KR102592291B1 - System and method for monitoring unmanned-office using mobile robot - Google Patents

Abstract

This relates to an unmanned office monitoring system and method using a mobile robot, which collects environmental data and video shooting location coordinates inside the unmanned office in real-time as packets from the mobile robot that shares the 3D location coordinates inside the unmanned office. An analysis unit analyzes the trend of environmental data over time at the same image capture location coordinates based on the packet and analyzes obstacles by comparing them with the threshold value set for each image capture location coordinate, and at a specific location according to the determined obstacle factors. A control unit that generates an alarm message and transmits it to a linked terminal when abnormal temperature or humidity is detected, and implements the inside of the unmanned station in a virtual space, mapping the packet configuration values to the internal structure of the unmanned station stored in 3D coordinates and creating a table. Includes a database section stored in .

Description

Unmanned national affairs monitoring system and method using a mobile robot {SYSTEM AND METHOD FOR MONITORING UNMANNED-OFFICE USING MOBILE ROBOT}

An unmanned national affairs monitoring technology using a mobile robot is provided.

In simple services such as the Internet, the emergence of various combined services and convergence services is accelerating according to user demands and changes of the times. As the types and number of network devices to provide various services increase in accordance with these changes, the systems that manage the devices are also diversifying.

While providing this rapidly changing service reliably, we are expanding unmanned national office facilities that are remotely controlled and managed for operational and management efficiency of the communication network.

In general, unmanned office facilities are managed by monitoring the office's internal environment through multiple environmental measurement sensors and equipment environment monitoring through equipment operation information. For example, it measures worker entry, fire detection, flooding detection, temperature/humidity, etc. and monitors unmanned national facilities using CCTV footage.

However, inside national affairs facilities, environmental measurement sensors and CCTV devices are fixed to specific locations, and only major equipment centered on base stations and repeaters are monitored, which limits the ability to manage overall national affairs facilities or detailed areas. In addition, government facilities are equipped with fire detectors, fire extinguishing equipment, and flame detectors, but these fire extinguishing equipment is intended to detect fires that have occurred and is difficult to prevent fires from occurring.

Therefore, a monitoring system is required that uses mobile robots to collect and analyze environmental data from each detailed area in the national office's internal facilities, so as to accurately identify the internal environment of the national office and recognize the possibility and cause of abnormal phenomena in advance.

As a related prior document, Korean Patent No. 793390 discloses “Unmanned Office Remote Environmental Monitoring System.”

Korean Patent No. 793390

One embodiment of the present invention provides a system that collects environmental data for detailed areas inside an unmanned office using a mobile robot and analyzes the collected environmental data to determine whether there is an abnormality or check whether a failure has occurred.

In addition to the above tasks, embodiments according to the present invention can be used to achieve other tasks not specifically mentioned.

In a monitoring system including one or more mobile robots located in an unmanned central office and a server device connected to a network according to an embodiment of the present invention, the server device receives information from a mobile robot that shares three-dimensional position coordinates inside the unmanned central office. A collection unit that collects packets containing internal environmental data and location coordinates, analyzes trends in environmental data over time at the same location coordinates based on the packets, and compares environmental data measured at location coordinates with a set threshold to determine if there is a problem. It includes an analysis unit that analyzes factors, and a control unit that, when a failure factor is determined, generates an alarm message containing the location coordinates of the failure factor, environmental data, and the time when the environmental data was measured and transmits it to the linked terminal.

The server device may further include a database unit that implements the inside of the unmanned bureau in a virtualized space and manages the configuration values of packets by mapping them to the internal structure of the unmanned bureau stored in three-dimensional coordinates.

A mobile robot can measure thermal images, digital images, temperature, and humidity of equipment installed in a rack at each measurement point while moving along a movement path connecting multiple measurement points.

The mobile robot can move up and down at each measurement point using a lift-type lift support to capture thermal images and digital images at one or more image capture locations.

The mobile robot coordinates the image capture position according to the position of the robot at each measurement point and the vertical movement distance of the lift support based on three-dimensional position coordinates, and captures the thermal image or digital image snapshot image taken at the image capture position. The size can be calculated.

The collection unit may receive a packet containing one or more of the packet creation time, robot location coordinates, image capture location coordinates, video snapshot image, corresponding image size, measured temperature value, and measured humidity value.

The analysis unit can calculate one of the maximum, minimum, and average values for hourly temperature, humidity, and surface temperature values for the same location or the same type of equipment, respectively, and set a threshold by analyzing trends at regular intervals.

The analysis unit detects a failure factor when the temperature, humidity, and surface temperature values measured for equipment at the same location differ from the values at a previous time by more than the first threshold or when a difference occurs between equipment of the same type by more than the second threshold. It can be analyzed as having occurred.

The control unit may provide the measured surface temperature and image to the terminal by superimposing a thermal image or digital image of the electrical contact area of the equipment, internal contact point of the distribution board, wiring, or wire in the virtualized space.

If there are changes due to equipment removal, new construction, or relocation work inside the unmanned office, it can be checked whether it matches the asset management information based on the digital image overlaid in the virtual space, and the confirmation result can be provided to the terminal.

As a method of operating a server device connected to a network with a mobile robot located inside an unmanned bureau according to an embodiment of the present invention, the internal facilities of the unmanned bureau are implemented in a virtual space, three-dimensional coordinates for the internal structure of the unmanned bureau are set, and the mobile robot is connected to the server device. Transmitting the three-dimensional coordinates to a robot, environmental data including one or more of a thermal image, digital image, temperature, and humidity from the mobile robot, and location coordinates of a point where the environmental data was measured based on the three-dimensional coordinates. Collecting steps, analyzing trends in environmental data over time for each location coordinate, analyzing failure factors by comparing environmental data with set thresholds for each equipment location coordinate, and generating an alarm message when abnormal temperature is detected according to the failure factor. It includes the step of transmitting to a linked terminal.

The collecting step is to collect environmental data measuring surface temperature, digital image, temperature, and humidity according to the thermal image of the equipment at each of one or more measurement points set while moving along the set movement path, and the location of the robot at each measurement point. You can collect the coordinates, the coordinates of the video capture location according to the vertical movement distance of the robot's lift support, and the size of the snapshot image taken at the video capture location.

The step of analyzing failure factors is to calculate one of the maximum, minimum, and average values for the temperature, humidity, and surface temperature values measured for equipment at the same location, and analyze trends at regular intervals to set a threshold. As a standard, if there is a difference between the previous and current environmental data exceeding a threshold, it can be analyzed that a failure has occurred in the relevant equipment.

The step of analyzing failure factors is to calculate one of the maximum, minimum, and average values for the temperature, humidity, and surface temperature values measured by the same type of equipment, and analyze trends at regular intervals to determine the set threshold. If a difference exceeds a threshold value occurs between devices of the same type, it can be analyzed that a failure factor has occurred.

Based on the three-dimensional coordinates of the internal structure of the unmanned office, set multiple measurement points that measure environmental data, electrical contact points at each measurement point, contact points inside the distribution board, and detailed areas for wiring or wires, and perform multiple measurements on the mobile robot. The step of requesting environmental data for branches and detailed areas may be further included.

In the step of transmitting to the terminal, an alarm message is generated containing one or more of the time of collection of environmental data determined to be a failure factor, equipment location coordinates, equipment type at the location coordinates, temperature or humidity, and a thermal image image in the virtualized space. Alternatively, an interface screen with a digital image overlaid can be provided to the terminal along with an alarm message.

According to one embodiment of the present invention, by measuring thermal images, temperature, and humidity in each detailed area at various locations using a mobile robot, it is possible to accurately analyze the internal temperature of the office and perform efficient cooling control and air conditioning operation. This can reduce cooling operation costs.

According to one embodiment of the present invention, the possibility of fire and failure can be recognized in advance by analyzing temperature change trends in the power contact area and cable connection location of equipment with a high risk of fire, and the possibility of fire or failure can be prevented. You can.

In addition, according to one embodiment of the present invention, by managing the internal space of the national office using 3D virtualized space coordinates, it is possible to accurately perform environmental analysis on detailed areas of internal equipment and manage the national office.

Figure 1 is an exemplary diagram showing a monitoring system including a mobile robot according to an embodiment of the present invention.
Figure 2 is an exemplary diagram showing a mobile robot according to an embodiment of the present invention.
Figure 3 is an example diagram for explaining the path driving mode and automatic charging mode of a mobile robot according to an embodiment of the present invention.
Figure 4 is an exemplary diagram showing the coordinate calculation configuration of a mobile robot in one embodiment of the present invention.
Figure 5 is an exemplary diagram for explaining a digital image processing process of a mobile robot according to an embodiment of the present invention.
Figure 6 is an example diagram for explaining a thermal image processing process of a mobile robot according to an embodiment of the present invention.
Figure 7 is an example diagram for explaining the process of measuring temperature and humidity of a mobile robot according to an embodiment of the present invention.
Figure 8 is a configuration diagram showing a server device in one embodiment of the present invention.
Figure 9 is a flowchart showing a monitoring method of a mobile robot and a server device according to an embodiment of the present invention.
Figure 10 is an example diagram showing an interface screen provided to a terminal according to an embodiment of the present invention.

With reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily implement the present invention. The present invention may be implemented in many different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention in the drawings, parts not related to the description are omitted, and the same reference numerals are used for identical or similar components throughout the specification. Additionally, in the case of well-known and well-known technologies, detailed descriptions thereof are omitted.

Throughout the specification, when a part is said to “include” a certain element, this means that it may further include other elements rather than excluding other elements, unless specifically stated to the contrary.

In addition, terms such as “…unit”, “…unit”, and “…module” used in the specification refer to a unit that processes at least one function or operation, which may be implemented through hardware or software or a combination of hardware and software. You can.

The device described in the present invention is composed of hardware including at least one processor, memory device, communication device, etc., and a program to be executed in conjunction with the hardware is stored in a designated location. The hardware has a configuration and performance capable of executing the method of the present invention. The program includes instructions that implement the operating method of the present invention described with reference to the drawings, and executes the present invention by combining it with hardware such as a processor and memory device.

In this specification, “transmission or provision” may include not only direct transmission or provision, but also indirect transmission or provision through another device or using a circuitous route.

In this specification, an unmanned bureau office is a facility where a minimum number of resident managers are deployed and managed through rotating shifts, and may include a communications office, a branch office, and a base station centralized office.

In this specification, “environmental data” refers to data acquired by a mobile robot inside an unmanned office, such as snapshot images, surface temperature, temperature measurements, and humidity measurements.

Figure 1 is an exemplary diagram showing a monitoring system including a mobile robot according to an embodiment of the present invention.

At this time, the configuration of the monitoring system using a mobile robot only shows the schematic configuration necessary for explanation according to an embodiment of the present invention and is not limited to this configuration.

As shown in Figure 1, the monitoring system includes one or more mobile robots 100 that move within the unmanned office and a server device 200 that monitors the unmanned office, and these components are connected through a network to transmit and receive data. do.

The mobile robot 100 includes a robot 110 that autonomously travels along a pre-designated movement path and a charging station 120.

The robot 110 of the mobile robot 100 travels along a pre-designated movement path and measures environmental data inside the unmanned office in response to a plurality of measurement points located on the movement path.

At this time, a pre-designated movement path and a plurality of measurement points may be set for the robot 110, or only a plurality of measurement points may be set.

For example, if only a plurality of measurement points are set, the robot 110 can scan the surrounding area to create a map and automatically create a movement path including the set corresponding measurement points.

Here, the measurement point and detailed areas of the measurement point can be set based on the cause of the fire. For example, the cause of a fire is that the insulation of wires and electrical devices is deteriorated or destroyed due to electrical, thermal, chemical, or mechanical causes, causing a short circuit, generating a short circuit current (leakage current), or carbonization of the insulation coating due to heat generation due to overload/overcurrent. Electrical leakage occurs, a phenomenon in which current flows somewhere other than the passage, and when the leakage current flows into auxiliary facilities and buildings, carbonization occurs. Organic insulating materials lose insulation over a long period of time, or contact parts are carbonized, causing tracking phenomenon or heat generation. Insulation deterioration due to leakage current, a phenomenon in which a part of the wire is broken due to external influences in a stranded wire made of twisted wires, and a conductive path is formed due to electrical stress and contamination of the surface of the insulating material, causing leakage current through the terminal block and insulating material. It can be classified as:

Accordingly, measurement points and detailed areas can be set based on the electrical contact area of each equipment, the internal contact point of the distribution board, or the area where the wiring/wires are located.

And the robot 110 generates a packet by synchronizing the environmental data acquired during movement and the location information where the environmental data was acquired in time series. Then, the robot 110 transmits the generated packet to the server device 200. At this time, the robot 110 can transmit packets to the server device 200 in real time through the linked charging station 120.

For example, the charging station 120 performs wireless communication such as WiFi (Wireless Fidelity) and Nespot with the robot 110, and communicates with the server device 200 through a bus-type local area network (LAN, Ethernet), etc. Wireless communication can be performed, but is not limited to this. And the data transmitted and received in each wireless communication can be encrypted, and wireless communication can be implemented as a dedicated communication network such as a private network.

Additionally, each mobile robot 100 has a unique ID, and more than one mobile robot can be deployed in an unmanned office. The number of such mobile robots 100 can be easily changed later depending on the size and environmental characteristics of the unmanned office.

The server device 200 analyzes environmental data collected through the mobile robots 100 deployed in multiple unmanned stations, determines the failure factors for each unmanned station, and generates an alarm message notifying a dangerous situation to send to the corresponding unmanned station. Transmitted to the corresponding terminal 300.

The server device 200 can manage multiple unmanned bureaus simultaneously, and manages the operation by mapping the unique ID assigned to each unmanned bureau to the unique ID of the mobile robot placed in the unmanned bureau. Additionally, the server device 200 can be managed by mapping the terminal information, personal information (phone number, name, department, etc.), work time table, etc. of the manager or operator who manages the unmanned office or robot.

In addition, the server device 200 can create a virtual space based on a drawing designed for each unmanned station, and manage location information about racks, equipment, facilities, and moving spaces in the virtual space in three-dimensional coordinates.

Here, rack refers to a shelf and represents a standard for distinguishing equipment or facilities placed on a plurality of shelves.

For example, the server device 200 designates a specific point as the basic coordinates (X:0, Y:0, Z:0) of the virtualization space and provides location information of the rack, each equipment, and facility movement space based on this 3 It can be managed with dimensional coordinates.

When the server device 200 generates 3D coordinates for the space for the unmanned office, it can share the 3D coordinates with the mobile robot 100 placed in the unmanned office.

Additionally, the server device 200 may analyze packets collected from the mobile robot 100 and store environmental data in a time series manner in a database table.

At this time, the server device 200 analyzes the failure factor through a failure factor analysis algorithm, and when it detects an abnormal temperature rise based on the analyzed failure factor, it generates an alarm message and delivers it to the designated terminal 300.

At this time, the designated terminal 300 represents a control center, an operator's terminal, an on-site manager's terminal, etc.

The alarm message may include one or more of the time when environmental data determined to be a failure factor were collected, equipment location coordinates, type of equipment at the location coordinates, temperature or humidity, and may include sound effects, LED lighting function, pop-up function, etc. can be provided.

Meanwhile, the server device 200 can collect information about equipment such as existing rectifiers, air conditioners, distribution boards, CCTV, and temperature or humidity sensors installed in the unmanned office. In other words, the server device 200 can collect information in connection with existing monitoring equipment and perform monitoring by considering the relevant information together.

Hereinafter, using FIGS. 2 to 6, a mobile robot that autonomously drives within an unmanned national office and measures environmental data will be described in detail.

FIG. 2 is an exemplary diagram illustrating a mobile robot according to an embodiment of the present invention, and FIG. 3 is an exemplary diagram illustrating a path driving mode and an automatic charging mode of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 2, the mobile robot 100 includes an actual moving robot 110 and a charging station 120 located in a certain space, and the robot 110 includes a control module 111 and a driving module ( 112), a lift support 113, a digital camera 114, a thermal imaging camera 115, and a temperature/humidity sensor 116.

The control module 111 is composed of hardware including at least one processor, a memory device, a communication device, etc., and controls the robot 110 using one or more programs stored in the processor.

The control module 111 may generate map information inside the unmanned office based on 3D coordinate information shared from the server device 200.

At this time, the control module 111 can confirm the current location information of the robot 110 by combining the map information generated by the driving module 112 and the corresponding 3D coordinate information.

In detail, the control module 111 can set one or more reference coordinates in the corresponding 3D coordinate information and check the real-time coordinates of the robot 110 based on the distance to the nearest corresponding reference coordinate.

The control module 111 controls the driving module 112 to move according to the set movement path, and whenever it is located at a plurality of measurement points, the lift support 113, the digital camera 114, the thermal imaging camera 115, Additionally, one or more of the temperature/humidity sensors 116 can be controlled to operate.

Specifically, the control module 111 adjusts the distance at which the lift support 113 moves up and down, controls the shooting area and shooting direction of the digital camera 114 or thermal imaging camera 115, or controls the shooting direction of the temperature/humidity sensor 116. A signal requesting a measurement value can be transmitted, and a response signal or captured image and measurement value corresponding to each signal can be received.

At this time, the control module 111 may include a processor that measures the surface temperature of the corresponding area based on the temperature array value in the thermal image image and maps the thermal image image and the measured surface temperature. In addition, the control module 111 may include a processor that processes digital video images or a processor that collects and processes temperature or humidity values.

And the control module 111 synchronizes the received digital video snapshot image, thermal image, temperature measurement value, humidity measurement value, etc. in time series with the 3D position of the robot 110, the image shooting location, and the captured equipment location. and can be stored in a separate database.

Then, the control module 111 converts the corresponding environmental data and location information into packets and transmits them to the server device 200.

Additionally, the control module 111 may check the battery information at regular intervals or, if the battery information is below a standard value, store the coordinates of the current point in the movement path and then control the battery to move to the charging station 120 for charging.

And when the battery charging is complete, you can move to the saved coordinates and return to the corresponding travel route.

Here, the standard value of the battery information can be set to the power value required for the robot 110 to move to the charging station 120 inside the unmanned office, and this standard value can be easily changed by the administrator at a later time.

The control module 111 controls the normal operation of the driving module 112, lift support 113, digital camera 114, thermal imaging camera 115, and temperature/humidity sensor 116 mounted on the robot 110. Check and generate robot status messages based on normal operation or abnormal operation.

For example, when moving by the driving module 112, the control module 111 deviates from the set movement path and does not move smoothly, or the control module 111 detects the digital camera 114 in response to a signal requesting to capture a digital image. If captured images are not received, a robot status message containing the corresponding abnormal behavior can be generated.

In addition, the control module 111 can convert the relevant environmental data and location information into packets or packetize only a separate robot status message and transmit it to the server device 200.

The driving module 112 moves along a movement path inside the unmanned office using power from a battery (not shown) through a connected ground contact member. Here, the ground contact member rotates stably in the form of a pair of endless tracks and moves in the direction of progress, but it can also be implemented in the form of a plurality of wheels.

(a) of FIG. 3 shows a situation in which the driving module 112 autonomously drives while detecting surrounding obstacles, and (b) shows a situation in which the driving module 112 automatically moves toward the charging station 120 to charge the battery.

The driving module 112 can check whether there is an obstacle using a gyro sensor or an image sensor mounted while moving along a designated movement path.

For example, the driving module 112 may recognize surrounding objects and obstacles using a gyro sensor, and autonomously drive to avoid obstacles located in the direction of travel and return to the travel path.

Also, when the driving module 112 needs to move to the charging station 120 to charge the battery, it can create an automatic route from the current point to the charging station 120 based on the generated map and move there.

At this time, the location of the charging station 120 can be confirmed through wireless communication between the control module 111 and the charging station 120. Additionally, when the driving module 112 completes driving on a periodically set travel route, it can move to the charging station 120 to charge the built-in battery and standby.

In addition, when a line for a movement path is installed on the floor inside the unmanned office, the driving module 112 can recognize the line and set the movement path. For example, if a solid line indicating the movement path and a marker indicating a measurement point are set on the floor inside the unmanned office, the corresponding movement path is identified, moved, and measured using the gyro sensor or image sensor mounted on the drive module 112. You can stop at any point. This type of movement path can be configured by creating a map to set the movement route or measurement point, or by setting the movement route or measurement point according to the marker set on the floor in real time, and can be easily set later.

The lift support 113 is a lift-type support that can move up and down. At this time, the vertical movement distance can be set in one or more steps, and at each step, it can be expanded upward or contracted downward by a certain distance.

For example, the lift support 113 can be expanded upward in N steps (n is a natural number), and the height can be increased by about 10 cm for each step. Accordingly, in the case of stage 3, the lift support 113 can be adjusted in height by a total of 30 cm. The number of expandable stages of the lift support 113 and the height to which each stage extends can be set based on the length of the rack installed inside the unmanned office to which it is applied, and can be changed later.

And a plurality of sensors or cameras are mounted in the head area of the corresponding lift support 113. In detail, a digital camera 114, a thermal imaging camera 115, and a temperature or humidity sensor 116 are installed, but are not necessarily limited thereto.

The lift support 113 can be expanded or contracted step by step based on a signal from the control module 111 based on the measurement point.

The digital camera 114 and the thermal imaging camera 115 capture snapshot images at each measurement point and transmit them to the control module 111. Additionally, the temperature or humidity sensor 116 can measure the temperature and humidity while moving along the movement path, or measure the temperature and humidity at each measurement point and transmit them to the control module 111.

At this time, the digital camera 114 and the thermal imaging camera 115 are shown separately, but a camera in which the digital camera 114 and the thermal imaging camera 115 are integrated may be mounted in the head area of the lift support 113. You can.

Hereinafter, the configuration of the mobile robot 100 to set three-dimensional coordinates and the configuration to capture a video snapshot image will be described in detail.

Figure 4 is an exemplary diagram showing the coordinate calculation configuration of a mobile robot according to an embodiment of the present invention, Figure 5 is an exemplary diagram illustrating a digital image processing process of a mobile robot according to an embodiment of the present invention, and Figure 6 is an example diagram for explaining the thermal image processing process of a mobile robot according to an embodiment of the present invention.

As shown in FIG _. 4, the robot ₁₁₀ sets _the reference point ( Confirm the location information of the robot 110 by estimating .

For example, based on the reference point (X ₀ , Y ₀ , Z ₀ ), the robot (110 ) location information (X ₁ , Y ₁ , Z ₁ = 100, 120,0) can be estimated.

The robot 110 acquires video snapshot images taken from the corresponding location information (X ₁ , Y ₁ , Z ₁ = 100, 120, 0) and environmental data such as temperature, humidity, and surface temperature.

However, since environmental data is measured through a plurality of sensors or cameras mounted on the head area of the lift support 113, the height value of the actual location information of the robot 110 and the image capture location is different.

Therefore, based on the height of the lift support 113, the actual image capturing position is equal to (X ₂ , Y ₂ , Z ₂ = 100, 128, 10).

Accordingly, the robot 110 estimates the actual space size by calculating the size of a digital image or thermal image image taken at a preset measurement point (X ₂ , Y ₂ , Z ₂ = 100, 120, 10).

In detail, since the distance between the robot 110 and the rack can be estimated to be about 200 through an image sensor or a gyro sensor, the distance on the You can calculate the size of the video snapshot image.

Accordingly _{, the} robot 110 _is set _at the robot's _{position (} 128, 10) Then, the environmental data along with the calculated size of the video snapshot image are converted into packets and transmitted to the server device 200.

In addition, the robot 110 can secure environmental data for detailed areas by varying the height up and down by the lift support 113 based on the rack.

Accordingly, the robot 110 calculates the image size of the image snapshot taken at the point where the lift support 113 is extended by one step (X ₃ , Y ₃ , Z ₃ = 100, 120, 20), Environmental data obtained at that point can be converted into packets and transmitted to the server device 200.

Accordingly, the server device 200 analyzes the packet and maps it to a three-dimensional coordinate space equal to the size of the video snapshot image, thereby confirming the digital image and thermal image of the equipment corresponding to the image.

In addition, the robot 110 can add the location information and spatial coordinates of the virtual space and the corresponding video snapshot to the information about each equipment, facility, and rack in the actual unmanned bureau and store them as basic information, and this basic information can be stored in the server device (200) ) can be transmitted.

In this way, the robot 110 maps and coordinates the actual video snapshot image based on the 3D position coordinates of the virtual space shared from the server device 200.

Meanwhile, as shown in FIG. 5, the robot 110 captures the entire image (A) of the equipment at the maximum angle of view using a digital camera 114, or as shown in FIG. 6, uses a thermal imaging camera 115 to capture images of the equipment. Only detailed areas (A-1) can be photographed.

Here, the detailed area is an area mainly including equipment installed in one rack, and the robot 110 can capture thermal images or digital images for each rack from the bottom to the top.

For example, detailed areas are areas with a high risk of fire, such as equipment that uses power, cable contact points, short-circuited parts of wires or electrical equipment, contact points inside a distribution panel, wiring or wire areas, and electrical contact points of each equipment. You can set it.

In this way, among the measurement points, it is possible to set up to capture digital images or thermal images for each detailed area based on the rack.

In this way, the digital camera 114 and the thermal imaging camera 115 mounted on the robot 110 can obtain video snapshot images of various sizes by applying different angles of view when photographing the entire area and the detailed area. Accordingly, the robot 110 can map and store the corresponding snapshot image and angle of view.

Figure 7 is an example diagram for explaining the process of measuring temperature and humidity of a mobile robot according to an embodiment of the present invention.

As shown in FIG. 7, the robot 110 can measure temperature or humidity at each measurement point while moving along a movement path (dotted line) inside the unmanned office.

At this time, the robot 110 can measure temperature or humidity in real time not only at the measurement point but also while moving. Accordingly, the temperature or humidity value measured in real time can be matched with the coordinates of the measurement point and transmitted to the server device 200.

Then, the robot 110 forms a packet of the measured temperature and humidity along with the measurement time and coordinates of the measurement point and transmits it to the server device 200.

In this way, the robot 110 moves along the movement path and measures thermal images, digital images, and temperature or humidity at each preset measurement point and each set detailed area, and then the location of the robot 110 that measured the data. , the video shooting location can be acquired as 3D coordinates and the size of the video (thermal image/digital) snapshot image can be mapped and stored.

Then, the robot 110 repeatedly performs measurements according to a preset movement path to measure the entire unmanned office space.

Below, the server device that monitors the unmanned office will be described in detail.

Figure 8 is a configuration diagram showing a server device in one embodiment of the present invention.

As shown in FIG. 8, the server device 200 includes a database unit 210, a collection unit 220, an analysis unit 230, and a control unit 240.

For explanation, they are referred to as the database unit 210, collection unit 220, analysis unit 230, and control unit 240, but these are computing devices that operate by at least one processor. Here, the database unit 210, the collection unit 220, the analysis unit 230, and the control unit 240 may be implemented in one computing device or may be distributed and implemented in separate computing devices. When distributed and implemented in separate computing devices, the database unit 210, collection unit 220, analysis unit 230, and control unit 240 may communicate with each other through a communication interface. It is sufficient that the computing device is a device capable of executing a software program written to carry out the present invention.

The database unit 210 stores three-dimensional coordinates of the internal structure of the unmanned office established based on the internal facility drawing for each unmanned office.

In addition, the database unit 210 stores environmental data including captured images, thermal images, and temperature/humidity measurement values synchronized in time series for each mobile robot 100, the measurement position of the robot 110, and the robot 110. Status information data can be collected and stored in the database.

At this time, the database unit 210 manages structured data (equipment information, temperature/humidity, etc.) using a relational database (RDBMS, Relational DataBase Management System) and unstructured data (robot movement path, location, various status values, etc.). ) can be managed using NoSQLDB, which does not define a schema.

In other words, the database unit 210 can store and manage information that requires a relational structure, such as manager/operator information, mobile robot information, equipment information installed in an unmanned office, office information, events, or alarms, in a relational database. And, such as the movement path of the robot 110 and environmental data measured by the robot 110, data that must be managed as time series information is a database entity (database object containing a column of key-value format or relational data) It can be managed by storing it in NoSQLDB in (Column Family) format.

In addition, the database unit 210 can set IDs separately for each equipment by combining the internal location of the bureau and the installation location of the equipment in each rack, and manage the surface temperature value, digital image, temperature or humidity measured for each equipment in a separate table. You can.

The collection unit 220 links the mobile robot 100 deployed in each unmanned bureau with the corresponding collection module, and internal communication for real-time data storage uses a message queue handler.

The collection unit 220 prevents message bottlenecks and collects data in real time through a collection module that corresponds one-to-one with the mobile robot 100.

Additionally, a data processing technique of distributed processing or streaming may be used to process large amounts of real-time data, but is not necessarily limited thereto.

In addition, messages sequentially received through the message queue method can be delivered to the analysis unit 230 and simultaneously stored in the database. At this time, a corresponding storage module (not shown) is implemented for each mobile robot 100, and if there is a packet collected from the corresponding mobile robot 100 by each storage module, the packet can be stored in the database. .

In this way, the collection unit 220 can collect data in packet form for each mobile robot (100-1, 100-2, ..., 100-N). Here, the packet may be composed of measured time, location coordinates of the mobile robot, image capture location coordinates, video snapshot image and size of the image, surface temperature value, measured temperature value, measured humidity value, etc.

Accordingly, the analysis unit 230 analyzes the packet received from the mobile robot and confirms the configuration values of the packet based on the time data included in the packet. At this time, the analysis unit 230 may store the configuration values of the confirmed packet in a table of the database.

The analysis unit 230 can analyze failure factors by time or equipment using a failure factor analysis algorithm through data comparison and trend analysis.

In detail, the analysis unit 230 calculates one of the maximum value, minimum value, or average value of the hourly measurement data at the same location and analyzes the change trend of the calculated value at a certain period (minutes, hours, days). You can.

The analysis unit 230 may derive a threshold value, which is a standard for determining a failure factor, based on the corresponding change trend. For example, if the value of the collected environmental data differs from the environmental data collected at a previous time by more than a set first threshold, it may be determined that a failure has occurred.

In addition, the analysis unit 230 calculates one of the maximum, minimum, or average values of the hourly measurement data of the same type of equipment, and compares the environmental data values of the same type of equipment with the values of the environmental data of the equipment. Through analysis, it can be determined whether a difference occurs above a preset second threshold.

At this time, for the same type of equipment, environmental data of the same type of equipment can be used only within the unmanned central office, or environmental data of the same type of equipment within multiple unmanned central offices can be used.

In other words, the temperature/humidity and surface temperature for each equipment location within the unmanned office are stored by time, and statistics on environmental data are calculated by time or equipment to set the first and second thresholds, and set the first and second thresholds. Based on the threshold, environmental data for each equipment collected in real time can be compared and analyzed to determine the cause of the failure. At this time, the criteria for determining the failure factor can be set for each unmanned station, using the reference value (first threshold) for the corresponding equipment at the same location, the reference value (second threshold) for the same type of equipment, or using two reference values (second threshold). 1 threshold, 2nd threshold) can be used.

These first and second thresholds are according to one embodiment and can be set as a threshold range, and the parts expressed as first and second are used for the purpose of distinguishing each applied threshold value, and the corresponding terms It is not limited to.

In addition, the analysis unit 230 can set an ID for each device by combining the location inside the unmanned bureau and the location installed relative to the rack, and manage the value of the surface temperature measured for each device in a separate table.

The control unit 240 can provide various interface screens to the terminal 300 by applying a visualization technique to each unmanned office.

For example, thermal images or digital images, temperature/humidity measurements, and location or status data of the robot 110 collected in a 2D drawing or 3D virtual space for an unmanned office are provided by overlaying them, or provided for each set of equipment. Tabulated data can be provided based on ID.

The control unit 240 can improve intuitiveness by implementing each in the form of a dashboard for all/group/region, etc. to manage multiple unmanned offices.

This interface can search and select data stored in the database in response to conditions input from the terminal 300 and graphically display data that satisfies the conditions.

Additionally, the control unit 240 generates an alarm message when a failure occurs and the failure occurs in an area where many electrical factors occur.

For example, the control unit 240 generates an alarm message for situational alert processing to the manager based on a failure factor indicating an abnormal temperature rise in a specific location or an abnormal temperature rise in a specific piece of equipment of the same type. These alarm messages may include occurrence time, robot location and status data, video/thermal image data, temperature/humidity data, etc.

Additionally, the control unit 240 can generate an alarm message step by step based on the risk level in addition to the standard value for determining the failure factor by considering the characteristics of each equipment.

For example, if the cause of the failure is a fire, different levels of alarm messages can be set to be generated in response to equipment with a very high surface temperature or a high risk of fire. In detail, the number of terminals linked at each stage can be set differently, and the voice, sound, LED color, and illuminance set with the message can be set differently.

Additionally, the control unit 240 can build a database of manuals for task types and preparations corresponding to each alarm message and transmit the response manual to the terminal 300 along with the alarm message.

For example, the control unit 240 may provide information on replacement items for equipment in which a failure has occurred, tools prepared during the replacement process, etc.

Meanwhile, the control unit 240 can control the mobile robot 100 of the unmanned base station to move to an area where an obstacle has occurred and measure environmental data in that area again. For example, a digital image or thermal image of the area may be requested to be measured for each detailed area.

In addition, the control unit 240 superimposes the digital image captured based on the environmental data collected from the mobile robot 100 into the corresponding virtual space to check whether the asset management information due to equipment removal, new construction, or relocation work inside the unmanned office is consistent. You can. And the control unit 240 can provide the terminal with information on whether it matches the asset management information.

At this time, if there is a mismatched area, the control unit 240 may further provide a digital image, coordinates, etc. corresponding to the area to the terminal.

Hereinafter, the mobile robot 100 will be described with the same concept as the robot 110.

Figure 9 is a flowchart showing a monitoring method of a mobile robot and a server device according to an embodiment of the present invention.

The server device 200 implements the interior of the unmanned office as a virtual space and sets three-dimensional coordinates (S110).

The server device 200 can perform virtualization based on the internal drawing of the unmanned office and set three-dimensional coordinates for each equipment, facility, rack, and movement space.

The server device 200 shares 3D coordinates with the mobile robot 100 located inside the unmanned office and sets a movement path (S120).

The server device 200 can set a movement path and transmit it to the mobile robot 100, but the mobile robot 100 can directly receive the movement path set from the externally linked manager terminal 300. Alternatively, when the measurement point and the detailed area for each measurement point are set, the mobile robot 100 can set a movement path based on the unmanned bureau internal map.

The mobile robot 100 collects environmental data at each measurement point along the set movement path (S130).

The mobile robot 100 drives autonomously along its movement path and stops at each measurement point to take digital/thermal images and measure temperature or humidity. At this time, the mobile robot 100 can control the lift support 113 and capture digital/thermal images by setting detailed areas for each equipment located based on the rack located at the measurement point.

The mobile robot 100 collects the equipment location coordinates of the measurement point based on the 3D coordinates (S140).

The mobile robot 100 sets coordinates for the location of the mobile robot 100 and measurement points where cameras and sensors are located based on the received three-dimensional coordinates, and captures the captured digital image and thermal image. Calculate the video snapshot image size for .

And the mobile robot 100 transmits environmental data and equipment location coordinates to the server device 200 (S150).

The mobile robot 100 can convert environmental data, location data, and image size into packets and transmit them to the server device 200.

At this time, the mobile robot 100 can change the acquired environmental data, location data, image size, etc. into packets and simultaneously transmit the packets in real time and at regular time periods (seconds or minutes).

The mobile robot 100 checks whether the set movement path is completed (S160).

When the mobile robot 100 completes its movement path, it moves to the charging station 120 located in the unmanned building (S170).

The mobile robot 100 moves by creating a movement path to the charging station 120 and can charge the internal battery by being coupled to a charging terminal provided by the charging station 120.

And, if the mobile robot 100 is located on the movement path without completing the movement path, it returns to step S130 and collects environmental data at each measurement point until the movement path is completed.

Meanwhile, the server device 200 analyzes trends in environmental data over time for each device location information with respect to the environmental data and location coordinates received in step S150 (S180).

The server device 200 analyzes the received packets, sets standards for determining failure factors, and confirms the failure factors through time-series analysis of environmental data collected by equipment and time.

Here, the judgment standard can be set as a threshold, and if it is greater than the threshold based on changes in collected environmental data, it can be judged as an obstacle.

Accordingly, the server device 200 checks whether the degree of change in the collected environmental data is greater than or equal to the threshold (S190).

If the degree of change in environmental data is less than the threshold, the server device 200 receives environmental data and equipment location coordinates received in real time or periodically from the mobile robot 100 and returns to step S180.

On the other hand, if the degree of change in environmental data is greater than the threshold, the server device 200 determines that there is a failure factor in the corresponding equipment and generates an alarm message (S200).

At this time, the server device 200 can generate an alarm message by selecting the terminal of the manager or operator to be delivered, a manual for removing the obstacle, etc. based on the characteristics of the corresponding equipment, the size of the degree of change, etc.

Then, the alarm message generated by the server device 200 is transmitted to the linked terminal 300.

In addition, the server device 200 may provide an interface screen for monitoring an unmanned office in real time to one or more terminals 300.

These interface screens can be implemented as web pages, programs, applications, etc.

Figure 10 is an example diagram showing an interface screen provided to a terminal according to an embodiment of the present invention.

Figure 10 (a) is a screen for explaining situational alarms based on alarm reference values considering the characteristics of each equipment by managing data in a separate table, and (b) is a screen showing the inside of an unmanned station represented in a virtual space and analyzed by failure factors. This is a screen that provides a thermal image of an area by overlapping it with the area.

As shown in (a) of FIG. 10, the server device 200 assigns an ID to each piece of equipment by combining the location inside the unmanned bureau and the installation location based on the rack, and provides time-series analysis of surface temperature values for each ID in table form. It can be displayed.

At this time, based on the time series analysis data, if a difference value occurs compared to the threshold value for the same type of equipment or the threshold value for specific equipment for the same location, an alarm message notifying the corresponding situation can be generated.

Also, as shown in (b), when each device is selected for the interior of the unmanned office implemented in a virtual space, the server device 200 displays the digital/thermal image and temperature or humidity values taken corresponding to the location of each device. can be provided.

Accordingly, the server device 200 provides overlapping thermal image images corresponding to the equipment location for the area where the failure factor occurred, allowing the manager to provide specific information about the area where the failure factor occurred.

According to the present invention, the possibility of fire or failure can be recognized in advance by analyzing temperature change trends in the power contact area and cable connection location of equipment where fire is likely to occur, and fire or failure can be prevented.

In addition, according to the present invention, by managing the internal space of the office using 3D virtualized space coordinates, it is possible to accurately perform environmental analysis on detailed areas of internal equipment and manage the office.

Although the preferred embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements made by those skilled in the art using the basic concept of the present invention defined in the following claims are also possible. falls within the scope of rights.

Claims (16)

In a monitoring system that includes one or more mobile robots located in an unmanned bureau and a server device connected to a network,
The server device is,
a collection unit that collects packets containing environmental data and location coordinates inside the unmanned national office from the mobile robot that shares the three-dimensional location coordinates inside the unmanned national office;
An analysis unit that analyzes trends of the environmental data over time at the same location coordinates based on the packet and analyzes failure factors by comparing environmental data measured at the location coordinates with a set threshold, and
When the obstacle factor is determined, it includes a control unit that generates an alarm message including the location coordinates of the obstacle factor, environmental data, and a time when the environmental data was measured, and transmits it to the linked terminal;
The mobile robot,
While moving along a movement path connecting a plurality of measurement points, the thermal image, digital image, temperature, and humidity of the equipment installed in the rack are measured at each measurement point,
Using a lift-type lift support, each measurement point is moved up and down to capture thermal images and digital images at one or more image capture locations,
Based on the three-dimensional position coordinates, coordinate the position of the robot at each measurement point and the image capture position according to the vertical movement distance of the lift support,
A monitoring system that calculates the size of a thermal image or digital video snapshot image taken at the video capture location.
In paragraph 1:
The server device is a monitoring system that further includes a database unit that implements the inside of the unmanned bureau in a virtualized space and manages the configuration values of the packets by mapping them to the internal structure of the unmanned bureau stored in three-dimensional coordinates.
delete delete delete In paragraph 1:
The collection department,
A monitoring system that receives a packet containing one or more of packet creation time, location coordinates of the robot, location coordinates of the image capture, video snapshot image, corresponding image size, measured temperature value, and measured humidity value.
In paragraph 6:
The analysis unit,
A monitoring system that calculates one of the maximum, minimum, and average values for hourly temperature, humidity, and surface temperature values for the same location or the same type of equipment, and sets the threshold by analyzing trends at regular intervals.
In paragraph 7:
The analysis unit,
If the temperature, humidity, and surface temperature values measured for equipment at the same location differ from the values at a previous time by more than a first threshold or a difference more than a second threshold occurs between equipment of the same type, a failure factor occurs. A monitoring system that analyzes
In paragraph 6:
The control unit,
A monitoring system that provides the measured surface temperature and image to the terminal by superimposing a thermal image or digital image of the electrical contact area of the equipment, internal contact of the distribution board, wiring, or wires in a virtualized space.
In paragraph 9:
The control department,
If there are changes due to equipment removal, new construction, or relocation work inside the unmanned office, monitoring checks whether it matches asset management information based on the digital image overlaid in the virtual space and provides the confirmation result to the terminal. system.
A method of operating a server device connected to a network with a mobile robot located inside an unmanned bureau,
Implementing the unmanned national office's internal facilities in a virtualized space, setting three-dimensional coordinates for the unmanned national office's internal structure, and transmitting the three-dimensional coordinates to the mobile robot;
Collecting environmental data including one or more of thermal images, digital images, temperature, and humidity from the mobile robot and location coordinates of a point where environmental data was measured based on the three-dimensional coordinates,
Analyzing a trend of the environmental data over time for each location coordinate and analyzing failure factors by comparing the environmental data with a set threshold for each location coordinate, and
A step of generating an alarm message and transmitting it to a linked terminal when an abnormal temperature is detected according to the failure factor,
The collecting step is,
While moving along the set movement path, environmental data measuring surface temperature, digital image, temperature, and humidity according to the thermal image of the equipment are collected at each of one or more set measurement points,
An operating method that collects the position coordinates of the robot at each measurement point, the coordinates of the image capture position according to the vertical movement distance of the lift support of the robot, and the size of the snapshot image taken at the image capture position.
delete In paragraph 11:
The step of analyzing the above obstacles is,
Calculate one of the maximum, minimum, and average values for the temperature, humidity, and surface temperature values measured for equipment at the same location, and analyze trends at regular intervals to determine the previous and current points based on the set threshold. An operation method that analyzes if a difference in environmental data exceeds the above threshold value, it is analyzed that a failure factor has occurred in the relevant equipment.
In paragraph 11:
The step of analyzing the above obstacles is,
Calculate one of the maximum, minimum, and average values for the temperature, humidity, and surface temperature values measured by equipment of the same type, and analyze trends at regular intervals to determine the set threshold. An operation method for analyzing that a failure factor has occurred when a difference greater than the above threshold occurs between the two.
In paragraph 11:
Setting a plurality of measurement points that measure environmental data based on the three-dimensional coordinates of the internal structure of the unmanned office, and detailed areas for electrical contact points, internal contact points, and wiring or wires for each measurement point, and setting the mobile robot An operating method further comprising requesting environmental data for the plurality of measurement points and the detailed area.
In paragraph 13 or 14:
The step of transmitting to the terminal is,
Generate an alarm message including one or more of the time at which the environmental data determined to be the obstacle factor was collected, equipment location coordinates, equipment type at the location coordinates, and the temperature or humidity,
An operation method of providing an interface screen with a thermal image or digital image overlaid on the virtualized space to the terminal along with the alarm message.

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