Abstract:
A robot control system and a robot control method provide improved user convenience in operating the system. The robot control system includes a wireless IP sharing device, connected with the Internet, for transmitting and receiving an image signal and/or a control signal, a robot running by itself in accordance with a command received through the wireless IP sharing device, and performing a designated job, the robot being installed with a wireless communication module, a portable wireless terminal having a motion sensor, for wirelessly transmitting an operation command to the wireless communication module, or receiving image signal and/or control signal, and a robot server, connected with the Internet, for outputting a control screen of the robot, and the image signal and/or the control signal which is received from the robot, to the portable wireless terminal. The robot is controlled by use of the motion sensor installed at the portable wireless terminal.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS  
       [0001]     This application claims the benefit of Korean Patent Application No. 2004-87094 filed Oct. 29, 2004, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference.  
       BACKGROUND OF THE INVENTION  
       [0002]     1. Field of the Invention  
         [0003]     The present invention relates to a robot control method. More particularly, the present invention relates to a robot control system and a robot control method that enables a user to conveniently control a service robot such as a cleaning robot and an entertainment robot.  
         [0004]     2. Description of the Related Art  
         [0005]     Service robots are widely used for many purposes such as park cleaning, home cleaning, errands, entertainment and security. Such service robots are usually controlled by remote control using a plurality of buttons on a personal computer. However, because a control signal is transmitted through a modem, the PC-based controlling requires complicated control structure and accompanies with deteriorated mobility.  
         [0006]     Meanwhile, JP2002-354139 disclosed a control system using a mobile phone in an effort to solve the above-mentioned problems. According to JP2002-354139, a user calls with his mobile phone to a mobile phone mounted on the cleaner robot, selects places for cleaning operation using buttons on his mobile phone, and transmits cleaning commands. However, because the mobile phones are usually compact-sized and have a minimum number of buttons, it is somewhat difficult to design operation functions variously, and accordingly, operability deteriorates.  
         [0007]     Korean Patent No. 0441087 disclosed a cleaning system that is equipped with a cleaner robot control device attachable to a surface such as a refrigerator door. This system, however, requires the control device to attach to an electronic appliance that is communicable with the external communication network, and therefore, has degraded portability. Besides, it is difficult to control the cleaner robot from outside.  
       SUMMARY OF THE INVENTION  
       [0008]     The present invention has been developed in order to solve the above drawbacks and other problems associated with the conventional arrangement. An aspect of the present invention is to provide a robot control system and a robot control method thereof, which is capable of controlling a service robot from almost anywhere and with convenience.  
         [0009]     It is another aspect of the present invention to provide a robot control system and a robot control method thereof, which provides the user with improved operability.  
         [0010]     The above aspects and/or other features of the present invention can substantially be provided by providing a robot control system, which includes a wireless IP sharing device, connected with the Internet, for transmitting and receiving an image signal and/or a control signal, a robot running by itself in accordance with a command received through the wireless IP sharing device, and performing a designated job, the robot being installed with a wireless communication module, a portable wireless terminal having a motion sensor, for wirelessly transmitting an operation command to the wireless communication module, or receiving image signal and/or control signal, and a robot server, connected with the Internet, for outputting a control screen of the robot, and the image signal and/or the control signal which is received from the robot, to the portable wireless terminal. The robot may be controlled by use of the motion sensor installed at the portable wireless terminal.  
         [0011]     The portable wireless terminal may include a display window for outputting the controls screen, and a button unit, and the motion sensor is installed at a lower side of the portable wireless terminal.  
         [0012]     The portable wireless terminal may further include a joystick unit which is selectively connected with a connection socket of the potable wireless terminal, and the robot is controlled by use of the joystick unit. The robot may be a cleaner robot.  
         [0013]     According to one aspect of the present invention, a robot control method includes the steps of a) inputting an ID and a password using a portable wireless terminal which is connected with the Internet, b) determining whether the inputted ID and the password are registered in a robot server, c) if the ID and the password are registered in the robot server, connecting to a robot corresponding to the ID, d) outputting a control screen of the robot through a display window of the portable wireless terminal, e) inputting an operation command by use of a motion sensor installed at the portable wireless terminal and the control screen, f) transmitting the operation command inputted through the portable wireless terminal, to the robot via the wireless IP sharing device which is connected with the Internet, and g) outputting the image signal and/or the control signal from the robot through the display window of the portable wireless terminal via the wireless IP sharing device.  
         [0014]     The step e) inputs the operation command by moving the main body of the portable wireless terminal and selecting a menu on the control screen.  
         [0015]     According to the present invention, a robot at a remote distance can be conveniently controlled by use of mobile phone, which is quite portable, and the Internet. As a result, user convenience increases.  
         [0016]     Furthermore, because the control screen can be controlled by moving the main body of the mobile phone, there is no need for the user to input operation command by pressing small buttons on the mobile phone, and as a result, user convenience increases. 
     
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
       [0017]     The above aspects and features of the present invention will be more apparent by describing certain embodiments of the present invention with reference to the accompanying drawings, in which:  
         [0018]      FIG. 1  is a view illustrating a robot control system according to an embodiment of the present invention;  
         [0019]      FIG. 2  is a perspective view of a cleaner robot according to an embodiment of the present invention;  
         [0020]      FIG. 3  is a perspective view of the cleaner robot with an upper cover removed to show interior construction thereof;  
         [0021]      FIG. 4  is a block diagram of a robot control system according to an embodiment of the present invention;  
         [0022]      FIGS. 5 and 6  are perspective views illustrating the structure of a mobile phone as an example of a wireless terminal;  
         [0023]      FIG. 7  is a view illustrating the way of operating the mobile phone of FIGS.  5  and  6 ; and  
         [0024]      FIG. 8  is a block diagram illustrating a robot control method according to an embodiment of the present invention. 
     
    
     DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS  
       [0025]     Certain embodiments of the present invention will be described in greater detail with reference to the accompanying drawings.  
         [0026]     In the following description, same drawing reference numerals are used for the same elements even in different drawings. The matters defined in the description such as a detailed construction and elements are nothing but the ones provided to assist in a comprehensive understanding of the invention. Thus, it is apparent that the present invention can be carried out without those defined matters. Also, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.  
         [0027]     Referring to  FIG. 1 , a robot control system according to one aspect of the present invention includes a cleaner robot  70 , a wireless Internet protocol (IP) sharing device  60 , a mobile phone  20  and a robot server  50 . In the present embodiment, the cleaner robot  70  may be replaced with a variety of service robots such as, but not limited to, a security robot and an errand robot. The mobile phone  20  may also be replaced with a variety of wireless terminals.  
         [0028]     Referring to  FIGS. 2 through 4 , the cleaner robot  70  includes a main body  74 , a sensor part  12 , a dust suction part  82 , a driving part  90 , an upper camera  78 , a front camera  76 , a control part  102 , a memory device  106 , a wireless communication module  108  and a rechargeable battery  80 .  
         [0029]     The sensor part  12  includes an obstacle sensor  85  arranged at predetermined intervals along the surface of the main body  74  to send out a signal and receive reflected signals, and a running distance sensor  97  which measures a running distance of the cleaner robot  70 .  
         [0030]     The obstacle sensor  85  includes a plurality of infrared light emitting elements  83  for emitting rays of infrared light and a plurality of light receiving elements  84  for receiving reflected beam. The light emitting and receiving elements  83 , 84  being arranged along the outer circumference of the main body  74  in a substantially vertical pattern. Each light emitting element  83  is paired with the light receiving element  84 . The obstacle sensor  85  may alternatively include an ultrasound sensor that emits an ultrasound wave and receives reflected ultrasound wave. The obstacle sensor  85  may also be used to measure the distance from the cleaner robot  70  to obstacle or wall.  
         [0031]     The running distance sensor  97  may include a RPM sensor that detects RPM (revolutions per minute) of wheels  91  and  92  of the driving part  90 . For example, the RPM sensor may be a rotary encoder which detects the RPM of the motor  98 .  
         [0032]     The dust suction part  82  is provided on the main body  74  to draw in dust from the opposite surface. The dust suction part  82  may be constructed in a variety of known ways. For example, the dust suction part  82  may include a suction motor (not shown), and a dust chamber (not shown), which collects therein dust that is drawn in by the suction motor via a suction port or the suction pipe.  
         [0033]     The driving part  90  includes two front wheels  91  at both front sides, two rear wheels  92  at both rear sides, motors  98  for driving the rear wheels  92 , respectively, and a timing belt  96  to transmitting driving force of the rear wheels  92  to the front wheels  91 . The driving part  90  rotates the respective motors  98  independently, in a forward or backward direction in accordance with a control signal from the control part  102 . The running direction of the cleaner robot  70  can be changed by varying the RPM of the respective motors  98 .  
         [0034]     The front camera  76  is mounted on the main body  74  to photograph the images in front of the cleaner robot  70  and to send the photographed images to the control part  102 .  
         [0035]     The upper camera  78  is mounted on the main body  74  of the cleaner robot  70  to photograph images above the cleaner robot  70  and to output the captured images to the control part  102 . CCD (charge-coupling device) cameras may be used as the front and upper cameras  74  and  78 .  
         [0036]     The wireless communication module  108  sends out an image signal with respect to the images captured through the front and the upper cameras  78  and  76 , or a control signal for the cleaner robot  70  to the wireless IP sharing device  60 , and transmits a signal that is received from the wireless IP sharing device  60  via an antenna  104 , to the control part  102 . The wireless communication module  108  may be a USB wireless adapter or a PCMCIA (Personal Computer Memory Card International Association) wireless LAN card which can be compatibly used with the wireless IP sharing device  60 .  
         [0037]     The rechargeable battery  80  is mounted on the main body  74 , to supply the power necessary for the operation of the motors  98  or the control part  102  of the cleaner robot  70 .  
         [0038]     The control part  102  processes the signal received from the mobile phone  20  via the wireless communication module  108 , and accordingly controls the respective components. When a key input device (not shown) having a plurality of keys for manipulating functions of the cleaner robot  70  is provided on the main body  74 , the control part  102  may process the key signal inputted from the key input device.  
         [0039]     In order to use the images photographed through the upper camera  78  as a location indicating mark, the control part  102  extracts location indicating marks from the ceiling of the operation area, and perceives the current position of the cleaner robot  70  based on the extracted location information. The control part  102  then controls the respective parts to perform desired jobs based on the perceived current position. Also according to the received command, the control part  102  converts the images captured through the front camera  76  into image signal and sends the converted image signal to the wireless communication module  108 . Accordingly, the image signal is outputted to the mobile phone  20  which is accessed to the robot server  50  via the Internet, and therefore, the location of the cleaner robot  70  can be viewed.  
         [0040]     The wireless IP sharing device  60  is connected with the internet line  62 , to output the data from the mobile phone to the cleaner robot  70 , and receive image signal or control signal of the cleaner robot  70 , which is received via the wireless communication module  108  of the cleaner robot  70 , and transmit the received signal to the robot server  50  which is also connected via the internet line  62 .  
         [0041]     The robot server  50  may be hosted by the manufacturer of the cleaner robot  70 , and it can be connected with a plurality of cleaner robots  70  via the Internet  10 . Each of the cleaner robots  70  stores therein IP addresses, serial numbers, ID&#39;s, and passwords of the plurality of other cleaner robots  70 . Upon receipt of an ID and password input by the user through the mobile phone  20 , the robot server  50  looks up the IP address of the cleaner robot  70  matching with the input ID and password, and therefore, connects to the corresponding cleaner robot  70 . The robot server  50  designates unique ID and password for each cleaner robot  70 , and allocates the cleaner robot  70  with corresponding IP address and serial number so that an authorized user can access the cleaner robot  70 . Therefore, by inputting a given ID and password using the mobile phone  20 , the user can access his robot  70 . Additionally, a remote control program may be installed so that, with the access of mobile phone  20 , a screen for cleaner robot control may be output to the display window  26  (see  FIG. 6 ) of the mobile phone  20 .  
         [0042]     The mobile phone  20  is connectable to the internet wirelessly, and capable of bilateral communication of signals. The mobile phone  20  includes an input part to input commands, and an output part to output image and control screen.  
         [0043]     Referring to  FIGS. 5 through 7 , the input part includes buttons  24  and a motion sensor  34 . The motion sensor  34  is formed on the upper part of the battery  36  at the rear side of the mobile phone main body  21 . A battery recharger (not shown) may be removably mounted on a side of the mobile phone main body  21 , or a socket  25  may be formed on a side of the mobile phone main body  21  to removably receive a joystick unit  28  as shown in  FIG. 6 . The motion sensor  34  senses motion displacement by use of optical navigation system, and is widely available in the market. The motion sensor  34  captures the images it faces, using lighting system and lenses, and determines direction and distance of movement through the digital signal processing. The input part is constructed such that the determined data are outputted to a controller via the converter.  
         [0044]     Referring to  FIG. 6 , the output part includes the display window  26 . The present embodiment utilizes the general display window equipped in the mobile phone  20  to obtain unique advantage of the present invention. More specifically, the motion sensor  34  can be provided to a general mobile phone  20  so that user can enjoy more user-friendly environment. The joystick unit  28  may be removably attached to the socket  25  according to the selection by the user. As shown in  FIG. 7 , the user simply places his mobile phone  20  on a proper surface such as his palm, grabs the mobile phone main body  21 , and controls the cleaner robot  70  through the control screen appearing on the display window  26 . Alternatively, the user may control the cleaner robot  70  through the control screen appearing on the display window  26  by using the joystick  30  of the joystick unit  28  which is connected with the mobile phone  20  (see  FIG. 6 ).  
         [0045]     Controlling by the mobile phone  20  connected to the robot server  50  and the cleaner robot  70  will now be described in greater detail below with reference to  FIG. 8 .  
         [0046]     First, the user inputs ID and password by using the buttons  24  on the mobile phone  20  to connect to the server  50  (step S 1 ).  
         [0047]     The robot server  50  confirms whether the input ID and password match the registered ones (step S 2 ).  
         [0048]     When determining the input data matches with the registered ones, the robot server  50  looks up the IP address and serial number corresponding to the input ID, and connects to the cleaner robot  70  which has the matching IP address (step S 3 ).  
         [0049]     At the same time, the robot server  50  outputs a control screen for the cleaner robot  70  on the display window  26  of the mobile phone  20  (step S 4 ). The control screen may consist of a set menu, a clean menu, and a security menu as in the present particular example of cleaning robot  70 .  
         [0050]     When the control screen appears on the display window  26  of the mobile phone  20 , the user grabs the main body  21  of the mobile phone  20  (see  FIG. 7 ), faces the motion sensor  34  to the bottom, and moves the main body  21 . Accordingly, while the motion sensor  34  detects direction and distance of movement of the mobile phone  20 , the user moves a cursor on the screen to the desired item of the menu, and selects the item by using the button  24 . Therefore, the user can input operation command with convenience (step S 5 ). Alternatively, the operation command can also be inputted without using the motion sensor  34 , but using the joystick  30  of the joystick unit  28  which is connected to the mobile phone  20  (see  FIG. 6 ). When using the joystick  30 , a control screen may appear for the user&#39;s input of operation command. Because the user convenience increases in operating the cleaner robot  70  by the simplified control through movement of main body and control screen, the cleaner robot  70  can be more conveniently operated.  
         [0051]     The inputted operation command is transferred to the wireless IP sharing device  60  via the mobile phone  20  and the robot server  50 , and transferred to the control part  102  of the cleaner robot  70  via the wireless IP sharing device  60  (step S 6 ). When the inputted operation command is a moving command, the control part  102  controls such that the cleaner robot moves in accordance with the received signal to a designated location, photographs with front camera  76 , converts the captured image into image signal, and transmits the converted signal to the wireless IP sharing device  60  via the wireless communication module  108 . The image signal received at the wireless IP sharing device  60  is transmitted through the Internet  10  and the robot server  50 , and outputted through the display window  26  of the mobile phone (step S 7 ). When the inputted operation command is a cleaning command, the control part  102  controls such that the cleaner robot moves to the designated location, performs cleaning operation, converts images captured through the front and upper cameras  76  and  78  into image signal, and outputs the converted signal through the display window  26  of the mobile phone  20 .  
         [0052]     The location of the cleaner robot  70  is determined according to the received image signal, and if additional operation is necessary (step S 8 ), operations from operation command input (S 5 ) is repeated, and if not, controlling is completed.  
         [0053]     The foregoing embodiment and advantages are merely exemplary and are not to be construed as limiting the present invention. The present teaching can be readily applied to other types of apparatuses. Also, the description of the embodiments of the present invention is intended to be illustrative, and not to limit the scope of the claims, and many alternatives, modifications, and variations will be apparent to those skilled in the art.