JP3665730B2 - Remotely controlled mobile surveillance robot system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a remotely controlled mobile surveillance robot system in which a mobile robot camera is installed at a remote point to be monitored such as a user's house and remotely controlled from a center side via a communication network.
[0002]
[Prior art]
Conventionally, a remote monitoring system used for security at the time of absence from offices or homes is generally installed with a surveillance camera fixed on the ceiling or the like, and is used in combination with a human sensor such as infrared rays to leave time in the office or home. During the period, it was connected to the security company through a communication network (mainly a dedicated line), and the operator of the security company and the center device detected the abnormality.
[0003]
[Problems to be solved by the invention]
In a conventional remote monitoring system, in a large area office or mainly at home, multiple cameras are installed in each room, and many surveillance cameras are installed so that there are no blind spots, or many sensors are installed. There was a problem that it was necessary.
[0004]
The object of the present invention is to solve the problem of installing many surveillance cameras on the ceiling or the like when remotely monitoring from the center of a security company whether there is an abnormality in the security of the office or home when absent. A remote-controlled mobile surveillance robot system that enables services to cover security points with few or no fixed cameras, with a surveillance mobile robot camera or a few fixed surveillance cameras that support its movement It is to provide.
[0005]
[Means for Solving the Invention]
In the remote control mobile monitoring robot system of the present invention, a first communication terminal such as a video phone and a remote control device connected to the first communication terminal are installed on the center side, and a monitor of a user's house or the like is installed. The target remote point includes a second communication terminal such as a similar videophone connected to the first communication terminal on the center side via a public network, and an AV tuner connected to the second communication terminal. And a transmitter and a mobile robot camera remotely controlled from the remote control device on the center side, and the remote control device on the center side allows the first communication terminal, the public network, and the second The mobile robot camera at the remote point is remotely controlled via a communication terminal and the transmitter, and AV information from the mobile robot camera is transmitted via the AV tuner, the second communication terminal, and the public network. The above It is a basic structure to monitor the first communication terminal printer side.
[0006]
According to the present invention, in such a remotely controlled mobile surveillance robot system, the center side includes an information processing apparatus including a drawing database storing drawings of remote points to be monitored, and the first communication terminal on the center side In response to a call from the second communication terminal at a remote point, the information processing apparatus reads out the drawing of the remote point from the drawing database and displays it. In addition, a fixed camera for photographing the entire point and an AV mixer for mixing AV information of the mobile robot camera and AV information of the fixed camera are provided at a remote point to be monitored. Connected to the first communication terminal on the center side, and in addition to the image of the mobile robot camera at the remote location, a monitor display for displaying the mobile robot camera image from the fixed camera is connected to the center side. It is characterized by having. Also, input means for accepting an input of monitor reservation from an arbitrary communication terminal via a communication network, means for storing the monitor reservation, and the first communication terminal on the center side and a remote point based on the monitor reservation And a center computer having means for automatically connecting to the second communication terminal.
[0007]
As described above, according to the present invention, the drawing of the user's house to be monitored can be monitored on the center side, so that the operator of the mobile robot camera can be easily sent. In addition, it is possible to perform remote monitoring with a small number of cameras even in a wide area by using a mobile robot camera that can be remotely controlled connected to a public network and about one fixed camera that supports the movement of the mobile robot camera. . A conventional remote monitoring system can be connected to the public network, can be installed in any user's home or office without any camera installation work, and is simple and compact. For example, a security camera can be installed from a security company during the absence or absence period. The point is that the service can be operated by delivering it.
[0008]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, various embodiments of the present invention will be described with reference to the drawings.
(Example 1)
FIG. 1 is an overall configuration diagram showing a first embodiment of a remotely controlled mobile surveillance robot system according to the present invention. In FIG. 1, reference numeral 100 denotes an ISDN public network. The right side is a center such as a security company via the public network 100, and the left side is a user's home that receives a security service such as a security company. In a center such as a security company, an ISDN video phone (hereinafter simply referred to as a video phone) 1 connected to an ISDN line DSU 4, an interface unit 2 connected to a digital port (eg, RS232C) of the video phone 1, And a remote control device 3 connected to the interface unit 2 is installed. The user's home includes an ISDN videophone (hereinafter simply referred to as a videophone) 6 connected to the ISDN line DSU 5, an interface unit 7 connected to a digital port (such as RS232C) of the videophone 6, and the interface unit A transmitter 8 connected, an AV tuner 9 connected to an audio video (AV) signal terminal of the video phone 6, and a mobile robot camera 10 that freely moves around the user's home are installed. The devices 5 to 10 on the user's home side generally exist for each user's home, and each video phone 6 is connected to the video phone 1 of the center such as a security company through the public network 100.
[0009]
FIG. 2 is an external view of a mobile robot camera, including an infrared light emitting unit 12a, 12b, a lens unit 13, a microphone camera unit 11 including a microphone 14, an AV signal wireless transmission antenna 15, a steering wireless signal receiving antenna 16, a movement The caterpillar portion 17 is provided.
[0010]
FIG. 3 shows a configuration example of the interface unit 2 that connects between the remote control device 3 and the video phone 1 on the center side. The center side interface unit 2 incorporates a multi-channel A / D converter 2-1. The remote control device 3 can control the front-rear and left-right movements of the mobile robot camera 10 at the user's home, and outputs a multi-channel joystick operation angle signal as a time-series analog signal. A multi-channel A / D converter 2-1 built in the interface unit 2 converts the multi-channel time-series analog signal into a digital signal, further converts the digital signal into a normal RS232C, and RS232C of the video phone 1 Input to the terminal.
[0011]
FIG. 4 is a configuration example of the interface unit 2 that connects the video phone 6 and the transmitter 8 on the user's home side. The interface unit 7 on the user's home side incorporates a multi-channel D / A converter 7-1. An RS232C signal transmitted from the ISDN videophone 1 on the center side is output from the RS232C terminal of the videophone 6. A multi-channel D / A converter 7-1 built in the interface unit 7 converts the RS232C signal into a normal digital signal, and further converts the digital signal into a multi-channel analog signal to be input to the transmitter 8. .
[0012]
Next, the overall operation of the remotely controlled mobile surveillance robot system of FIG. 1 will be described. Here, it is assumed that the center-side video phone 1 and the user home-side video phone 6 are already connected via the public network 100, and the mobile robot camera 10 is in an operating state.
[0013]
The AV signal captured by the camera microphone unit 11 of the mobile robot camera 10 is transmitted from the AV signal wireless transmission antenna 15 of the mobile robot camera 10 and received by the AV tuner 9. Input to AV signal terminal. The video phone 6 sends this AV signal to the public network 100, which is received by the center-side video phone 1, displays the video on the monitor television, and outputs the sound from the speaker. Thus, the situation of the user's home captured by the mobile robot camera 10 is monitored by the center-side video phone 1 including sound.
[0014]
The operator on the center side operates the joystick and the like of the remote control device 3 on the video phone 1 while viewing the video taken by the mobile robot camera 10 at the user's home. As a result, a multi-channel joystick operation angle signal is output as a time-series analog signal from the remote control device 3, converted into a digital RS232C signal by the interface unit 2, and input to the RS232C terminal of the videophone 1. The video phone 1 sends this RS232C signal to the public network 100, which receives the videophone 6 on the user's home side and outputs it from the RS232C terminal. The RS232C signal output from the video phone 6 is converted into an analog signal by the interface unit 7, and a multi-channel analog signal such as a rotation angle of a servo motor or a monitor amplifier servo mounted on the mobile robot camera 10 or a motor amplifier output. become. This multi-channel analog signal is transmitted from the radio-controlled transmitter 8, which is received by the radio reception antenna for steering 10 of the mobile robot camera 16, and moves following the operation of the remote control device 1 of the center side operator. The robot camera 10 moves back and forth and left and right. Then, the situation in the user's home at this time is captured by the camera microphone unit 11 of the mobile robot camera 10 and is monitored by the video phone 1 on the center side.
[0015]
In this way, an operator such as a security company can freely control the back and forth movement of the mobile robot camera 10 at the user's home and pan / tilt of the camera unit with the joystick of the remote control device 3 while watching the video phone 1 on the center side. The situation such as the absence home can be photographed by the mobile robot camera 10 and monitored in real time by the center-side video phone 1 including the sound.
Further, if the infrared light emitting units 12a and 12b of the mobile robot camera 10 are caused to emit light, the situation inside the user's home can be monitored by the center-side video phone 1 even in the dark.
[0016]
(Example 2)
FIG. 5 is an overall configuration diagram showing a second embodiment of the remotely controlled mobile surveillance robot system according to the present invention. 5, the basic configuration is the same as that of the embodiment of FIG. 1, but in this embodiment, a personal computer (PC) 21, a house drawing display monitor display 22, and a house drawing database 23 are provided on the center side. It is. The house drawing database 23 stores house drawing data of each user's house to be monitored.
[0017]
In this embodiment, when the operator on the center side remotely controls the mobile robot camera 10 on the user's home side, when the operator dials the other party's video phone 6 with the video phone 1, the monitor 21 is automatically displayed by the PC 21. A plan view of the house of the user's house corresponding to the other party's dial is displayed. For example, the automatic display of the destination dial is performed by monitoring the dial signal issued from the videophone 1 at the ISDN S / T point in front of the DSU 4 with the number display unit 24 built in the PC 21 and the number display unit (ND unit). 24 ) The other party's dial is notified to the CPU of the PC 21 from 24, the CPU of the PC 21 retrieves the corresponding house drawing from the house drawing database 23, and displays it on the display 22.
[0018]
Thereby, the operator on the center side can operate the mobile robot camera 10 remotely controlled while looking at the indoor floor plan in which the mobile robot camera 10 moves.
[0019]
(Example 3)
FIG. 6 is an overall configuration diagram showing a third embodiment of the remotely controlled mobile surveillance robot system according to the present invention. 6 also has the same basic configuration as that of the first embodiment of FIG. 1, but in this embodiment, for example, the ceiling camera fixed on the user's house 31 and the AV signal of the fixed camera 31 are sent to the user's house. An AV tuner 32 for receiving, an AV mixer 33 for mixing the AV signals of the AV tuners 9 and 32, and a monitor display 34 for displaying the image of the mobile robot camera 10 and the image of the fixed camera 31 are provided on the center side. It is. The AV mixer 33 on the user's home side is connected to the NTSC-AV terminal of the video phone 6. Similarly, the monitor display 34 on the center side is connected to the NTSC-AV terminal of the video phone 1.
[0020]
In this embodiment, the video of the mobile robot camera 10 traveling on the floor from the fixed camera 31 installed on the ceiling of the user's house is mixed with the video of the mobile robot camera 10 by the AV tuner 9 by the AV mixer 33 via the AV tuner 32. Then, both images are displayed on the monitor display 34 via the video phone 6, the public network 100, and the video phone 1. For example, as shown in FIG. 6, the screen of the monitor display 34 is displayed by cutting the window and embedding the video from the ceiling-mounted fixed camera 31 in the robot camera video. Thereby, the operator on the center side can remotely control the mobile robot camera 9 while viewing the images of both, so that there is an effect that the operation is easy.
[0021]
(Example 4)
FIG. 7 is an overall configuration diagram showing a fourth embodiment of the remotely controlled mobile surveillance robot system according to the present invention. 7 has the same basic configuration as the embodiment of FIG. 1, but in this embodiment, a video recorder 41 that can be remotely operated from the center side is provided on the user's home side, and the video recorder 41 is remotely operated on the center side. The video remote controller 42 and the monitor display 43 for monitoring the reproduced video of the video recorder 41 are provided.
[0022]
On the user's home side, video and audio captured by the mobile robot camera 10 are always recorded in a time lapse manner by the video recorder 41 via the AV corner 9. From the video remote controller 42 on the center side, the signal of the digital control signal d1 is superimposed on the RS232C signal from the remote control device 3 by the interface unit 2, and the videophone at the user's home side via the video phone 1 and the public network 100. 6 is sent to the interface 7, and the interface unit 7 decodes the signal superimposed on the RS232C signal to form a digital control signal d2, whereby the video recorder 41 can be operated remotely. The video image of the video recorder 41 can be monitored on the monitor display 43 via the video phone 6, the public network 100, and the video phone 1.
[0023]
According to the present embodiment, when something abnormal happens at the user's home, the video recorder always captures images, so that the missing center side by video coding (for example, H.261 coding) Not only the information but also the original information captured by the mobile robot camera 10 is stored in the video recorder 41, and the video information is not only reproduced in real time from the center side, but also the video information is a high definition such as MPEG2. With a simple image encoding protocol, it can be encoded by the video phone 6, slowly transmitted to the center side after an abnormal situation, decoded by the video phone 1, and high-definition user home video can be monitored.
[0024]
(Example 5)
FIG. 8 is a flowchart for explaining the fifth embodiment of the present invention. This shows a service operation mechanism of a remotely controlled mobile surveillance robot system common to the first to fourth embodiments. In other words, in the operation of this remotely operated mobile surveillance robot system, the security company delivers and installs the mobile robot camera and other necessary devices only when the user is away, and the security company installs these devices when the user returns home. It is to be collected.
[0025]
When the user subscribes to the security company's remote mobile surveillance robot camera service in advance, the security company delivers and installs the robot camera 10 and necessary devices to the user's home (steps 201 and 202). When the user goes out, for example, on a long-term trip, the center is notified that the user is away from the security company (step 203) and goes out (step 204). Then, the center of the security company, for example, several times a day, remotely controls the mobile robot camera 10 from the center, monitors the absence home, and checks whether there is any abnormality (step 205). When the user comes home, the center is contacted, and the security company collects the robot and other devices (step 206).
[0026]
As a result, there is an effect that even a user who is not always subscribed to the security service can enjoy the service at a low cost without purchasing a new mobile surveillance robot camera.
[0027]
FIG. 9 shows a configuration example of a system in which a user automatically reserves and operates a service with a security company for operating the fifth embodiment.
The user connects to the Internet 310 with a personal computer (PC) 300 at home or at work, and enters the date and time when he / she wants to leave the security service on the reservation screen of the security company's homepage ((1)). Then, the input device 321 of the center computer 320 of the security company receives an input ((2)), and the user DB 323 authenticates the user by an arbitrary authentication method ((3)). When the user authentication is completed, the rental DB 324 such as the remote mobile monitoring robot camera is collated, and the rental date and time is reserved ((4)). The reserved lending information is sent from the output presentation device 322 to the Internet 310, and a reservation confirmation message such as a robot camera is displayed on the display of the user's PC 300 ((5)). The reserved lending information is registered in the robot operation operation time DB 325 in the same way.
[0028]
At the same time, the reservation information is notified as delivery information from the robot delivery information device 326 to the robot delivery operation center 330 of the security company ((6)), and the robot camera and the like are delivered to the user's home 350 by an automobile 340 for ISDN connection construction. Etc. are performed (7).
[0029]
When the operation time comes, a signal is sent from the robot operation operation time DB 325 of the center computer 320 to the communication terminal 1 of the robot remote control center 360 of the security company (8), and the communication terminal 6 of the user home 350 and the security company robot. The communication terminal 1 of the remote control operator 360 is automatically called by ISDN, for example, and is connected to the line, and the operator remotely checks the user's home 350 with the robot camera 10 ((9)). After the end of the patrol check, the line is disconnected, and when the next operation time comes, the line is connected again and the patrol check is performed. Once in operation, the robot is withdrawn by the security company.
[0030]
Note that the terminal used for the reservation by the user may be not only a PC but also a mobile phone, for example.
[0031]
As described above, in each of the embodiments, the example via the ISDN videophone has been described. However, the videophone may be replaced with a personal computer having an equivalent videophone function, or a portable videophone may be used. It goes without saying that the present invention can be easily configured by Internet videophone software even in the case of the Internet of IP connection. Further, the present invention is a system in which the first to fifth embodiments are appropriately combined, and the service can be operated.
[0032]
【The invention's effect】
As is clear from the above description, according to the remotely operated mobile surveillance robot system of the present invention, the following effects can be obtained.
(1) Since the user's home is remotely monitored from the center side with a mobile surveillance robot camera, one remote user's home can be installed without installing a surveillance camera on the user's home or the ceiling in the office room. Can be monitored with a mobile surveillance robot camera.
[0033]
(2) Since the drawing of the house at the user's house can be monitored on the center side, the operator of the mobile robot camera can be easily operated.
[0034]
(3) If not only the image of the mobile robot camera but also the fixed camera installed on the ceiling overlooking the mobile robot camera from the outside, the operator of the mobile robot camera can be easily operated.
[0035]
(4) By always recording video with a video recorder, the original information captured by the mobile robot camera as well as the missing center side information is stored in the video recorder by image coding by a video phone or the like. In addition to playing back video images in real time from the center side, video information is not real-time but monitored by high-definition image encoding protocol, which is sent to the center slowly after an abnormal situation to monitor high-definition user images. it can.
[0036]
(5) Since the user can automatically reserve the service from his / her communication terminal and the line connection between the security company and the user's house is automatically performed, the operation time is reduced.
[0037]
(6) It is possible to confirm the safety of the elderly living alone not only from the security of the home away from home but also from the image of the mobile robot camera.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram showing a first embodiment of the present invention.
FIG. 2 is a diagram illustrating an appearance of a mobile robot camera.
FIG. 3 is a diagram illustrating a configuration example of an interface unit on the center side.
FIG. 4 is a diagram illustrating a configuration example of an interface unit on a user home side.
FIG. 5 is an overall configuration diagram showing a second embodiment of the present invention.
FIG. 6 is an overall configuration diagram showing a third embodiment of the present invention.
FIG. 7 is an overall configuration diagram showing a fourth embodiment of the present invention.
FIG. 8 is an overall flowchart for explaining a fifth embodiment of the present invention.
FIG. 9 is an overall configuration diagram showing a fifth embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ISDN video telephone 3 Remote control device 6 ISDN video telephone 8 Transmitter 9 AV tuner 10 Mobile robot camera 21 Personal computer 22 House drawing display display 23 House drawing database 31 Fixed camera 32 AV tuner 33 AV mixer 34 Monitor display 41 Video recorder 42 Video remote controller 43 Monitor display 100 Public network 300 User personal computer 310 Internet 320 Security company center computer

Claims (5)

On the center side, a first communication terminal and a remote control device connected to the first communication terminal are installed,
A remote communication point connected to the first communication terminal on the center side via a public network; an AV tuner and a transmitter connected to the second communication terminal; Install a mobile robot camera that is remotely controlled from a remote control device,
By the center side of the remote control apparatus, the first communication terminal, the public network, the second communication terminal via said transmitter, the mobile robot camera of the remote location and remote control, the mobile In a remotely controlled mobile monitoring robot system , which monitors AV information by a robot camera with the first communication terminal on the center side via the AV tuner, the second communication terminal, and the public network,
On the center side, an information processing apparatus having a drawing database storing drawings of remote points to be monitored is provided,
In response to a call from the first communication terminal on the center side to the second communication terminal at the remote location, the information processing apparatus reads the remote location drawing from the drawing database and displays it.
This is a remote mobile surveillance robot system. On the center side, a first communication terminal and a remote control device connected to the first communication terminal are installed,
A remote communication point connected to the first communication terminal on the center side via a public network; an AV tuner and a transmitter connected to the second communication terminal; Installed a mobile robot camera that is remotely controlled from a remote control device,
The mobile robot camera at the remote point is remotely controlled by the remote control device on the center side via the first communication terminal, the public network, the second communication terminal, and the transmitter. In a remotely controlled mobile monitoring robot system, which monitors AV information by a robot camera with the first communication terminal on the center side via the AV tuner, the second communication terminal, and the public network,
The remote target to be monitored includes a fixed camera for photographing the entire point, an AV mixer that mixes AV information of the mobile robot camera and AV information of the fixed camera, and the AV mixer is a second one. Connected to the
The center side includes a monitor display connected to the first communication terminal and displaying a mobile robot camera image from the fixed camera in addition to the image of the mobile robot camera at a remote location.
This is a remote mobile surveillance robot system. On the center side, a first communication terminal and a remote control device connected to the first communication terminal are installed,
A remote communication point connected to the first communication terminal on the center side via a public network; an AV tuner and a transmitter connected to the second communication terminal; Install a mobile robot camera that is remotely controlled from a remote control device,
The mobile robot camera at the remote point is remotely controlled by the remote control device on the center side via the first communication terminal, the public network, the second communication terminal, and the transmitter. In a remotely controlled mobile monitoring robot system, which monitors AV information by a robot camera with the first communication terminal on the center side via the AV tuner, the second communication terminal, and the public network,
Input means for receiving monitor reservation input from an arbitrary communication terminal via a communication network; means for storing the monitor reservation; and a first communication terminal on the center side and a second remote location based on the monitor reservation . A center computer having means for automatically connecting to a communication terminal of
This is a remote mobile surveillance robot system. The remotely controlled mobile surveillance robot system according to claim 1 or 2,
Input means for receiving monitor reservation input from any communication terminal via a communication network; Further comprising a center computer comprising means for storing data reservation and means for automatically connecting the first communication terminal on the center side and the second communication terminal at the remote location based on the monitor reservation.
This is a remote mobile surveillance robot system. The remotely controlled mobile surveillance robot system according to any one of claims 1 to 4,
A video recorder that is remotely operated from the center side and records AV information of the mobile robot camera at a remote point to be monitored, and connects the video recorder to the second communication terminal;
The center further includes a video remote controller connected to the first communication terminal to remotely operate the video recorder, and a monitor display connected to the first communication terminal to reproduce and monitor the video image of the video recorder. ,
This is a remote mobile surveillance robot system.

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