, and expected going-out time, based on the user information input by the data recording unit (8100).

[0135] At this time, the pattern prediction unit (8200) may include a deep learning-based learning model that learns by utilizing the input sensing information as learning data and predicts a user pattern at a future point in time to be predicted. In addition, the pattern prediction unit (8200) may include a machine learning-based learning model that learns by utilizing the input sensing information as learning data and predicts a user pattern at a future point in time to be predicted.

[0136] For example, the above learning data may be motion sensing information according to a time series. In this case, the machine learning-based learning model included in the pattern prediction unit (8200) receives motion sensing information according to a time series and learns, thereby predicting the time when the motion sensing information value begins to increase as the expected waking time, and predicting the time when the motion sensing information value begins to decrease as the expected sleeping time or the expected going out time.

[0137] That is, according to one embodiment of the present invention, the home robot system (1) includes a pattern prediction unit (8200), thereby being able to more accurately predict the user's behavioral pattern at a future point in time, and thus provide the effect of providing a user-tailored service.

[0138]

[0139] FIG. 5 exemplarily illustrates steps performed by a face recognition unit (6200) according to one embodiment of the present invention, FIG. 6 exemplarily illustrates a process in which a face recognition unit (6200) according to one embodiment of the present invention follows a user's face, and FIG. 7 schematically illustrates a process of a face recognition unit (6200) according to one embodiment of the present invention.

[0140]

[0141] According to one embodiment of the present invention, the robot control unit (6000) includes a face recognition unit (6200), and the face recognition unit (6200) includes: a landmark detection step (S6210) for detecting a face area from an image captured by the recognition camera (4200) and detecting a plurality of preset landmarks (L) from the detected face area; an extraction step (S6220) for extracting a center point (N) of a face of a recognized user based on the positions of the plurality of preset landmarks (L) in the image; a first movement step (S6230) for controlling the movement module (1200) to move the robot body (1000) so that the area of ​​a reference area (A) formed by the outlines of the plurality of preset landmarks (L) is positioned within a preset range; The second movement step (S6240) of controlling the movement module (1200) to move the robot body (1000) so that the horizontal coordinate of the center point (N) of the face and the horizontal coordinate of the preset center point (M) of the image captured by the recognition camera (4200) correspond to each other; and the third movement step (S6250) of controlling the rotation member (3000) to rotate the rotation member (3000) so that the vertical coordinate of the center point (N) of the face and the vertical coordinate of the preset center point (M) of the image captured by the recognition camera (4200) correspond to each other.

[0142]

[0143] As described above, the face recognition unit (6200) recognizes the face of a human object and controls the movement module (1200) and the rotation member (3000) so that the human object and the robot body (1000) are positioned face to face with each other, thereby implementing a gaze adjustment function. To this end, the face recognition unit (6200) can perform a process as illustrated in FIG. 7.

[0144] More specifically, in one embodiment of the present invention, an indoor image can be captured by a recognition camera (4200). The face recognition unit (6200) can detect a facial area of ​​a human object and detect a plurality of preset landmarks (L) from the detected facial area by performing a landmark detection step (S6210) using the image captured by the recognition camera (4200). In one embodiment of the present invention, the plurality of preset landmarks (L) can include points corresponding to two eyes and the tip of the chin in the facial area. By performing this landmark detection step (S6210), the home robot system (1) can determine the relative position between the human object and the robot body (1000).

[0145]

[0146] Thereafter, the face recognition unit (6200) can perform an extraction step (S6220) to extract the center point (N in FIG. 5) of the recognized user's face based on the positions of the plurality of preset landmarks (L). A reference area (A) can be designated by connecting the plurality of preset landmarks (L).

[0147] In one embodiment of the present invention, the plurality of preset landmarks (L) may include points corresponding to the two eyes and the tip of the chin. For example, if the plurality of preset landmarks (L) include three points corresponding to the two eyes and the tip of the chin as landmarks (L), a virtual triangle may be formed when the outlines of the corresponding landmarks (L) are connected. At this time, a point corresponding to the inner or outer center of the virtual triangle may be designated as the center point (N) of the face, and the virtual triangle formed when the outlines of the corresponding landmarks (L) are connected may be designated as the reference area (A).

[0148]

[0149] The above facial recognition unit (6200) can control the movement module (1200) to perform the first movement step (S6230) so that the area of ​​the reference area (A) becomes within a preset range.

[0150] For example, if the gap between the human object and the robot body (1000) is excessively narrow, the width of the reference area (A) may exceed the preset range, and accordingly, the face recognition unit (6200) may control the movement module (1200) to control the robot body (1000) to move away from the human object. In addition, if the gap between the human object and the robot body (1000) is excessively wide, the width of the reference area (A) may be less than the preset range, and accordingly, the face recognition unit (6200) may control the movement module (1200) to control the robot body (1000) to move closer to the human object. By performing this first movement step (S6230), the home robot system (1) can appropriately adjust the gap between the robot body (1000) and the human object.

[0151]

[0152] The above face recognition unit (6200) can control the movement module (1200) and the rotation member (3000) of the robot body (1000) so that the horizontal coordinates and the vertical coordinates of the center point (N) of the face specified in the extraction step (S6220) and the preset center point (M in FIG. 5) of the recognition image correspond to each other by performing the second movement step (S6240) and the third movement step (S6250). By performing the second movement step (S6240) and the third movement step (S6250), the home robot system (1) can perform a gaze adjustment function to stop the robot body (1000) at a position such that it faces the human object.

[0153] That is, when a user is recognized as the human object by the face recognition unit (6200) according to one embodiment of the present invention, the robot body unit (1000) can autonomously move to a position facing the user.

[0154]

[0155] In particular, according to one embodiment of the present invention as described above, the recognition camera (4200) is configured to be mounted on a rotating member (3000) and rotate as the rotating member (3000) rotates. By this configuration, the recognition camera (4200) can have a wider field of view, and can have the effect of enabling the face recognition unit (6200) to perform the gaze adjustment function more precisely and naturally.

[0156]

[0157] FIG. 5(a) and FIG. 5(b) illustrate an image (hereinafter referred to as a recognition image) captured by a recognition camera (4200) according to one embodiment of the present invention.

[0158] For example, for a recognition image as illustrated in FIG. 5(a), the face recognition unit (6200) can confirm that the position of the human object captured in the recognition image is relatively located to the right when compared to the position of the robot body (1000) by performing a landmark detection step (S6210) of detecting landmarks (L) corresponding to the two eyes and the tip of the chin. Thereafter, the face recognition unit (6200) can designate a virtual triangle connecting the outlines of the corresponding landmarks (L) as a reference area (A) by performing an extraction step (S6220), and can designate a point corresponding to the circumcenter or incenter of the virtual triangle as the center point (N) of the face.

[0159] The above facial recognition unit (6200) can control the movement module (1200) to move the robot body (1000) so that the area of ​​the virtual triangle (reference area (A)) has an area within a preset range by performing the first movement step (S6230).

[0160] In addition, the face recognition unit (6200) can control the movement module (1200) to move the robot body (1000) by performing a second movement step (S6240) so that the horizontal coordinate of the center point (N) of the face corresponds to the horizontal coordinate of the preset center point (M) of the recognition image, and can control the rotation member (3000) by performing a third movement step (S6250) so that the vertical coordinate of the center point (N) of the face corresponds to the vertical coordinate of the preset center point (M) of the recognition image.

[0161]

[0162] Meanwhile, the recognition image of FIG. 5(b) corresponds to a state after the face recognition unit (6200) performs the landmark detection step (S6210), the extraction step (S6220), the first movement step (S6230), the second movement step (S6240), and the third movement step (S6250) from the state in which the recognition image of FIG. 5(a) was captured.

[0163] That is, after the landmark detection step (S6210), the extraction step (S6220), the first movement step (S6230), the second movement step (S6240), and the third movement step (S6250) are performed by the face recognition unit (6200), the center point (M) of the recognition image and the center point (N) of the face of the human object may correspond to each other as shown in FIG. 5(b). Through this process, the robot body part (1000) may move to a position facing the face of the human object and stop. That is, when the center point (N) of the face and the preset center point (M) of the recognition image correspond to each other, the robot body part (1000) may no longer move.

[0164] By this process, when the human object is a user, the home robot system (1) can provide an experience of moving along the user's face and making eye contact.

[0165] That is, according to one embodiment of the present invention, the home robot system (1) can provide a user experience that appears to automatically meet the user's gaze, thereby exerting the effect of providing emotional empathy with the user.

[0166]

[0167] Meanwhile, according to one embodiment of the present invention, the face recognition unit (6200) can perform a departure determination step (S6260) for determining whether the center point (N) of the face extracted by the extraction step (S6220) has departed outside the preset tracing area (B).

[0168] In one embodiment of the present invention, when it is determined in the step of determining whether or not the center point (N) of the face has deviated to the outside of the tracing area (B) through the step of determining whether or not the face has deviated (S6260), the face recognition unit (6200) performs a repetition step (S6270) of repeatedly performing the landmark detection step (S6210), the extraction step (S6220), the first movement step (S6230), the second movement step (S6240), and the third movement step (S6250), thereby controlling the movement module (1200) and the rotation member (3000) so that the deviated center point (N) corresponds to the preset center point (M) again.

[0169] In one embodiment of the present invention, if it is determined in the step of determining whether or not the face has moved out of the tracing area (B) through the step of determining whether or not the face has moved out of the tracing area (B), a step of maintaining the position of the robot body (1000) at a constant level (S6280) may be performed.

[0170]

[0171] FIG. 6(a) and FIG. 6(b) illustrate a reference area (A) and a tracing area (B) for a recognition image according to one embodiment of the present invention.

[0172] For example, in one embodiment of the present invention, as illustrated in FIG. 5(a), a plurality of preset landmarks (L) may have a triangular shape as a reference area (A) that connects the outlines of the corresponding landmarks (L), including the two eyes and the tip of the chin. At this time, the preset tracing area (B) may be an area formed by fixing the center point (N) of the face, and expanding the interval between the center point (N) of the face and each of the plurality of landmarks (L) by three times, as illustrated in FIG. 6(a). That is, in one embodiment of the present invention, the tracing area (B) may be an area that has an area nine times larger than the reference area (A).

[0173] According to one embodiment of the present invention, when the center point (N) of the face is located within the tracing area (B in FIG. 6) as illustrated in FIG. 6(a), the face recognition unit (6200) can determine that the center point (N) of the face has not deviated outside the tracing area (B) through the deviance determination step (S6260) and can perform the position maintenance step (S6280) accordingly. That is, when the center point (N) of the face is located within the tracing area (B), the robot body (1000) may not move.

[0174] Meanwhile, according to one embodiment of the present invention, as illustrated in FIG. 6(b), when a user moves his or her face or changes position, the center point (N) of the face may deviate outside the tracing area (B). In this case, the face recognition unit (6200) may determine that the center point (N) of the face has deviated outside the tracing area (B) through the deviation determination step (S6260), and accordingly, the face recognition unit (6200) may perform the repetition step (S6270). Specifically, the repetition step (S6270) may repeatedly perform the landmark detection step (S6210), the extraction step (S6220), the first movement step (S6230), the second movement step (S6240), and the third movement step (S6250), thereby allowing the robot body part (1000) to move once again to a position facing the human object.

[0175] That is, as the above facial recognition unit (6200) performs the departure judgment step (S6260) and the repetition step (S6270), the robot body unit (1000) can provide the user with an experience as if it is following the user and making eye contact even if the user turns his or her head or moves his or her seat.

[0176]

[0177] Therefore, according to one embodiment of the present invention, the home robot system (1) can provide a user experience in which the system follows the user's face and makes eye contact even when the user moves, thereby maximizing the effect of emotional communication with the user.

[0178]

[0179] FIG. 8 schematically illustrates steps performed by an intrusion security unit (6300) according to one embodiment of the present invention, and FIG. 9 exemplarily illustrates a motion detection log generated by an intrusion security unit (6300) according to one embodiment of the present invention.

[0180]

[0181] According to one embodiment of the present invention, the robot control unit (6000) includes an intrusion security unit (6300), and the intrusion security unit (6300) includes: a movement information storage step (S6310) for storing movement sensing information generated by a PIR sensor module (4800) in a time series to generate a movement detection log; a movement determination step (S6320) for determining whether movement has occurred according to a preset movement determination rule based on the movement detection log; a warning sound output step (S6330) for generating an intrusion warning sound by the speaker module (5300) when it is determined in the movement determination step that movement has occurred; a movement recording step (S6340) for turning on the power of the infrared lighting module (5200) and recording an intrusion recording image by taking a picture by the infrared camera (4300) when it is determined in the movement determination step that movement has occurred; And an intrusion notification step (S6350) of transmitting the above motion detection log and the above intrusion record video to a user terminal (9000) or server system (8000) can be performed.

[0182]

[0183] As described above, the intrusion security unit (6300) is configured to determine whether an intruder has occurred and control the actions to be taken by the home robot system (1) in the event of an intruder occurring.

[0184] More specifically, in one embodiment of the present invention, the intrusion security unit (6300) can operate when a command to operate the intrusion security unit (6300) is received from the user's voice or from the APP (9100) of the user terminal (9000).

[0185] In one embodiment of the present invention, when an indoor image is captured by the recognition camera (4200), the intrusion security unit (6300) can generate a motion detection log by storing the motion sensing information generated by the PIR sensor module (4800) in a time series by performing a motion information storage step (S6310). For example, the intrusion security unit (6300) according to one embodiment of the present invention can generate a motion detection log as illustrated in FIG. 9 by performing the motion information storage step (S6310).

[0186]

[0187] Afterwards, the intrusion security unit (6300) can determine whether movement has occurred according to a preset movement determination rule based on the movement detection log by performing a movement determination step (S6320).

[0188] For example, in one embodiment of the present invention, the motion judgment rule can determine an intruder when the motion sensing information value is greater than or equal to a threshold value and continues for a preset time period. When a motion detection log as illustrated in FIG. 9 occurs, the intrusion security unit (6300) can determine that no movement has occurred until time t of FIG. 9. In particular, the intrusion security unit (6300) can determine that an intrusion has occurred from time t when it recognizes that a motion sensing information value exceeding the threshold value has occurred after time t, and when the preset time is the time interval (t'-t) between time t' and time t.

[0189] Meanwhile, in one embodiment of the present invention, the intrusion protection unit (6300) can receive data on expected waking time, expected sleeping time, and expected going out time from the pattern prediction unit of the server system (8000) and apply this to movement judgment rules. For example, movement sensing information values ​​generated between the expected waking time and expected sleeping time can be judged as a normal activity pattern, thereby reducing errors.

[0190]

[0191] In one embodiment of the present invention, when it is determined that an intruder has occurred through the movement determination step (S6320), the intrusion security unit (6300) may perform the following steps. The intrusion security unit (6300) may perform a warning sound output step (S6330) to cause the speaker module (5300) to generate an intrusion warning sound. In addition, the intrusion security unit (6300) may perform a movement recording step (S6340) to turn on the infrared lighting module (5200) and record an intrusion recording image by taking a picture using an infrared camera (4300), and may perform an intrusion notification step (S6350) to transmit the movement detection log and the intrusion recording image to a user terminal (9000) or a server system (8000).

[0192] As described above, the infrared camera (4300) and the infrared lighting module (5200) are mounted on the rotating member (3000) and are configured to rotate up and down as the rotating member (3000) rotates. By this configuration, the intrusion recording image captured in the movement recording step (S6340) can collect information in the up and down directions as well as the left and right directions, thereby achieving the effect of collecting more detailed images of the intrusion situation.

[0193]

[0194] Meanwhile, in one embodiment of the present invention, if it is determined in the movement determination step (S6320) that an intrusion has occurred, the intrusion security unit (6300) may perform an intruder tracking step of controlling the movement module (1200) and the rotation member (3000) so that the robot body unit (1000) moves following the human object corresponding to the subject of the intrusion (hereinafter referred to as the intruder).

[0195] More specifically, in the intruder tracking step, the intruder's face area can be recognized from an indoor image captured by a recognition camera (4200), and a plurality of preset landmarks (L) can be detected. The center point of the intruder's face area can be extracted by the plurality of preset landmarks (L), and a reference area (A) can be designated by connecting the plurality of preset landmarks (L). Afterwards, the movement module (1200) of the robot body (1000) can be controlled so that the reference area (A) has an area within a preset range, the movement module (1200) can be controlled so that the horizontal coordinate of the center point of the intruder's face area corresponds to the horizontal coordinate of the preset center point (M) of the image captured by the recognition camera (4200), and the rotation member (3000) can be controlled so that the vertical coordinate of the center point of the intruder's face area corresponds to the vertical coordinate of the preset center point (M) of the image captured by the recognition camera (4200).

[0196] By this intruder tracking step, the robot body (1000) can move along the intruder's movement path, so that the intrusion recording video captured in the movement recording step (S6340) can have the effect of recording the situation more accurately.

[0197]

[0198] Figure 10 schematically illustrates steps performed by a fire safety unit (6400) according to one embodiment of the present invention.

[0199]

[0200] In one embodiment of the present invention, the robot control unit (6000) includes a fire security unit (6400), and the fire security unit (6400) can perform a fire information storage step (S6410) of storing information generated by the flame sensor module (4500) and temperature information generated by the temperature sensor module (4400) in a time series manner to create a fire detection log; a fire occurrence determination step (S6420) of determining whether a fire has occurred according to a preset fire determination rule based on the fire detection log; and a fire notification step (S6430) of capturing a fire recording image by a camera (4100) and transmitting it to a user terminal (9000) and a server system (8000) in real time when it is determined that a fire has occurred in the fire occurrence determination step (S6420).

[0201]

[0202] As described above, the fire safety unit (6400) is configured to determine whether a fire has occurred indoors and to control the home robot system (1) when a fire has occurred.

[0203] More specifically, when an indoor image is captured by the recognition camera (4200), the fire security unit (6400) according to one embodiment of the present invention can generate a fire detection log by storing information generated by the flame sensor module (4500) and temperature information generated by the temperature sensor module (4400) in a time series manner by performing the fire information storage step (S6410).

[0204] Meanwhile, the fire security unit (6400) can receive indoor air quality information from the air quality measurement unit of the air purifier unit (7000) in the fire information storage step (S6410) and can store the air quality information in a time series manner to create a fire detection log. That is, the fire detection log can be data in which information generated by the flame sensor module (4500), temperature information generated by the temperature sensor module (4400), and air quality information generated by the air quality measurement unit are stored in a time series manner.

[0205] Afterwards, the fire safety unit (6400) can determine whether a fire has occurred according to a preset fire determination rule based on the fire detection log by performing a fire occurrence determination step (S6420).

[0206] The flame sensor module (4500) may include a plurality of IR flame sensors that detect specific IR wavelength values ​​generated from flames in the event of a fire. In one embodiment of the present invention, the specific IR wavelength values ​​may be 4.26 μm and 4.66 μm. In one embodiment of the present invention, in the fire judgment step according to the fire judgment rule, if the specific IR wavelength value is detected, it may be determined that a fire has occurred.

[0207] In addition, in the fire occurrence determination step (S6420) according to the fire determination rule according to one embodiment of the present invention, if the temperature information value is less than 35 degrees, it can be determined that a fire has not occurred, and if the temperature information value is 80 degrees or more, it can be determined that a fire has occurred. In addition, if the temperature information value is 35 degrees or more and less than 80 degrees, in the fire occurrence determination step (S6420) according to the fire determination rule, it can be determined that a fire has occurred if the amount of change in dust concentration, fine dust concentration, and humidity included in the air quality information is greater than or equal to a critical amount of change.

[0208] That is, by these fire judgment rules, the fire judgment unit according to one embodiment of the present invention can have the effect of improving the accuracy of fire judgment.

[0209]

[0210] Meanwhile, if the fire safety department (6400) determines that a fire has occurred through the fire occurrence determination step (S6420), it can perform a fire notification step (S6430) of recording a fire recording video using a camera (4100) and transmitting it to a user terminal (9000) and server system (8000) in real time.

[0211] By this fire notification step (S6430), the user can monitor in real time whether a fire has occurred in the residence or the room even if the user is away from the residence or the room where the robot body (1000) is placed.

[0212]

[0213] FIG. 11 illustrates an example of a screen of an APP (9100) running on a user terminal (9000) according to one embodiment of the present invention.

[0214]

[0215] As shown in Fig. 11, a home robot system (1) according to one embodiment of the present invention can be remotely controlled through a user terminal (9000) and an APP (9100), the home robot system (1) can be used as a home CCTV through the filming camera (4100), and remote communication can be achieved through the microphone module (4700) and speaker module (5300).

[0216] For example, the user can control the movement module (1200) of the robot body (1000) through the button shown in A of FIG. 11. In addition, the user can rotate the rotation member (3000) of the robot body (1000) through the buttons B and C shown in FIG. 11 to rotate the angle at which the recognition camera (4200) captures images in the up and down directions. In addition, the user can control the ON / OFF of the infrared lighting module (5200) through the plurality of buttons included in the area F shown in FIG. 11, and control the camera (4100) for capturing video or photos. Meanwhile, the user's voice can be transmitted indoors through the button E shown in FIG. 11.

[0217]

[0218] That is, according to one embodiment of the present invention, the home robot system (1) is linked with a user terminal (9000) so that the user can remotely give commands, thereby implementing home automation and improving usability.

[0219]

[0220] That is, according to one embodiment of the present invention, a home robot system can be linked with a user terminal so that the user can remotely give commands, thereby implementing home automation and improving usability.

[0221] According to one embodiment of the present invention, a home robot system can provide various functions that can implement a home automation system, such as intrusion prevention, fire prevention, air purification, and assisting the user's daily life, while simultaneously providing a function for emotional communication with the user.

[0222] According to one embodiment of the present invention, since the mounting protrusion includes a mounting groove, the surface area is relatively increased compared to a general robot case, and thus, the effect of being able to mount more components can be achieved.

[0223] According to one embodiment of the present invention, a home robot system includes a plurality of cameras including a photographing camera, a recognition camera, and an infrared camera, thereby being able to more accurately recognize the environment of a residence and an indoor space and effectively understand the situation, detect the location of obstacles in the residence and indoor space to perform precise movement, and provide a real-time environment monitoring function.

[0224] According to one embodiment of the present invention, a home robot system includes a plurality of sensor modules including a temperature sensor module, a flame sensor module, and a PIR sensor module, thereby enabling the system to immediately collect information on situations occurring in a residence and indoors, and to perform control and operations necessary for implementing home automation based on such information, thereby enhancing user convenience.

[0225] According to one embodiment of the present invention, a home robot system includes a microphone module, thereby receiving voice and sound information generated indoors and transmitting the same to a user terminal or server system, and enabling the user to communicate with the home robot system using voice, thereby enhancing user convenience.

[0226] According to one embodiment of the present invention, the display module can have the effect of improving user experience and enhancing emotional empathy function by displaying an expression image corresponding to the briefing content.

[0227] According to one embodiment of the present invention, a home robot system includes an air purification unit and autonomously determines air quality by the air purification unit to determine whether the indoor air is purified, thereby achieving the effect of more efficiently maintaining indoor air quality.

[0228] According to one embodiment of the present invention, a home robot system includes a pattern prediction unit, thereby being able to more accurately predict a user's behavioral pattern at a future point in time, and thereby provide a user-tailored service.

[0229] According to one embodiment of the present invention, a home robot system can provide a gaze contact function that follows the user's face and makes eye contact with the user even when the user moves, thereby maximizing the effect of emotional communication with the user.

[0230] According to one embodiment of the present invention, a home robot system can be linked with a user terminal so that the user can remotely give commands, thereby realizing home automation and improving usability.

[0231]

[0232] Although the embodiments have been described with limited examples and drawings, those skilled in the art will appreciate that various modifications and variations can be made based on the above teachings. For example, appropriate results can be achieved even if the described techniques are performed in a different order than described, and / or components of the described systems, structures, devices, circuits, etc. are combined or combined in a different manner than described, or are replaced or substituted with other components or equivalents. Therefore, other implementations, other embodiments, and equivalents of the claims also fall within the scope of the claims described below.

Claims

1. Regarding a home robot system that provides customized services to users, A robot body part including a moving module including a whole case and a wheel coupled to the lower side of the whole case and a motor part driving the wheel; A mounting protrusion formed such that some areas of the side of the above-mentioned entire case protrude outwardly and include a mounting groove portion that is concave inwardly in some areas; A rotating member having a bar shape and positioned so as to be rotatable on the inside of the above-mentioned mounting groove; An input module section that generates sensing information including motion sensing information, including a shooting camera arranged on the upper side of the above-mentioned mounting protrusion, a recognition camera arranged on the above-mentioned rotating member and having a shooting angle adjusted up and down in accordance with the rotation of the above-mentioned rotating member, an infrared camera arranged on the above-mentioned rotating member and having a shooting angle adjusted up and down in accordance with the rotation of the above-mentioned rotating member, a temperature sensor module arranged on the above-mentioned rotating member and having a recognition angle adjusted up and down in accordance with the rotation of the above-mentioned rotating member, a flame sensor module arranged on the inside of the above-mentioned mounting recess for detecting whether a flame has occurred, a plurality of illumination sensor modules arranged on the inside of the above-mentioned mounting recess for detecting illumination, a microphone module arranged on the inside of the above-mentioned mounting recess for generating motion sensing information, and a PIR sensor module arranged on the lower side of the above-mentioned mounting protrusion for generating motion sensing information; An output module section including a display module arranged on the above-mentioned mounting protrusion, an infrared lighting module arranged on the above-mentioned rotating member, and a speaker module arranged on the inside of the entire case; A robot control unit including a communication unit and controlling the moving module, the rotating member, the input module unit, and the output module unit; and A server system that receives the sensing information transmitted by the communication unit; A home robot system in which the robot control unit recognizes a human object from an image captured by the recognition camera and controls the moving module and the rotating member so that the face of the human object is positioned at a preset point in the captured image.

2. In claim 1, The above robot body part includes a plurality of air intakes formed on the side of the entire case and an air exhaust port formed on the upper part of the entire case. The above home robot system further includes an air purification device unit including a filter unit positioned inside the robot body unit so as to be in communication with the air intake port, and an exhaust pump unit that exhausts air from the filter unit side to the air exhaust port side; A home robot system in which indoor air is taken in through the plurality of air intake ports, the indoor air passes through a filter section, and oil vapor, water vapor, dust, and odor are filtered out, and then the indoor air is discharged indoors through the air outlet by the exhaust pump section, thereby purifying the indoor air.

3. In claim 1, The above robot control unit includes a facial recognition unit, The above facial recognition unit, A landmark detection step for detecting a facial area from an image captured by the above recognition camera and detecting a plurality of preset landmarks from the detected facial area; An extraction step of extracting the center point of the user's face recognized based on the positions of a plurality of preset landmarks in the above image; A first movement step of controlling the movement module to move the robot body so that the width of the reference area formed by the outlines of the plurality of preset landmarks is positioned within a preset range; A second movement step of controlling the movement module to move the robot body so that the horizontal coordinate of the center point of the face and the horizontal coordinate of the preset center point of the image captured by the recognition camera correspond to each other; A home robot system that performs a step including a third movement step of controlling the rotating member to rotate the rotating member so that the vertical coordinate of the center point of the face and the vertical coordinate of the preset center point of the image captured by the recognition camera correspond to each other.

4. In claim 1, The above robot control unit includes an intrusion security unit, The above intrusion security department is, A motion information storage step that creates a motion detection log by storing motion sensing information generated by a PIR sensor module in time series; A movement judgment step for judging whether a movement has occurred according to a preset movement judgment rule based on the above movement detection log; In a case where it is determined that movement has occurred through the above movement judgment step, a warning sound output step for generating an intrusion warning sound through the speaker module; In the case where it is determined that movement has occurred through the above movement judgment step, the power of the infrared lighting module is turned on and a movement recording step is performed to record an intrusion recording video by taking a picture using the infrared camera; and A home robot system that performs an intrusion notification step of transmitting the above motion detection log and the above intrusion record video to a user terminal or server system.

5. In claim 1, The above robot control unit includes a fire safety unit, The above fire safety department, A fire information storage step for creating a fire detection log by storing information generated by the flame sensor module and temperature information generated by the temperature sensor module in a time series manner; A fire occurrence judgment step for judging whether a fire has occurred according to a preset fire judgment rule based on the above fire detection log; and A home robot system that performs a fire notification step of recording a fire record video using a camera and transmitting it in real time to a user terminal and server system when a fire is determined to have occurred through the above fire occurrence judgment step.

6. In claim 1, The above server system comprises a data recording unit that inputs, stores and classifies the sensing information transmitted by the communication unit; and A home robot system, comprising: a pattern prediction unit that predicts user patterns at a future point in time, including the user's expected sleep time, expected wake-up time, and expected going-out time, based on user information entered in the data recording unit.

Images