[0001] The present invention relates to a self-moving robot, and more particularly to an
apparatus and method for notifying the state of a self-moving robot using voice or
a variety of melodies.
[0002] Robots have been developed for industrial purposes and used as part of factory automation.
Robots also have been used, in place of human beings, to collect information in extreme
environments that human beings cannot access. Recently, human-friendly household robots
have been developed. A typical example of the human-friendly household robot is a
self-moving cleaning robot.
[0003] The self-moving cleaning robot is a device that sucks up dust or other foreign particles
while automatically moving within a specific cleaning area as in a residence or office.
[0004] As shown in FIG. 1, a general cleaning robot includes a rechargeable battery, and
drive wheels 5 provided on the cleaning robot are driven according to an operation
command from a user so that the cleaning robot automatically moves to suck up foreign
particles. The cleaning robot also includes a detection unit 8 that detects obstacles
so that the cleaning robot avoids obstacles during movement.
[0005] When the battery level of the rechargeable battery becomes lower than a specific
level while the cleaning robot performs a cleaning operation, the cleaning robot stores
the current cleaning position in an internal memory and moves to a charger installed
indoors. When the battery is completely charged, the cleaning robot moves back to
the stored cleaning position and resumes the cleaning operation.
[0006] However, the conventional cleaning robot described above outputs a monotonous sound
such as a buzzing sound to indicate a variety of states of the cleaning robot while
in motion, such as a state in which the self-moving robot cannot move or displays
information or error codes on a display unit.
[0007] For example, when moisture on the cleaning area impedes movement of the cleaning
robot, the cleaning robot generates a buzzing sound "Bee~". In this case, the user
cannot determine the cause of the buzzing sound without directly checking the state
of the cleaning robot.
[0008] The conventional cleaning robot displays an information code such as "Info01", which
indicates the state of the cleaning robot such as a power-on/off or charging state
thereof, on the display unit or displays an error code such as "Err01", which indicates
an error of the cleaning robot, on the display unit. However, when the information
or error code is used to display the state of the cleaning robot, the user must refer
to a manual in order to understand the information or error code.
[0009] Therefore, the present invention has been made in view of the above problems, and
it is an object of the present invention to provide an apparatus and method for notifying
the state of a self-moving cleaning robot, wherein voice or a variety of melodies
are used to quickly and correctly notify the user of the state of the cleaning robot.
[0010] It is another object of the present invention to provide an apparatus and method
for notifying the state of a self-moving cleaning robot, wherein the user's voice
can be used as a notification message to notify the operating state of the cleaning
robot.
[0011] In accordance with one aspect of the present invention, the above and other objects
can be accomplished by the provision of an apparatus for notifying the state of a
self-moving robot, the apparatus comprising a voice notification unit for outputting
a voice or melody notifying an operating state of the self-moving robot.
[0012] The voice notification unit includes a memory for storing a plurality of voice or
melody data elements corresponding to operating states of the self-moving robot; an
audio signal processor for signal-processing voice or melody data read from the memory
and outputting the signal-processed audio data to a speaker; and a controller for
reading a voice or melody data element corresponding to an operating state of the
self-moving robot from the memory and controlling the audio signal processor to output
the read voice or melody data element through the speaker.
[0013] Preferably, the apparatus further comprises a notification voice input unit for inputting
a user's voice to be used as voice data notifying an operating state of the self-moving
robot.
[0014] In accordance with another aspect of the present invention, there is provided a method
for notifying the state of a self-moving robot, the method comprising the steps of
a) checking an operating state of the self-moving robot; b) reading a voice or melody
data element corresponding to the checked operating state from a memory; and c) signal-processing
the read voice or melody data element and outputting the signal-processed voice or
melody data element through a speaker.
[0015] Preferably, the method further comprises the step of receiving a user's voice to
be used as voice data notifying an operating state of the self-moving robot and storing
the received voice in the memory.
[0016] The apparatus and method according to the present invention outputs voice or various
melodies corresponding to operating states or errors of the self-moving robot while
in operation, so that the user can be quickly and clearly notified of the state of
the cleaning robot and thus can quickly take any necessary measures for the state,
thereby ensuring that the cleaning robot operates reliably.
[0017] The above and other objects, features and other advantages of the present invention
will be more clearly understood from the following detailed description taken in conjunction
with the accompanying drawings, in which:
FIG. 1 is a perspective external view of a general self-moving cleaning robot;
FIG. 2 is a block diagram of an apparatus for notifying the state of a self-moving
cleaning robot according to an embodiment of the present invention;
FIG. 3 is a flow chart of a method for notifying the state of a self-moving cleaning
robot according to an embodiment of the present invention; and
FIG. 4 is a flow chart of a procedure for inputting a user's voice to the cleaning
robot according to an embodiment of the present invention.
[0018] Now, preferred embodiments of the present invention will be described in detail with
reference to the accompanying drawings. In the following description of the present
invention, a detailed description of known functions and configurations incorporated
herein will be omitted when it may obscure the subject matter of the present invention.
[0019] FIG. 2 is a block diagram of an apparatus for notifying the state of a self-moving
cleaning robot according to an embodiment of the present invention.
[0020] In addition to the components of a general vacuum cleaner for sucking up dust or
other foreign particles, the cleaning robot includes a cleaning mechanism 70 having
a variety of motors for moving the cleaning robot. The basic configuration of the
cleaning robot is known in the art and thus a detailed description thereof is omitted
herein.
[0021] As shown in FIG. 2, the state notification apparatus according to the present invention
includes a voice notification unit 1 that outputs an audio signal (i.e., voice or
melody) that indicates operating states of the cleaning robot. The voice notification
unit 1 includes a memory 10, a controller 20, and an audio signal processor 30.
[0022] The memory 10 stores audio information required to notify the states of the cleaner.
The audio information stored in the memory 10 may be a plurality of voice or melody
data elements that correspond respectively to a plurality of states of the cleaner.
For example, when the cleaning robot is being charged, a notification message "cleaner
is being charged" may be set as a voice data element corresponding to the charging
state of the cleaning robot.
[0023] The controller 20 reads and outputs, from the memory 10, an audio information element
corresponding to an output signal of a sensor unit 40 that detects the state of the
cleaning robot.
[0024] For example, the controller 20 reads and outputs, from the memory 10, audio information
elements that correspond respectively to a state in which the cleaning robot has started
cleaning, a state in which the cleaning robot is powered on or off, a state in which
in which the cleaning robot is being charged, a state in which a brush for sucking
up foreign particles is not rotating, and a state in which the operation of the cleaning
robot is restricted due to moisture on the floor.
[0025] The audio signal processor 30 signal-processes the audio information read by the
controller 20 and outputs the signal-processed audio information to a speaker. The
audio signal processor 30 may include a D/A converter to convert the audio information
in digital format stored in the memory 10 into an analog signal and then to output
the analog signal through the speaker.
[0026] The sensor unit 40 includes a variety of sensors for detecting states of the cleaning
robot. For example, the sensor unit 40 is composed of a moisture sensor, a heat sensor,
pressure sensor, and an infrared sensor.
[0027] The state notification apparatus according to the present invention may further includes
a notification voice input unit 2 for storing a user's voice to be used as audio information
to notify the states of the cleaning robot.
[0028] The notification voice input unit 2 includes a microphone 60 for receiving the user's
voice and a vocoder 50 for encoding the user's voice input through the microphone
60 into a format suitable for storage. The user's voice encoded by the vocoder 50
is stored as audio information in the memory 10 under the control of the controller
20.
[0029] For example, the audio information stored through the microphone 60 and the vocoder
50 may be the user saying things such as "the cleaner starts", "power on", "power
off", and "cleaner is being charged".
[0030] A description will now be given of how the self-moving robot state notification apparatus
according to the present invention operates.
[0031] FIG. 3 is a flow chart of a method for notifying the state of a self-moving cleaning
robot according to an embodiment of the present invention. This method is exemplified
by a state in which the cleaning robot cannot move.
[0032] As shown in FIG. 3, when a user inputs an operation start command (S80), audio information
"the cleaning robot starts operation" is output through the speaker (S90), and the
cleaning robot starts a cleaning operation (S100).
[0033] During the cleaning operation, the controller 20 checks the state of the cleaning
robot through the sensor unit 40 (S110). For example, when a state in which the cleaning
robot cannot move is detected, the controller 20 checks audio information stored in
the memory 10 and reads a notification message corresponding to the detected state
such as "the cleaning robot cannot move" (S120).
[0034] The read audio information is signal-processed through the audio signal processor
30 and is then output through the speaker (S130). Accordingly, the user can be quickly
and clearly notified of the state of the cleaning robot and thus can quickly take
any necessary measures for the state, thereby ensuring that the cleaning robot operates
reliably.
[0035] Until the user inputs a command to terminate the operation of the cleaning robot,
the controller 20 repeats the above processes of checking the state of the cleaning
robot and reading and outputting a corresponding notification message through the
speaker (S140).
[0036] The user can record his or her voice to be used as a state or error notification
message of the self-moving cleaning robot.
[0037] FIG. 4 is a flow chart of a procedure for inputting the user's voice to the cleaning
robot according to an embodiment of the present invention.
[0038] As shown in FIG. 4, when the user presses a specific button provided on the cleaning
robot in order to request voice recording and to input his or her voice to be used
as audio information indicating the operating state of the cleaning robot (S210),
the controller 20 switches the operating mode of the cleaning robot to recording mode
(S220).
[0039] When the user presses a specific button in order to start voice recording (S230),
the user's voice input through the microphone 60 is encoded by the vocoder 50 and
the encoded voice signal is stored in the memory 20 at a specific address specified
by the controller 20.
[0040] Specifically, when the user speaks words "the charger is being charged" into the
microphone 60 provided on the cleaning robot, the vocoder 50 converts the spoken words
into audio information suitable for storage and stores the audio information in the
memory 10.
[0041] When the user requests that the recording mode be terminated (S250), the controller
20 deactivates the recording mode and switches the operating mode of the cleaning
robot according to a command input by the user afterwards.
[0042] Accordingly, the cleaning robot outputs a notification message recorded directly
by the user, rather than a standard notification message stored by the manufacturer,
thereby resulting in a more user-friendly cleaning robot.
[0043] As is apparent from the above description, the present invention provides an apparatus
and method for notifying the state of a self-moving cleaning robot, which outputs
voice or various melodies corresponding to states or errors of the self-moving robot
while in operation, so that the user can be quickly and clearly notified of the state
of the cleaning robot and thus can quickly take any necessary measures for the state,
thereby ensuring that the cleaning robot operates reliably.
[0044] In addition, the method and apparatus according to the present invention uses a notification
message recorded directly by the user as a message indicating the operating state
of the self-moving robot, thereby resulting in a more user-friendly self-moving robot.
[0045] Although the preferred embodiments of the present invention have been disclosed for
illustrative purposes, those skilled in the art will appreciate that various modifications,
additions and substitutions are possible, without departing from the scope and spirit
of the invention as disclosed in the accompanying claims.
1. An apparatus for notifying the state of a self-moving robot, the apparatus comprising:
a voice notification unit (1) for outputting an audio signal notifying an operating
state of the self-moving robot.
2. The apparatus according to claim 1, wherein the voice notification unit (1) includes:
a memory (10) for storing a plurality of audio data elements corresponding to operating
states of the self-moving robot;
an audio signal processor (30) for signal-processing audio data read from the memory
(10) and outputting the signal-processed audio data to a speaker; and
a controller (20) for reading an audio data element corresponding to an operating
state of the self-moving robot from the memory (10) and controlling the audio signal
processor (30) to output the read audio data element through the speaker.
3. The apparatus according to claim 1 or 2, wherein the audio signal is a voice signal.
4. The apparatus according to claim 1 or 2, wherein the audio signal is a melody signal.
5. The apparatus according to any of claims 1 to 4, further comprising:
a notification voice input unit (2) for inputting a user's voice to be used as audio
data notifying an operating state of the self-moving robot.
6. The apparatus according to any of claims 1 to 5,
wherein the self-moving robot is a cleaning robot.
7. A method for notifying the state of a self-moving robot, the method comprising the
steps of:
a) checking an operating state of the self-moving robot;
b) reading an audio data element corresponding to the checked operating state from
a memory (10); and
c) signal-processing the read audio data element and outputting the signal-processed
audio data element through a speaker.
8. The method according to claim 7, wherein the audio data is voice data.
9. The method according to claim 7, wherein the audio data is melody data.
10. The method according to any of claims 7 to 9, further comprising the steps of:
d) receiving a user's voice to be used as audio data notifying an operating state
of the self-moving robot and storing the received voice in the memory (10).
11. The method according to any of claims 7 to 10,
wherein the self-moving robot is a cleaning robot.