KR102283045B1 - Adaptive Moving Air Cleaning System - Google Patents

Abstract

The adaptive mobile air purification system of the present invention comprises:
When the fixed sensor unit simultaneously measures the air pollution level and the number of resident personnel and reports it to the server periodically, the server prioritizes the area with high air pollution level and large numbers of people, and dispatches a mobile robot to directly inspect the air pollution level at the site. As a result of the measurement, if the air pollution level exceeds the standard value, the purpose of the robot is to immediately perform air purification.
Accordingly, the adaptive mobile air purification system according to an embodiment of the present invention includes: a mobile robot; Receives and manages air pollution level and number of people at multiple sites, gives an order to the robot to dispatch to the site, gives an order to purify the on-site air to the robot, and differentially applies dispatch and purification priorities in consideration of the air pollution level and the number of people to control server; and a fixed sensor unit that is fixedly installed at a plurality of sites in the building, respectively, measures the air pollution level and the number of people and transmits it to the server;
The robot, a mobile air sensor unit that can measure the air pollution level at each site; a purification unit that improves air pollution by air cleaning; a communication unit wirelessly connected to the server and the fixed sensor unit; a moving unit provided with a moving means; a storage unit for transmitting and receiving data; and a control unit; further comprising, a fixed sensor unit, a fixed atmospheric sensor unit for measuring air pollution; and a personnel size measurement unit for measuring the number of persons on the site; further comprising,
When the fixed sensor unit periodically measures the air pollution level and number of people at each site and sends it to the server, the server dispatches the robot to the site where both the air pollution level and the number of people exceed the standard values, and the robot is measured at multiple points on the site It is characterized by instructing the robot to perform air purification when the measured and transmitted air pollution level of the site exceeds the standard value.

Description

Adaptive Moving Air Cleaning System

The present invention relates to an adaptive mobile air purifying system, and to a mobile purifying system in which a robot having an air purifying function is dispatched to an area with high air pollution and a large number of people to purify the air.

In more detail, the adaptive mobile air purification system of the present invention provides a sensor that measures air pollution levels for multiple sites such as each office and each room in a multi-use facility such as an airport, a building, and a home, and measures the number of people. A fixed sensor is installed and periodically measures the air pollution level and the number of people and sends it to the server. If the air pollution measured by the fixed sensor exceeds the standard value and there are personnel at the site, the mobile robot is dispatched to the site directly. The air pollution level is measured, and if it is confirmed that the air pollution level exceeds the standard value and there are personnel as a result of the on-site measurement, the robot directly conducts air purification activities at the site to manage the air pollution level focusing on the site where people are staying. As a mobile system for purification, if the air pollution level of multiple sites exceeds the standard but is at a similar level to each other, the robot is first dispatched to an area with a large number of people to perform air purification, and the air pollution level is within the error range for each site If there is a large gap outside the standard, the robot is dispatched to the site with the highest level of pollution to ensure efficient air purification. An adaptive system that allows additional robots to be added when the expected air purification time exceeds a predetermined standard time is about

In addition, if the difference in the measured pollution value between the fixedly installed air pollution measurement sensor and the air pollution measurement sensor provided in the robot exceeds the error threshold, at least one sensor is considered to have an error and inspection and pre-maintenance can be performed. reliability can be improved, and the air purification function of the robot is linked with the air conditioning system in the building to maximize the air purification effect. It relates to an adaptive mobile air purification system that calculates a correlation with the pollution level measurement value so that an appropriate and preemptive air purification function can be achieved even for a site where a faulty sensor is not installed.

A general air purifier is a fixed type, and it measures the level of air pollution at a specific location and operates the purification device to remove air pollution when the level of pollution exceeds the standard value.

However, in a situation where a large number of offices are concentrated, such as a building, it is economically unreasonable and inefficient to have air purifiers in all places, and space utilization is limited.

In addition, the air purifier fixed at a specific location in the office is concentrated in that location and functions, so there is a limit to improving air pollution throughout the office.

In addition, although the indoor air pollution level exceeds the standard value and air quality improvement is required, if no one is staying in the area, energy input for air purification occurs, and the amount of energy used for air purification occurs in other offices with a large number of people. Since energy can be relatively scarce, selective air purification with priority applied in consideration of the number of people can be said to be effective.

On the other hand, if an error occurs due to a malfunction of the fixed air pollution sensor, the automated system that recognizes it and preemptively checks and repairs it is insufficient, so even though there are failures and errors, it is not recognized. In some cases, use is restricted when air purification is urgent, and areas where air pollution measurement sensors are not installed can be left unattended as blind areas for pollution level measurement or air purification, but economic conditions, space restrictions, electrical facilities, etc. Due to the lack of related infrastructure, it is difficult to have all the facilities satisfactory to all branches.

In addition, in a situation in which the quality of air pollution is gradually worsening recently and economic loss and health threats due to fine dust are seriously emerging, it is important to have an efficient, economical and reliable system for measuring indoor air pollution and purifying the air. it is necessary.

Korean Patent Publication No. 10-2019-0049053

The present invention was created to solve the problems in the prior art in consideration of the above, and each office and multiple sites in the building are provided with a fixed sensor unit that measures the air pollution level and the number of people, and the fixed sensor unit periodically measures the atmosphere. When the pollution level and number of people are sent to the server, the server sends a mobile robot with air purification function to the site where it is determined that the air pollution level exceeds the standard value and there are people based on the measured value, and measures the air pollution level again at the site. Therefore, if the measured air pollution level measured by the robot on site also exceeds the standard value, the air purification function is performed at the site, and the difference between the air pollution level measured by the fixed sensor and the air pollution level measured by the robot is a predetermined error threshold. If it exceeds one or more of the two, it is determined that an error has occurred, so that on-site inspection and maintenance can be carried out preemptively to improve the reliability of the measured air pollution level, and also link the air purification function of the robot with the air conditioning system in the building to maximize the air purification effect, and the section where the fixed sensor is not installed is frequently measured while the robot is on the move, and the correlation with the measured air pollution level of the adjacent fixed sensor is calculated to provide an appropriate and preemptive air quality even for the site where the malfunctioning sensor is not installed. An object of the present invention is to provide an adaptive mobile air purification system that enables the purification function to be achieved.

The above objects and various advantages of the present invention will become more apparent from preferred embodiments of the present invention by those skilled in the art.

The present invention is to achieve the above object,

An adaptive mobile air purification system according to an embodiment of the present invention,

mobile robot; Receives and manages air pollution level and number of people at multiple sites, gives an order to the robot to dispatch to the site, gives an order to purify the on-site air to the robot, and differentially applies dispatch and purification priorities in consideration of the air pollution level and the number of people to control server; and a fixed sensor unit that is fixedly installed at a plurality of sites in the building, measures the air pollution level and the number of people, and delivers it to the server

The robot, a mobile air sensor unit that can measure the air pollution level at each site; a purification unit that improves air pollution by air cleaning; a communication unit wirelessly connected to the server and the fixed sensor unit; a moving unit provided with a moving means; a storage unit for transmitting and receiving data; and a control unit; further comprising

The fixed sensor unit, the fixed air sensor unit for measuring the air pollution level; and a personnel size measurement unit for measuring the number of persons on site; further comprising,

When the fixed sensor unit periodically measures the air pollution level and the number of people at each site and sends it to the server, the server dispatches the robot to the site where both the air pollution level and the number of people exceed the standard values, so that the robot is measured at multiple points on the site. It is characterized by instructing the robot to perform air purification when the measured and transmitted air pollution level of the site exceeds the standard value.

According to one embodiment, the server preferentially dispatches the robot to a site with a large number of people if there are a number of sites with air pollution levels exceeding the standard value, but the pollution level between sites is within an error range, and the pollution level between sites exceeding the standard value is error When it goes out of range, the robot is dispatched in order from the site with the highest pollution level, and the priority of robot dispatch is differentiated in consideration of the air pollution level and the number of personnel to control the air purification so that the air pollution level and the number of personnel are different. When it is determined that the expected air purification time exceeds the reference time due to the presence of a number of sites exceeding the reference value, the method further includes capable of performing air purification by additionally dispatching at least one or more robots.

According to an embodiment, the person size measuring unit uses at least one method of measuring the number of people and animals using infrared detection, camera photography, Wi-Fi connection, the number of cell phone calls, and noise in detecting the number of people. and measuring the noise, characterized in that it includes a human sneeze, a conversation sound, and an animal barking sound.

According to one embodiment, the server considers that an error has occurred in at least one sensor unit when the difference between the air pollution levels measured by the fixed standby sensor unit and the mobile standby sensor unit is greater than or equal to a preset error threshold It further includes enabling both the sensor unit and the moving standby sensor unit to check and take action.

According to an embodiment, the server includes: on-site air quality, which is an air pollution degree periodically measured by a fixed sensor unit; and uninstalled air quality, which is the air pollution level measured while the robot is moving in an area where the fixed sensor unit is not installed, as data, calculates standard air quality, which is a correlation between on-site air quality and non-installed air quality, and the robot is dispatched to the field to receive air When an area without a fixed sensor unit judged to have exceeded the standard value based on standard air quality when performing purification is adjacent to the moving route, it further includes performing air purification together.

The details of other embodiments are included in the detailed description and drawings.

According to the adaptive mobile air purification system of the present invention, the following effects can be obtained.

First, the sensors installed at each point in the building periodically measure the air pollution level and the number of people and transmit them to the server in real time, while air purification can be performed by a mobile robot. There is an advantage in economic efficiency and space utilization that can keep air pollution level low without equipping it.

Second, if it is determined that personnel exist at a point where the air pollution level measured by the fixed sensor exceeds the standard value, the mobile robot is dispatched to measure the air pollution level again at the site, and the air pollution level measured by the robot also exceeds the standard value When the air pollution level is measured by a fixed sensor, when the measurement value is distorted by a specific event, the unnecessary air purification function is activated and energy is wasted. This prevents it from happening and allows for efficient operation.

Third, if there is a large difference between the air pollution measurement value of the fixed sensor and the air pollution level measured on the spot by the robot, it is determined that at least one of the two sensors has an error, so that inspection and maintenance measures can be taken to prevent preemptive Maintenance can increase the reliability of the system.

Fourth, after the robot is dispatched to the site, it moves to a number of points in the site to purify the air, but it does not stay in a specific location within the site and moves continuously and performs an even purification function to create uniformly clean air quality throughout the site. can do.

Fifth, the air pollution level measured by the fixed sensor is measured by measuring the air pollution level from time to time while the robot is dispatched to the area where the fixed sensor is not installed, and the correlation is calculated and managed by comparing it with the air pollution level of the adjacent fixed sensor installation area at the same time. When purifying measures are taken after dispatching beyond the standard value, the pollution level is predicted even in areas where no sensors are installed and air purification can be performed together, so that a system that achieves uniform air purification even if fixed sensors are not provided in all areas. Therefore, the number of sensor installations can be minimized.

Sixth, it is possible to maximize the efficient use of energy resources and maintain the best air quality by linking the air conditioning system of the building and the air purification function of the robot.

1 is a block diagram of an adaptive mobile air purification system according to an embodiment of the present invention.
2 is a control flowchart of an adaptive mobile air purification system according to an embodiment of the present invention.
3 is another control flowchart of an adaptive mobile air purification system according to an embodiment of the present invention.
4 is an exemplary diagram of an adaptive mobile air purification system according to an embodiment of the present invention.

In order to fully understand the present invention, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

Prior to the description of the present invention, the following specific structural or functional descriptions are only exemplified for the purpose of describing embodiments according to the concept of the present invention, and embodiments according to the concept of the present invention may be modified and implemented in various forms. and the scope of the present invention should not be construed as being limited to the embodiments described in detail below.

In addition, since the embodiment according to the concept of the present invention may have various changes and may have various forms, specific embodiments are illustrated in the drawings and described in detail herein.

However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosed form, and should be understood to include changes, equivalents, and substitutes included in the spirit and scope of the present invention.

This embodiment is provided to more completely explain the present invention to those of ordinary skill in the art. Accordingly, the shape of elements in the drawings may be exaggerated to emphasize a clearer description.

It should be noted that the same members in each drawing are sometimes shown with the same reference numerals. Detailed descriptions of well-known functions and configurations determined to unnecessarily obscure the gist of the present invention will be omitted.

1 is a block diagram of an adaptive mobile air purification system according to an embodiment of the present invention, FIG. 2 is a control flowchart of the adaptive mobile air purification system according to an embodiment of the present invention, and FIG. It is another control flowchart of the adaptive mobile air purification system according to an embodiment, and FIG. 4 is an exemplary diagram of the adaptive mobile air purification system according to an embodiment of the present invention.

The adaptive mobile air purification system 10 according to a preferred embodiment of the present invention includes a robot 100 , a server 200 , and a fixed sensor unit 300 .

The robot 100 is a mechanical device capable of performing an air purification function, and there is no limitation in its form, but may have the form of a mobile robot 100 that can freely operate by itself.

After receiving a command from the server 200, the robot 100 goes to the purification target area, directly checks the air quality, and when it is determined that the pollution level exceeds the reference value, it immediately performs an air purification function on the spot.

The server 200 may be provided as a control system based on a main computer at a predetermined location, and after selecting an area to be purified while periodically receiving air pollution level and number of people data measured at each point in the building, the robot 100 can be ordered to leave.

The fixed sensor unit 300 is a plurality of sensor devices that are fixedly installed at each point in the building, and the function of measuring the air pollution level and the number of people in the area, and periodically and frequently transmitting this to the server 200 through the communication network can do.

To summarize, the fixed sensor unit 300 frequently transmits the air quality and the number of people in each area to the server 200, and the server 200 is a polluted area that exceeds the standard while managing the air quality and the number of people data. When this occurs and it is determined that there are people in the area, the robot 100 is dispatched to the site, and the robot 100 measures the air quality at multiple locations on the site and, if the standard value is exceeded, immediately performs an air purification function. can be activated

That is, the fixed sensor unit 300 functions as a signal for the robot 100 to dispatch, and whether or not to purify the air is determined according to the level of air pollution directly measured by the robot 100 in the field, and the purification procedure can be carried out immediately. .

To this end, detailed characteristics of the robot 100, the server 200, and the fixed sensor unit 300, which are components of the present invention, are as follows.

First, the fixed sensor unit 300 means a sensor device that is fixedly installed at a plurality of sites in a building, respectively.

For example, when a plurality of offices are provided in a building, about one fixed sensor unit 300 may be installed for each office, and two or more may be installed when the office is very large.

However, since the number of fixed sensor units 300 is difficult to be economically and realistically difficult to be configured to cover all areas of the site, in general, it can be said that about one is provided in an individual space partitioned by a wall.

The fixed sensor unit 300 of the present invention is characterized in that it measures the number of people staying in the field while measuring the air pollution degree and air quality.

For this, the fixed sensor unit 300 may be configured to include a fixed air sensor unit 310 for measuring air quality and a person size measurement unit 320 for measuring the number of people.

The fixed air sensor unit 310 may be configured as a general air pollution measurement sensor, and after measuring the air quality of the field according to a preset period, it may function to transmit the value to the server 200 through the communication network.

The person size measurement unit 320 may be configured as a device for measuring the number of persons located in the field, and the method may be variously applied.

For example, it is possible to measure the number of people using infrared detection sensor, video camera shooting, Internet access such as Wi-Fi per unit time, number of cell phone calls per unit time, etc. The number of people may also be measured by the method, and the measurement of the number of people may be performed by at least one or more of the above methods.

In addition, in the case where the number of companion animals as well as people is measured to be the basis for the determination of air purification, among the above methods, infrared detection, camera shooting, and animal barking may be included in the noise determination.

When the number of people is determined by the noise measured by the person size measuring unit 320 , the measured value may be transmitted to the server 200 through the communication network.

In order to perform the above functions, the personnel scale measuring unit 320 and the fixed atmospheric sensor unit 310 include not only a sensor device but also a communication unit and a control unit to set a cycle, determine air quality and number of people, and measure the measured values. It may be configured to communicate with the server 200 to transmit/receive.

The server 200 may manage the air pollution level and the number of people periodically measured and transmitted by the fixed sensor unit 300 into data for each time and place.

The server 200 sets the air pollution standard value and the number of people in advance to manage the air quality, and when it exceeds the reference value, measures for air purification can be implemented, and for this purpose, the It analyzes air pollution level and number of people data in real time and stores it.

When the air pollution level sent from the fixed sensor unit 300 located at a specific site exceeds the standard value and reaches a level requiring purification, the server 200 may first check whether the number of people at the site has been identified.

Even if the level of air pollution is high and purification is required, if there are no people staying at the site and the empty time is long, the need to perform air purification right away will be lowered, and the priority may be put on hold.

This is to preemptively manage air quality in a place where there are many people, and to operate the system most efficiently due to the efficient distribution and stable operation of energy resources and the limited number of robots 100 .

If the air pollution level exceeds the standard value based on the current time and the number of people in the corresponding place is not identified, the server 200 checks the current status data of the number of people received for the corresponding place before the current time.

If, as a result of checking the previous times in order, the number of personnel is consistently higher than the standard, the absence of personnel at the current time is judged to be temporary, and the immediate implementation of air purification can be decided.

On the other hand, if the number of people data is checked against the previous time, but it is a place where there are few people, the server 200 may temporarily suspend the air purification of the site and classify it as a sub-priority in the purification target.

As such, the server 200 in the adaptive mobile air purification system 10 of the present invention does not unconditionally purify the air just because the air pollution level measured by the fixed sensor unit 300 installed at each site deviates from the standard value. If there are no personnel at the site or not, it is judged as temporary absence after inferring from the past data whether it is a temporary absence or a normal absence, and when the average number of people exceeds the standard value, it is only judged whether the air at the site should be cleaned. It determines the dispatch of the mobile robot 100 for this purpose.

The server 200 may order the mobile robot 100 to go to the site when the air purification site inspection is determined for the site exceeding the air pollution level standard value.

At this time, the dispatch command of the server 200 means not to instruct the robot 100 to purify the air for the relevant site, but to directly inspect the air pollution level of the site after moving to the site.

The robot 100 can measure air quality by reaching the site indicated by the server 200 and moving various points of the site.

For example, assuming that the site is an office surrounded by four sides and one fixed sensor unit 300 is provided at the entrance to the office, the robot 100 can enter the office and measure air pollution by going from the entrance to the other end.

The fixed sensor unit 300 measured the air pollution degree of the office as deviating from the standard value, but the fixed sensor unit 300 measured only the office entrance, so the air pollution level and the average value measured by the robot 100 in every corner of the office are Unlike the measured value of the fixed sensor unit 300 , it may be lower than the reference value or may be similar to the value measured by the fixed sensor unit 300 .

The reason that the robot 100 is dispatched to the field and performs field measurements for multiple points in the field is for the purpose of performing air purification after closely measuring air pollution.

Because the fixed sensor unit 300 exists only at one point of the site, even though the air quality of the entire site has not deteriorated, the air pollution level rises sharply due to a special event at the location where the fixed sensor unit 300 is located. is likely to be distorted.

For example, the fixed sensor unit 300 was installed at the entrance as in the office, and the door was opened for a long time to carry the goods, so that the outside turbid air was introduced, or a large number of people came in and out at the same time. In various cases such as the unit 310 measuring air quality, instantaneous measurement value distortion may occur due to an event.

Due to these factors, the server 200 does not instruct the robot 100 to immediately go to the site to purify the air, but to once go to the site and closely inspect the air quality of the site.

That is, the air pollution level and the current status of the number of people measured by the fixed sensor unit 300 are not a decision index for air purification, but are used as a determination index for the purpose of enabling the robot 100 to be dispatched to the site for on-site inspection. can be

The robot 100 may be dispatched to the site, move to various points within the site, and measure air quality.

The robot 100 is provided with a moving air sensor unit 110 that can measure the air pollution level, and the air pollution level measured by the moving air sensor unit 110 is transmitted to the server 200 together with each location information in the field. can be

When the server 200 determines that the air pollution level of the site has deteriorated more than the standard value in consideration of the average value and deviation of the air quality information of multiple points sent by the robot 100 from the field, the robot 100 prompts the robot 100 from the field to air immediately. You can order a cleanup to be carried out.

That is, the average value of the air pollution level measured in the field is more than the reference value and the deviation is located within a predetermined range, so it is not determined as a distortion phenomenon biased to a specific point, and the server 200 is a robot 100 based on the preset reference value. It sends an air purification command.

Alternatively, as a result of the robot 100 dispatching and measuring the air pollution level at multiple points in the field, the average value is less than the reference value, or the average value exceeds the reference value but is biased to a specific point, so that the deviation greatly exceeds the predetermined range and the reliability is low. The server 200 may command the robot 100 to suspend the air purification function, and after a predetermined time has elapsed, it will move to a plurality of points again and measure the air pollution level and then send the command to the server 200. can

After re-measurement, if the average air pollution level exceeds the standard value and the deviation is within the reliability range, the robot 100 is commanded to purify the on-site air, and even when re-measured, the air pollution level average value and deviation are out of the reliability range If confirmed, the robot 100 can be returned without performing air purification, and data can be continuously collected through the fixed sensor unit 300 at the site to check whether there is an abnormality.

On the other hand, when the robot 100 receives an air purification command from the server 200, it continuously moves to multiple points in the field to purify the air.

The server 200 may determine whether air quality is being improved by continuously measuring the air pollution level at predetermined intervals while performing air purification.

When the robot 100 transmits the measured air pollution level to the server 200 in real time while performing air purification, the server 200 calculates the average value and deviation of the air pollution level from each starting point sent by the robot 100 during air purification. When it is determined that the average pollution level falls below the reference value by continuous calculation and the air quality is uniformly improved throughout the site due to a small deviation for each point, the robot 100 can be commanded to stop air purification.

The robot 100 purifies the air in addition to the moving air sensor unit 110 that can measure the air pollution level to perform the above functions, and the purification unit 120, server 200, and fixed sensor that purifies air to improve air pollution. A communication unit 130 that is wirelessly connected to the unit 300 to transmit and receive data, a moving unit 140 comprising a moving means including wheels, an engine, and a motor, a server 200, and a fixed sensor unit 300 ) and a storage unit 150 that stores and manages data transmitted and received, and a control unit 160 that controls and operates each of the components.

On the other hand, the server 200 may operate the robot 100 with priority in dispatching the robot 100 to the field to perform on-site inspection and air purification.

The server 200, as described above, even if the air pollution level measured by the fixed atmospheric sensor unit 310 exceeds the reference value, if there are no personnel resident in the space as a result of the measurement by the person size measurement unit 320, the robot 100 is dispatched. and air quality measurement and air purification can be withheld.

In addition, when the server 200 transmits data that the air pollution level exceeds the standard value from a plurality of fixed sensor units 300 in a similar time period and there are personnel, the server 200 considers the difference in air pollution level between each site and the number of personnel at the same time. After determining the ranking, the robot 100 may be dispatched in order according to the ranking.

For example, if the fixed sensor unit 300 at the sites A, B, and C notifies that the air pollution level has exceeded the standard value, but the reception is received in order with a slight time difference, the server 200 sends the robot ( 100), rather than first reviewing the following conditions, the dispatch order is determined.

First, if the air pollution levels of sites A, B, and C are distributed within the approximate difference, that is, within the preset error range between sites, the server 200 checks the number of people at each site A, B, and C, The robot 100 may preferentially be dispatched to the space where the personnel are gathered to perform the inspection.

This is to be implemented first to prevent and improve the damage caused by air pollution in places where a large number of people are gathered when air pollution levels are at a similar level to each other.

As another case, as a result of comparing the air pollution levels of each site A, B, and C, the latest air pollution level at site C was measured to be the highest, exceeding the error range compared to sites A and B, and it was measured as having personnel resident at site C. If this is the case, the server 200 may order the robot 100 to be dispatched to the site C first to perform preemptive inspection and purification activities.

In another case, even if site B had the second highest level of pollution among sites A, B, and C, but the difference in pollution level was wider than that of site C, there were no personnel living at site C and the latest time zone If it is determined that there are no resident personnel, while it is determined that there are continuous personnel at site B, the robot 100 may be dispatched to site B first to purify the air at site B with priority.

In this way, the server 200 analyzes a number of air pollution levels measured at a plurality of sites and implements measures to purify them, not uniformly proceeding according to the order of time or air pollution level, but between sites of air pollution level. Depending on the deviation, the number of people living in each site, and its trend, it can be selected and implemented as the most efficient and rapid purification method.

On the other hand, when a plurality of mobile robots 100 may be provided, a plurality of robots 100 may be dispatched together to purify air in an area with a high air pollution degree for quick air purification.

Alternatively, at least two of the situations in which a very high value is measured as a result of measuring the air pollution level at the site after one robot 100 is dispatched first, the number of residents is very large, and the site to be purified is a fairly large space. In order to shorten the purification time as much as possible, the robot 100 may be additionally dispatched to support air purification.

In addition, the server 200 commands the robot 100 dispatched to the site to purify the air directly at the site, and at the same time, if it is determined that the single robot 100 is insufficient to purify the air within the reference time, the air conditioning system built in the building You can control them to run in parallel.

On the other hand, the adaptive mobile air purification system 10 of the present invention compares the air pollution levels measured by the fixed air sensor unit 310 and the mobile air sensor unit 110, respectively, to determine whether the sensor device is faulty in advance and take action. include what can be

When it is reported that the air pollution level measured by the fixed atmospheric sensor unit 310 exceeds the standard value, the server 200 dispatches the robot 100 to the site to perform on-site measurement. At this time, the fixed atmospheric sensor unit 310 If the difference between the air pollution level measured and transmitted by the robot 100 and the air pollution level measured on-site by the mobile air sensor unit 110 of the robot 100 exceeds the error threshold value, which is the allowable range for the difference between the sensors, each sensor At least one of the devices can be considered as likely to have failed.

The error threshold is the maximum difference range of the air pollution level measurement value that is recognized that a difference may occur when the fixed standby sensor unit 310 and the mobile standby sensor unit 110 measure each, and the measurement time is different and the measurement location is different. It means the maximum value of the difference between measurements that can occur and that can be tolerated.

However, the fixed atmospheric sensor unit 310 reported that the air pollution level exceeded the standard value, and the robot 100 was dispatched, but the result measured at the site was measured as higher or lower than the error threshold than the measured value of the fixed atmospheric sensor unit 310 If this is the case, the robot 100 can repeatedly measure additionally several times for a plurality of points in the field, and if the result is also measured as exceeding the error threshold range compared to the measured value of the fixed standby sensor unit 310, At least one of the fixed standby sensor unit 310 and the mobile standby sensor unit 110 may be considered to be malfunctioning or malfunctioning.

In this case, the server 200 may contact the manager to check each of the sensor devices, and since it may take a considerable amount of time until the manager is dispatched, an extra robot 100 is additionally provided first. If there is, the robot 100 is dispatched to the site to measure the air pollution level, and if it is found that this value exceeds the standard value, it can be ordered to immediately perform air purification.

Meanwhile, the adaptive mobile air purification system 10 of the present invention can perform air purification by predicting the air pollution level even in an area where the fixed sensor unit 300 is not installed.

Installing the fixed sensor unit 300 at all sites in the building is costly and has a low aspect in terms of efficiency, so the fixed sensor unit 300 may be mainly installed inside an office where people mainly work.

Therefore, the air pollution level measuring sensor may not be provided in corridors, lobbies, etc. even though there is a lot of people coming and going.

Accordingly, in the adaptive mobile air purification system 10 of the present invention, whenever the robot 100 passes a site where the fixed sensor unit 300 is not installed during the moving process of dispatching and returning to the site, the air pollution level of the site is measured. and transmit the measured value to the server 200 .

The server 200 stores the air pollution level of the non-installed site received from the robot 100 at any time from time to time as data, and at this time, the fixed sensor unit 300 measured by the robot 100 is the fixed sensor unit adjacent to the non-installed site. (300) It is possible to correlate and store air pollution levels measured at the same time at the installation site.

Accordingly, the air pollution level measured periodically by the fixed sensor unit 300 is named field air quality, and the air pollution level measured at the site where the fixed sensor unit 300 is not installed is defined as the non-installed air quality.

When the site where the fixed sensor unit 300 is installed and the site where it is not installed are located adjacent to each other, the on-site air quality, which is the air pollution degree of the fixed sensor unit 300 installation site, and the non-installed atmosphere, which is the air pollution degree of the site where the fixed sensor unit 300 is not installed If the quality is stored as data based on the same time period and compared with sufficient samples to obtain the average and deviation of each, a specific correlation can be calculated between the on-site air quality and the non-installed air quality at each site.

This correlation can be defined as standard air quality.

Now, the robot 100 measures the air quality not installed at any time during movement and transmits it to the server 200, and the server 200 calculates and manages all of the field air quality, the installed air quality and the standard air quality based on the accumulated data. can

When the management is performed, when it is reported that the on-site air quality exceeds the standard value and the pollution is severe from the fixed sensor unit 300 of a specific site at a certain point in time, the server 200 is not installed adjacent to the site. It can be inferred that the standard air quality value will be formed according to the correlation with the air quality. Therefore, based on the inference, it is possible to determine whether the installed air quality is also at a level that requires air purification or is still at an appropriate level. .

Accordingly, if the standard air quality determines that the uninstalled air quality is also at a level that requires air purification, the server 200 dispatches the robot 100 to the site where the fixed sensor unit 300 is located to command air purification, and at the same time, the fixed sensor When the air purification at the location of the unit 300 is completed, the robot 100 is sent to the area where the fixed sensor unit 300 is not installed to measure the air quality that is not installed, and if the measured value exceeds the standard value, the robot 100 is ordered to purify the air. can

However, in light of the correlation between standard air quality, if it is determined that the on-site air quality is at a level that requires air purification, but the adjacent uninstalled air quality is still at a good level, the robot 100 performs only the purification of the fixed sensor unit 300 installation area. The area where the adjacent fixed sensor unit 300 is not installed may be controlled to return by measuring only on-site air quality without performing air purification.

Through the above process, the adaptive mobile air purification system 10 of the present invention can reasonably predict the air pollution level even for an area where the fixed sensor unit 300 is not installed, and thus the fixed sensor unit 300 is installed in all areas. Even if not, it can be a characteristic and advantage to maintain a uniform and clean air condition throughout the entire area within the building.

Based on the above description, an example of use of the adaptive mobile air purification system 10 according to a preferred embodiment of the present invention will be described as follows.

For example, as shown in FIG. 4 , when the first to fourth offices are configured in a multi-use facility, the robot 100 including the mobile standby sensor unit 110 waits while being located in an arbitrary space between each office. can do.

The fixed sensor unit 300 is installed as a fixed standby sensor unit 310 and a person size measurement unit 320 at each site in the building (eg, the first office to the fourth office in FIG. 4 ), respectively, and the fixed standby sensor unit ( 310) measures the air pollution level and on-site air quality, and the personnel scale measurement unit 320 measures the number of people on the site and periodically transmits it to the server 200 .

If the server 200 determines that the air pollution level measured by the fixed sensor unit 300, that is, the on-site air quality exceeds the standard value that requires air purification measures, and the number of people at the site is measured, first, the air purification mobile robot 100 ) can be dispatched to the site.

The robot 100 arriving at the site measures the on-site air quality by targeting a plurality of points in the site and transmits the measured value to the server 200 .

For example, in the example of FIG. 4 , the robot 100 that received a dispatch instruction to the first office moves from the standby position to the first office, and then in the first office the fixed standby sensor unit 310 and the number of people measure unit 320 . Measures a number of on-site air quality for the entire first office up to the remaining points where the fixed air sensor unit 310 and the number of people size measurement unit 320 are not provided, including the point where is provided, and measured values for each point is transmitted to the server 200 .

In the server 200, if the field-measured air pollution level exceeds the standard value as measured by the fixed sensor unit 300, the server 200 commands the robot 100 to immediately operate the air purification function at the field, and the robot 100 operates the field It moves to each point in the interior and performs the air purification function in every nook and cranny.

The robot 100 continuously measures the on-site air quality during the air purification function and transmits it to the server 200, and the server 200 causes the robot 100 to stop the air purification function when the on-site air quality falls below the reference value. and may be instructed to return.

As shown in FIG. 4 , the robot 100 that has received the return instruction may return to an arbitrary location between each office and maintain the dispatch standby state again.

On the other hand, when the on-site air quality measured by dispatching to the site is found to be at a good level because it is less than the reference value, unlike the measured value sent from the fixed sensor unit 300, the server 200 causes the robot 100 to set a predetermined time interval. It can be ordered to measure additionally a predetermined number of times at multiple points, and if the additional measurement result exceeds the standard value, it can be ordered to purify the air, and if it does not meet the standard value, it can be ordered to return without purification.

If a report is made that the standard value is exceeded in all of a number of sites, the server 200 first dispatches the robot 100 to the area with the largest number of people if the on-site air quality is within the mutual error range, or the on-site air quality If there is a site showing the highest degree of pollution out of this error range, it is possible to operate by applying different priorities, such as first dispatching the robot 100 to the site.

For example, in the example of FIG. 4 , as a result of measurement of the fixed air sensor unit 310 installed in each office, it was determined that both the first office and the third office exceeded the standard value, but the on-site air quality of the first office was within the error range. On the other hand, if the air quality is worse than the on-site air quality of the third office, when it is determined that the number of people in the first office is small and the number of people in the third office is a large number as a result of the measurement of the number of people by the person size measurement unit 320, ) can first dispatch the waiting robot 100 to the third office to measure and purify the current air quality first, and after the measures for the third office are completed, the robot 100 is dispatched to the first office successively to carry out measurement and purification. can

However, if the on-site air quality of the first office exceeds the error range of the third office and is in a worse state, the robot 100 is dispatched to the first office first, and then to the third office successively after the measures are completed, regardless of the number of people. can do.

In addition, if it is determined that air purification is significantly delayed with a single robot 100 and the purification effect is also insignificant, if you have an extra robot 100, additionally add an extra robot 100 to the site to speed up the air purification measures can be taken to increase

In addition, in connection with the air conditioning system in the building, it is possible to control the mobile robot 100 and the fixed air conditioning system to be put together for air purification.

On the other hand, for an area where the fixed sensor unit 300 is not installed, the robot 100 measures the air quality not installed from time to time while moving and transmits it to the server 200, and the server 200 compares it with the on-site air quality of the adjacent site. By deriving a correlation, it is possible to calculate and manage the standard air quality in an area where the fixed sensor unit 300 is not installed.

Accordingly, when the on-site air quality deteriorates and the robot 100 is dispatched to purify the air, if it is inferred by the standard air quality that the uninstalled air quality in the adjacent site will also be contaminated to a level exceeding the standard value, the robot 100 is dispatched to the site to purify the air The completed robot 100 may move to a site where the fixed sensor unit 300 is not installed to further perform air purification.

On the other hand, the field air quality was reported to be bad, and the robot 100 was dispatched to the site, but the difference between the air pollution level measured at the site and the air pollution level measured and reported by the fixed sensor unit 300 exceeded the mutual error threshold. When this occurs, the server 200 considers that at least one of the fixed standby sensor unit 310 or the mobile standby sensor unit 110 is a failure or malfunction, and contacts the manager in charge to receive preliminary maintenance. It is possible to increase the reliability of the mobile air purification system (10).

The embodiments of the present invention described above are merely exemplary, and those of ordinary skill in the art to which the present invention pertains will appreciate that various modifications and equivalent other embodiments are possible therefrom.

Therefore, it will be well understood that the present invention is not limited to the form mentioned in the above detailed description. Therefore, the true technical protection scope of the present invention should be determined by the technical spirit of the appended claims.

It is also to be understood that the present invention includes all modifications, equivalents and substitutions falling within the spirit and scope of the invention as defined by the appended claims.

10: Adaptive mobile air purification system
100: robot
110: moving standby sensor unit
120: purification unit
130: communication department
140: moving unit
150: storage
160: control unit
200 : server
300: fixed sensor unit
310: fixed standby sensor unit
320: personnel size measurement unit

Claims (5)

mobile robot;
Receives and manages air pollution level and number of people at multiple sites, issues an order to dispatch the robot to the site, and gives the robot an order to purify the on-site air, considering the air pollution level and the number of people, and differentially applying dispatch and purification priorities to control server to; and
A fixed sensor unit that is fixed to each of a number of sites in the building to measure the air pollution level and the number of people and deliver it to the server;
the robot,
a mobile air sensor unit capable of measuring the air pollution level at each site; a purification unit that improves air pollution by air cleaning; a communication unit wirelessly connected to the server and the fixed sensor unit; a moving unit provided with a moving means; a storage unit for transmitting and receiving data; and a control unit; further comprising
Fixed sensor unit,
A fixed air sensor unit for measuring the air pollution level; and a personnel size measurement unit for measuring the number of persons on the site; further comprising,
When the fixed sensor unit periodically measures the air pollution level and number of people at each site and transmits it to the server, the server dispatches the robot to the site where both the air pollution level and the number of people exceed the standard value, and the robot is measured at multiple points on the site. If the air pollution level of the site measured and transmitted exceeds the standard value, it instructs the robot to perform air purification.
In the server, there are many sites where the air pollution level exceeds the standard value, but if the pollution level between sites is identified within the error range, the robot is first dispatched to the site with a large number of people,
If the pollution level between sites exceeds the standard value is out of the error range, the robots are dispatched in order from the site with the highest level of pollution, and the priority of robot dispatch is differentiated in consideration of the air pollution level and the number of people so that air purification can be performed. ,
Adaptive type, characterized in that if it is determined that the expected air purification time will exceed the standard time due to the presence of many sites with air pollution level and number of people exceeding the standard, at least one additional robot can be dispatched to perform air purification Mobile air purification system. delete According to claim 1,
The person size measuring unit includes measuring the number of people and animals by using at least one of infrared detection, camera shooting, Wi-Fi connection, the number of mobile phone calls, and measuring methods using noise, ,
An adaptive mobile air purification system, characterized in that the noise includes a human sneeze, a conversation sound, and an animal barking sound. According to claim 1,
The server considers that an error has occurred in at least one sensor unit when the air pollution level measured by the fixed standby sensor unit and the mobile standby sensor unit has a difference by more than a preset error threshold, and the fixed standby sensor unit and the moving standby sensor An adaptive mobile air purification system, further comprising enabling all departments to check and take action. According to claim 1,
The server may include: field air quality, which is an air pollution degree periodically measured by a fixed sensor unit; and uninstalled air quality, which is the air pollution level measured while the robot is moving in an area where the fixed sensor unit is not installed, as data, calculates standard air quality, which is a correlation between on-site air quality and non-installed air quality, and the robot is dispatched to the field to receive air The adaptive mobile air purification system further comprising: performing air purification together when an area where the fixed sensor unit is not installed, which is judged to have exceeded the standard value based on standard air quality when performing purification, is adjacent to the moving route.

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