KR20150033443A - Surveillance system controlling cleaning robot - Google Patents

Surveillance system controlling cleaning robot Download PDF

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Publication number
KR20150033443A
KR20150033443A KR20130113477A KR20130113477A KR20150033443A KR 20150033443 A KR20150033443 A KR 20150033443A KR 20130113477 A KR20130113477 A KR 20130113477A KR 20130113477 A KR20130113477 A KR 20130113477A KR 20150033443 A KR20150033443 A KR 20150033443A
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KR
South Korea
Prior art keywords
cleaning robot
cleaning
control unit
intruder
surveillance
Prior art date
Application number
KR20130113477A
Other languages
Korean (ko)
Inventor
전기환
Original Assignee
삼성테크윈 주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 삼성테크윈 주식회사 filed Critical 삼성테크윈 주식회사
Priority to KR20130113477A priority Critical patent/KR20150033443A/en
Publication of KR20150033443A publication Critical patent/KR20150033443A/en

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2805—Parameters or conditions being sensed
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2889—Safety or protection devices or systems, e.g. for prevention of motor over-heating or for protection of the user
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
    • A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
    • A47L9/2894—Details related to signal transmission in suction cleaners
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B13/00—Burglar, theft or intruder alarms
    • G08B13/02—Mechanical actuation
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
    • A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection

Abstract

Surveillance cameras installed indoors; And a control unit communicating with the surveillance cameras and performing an alarm operation when an appearance of an intruder is detected by the surveillance cameras. Here, the control unit performs wireless communication with the cleaning robot in the room, and provides a cleaning path for cleaning to the cleaning robot according to the image information from the monitoring cameras.

Description

[0001] The present invention relates to a surveillance system controlling cleaning robot,

The present invention relates to a surveillance system, and more particularly, to a surveillance system including surveillance cameras and a control section.

Conventional surveillance systems For example, home security systems include surveillance cameras and controls. Here, the surveillance cameras are installed indoors. The control unit communicates with the surveillance cameras and performs an alarm operation when an intruder is detected by surveillance cameras.

On the other hand, in a house provided with a cleaning robot, the user can set a cleaning reservation on the cleaning robot itself and go out. In addition, a user who is going out may transmit a cleaning start signal to the cleaning robot remotely through a communication network. Accordingly, the cleaning robot in the empty house can automatically perform the cleaning.

In this case, the house having the cleaning robot can not operate a surveillance system such as a home security system. This is because the cleaning robot is regarded as an intruder.

One of the surveillance systems for solving such problems has a function of a pet mode. However, since the monitoring function is performed only for the opening and closing of the door in the pet mode, the normal monitoring function can not be performed.

On the other hand, there is an economical problem that the cleaning robot necessarily requires cameras because the cleaning robot itself creates a moving path for cleaning by providing cameras. In addition, the cameras provided in the cleaning robot can not photograph the inside of the room in a planar manner on the room to be cleaned. Therefore, the movement path generated by the cleaning robot itself must be updated while experiencing many trial and error using at least one obstacle sensor in each direction.

Korean Patent No. 10-0596481 (Applicant: Hanul Robotics, entitled: Path Control Method of Mobile Robot Having Cleaning Function)

A first object of the present invention is to allow a surveillance system to perform a surveillance operation normally without alarm even when the cleaning robot moves in an empty house.

A second object of the present invention is to enable the cleaning robot to automatically clean without having cameras.

A third object of the present invention is to improve the problem that the moving path of the cleaning robot must be updated while experiencing many trial and error using at least one obstacle sensor in each direction.

According to an aspect of the present invention, surveillance cameras installed in a room; And a control unit communicating with the surveillance cameras and performing an alarm operation when an appearance of an intruder is detected by the surveillance cameras.

Here, the control unit wirelessly communicates with the cleaning robot in the room, and provides a cleaning path for cleaning to the cleaning robot according to image information from the monitoring cameras.

Preferably, the control unit includes:

Once the intruder is detected, the intruder is regarded as the cleaning robot once, and the intruder requests transmission of the unique identification number to the intruder, and performs the alarm operation if the intruder does not transmit the unique identification number of the cleaning robot.

Preferably, the cleaning robot further comprises:

And at least one obstacle sensor in the forward direction is provided to determine whether or not further rectification is possible at the rotational position of the movement path, and if it is determined that further rectification is possible, the data of the path change signal and current position is transmitted And further straight forward.

According to the monitoring system of the embodiment of the present invention, the control unit wirelessly communicates with the cleaning robot in the room, and provides a cleaning path for cleaning to the cleaning robot according to image information from the monitoring cameras .

Thus, the following effects can be obtained.

First, the controller can detect the movement of the cleaning robot by wireless communication with the cleaning robot. Therefore, even if the cleaning robot moves in an empty house, the surveillance system can normally perform a surveillance operation without an alarm.

Second, the cleaning robot does not need to create a moving route by itself. That is, the cleaning robot can automatically clean without having cameras.

Third, the surveillance cameras can photograph the inside of the room in a planar manner on the room to be cleaned. Accordingly, the movement route can be updated while experiencing a small trial and error in comparison with the movement route by the conventional cleaning robot.

1 is a view showing a monitoring system of an embodiment of the present invention.
FIG. 2 is a view showing that the cleaning robot enters the room in the house of FIG. 1. FIG.
FIG. 3 is a flowchart showing the operation of the control unit of FIGS. 1 and 2. FIG.
Fig. 4 is a flowchart showing the operation of the cleaning robot of Figs. 1 and 2. Fig.
FIG. 5 is a view for explaining a path in which the cleaning robot of FIGS. 1 and 2 moves while cleaning in a certain room.

The following description and accompanying drawings are for understanding the operation according to the present invention, and parts that can be easily implemented by those skilled in the art can be omitted.

Furthermore, the specification and drawings are not intended to limit the present invention, and the scope of the present invention should be determined by the claims. The terms used in the present specification should be construed to mean the meanings and concepts consistent with the technical idea of the present invention in order to best express the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the present specification and drawings, constituent elements having substantially the same functional configuration are denoted by the same reference numerals, and redundant description will be omitted.

1 shows a monitoring system of an embodiment of the present invention. Fig. 2 shows that the cleaning robot CL enters a room in the house 1 of Fig.

1 and 2, a home security system as a surveillance system according to an embodiment of the present invention includes surveillance cameras C1 to C6 and a control unit 101. [ Here, the surveillance cameras C1 to C6 are installed in each room of the room of the house 1. The control unit 101 communicates with the surveillance cameras C1 to C6 and performs an alarm operation when an intruder is detected by the surveillance cameras C1 to C6. In the alarm operation, the control unit 101 transmits an alarm signal to the guard room 191 via the communication network 181 while generating an alarm sound.

On the other hand, the control unit 101 performs cleaning with the cleaning robot CL in accordance with the image information from the monitoring cameras C1 to C6 while performing wireless communication with the cleaning robot CL in the room of the house 1 And provides a movement path for the user.

Here, the antenna 101a of the control unit 101 is attached to the surveillance camera C1 for convenience sake, but is independent of the surveillance camera C1. That is, each antenna (for example, 101a) of the control unit 101 is attached to each surveillance camera (for example, C1) for the sake of convenience.

The transmission signal from the control unit 101 is transmitted to the cleaning robot CL through the antenna 101a of the control unit 101 and the antenna CLa of the cleaning robot CL. Similarly, a transmission signal from the cleaning robot CL is transmitted to the control unit 101 via the antenna CLa of the cleaning robot CL and the antenna 101a of the control unit 101. [

According to the monitoring system of the embodiment of the present invention as described above, the following effects can be obtained.

First, the control unit 101 can detect the movement of the cleaning robot CL by wireless communication with the cleaning robot CL. Therefore, even if the cleaning robot CL moves in the empty house, the monitoring system can perform the monitoring operation normally without warning.

Second, the cleaning robot CL does not need to generate a movement path by itself. That is, the cleaning robot CL can automatically clean without the need of cameras.

Third, the surveillance cameras C1 to C6 can photograph the inside of the room in a planar manner on the room to be cleaned. Therefore, the movement path can be updated while experiencing a small trial and error in comparison with the movement path by the conventional cleaning robot.

On the other hand, when the appearance of an intruder is detected, the control unit 101 of the present embodiment regards the intruder as a cleaning robot CL and requests transmission of an identification number to the intruder, ) Is not transmitted, the alarming operation is performed.

Therefore, the control unit 101 does not mislead the movement of the cleaning robot CL into the movement of the intruder.

The cleaning robot CL determines whether or not it is possible to further advance in the rotational position of the movement path in performing the cleaning while moving the cleaning robot CL having at least one obstacle sensor in the straight direction. If it is judged that further straight forwarding is possible, the cleaning robot CL performs the additional straight forward while transmitting the path change signal and the data of the current position to the controller 101.

Therefore, in the movement route obtained by photographing the inside of the room in the plan view of the surveillance cameras C1 to C6, the route of the position determined to be the obstacle is added and updated in the position of the cleaning robot CL. Accordingly, the cleaning robot CL can be cleaned every corner of the obstacle area.

FIG. 3 shows the operation of the control unit 101 of FIGS. 1 and 2. 1 to 3, the operation of the control unit 101 will be described in detail as follows.

The control unit 101 that normally performs the surveillance operation analyzes moving image data from the surveillance cameras C1 to C6 to determine whether the appearance of an intruder is detected (step S301). If it is determined that the appearance of the intruder is detected, the control unit 101 performs the following steps S303 to S315.

The control unit 101 regards the detected intruder as a cleaning robot CL and requests the intruder to transmit a unique identification number (step S303).

Next, the control unit 101 performs the alarming operation if the intruder does not transmit the unique identification number of the cleaning robot CL (steps S305 and S307).

If the intruder transmits the unique identification number of the cleaning robot CL in step S303, the control unit 101 notifies the cleaning robot CL of the data of the movement path for cleaning, since the detection target is not the intruder but the cleaning robot CL (Step S309).

Next, the control unit 101 determines whether the cleaning robot CL has transmitted the path change signal and the data of the current position (step S311). When the cleaning robot CL has transmitted the path change signal and the data of the current position, the control unit 101 updates the data of the movement path in accordance with the data of the received current position, and stores the data of the updated movement path ( Step S313). The steps S311 and S313 correspond to the step S417 of FIG. The related contents will be described in detail with reference to FIGS.

The steps S311 and S313 are continuously performed until immediately before the cleaning robot transmits a cleaning completion signal. If the cleaning robot has transmitted a cleaning completion signal, the steps S301 and subsequent steps are repeatedly performed (S315).

Fig. 4 shows the operation of the cleaning robot CL of Figs. 1 and 2. Fig. Fig. 5 is a view for explaining a path in which the cleaning robot CL of Figs. 1 and 2 moves while cleaning in a certain room 1a. In FIG. 5, reference A denotes a rotation start position, B denotes a non-straight advance position, R denotes a rotation end position, and F denotes a final position. In Fig. 5, the same reference numerals as those in Fig. 2 denote objects having the same function. The operation of the cleaning robot CL will be described with reference to FIGS. 2, 4 and 5. FIG.

In the house provided with the cleaning robot CL, the user can set a cleaning reservation on the cleaning robot CL itself and go out. In addition, a user who is going out can transmit a cleaning start signal to the cleaning robot CL remotely via a communication network. Accordingly, when the cleaning start time has come (step S401), the cleaning robot CL performs a cleaning operation at the current position (step S403).

Accordingly, when the control unit 101 requests the cleaning robot CL to transmit the unique identification number (step S405), the cleaning robot CL transmits the unique identification number stored in the internal memory to the control unit 101 Step S407).

Accordingly, when the control unit 101 transmits data on the movement route to the cleaning robot CL (step S409), the cleaning robot CL performs the cleaning operation while moving along the received movement route (step S411).

When the cleaning robot CL is in the rotational position (for example, position A in FIG. 5) in performing the cleaning operation while moving along the movement route, at least one obstacle sensor in the straight direction is provided A cleaning robot CL determines whether additional straight forwarding is possible (step S415).

For reference, it is assumed that further straight forward is possible at the rotational positions according to the second obstacle 21, although further straightening at the rotational positions according to the first obstacle 21 is not possible.

If it is determined that further straight forwarding is possible, the cleaning robot CL performs additional straight forward while transmitting the path change signal and the data of the current position to the control unit 101 (step S417). Accordingly, the cleaning robot CL can be cleaned every corner of the obstacle area. For reference, step S417 corresponds to steps S311 and S313 in Fig.

In this way, the cleaning robot CL determines whether the distance D CUR to the obstacle at the current position is shorter than the lower limit distance D LOW (Step S419) while performing the further straight advance (A-> B).

If the distance D CUR to the obstacle at the current position becomes shorter than the lower limit distance D LOW in step S419, the cleaning robot CL returns to the rotation position of the movement path (step S421). That is, the cleaning robot CL moves from the non-straightforward position B to the rotation end position R. [

The steps S411 to S421 are repeatedly performed until the cleaning robot CL reaches the final position F (step S423).

Upon reaching the final position F, the cleaning robot CL transmits a cleaning completion signal to the control unit 101, and repeats the steps S401 and subsequent steps (S425). The step S425 corresponds to the step S315 in FIG.

As described above, according to the surveillance system of the embodiment of the present invention, the control unit wirelessly communicates with the cleaning robot in the room, and provides a cleaning path for cleaning to the cleaning robot according to the video information from the surveillance cameras do.

Thus, the following effects can be obtained.

First, the control unit can detect the movement of the cleaning robot by wireless communication with the cleaning robot. Therefore, even if the cleaning robot moves in an empty house, the surveillance system can normally perform the surveillance operation without warning.

Second, the cleaning robot does not need to create its own movement path. That is, the cleaning robot can automatically clean without the need of cameras.

Third, the surveillance cameras can photograph the inside of the room in a plane of the object to be cleaned. Therefore, the movement path can be updated while experiencing a small trial and error in comparison with the movement path by the conventional cleaning robot.

The present invention has been described above with reference to preferred embodiments. It will be understood by those skilled in the art that the present invention may be embodied in various other forms without departing from the spirit or essential characteristics thereof.

Therefore, the above-described embodiments should be considered in a descriptive sense rather than a restrictive sense. The scope of the present invention is defined by the appended claims rather than by the foregoing description, and the inventions claimed by the claims and the inventions equivalent to the claimed invention are to be construed as being included in the present invention.

There is a possibility of being used not only as a surveillance system but also as a separate photographing system.

1: house, C1 to C6: surveillance cameras,
101: control unit, CL: cleaning robot,
181: Network, 191: Security room,
21: first obstacle, 22: second obstacle,
101a: antenna of the control unit, CLa: antenna of the cleaning robot,
A: rotation start position, B: non-linear position,
R: rotation end position, F: final position.

Claims (3)

Surveillance cameras installed indoors; And
And a control unit communicating with the surveillance cameras and performing an alarm operation when an appearance of an intruder is detected by the surveillance cameras,
Wherein,
And provides a cleaning path for cleaning to the cleaning robot according to image information from the monitoring cameras while performing wireless communication with the cleaning robot in the room. The apparatus of claim 1,
Wherein the intruder is regarded as the cleaning robot once to request transmission of a unique identification number to the intruder and then performs the alarm operation if the intruder does not transmit the unique identification number of the cleaning robot. Surveillance system. The cleaning robot according to claim 1,
And at least one obstacle sensor in the forward direction is provided to determine whether or not further straight forwarding is possible at the rotational position of the movement path, and if it is judged that further forwarding is possible, data of the path change signal and current position is transmitted While performing additional straight forwarding.
KR20130113477A 2013-09-24 2013-09-24 Surveillance system controlling cleaning robot KR20150033443A (en)

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108986426A (en) * 2018-07-24 2018-12-11 上海常仁信息科技有限公司 A kind of alarm system and method based on robot
US10414052B2 (en) * 2016-02-09 2019-09-17 Cobalt Robotics Inc. Building-integrated mobile robot
CN111510667A (en) * 2019-01-31 2020-08-07 科沃斯机器人股份有限公司 Monitoring method, device and storage medium
US10906185B2 (en) 2017-02-06 2021-02-02 Cobalt Robotics Inc. Mobile robot with arm for access point security checks
US10913160B2 (en) 2017-02-06 2021-02-09 Cobalt Robotics Inc. Mobile robot with arm for door interactions
US11082667B2 (en) 2018-08-09 2021-08-03 Cobalt Robotics Inc. Contextual automated surveillance by a mobile robot
US11325250B2 (en) 2017-02-06 2022-05-10 Cobalt Robotics Inc. Robot with rotatable arm
US11445152B2 (en) 2018-08-09 2022-09-13 Cobalt Robotics Inc. Security automation in a mobile robot
US11460849B2 (en) 2018-08-09 2022-10-04 Cobalt Robotics Inc. Automated route selection by a mobile robot
US11724399B2 (en) 2017-02-06 2023-08-15 Cobalt Robotics Inc. Mobile robot with arm for elevator interactions
US11772270B2 (en) 2016-02-09 2023-10-03 Cobalt Robotics Inc. Inventory management by mobile robot

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11772270B2 (en) 2016-02-09 2023-10-03 Cobalt Robotics Inc. Inventory management by mobile robot
US10414052B2 (en) * 2016-02-09 2019-09-17 Cobalt Robotics Inc. Building-integrated mobile robot
US10478973B2 (en) 2016-02-09 2019-11-19 Cobalt Robotics Inc. Mobile robot security enforcement
US10486313B2 (en) 2016-02-09 2019-11-26 Cobalt Robotics Inc. Mobile robot map generation
US11819997B2 (en) 2016-02-09 2023-11-21 Cobalt Robotics Inc. Mobile robot map generation
US10913160B2 (en) 2017-02-06 2021-02-09 Cobalt Robotics Inc. Mobile robot with arm for door interactions
US11325250B2 (en) 2017-02-06 2022-05-10 Cobalt Robotics Inc. Robot with rotatable arm
US11724399B2 (en) 2017-02-06 2023-08-15 Cobalt Robotics Inc. Mobile robot with arm for elevator interactions
US10906185B2 (en) 2017-02-06 2021-02-02 Cobalt Robotics Inc. Mobile robot with arm for access point security checks
CN108986426A (en) * 2018-07-24 2018-12-11 上海常仁信息科技有限公司 A kind of alarm system and method based on robot
US11082667B2 (en) 2018-08-09 2021-08-03 Cobalt Robotics Inc. Contextual automated surveillance by a mobile robot
US11445152B2 (en) 2018-08-09 2022-09-13 Cobalt Robotics Inc. Security automation in a mobile robot
US11460849B2 (en) 2018-08-09 2022-10-04 Cobalt Robotics Inc. Automated route selection by a mobile robot
US11720111B2 (en) 2018-08-09 2023-08-08 Cobalt Robotics, Inc. Automated route selection by a mobile robot
CN111510667A (en) * 2019-01-31 2020-08-07 科沃斯机器人股份有限公司 Monitoring method, device and storage medium

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