KR20220142865A - System and method for monitoring unmanned-office using mobile robot - Google Patents

Abstract

The present invention relates to an unmanned office monitoring system using a mobile robot and a method thereof, wherein the unmanned office monitoring system comprises: a collection unit that collects, in real time, packets of environmental data and image capture location coordinates inside an unmanned office from a mobile robot that shares three-dimensional location coordinates inside the unmanned office; an analysis unit that analyzes trends of the environmental data over time at the same image capture location coordinates based on the packets and compares the same with a threshold value set for each image capture location coordinate to analyze an obstacle factor; a control unit that generates an alarm message and transmits the same to a linked terminal when an abnormal temperature or abnormal humidity is detected at a specific location according to the determined obstacle factor; and a database unit that implements an inside of the unmanned office in a virtual space and maps configuration values of the packet to an internal structure of the unmanned office stored in the three-dimensional coordinates to store the same in a table. The unmanned office monitoring system uses a mobile robot to collect and analyze environmental data on detailed areas inside an unmanned office to check for failure.

Description

Unmanned national affairs monitoring system and method using 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, various combined services and convergence services are accelerating according to the needs of users and changes in the times. As the types and number of network devices for providing various services increase according to these changes, a system for managing the devices is also diversifying.

While providing these rapidly changing services stably, we are expanding the unmanned office facilities that remotely control and manage the communication network for operational and management efficiency.

In general, unmanned national office facilities are managed by performing internal environmental monitoring through a number of environmental measurement sensors and equipment environment monitoring through equipment operation information. For example, it measures worker access, fire detection, flood detection, temperature/humidity, etc., and monitors unmanned state-run facilities using CCTV images.

However, there is a limit to managing the overall national facility or detailed area because the environmental measurement sensor or CCTV device is fixed at a specific location inside the national facility to monitor only the main equipment centered on the base station or repeater. And although fire detectors, fire extinguishing facilities, flame detectors, etc. are installed in the national facilities, these fire extinguishing facilities are for detecting the fire that has occurred, and it is difficult to prevent the occurrence of a fire.

Therefore, there is a need for a monitoring system that uses a mobile robot to collect and analyze environmental data for each detailed area in the internal facilities of the government office, thereby accurately grasping the internal environment of the government office and recognizing the possibility and cause of the occurrence of anomalies in advance.

As a related prior document, Korean Patent Registration No. 793390 discloses "Unmanned Office Office Remote Environment Monitoring System".

Korean Patent No. 793390

One embodiment of the present invention is to provide a system that collects environmental data for a detailed area inside an unmanned office building using a mobile robot and analyzes the collected environmental data to determine whether there is an abnormality or whether a failure occurs.

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

In a monitoring system including one or more mobile robots located in an unmanned office building according to an embodiment of the present invention and a server device connected to a network, the server device is an unmanned office office from a mobile robot that shares three-dimensional position coordinates inside the unmanned office office A collection unit that collects packets including internal environmental data and location coordinates, based on the packet, analyzes the trend of environmental data by time at the same location coordinates, and compares the environmental data measured in location coordinates with a set threshold for failure An analysis unit that analyzes a factor, and a control unit that generates an alarm message including the location coordinates of the obstacle factor, environmental data, and the time at which the environmental data is measured and transmits the generated alarm message to the interworking terminal when the obstacle factor is determined.

The server device may further include a database unit that manages by implementing the inside of the unmanned office building in a virtualized space and mapping the configuration values of the packet to the internal structure of the unmanned office office stored as three-dimensional coordinates.

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

The mobile robot may take a thermal image and a digital image at each of one or more image capturing positions by moving up and down at each measurement point using a lift support of a lift method.

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

The collection unit may receive a packet including one or more of a packet generation time, robot position coordinates, image capturing position coordinates, an image snapshot image, a corresponding image size, a measured temperature value, and a measured humidity value.

The analysis unit may calculate one of a maximum value, a minimum value, and an average value for each hourly temperature, humidity, and surface temperature value for the same location or the same type of equipment, and analyze the trend for each period to set a threshold value.

The analysis unit, when the temperature, humidity, and surface temperature values measured for the equipment at the same location have a difference of more than the first threshold value from the values at the previous time, or a difference of more than a second threshold value between the same types of equipment, the obstacle is can be analyzed to have occurred.

The controller may provide the terminal with a surface temperature and an image measured by superimposing a thermal image or a digital image with respect to an electrical contact part of the equipment, an internal contact of a distribution board, a wiring or an electric wire in a virtualized space.

If there is a change due to the demolition, new construction, or relocation of equipment inside the unmanned office building, it is possible to check whether it matches the asset management information based on the digital image superimposed in the virtual space, and provide the confirmation result to the terminal.

As a method of operating a mobile robot located inside an unmanned office building and a server device connected to a network according to an embodiment of the present invention, the internal facilities of the unmanned office are implemented in a virtual space to set the three-dimensional coordinates for the internal structure of the unmanned office, and the mobile type Transmitting the three-dimensional coordinates to the robot, the position coordinates of the point where the environmental data is measured based on the three-dimensional coordinates and environmental data including one or more of a thermal image, a digital image, temperature and humidity from the mobile robot The step of collecting, analyzing the trend of the environmental data by time for each location coordinate, the step of analyzing the obstacle factor by comparing the environmental data for each location coordinate of the equipment with the set threshold, and generating an alarm message when an abnormal temperature is detected according to the obstacle factor and transmitting to a terminal to be interlocked.

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 one or more measurement points set while moving along the set movement path, and the position of the robot at each measurement point It is possible to collect the coordinates, the image capturing position coordinates according to the vertical movement distance of the robot’s lift support, and the size of the snapshot image taken at the image capturing position.

The step of analyzing the obstacles is to calculate one of the maximum, minimum and average values for the temperature, humidity, and surface temperature values measured for the equipment at the same location, and to analyze the trend at regular intervals to set the threshold value. As a standard, if the environmental data at the previous time point and the current time point differ by more than a threshold, it can be analyzed that a failure factor has occurred in the corresponding equipment.

In the step of analyzing the obstacles, one of the maximum, minimum, and average values is calculated for the temperature, humidity, and surface temperature values measured by the same type of equipment, and the trend is analyzed for each period and based on the set threshold value. Therefore, it can be analyzed that a failure factor occurs when there is a difference of more than a threshold between devices of the same type.

A plurality of measurement points that measure environmental data based on the three-dimensional coordinates of the internal structure of an unmanned office building, electrical contact parts for each measurement point, internal contact points on distribution boards, wiring or wires are set, and multiple measurements are performed on a mobile robot The method may further include requesting environmental data for the point and sub-region.

In the step of transmitting to the terminal, an alarm message including one or more of the collected time, equipment location coordinates, equipment type of the corresponding location coordinates, temperature or humidity of the environmental data determined as an obstacle is generated, and a thermal image in the virtual space Alternatively, the interface screen on which the digital image is superimposed may be provided to the terminal together with the alarm message.

According to an embodiment of the present invention, by measuring the thermal image, temperature, and humidity for each detailed area at various locations using a mobile robot, it is possible to accurately analyze the internal temperature of the office to efficiently control air conditioning and air conditioning operation. Thus, cooling operation costs can be reduced.

According to an embodiment of the present invention, it is possible to recognize the possibility of fire and failure in advance by analyzing the temperature change trend in the power contact area and cable connection location of equipment with a high probability of fire occurrence, and it is possible to prevent the occurrence of fire or failure. can

In addition, according to an embodiment of the present invention, by managing the internal space of the government office as three-dimensional virtual space coordinates, it is possible to accurately perform environmental analysis on the detailed area of the internal equipment to manage the national affairs.

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

With reference to the accompanying drawings, the embodiments of the present invention will be described in detail so that those of ordinary skill in the art to which the present invention pertains can easily implement them. The present invention may be embodied 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 irrelevant to the description are omitted, and the same reference numerals are used for the same or similar components throughout the specification. In addition, in the case of a well-known known technology, a detailed description thereof will be omitted.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

In addition, terms such as “…unit”, “…group”, “…module”, etc. described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. can

The device described in the present invention is composed of hardware including at least one processor, a memory device, a communication device, and the like, and a program executed in combination with the hardware is stored in a designated place. The hardware has the configuration and capability to implement the method of the present invention. The program includes instructions for implementing the method of operation of the present invention described with reference to the drawings, and is combined with hardware such as a processor and a memory device to execute the present invention.

As used herein, "transmission or provision" may include not only direct transmission or provision, but also transmission or provision indirectly through another device or using a detour path.

In the present specification, the unmanned national office is a facility in which a resident manager is minimally deployed and managed through patrol work, and may include a communications office, a branch office, a base station concentration office, and the like.

In this specification, "environmental data" means data acquired by a mobile robot inside an unmanned office building, such as a snapshot image, surface temperature, temperature measurement value, and humidity measurement value.

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

In this case, the configuration of the monitoring system using the mobile robot only shows a schematic configuration necessary for description according to an embodiment of the present invention, but is not limited to this configuration.

As shown in FIG. 1 , the monitoring system includes one or more mobile robots 100 moving in the unmanned office building and a server device 200 for monitoring the unmanned office office, and these components are connected through a network to transmit and receive data. do.

The mobile robot 100 includes a robot 110 and a charging station 120 that autonomously travel according to a predetermined movement path.

The robot 110 of the mobile robot 100 measures the environmental data inside the unmanned office building in response to a plurality of measurement points located on the moving path while driving along a predetermined moving path.

In this case, a movement path and a plurality of measurement points designated in advance for the robot 110 may be set, or only a plurality of measurement points may be set.

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

Here, the measurement point and the detailed areas of the measurement point may be set based on the cause of the fire. For example, the cause of fire is that the insulation of wires and electrical equipment is deteriorated or destroyed due to electrical, thermal, chemical, and mechanical causes, resulting in a short circuit resulting in a short circuit current (leakage current), and the insulation coating is carbonized due to heat caused by overload/overcurrent. If leakage current flows to ancillary equipment or buildings due to leakage current or current flowing to a place other than the passage, carbonization is promoted. Insulation of organic insulating material deteriorates after a long period of time, or the contact part is carbonized, resulting in tracking or heat generation. Insulation deterioration caused by twisted wires, a part of the wire is broken by external influences, and a conductive path is formed by electrical stress and contamination of the surface of the insulation material. Leakage current through the terminal block and insulating material It can be classified as

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

In addition, the robot 110 generates a packet by time-series synchronization of the environment data obtained in the process of moving and the location information obtained with the corresponding environment data. And the robot 110 transmits the generated packet to the server device 200 . In this case, the robot 110 may transmit a packet to the server device 200 in real time through the interworking charging station 120 .

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

And the mobile robot 100 has a unique ID, respectively, and one or more mobile robots may be disposed in the unmanned office building. The arrangement number of such mobile robots 100 can be easily changed later according to the scale and environmental characteristics of the unmanned office building.

The server device 200 analyzes the environmental data collected through the mobile robots 100 disposed in a plurality of unmanned offices, determines the obstacles for each unmanned office, generates an alarm message informing of a dangerous situation, and sends it to the unmanned office. It is transmitted to the corresponding terminal (300).

The server device 200 may simultaneously manage a plurality of unmanned offices, and manage by mapping a unique ID designated for each unmanned office and a unique ID of a mobile robot disposed in the unmanned office. In addition, the server device 200 may manage the unmanned office or robot by mapping terminal information such as a manager or an operator, personal information (phone number, name, department, etc.), a working time table, and the like.

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

Here, the rack indicates a shelf, and indicates a standard for classifying equipment or equipment 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 virtualized space, and based on this, the location information of the rack, each equipment, and the facility movement space is 3 It can be managed with dimensional coordinates.

When the server device 200 generates three-dimensional coordinates of a space for an unmanned office building, the server device 200 may share the three-dimensional coordinates with the mobile robot 100 disposed in the unmanned office building.

In addition, the server device 200 may analyze the packets collected from the mobile robot 100 and store environment data in a database table in time series.

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

In this case, the designated terminal 300 represents a terminal of a control center or an operator, a terminal of a field manager, and the like.

The alarm message may include one or more of the collection time, equipment location coordinates, equipment type of the location coordinates, temperature or humidity, when environmental data determined as obstacles are collected, and sound effects, LED lighting functions, pop-up functions, etc. can be provided.

Meanwhile, the server device 200 may collect information on equipment such as an existing rectifier, air conditioner, distribution board, CCTV, temperature or humidity sensor installed in an unmanned office building. In other words, the server device 200 may collect information in association with previously installed monitoring devices, and perform monitoring in consideration of the corresponding information.

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

2 is an exemplary view illustrating a mobile robot according to an embodiment of the present invention, and FIG. 3 is an exemplary view for explaining a path traveling mode and an automatic charging mode of the 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 predetermined 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 configured of hardware including at least one processor, a memory device, a communication device, and the like, 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 building based on the 3D coordinate information shared from the server device 200 .

In this case, the control module 111 may check the current position information of the robot 110 by combining the map information generated by the driving module 112 with the corresponding 3D coordinate information.

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

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 imager 115, In addition, one or more of the temperature/humidity sensors 116 may be controlled to be driven.

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

In this case, the control module 111 may include a processor that measures the surface temperature of the corresponding region based on the temperature array value in the thermal image and maps the thermal image and the measured surface temperature. In addition, the control module 111 may include a processor for processing a digital image image or a processor for collecting and processing temperature or humidity values.

And the control module 111 synchronizes the received digital image snapshot image, thermal image image, temperature measurement value, humidity measurement value, etc. in time series with the three-dimensional position of the robot 110, the image capturing position, the photographed equipment position, etc. and can be stored in a separate database.

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

In addition, the control module 111 may check the battery information at regular intervals or, if the battery information is less than or equal to a reference value, store the coordinates located at the current time on the movement path, and then move to the charging station 120 for charging.

And when the battery is fully charged, it can move to the stored coordinates and return to the corresponding movement path.

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

The control module 111 controls the normal operation of the driving module 112, the lift support 113, the digital camera 114, the thermal imaging camera 115, and the temperature/humidity sensor 116 mounted on the robot 110. It checks and generates a robot status message based on whether it operates normally or abnormally.

For example, the control module 111 deviates from the movement path set by the driving module 112 and the driving does not move smoothly, or in response to a signal requesting to take a digital image from the digital camera 114 . If the captured image is not received, it can generate a robot status message including the abnormal operation.

In addition, the control module 111 may convert it into a packet together with the corresponding environment data and location information, or packetize only a separate robot status message and transmit it to the server device 200 .

The driving module 112 moves according to the movement path inside the unmanned office building by using the power of the battery (not shown) through the connected ground contact member. Here, the ground contact member rotates stably in the form of a pair of caterpillars and moves in the moving direction, but it can also be implemented in the form of a plurality of wheels.

3 (a) shows a situation in which the driving module 112 autonomously drives while detecting a surrounding obstacle, 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 may check whether there is an obstacle by using a gyro sensor or an image sensor mounted during movement according to a predetermined movement path.

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

In addition, when the driving module 112 needs to move to the charging station 120 to charge the battery, the driving module 112 may generate and move an automatic route from the current point to the charging station 120 based on the generated map.

In this case, the location of the charging station 120 may be confirmed through wireless communication between the control module 111 and the charging station 120 . In addition, the driving module 112 may move to the charging station 120 to charge the built-in battery and wait when the driving of the periodically set movement path is completed.

In addition, when a line for a movement path is installed on the floor inside the unmanned office building, the driving module 112 may recognize the line and set the movement path. For example, when a solid line indicating a movement path and a mark indicating a measurement point are set on the floor inside the unmanned office building, the movement path is identified and moved using the gyro sensor or image sensor mounted on the driving module 112, and the measurement is performed. You can stop at any point. In the configuration of such a moving path, a moving path and a measuring point can be set by creating a map, or a moving path or a measuring point can be set according to a mark set on the floor in real time, and can be easily set later.

The lift support 113 is a lift-type support and can move up and down. In this case, the vertical movement distance may be set in one or more steps, and may be extended upward or reduced downward by a predetermined distance for each stage.

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

In addition, a plurality of sensors or cameras are mounted in the head region of the corresponding lift support 113 . In detail, a digital camera 114 , a thermal imager 115 , and a temperature or humidity sensor 116 are mounted, but the present invention is not limited thereto.

The lift support 113 can be expanded or reduced 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 take a snapshot image for each measurement point and transmit it to the control module 111 . In addition, the temperature or humidity sensor 116 may measure temperature and humidity while moving along a movement path or measure temperature and humidity at each measurement point and transmit it to the control module 111 .

At this time, although the digital camera 114 and the thermal imager 115 are shown separately, the camera in which the digital camera 114 and the thermal imager 115 are integrally provided is to be mounted on the head area of the corresponding lift support 113 . can

Hereinafter, a configuration in which the mobile robot 100 sets three-dimensional coordinates and a configuration in which an image snapshot image is taken will be described in detail.

4 is an exemplary diagram illustrating a coordinate calculation configuration of a mobile robot according to an embodiment of the present invention, and FIG. 5 is an exemplary diagram for explaining a digital image processing process of a mobile robot according to an embodiment of the present invention, FIG. is an exemplary diagram for explaining a 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 a reference point (X ₀ , Y ₀ , Z ₀ ) of the virtual space based on the received 3D coordinate information of the virtual space, and the distance from the reference point By estimating the position information of the robot 110 is confirmed.

For example, based on the reference point (X ₀ ,Y ₀ ,Z ₀ ), the robot 110 is the distance moved by 100 on the x-axis and 128 on the Y-axis from the reference point through the image sensor or gyro sensor of the robot 110 . ) of the location information (X ₁ , Y ₁ , Z ₁ = 100, 120,0) can be estimated.

The robot 110 acquires image 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 region of the lift support 113 , the actual position information of the robot 110 and the image capturing position have different height values.

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

Accordingly, the robot 110 estimates the actual space size by calculating the size of the digital image or the thermal image taken at the preset measurement points (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 of the X-axis is estimated, and based on the angle of view of the digital camera 114 or the thermal imager 115 Thus, the size of the video snapshot image can be calculated.

Accordingly, the robot 110 is the position of the robot (X ₁ ,Y ₁ ,Z ₁ = 100, 120,0), and the image shooting position is the extended length of the lift support 113 (X ₂ ,Y ₂ ,Z ₂ = 100, 128, 10) and the calculated image snapshot image size and environment data are converted into packets and transmitted to the server device 200 .

In addition, the robot 110 can secure the environmental data for the detailed area by varying the vertical height by the lift support 113 based on the rack.

Accordingly, the robot 110 calculates the image snapshot image size taken even at the point (X ₃ , Y ₃ , Z ₃ = 100, 120, 20) where the robot 110 extends the lift support 113 by one step, The environment data acquired at the corresponding point may be converted into a packet and transmitted to the server device 200 .

Accordingly, the server device 200 may analyze the packet and map as much as the size of the image snapshot image to the three-dimensional coordinate space, thereby confirming the digital image and the thermal image of the equipment corresponding to the image.

In addition, the robot 110 can add the location information and space coordinates of the virtual space and the corresponding image snapshot to the information about each equipment, equipment, and rack in the actual unmanned office building and store it as basic information, and store this basic information as basic information in the server device 200 ) can be passed as

As such, the robot 110 maps and coordinates the actual video snapshot image based on the three-dimensional position coordinates of the virtual space shared from the server device 200 .

On the other hand, as shown in FIG. 5 , the robot 110 uses a digital camera 114 to photograph the entire image A of the equipment at the maximum angle of view, or as shown in FIG. 6 , the robot 110 uses a thermal imaging camera 115 to Only the detailed area A-1 may be photographed.

Here, the detailed area is an area mainly including equipment installed in one rack, and the robot 110 may take a thermal image or digital image for each rack from the bottom to the top.

For example, the sub-areas are areas with high fire risk, such as equipment using power, cable contacts, short circuits in wires or electrical equipment, contacts inside distribution boards, wiring or wire areas, and electrical contacts of each equipment. can be set.

As such, it can be set to take a digital image or a thermal image for each detailed area based on the rack among the measurement points.

As such, the digital camera 114 and the thermal imaging camera 115 mounted on the robot 110 may acquire image snapshot images of various sizes by applying different angles of view applied when photographing the entire area and the detailed area. Accordingly, the robot 110 may map and store the corresponding snapshot image and the angle of view.

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

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

In this case, the robot 110 may measure temperature or humidity in real time during movement as well as at the measurement point. Accordingly, the temperature or humidity value measured in real time may be matched with the coordinates of the measurement point and transmitted to the server device 200 .

And the robot 110 transmits the measured temperature and humidity into a packet together with the measurement time point and the coordinates of the measurement point, and transmits it to the server device 200 .

As such, when the robot 110 measures a thermal image, a digital image, and temperature or humidity for each preset measurement point and each set detailed area while moving along the movement path, the position of the robot 110 measuring the data , it is possible to obtain the image capturing position as three-dimensional coordinates and map the size of the image (thermal image/digital) snapshot image and store it.

And the robot 110 repeatedly performs according to a preset movement path to measure the entire space of the unmanned office building.

Hereinafter, the server device for monitoring the unmanned station will be described in detail.

8 is a block diagram illustrating a server device according to an 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 the sake of explanation, the database unit 210 , the collection unit 220 , the analysis unit 230 , and the control unit 240 are named and called, but these are computing devices operated 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 distributed in separate computing devices. When distributed in separate computing devices, the database unit 210 , the collection unit 220 , the analysis unit 230 , and the control unit 240 may communicate with each other through a communication interface. A computing device suffices as a device capable of executing a software program written to carry out the present invention.

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

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

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

In other words, the database unit 210 may store and manage information requiring a relational structure, such as manager/operator information, mobile robot information, equipment information installed in an unmanned office building, office information, events, or alarms, in the relational database. And the data to be managed as time series information, such as the movement path of the robot 110 and environmental data measured by the robot 110, is a database object ( Column Family) format can be stored and managed in NoSQLDB.

And the database unit 210 can set the ID separately for each equipment by combining the internal location of the office and the installation location of the equipment for each rack, and can be managed as a separate table such as the surface temperature value measured for each equipment, digital image, temperature or humidity. can

The collection unit 220 interworks the mobile robot 100 disposed at each unmanned office building and the corresponding collection module, and internal communication for real-time data storage uses a message queue handler.

The collection unit 220 prevents a message bottleneck and collects data in real time through a collection module corresponding to the mobile robot 100 on a one-to-one basis.

In addition, one of a distributed processing method or a streaming method for processing real-time large-capacity data may be used, but the present invention is not limited thereto.

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

As such, the collection unit 220 may collect data in the form of packets for each mobile robot 100-1, 100-2, ..., 100-N. Here, the packet may be composed of the measured time, the position coordinates of the mobile robot, the image capturing position coordinates, the size of the image snapshot image and the corresponding image, a surface temperature value, a measured temperature value, a measured humidity value, and the like.

Accordingly, the analysis unit 230 analyzes the packet received from the mobile robot, and checks the configuration values of the packet based on the time data included in the packet. In this case, the analyzer 230 may store the checked configuration values of the packet in a table of the database.

The analysis unit 230 may analyze the obstacles by time or equipment by using an obstacle factor analysis algorithm through data comparison and trend analysis.

In detail, the analysis unit 230 calculates one of a maximum value, a minimum value, or an average value for time-based measurement data at the same location, and analyzes the change trend of the calculated value for each predetermined period (minutes, hours, days). can

The analysis unit 230 may derive a threshold, which is a criterion for determining an obstacle, based on the change trend. For example, when the value of the collected environment data differs from the environmental data collected at a previous point in time by more than a set first threshold, it may be determined that an obstacle has occurred.

In addition, the analysis unit 230 calculates one of a maximum value, a minimum value, or an average value for time-based measurement data of the same type of equipment, and compares the values of the environmental data of the same type of equipment with the values of the environmental data of the corresponding equipment By analyzing, it can be determined whether the difference occurs by more than a preset second threshold.

In this case, for the same type of equipment, environment data of the same type of equipment may be used only for the inside of the corresponding unmanned office building, or environmental data of the same type of equipment may be used inside a plurality of unmanned office buildings.

In other words, the temperature/humidity and surface temperature for each equipment location inside the unmanned office building are stored by time, and statistics of environmental data are calculated by time or equipment to set the first and second thresholds, and the set first and second thresholds Based on the threshold, it is possible to determine the obstacles by comparing and analyzing the environmental data for each equipment collected in real time. At this time, the obstacle factor determination criteria can be set for each unmanned station, and either the reference value (first threshold) for the corresponding equipment in the same location is used, the reference value (second threshold) for the same type of equipment is used, or two reference values (the second threshold) are used. 1 threshold, 2nd threshold) may be used.

The first threshold and the second threshold may be set as a threshold range according to an embodiment, and the first and second portions are used for the purpose of distinguishing each applied threshold value. is not limited to

In addition, the analysis unit 230 may set the ID for each device by combining the location inside the unmanned office building and the location installed based on the rack, and manage the value of the surface temperature measured for each device as a separate table.

The controller 240 may provide various interface screens to the terminal 300 by applying a visualization technique to each unmanned office station.

For example, a two-dimensional drawing of an unmanned national office or a thermal image or digital image collected in a three-dimensional virtual space, temperature/humidity measurement values, and position or state data of the robot 110 are provided by overlapping or by each set equipment You can provide tabulated data based on ID.

The control unit 240 may improve intuition by implementing each in the form of a dashboard for all/group/region, etc. in order to manage a plurality of unmanned offices.

Such an interface may search and select data stored in the database in response to a condition input from the terminal 300 to graphic data that satisfies the condition.

In addition, the control unit 240 generates an alarm message when an obstacle has occurred and the corresponding obstacle corresponds to a region in which many electrical factors occur.

For example, the control unit 240 generates an alarm message for handling a situation alert to the manager based on an obstacle indicating an abnormal temperature rise at a specific location or an abnormal temperature rise in a specific device among the same type of equipment. These alarm messages may include time of occurrence, robot position and status data, image/thermal image data, temperature/humidity data, and the like.

In addition, the control unit 240 may generate an alarm message step by step based on the degree of risk in addition to the reference value for determining the obstacle factor in consideration of the characteristics of each device.

For example, when the obstacle is whether or not a fire occurs, it can be set to generate alarm messages of different levels in response to equipment having a very high surface temperature or a high risk of fire. In detail, the number of interlocking terminals can be set differently for each step, and voice, sound, LED color, and illuminance set together with a message can be set differently.

In addition, the control unit 240 may build a database for manuals for work types and preparations corresponding to each alarm message, and transmit the corresponding manual to the terminal 300 together with the alarm message.

For example, the control unit 240 may provide information on replacement items for equipment in which the obstacle has occurred, tools prepared in the replacement process, and the like.

On the other hand, the control unit 240 may control that the mobile robot 100 of the unmanned base station moves to an area in which an obstacle occurs and measures the environmental data in the corresponding area again. For example, it may be requested to measure a digital image or a thermal image of the corresponding area for each detailed area.

In addition, the control unit 240 superimposes the digital image taken based on the environmental data collected from the mobile robot 100 in the corresponding virtual space to check whether the asset management information due to the equipment demolition, new construction, or relocation operation inside the unmanned national office matches. can In addition, the control unit 240 may provide whether the asset management information is consistent with the terminal.

In this case, if there is a region that does not match, the controller 240 may further include a digital image and coordinates corresponding to the region and provide it to the terminal.

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

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

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

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

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

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

The mobile robot 100 collects environmental data for each measurement point according to the set movement path (S130).

The mobile robot 100 autonomously travels according to the movement path, stops at each measurement point, takes a digital/thermal image, and measures temperature or humidity. At this time, the mobile robot 100 may take a digital/thermal image by controlling the lift support 113 to set a detailed area for each equipment positioned based on the rack positioned at the measurement point.

The mobile robot 100 collects equipment location coordinates of the measurement point based on the three-dimensional coordinates (S140).

The mobile robot 100 sets the coordinates for the position of the mobile robot 100 based on the received three-dimensional coordinates, the position coordinates for the measurement point where the cameras and sensors are located, and the photographed digital image and thermal image image. Calculate the image snapshot image size for .

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

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

At this time, the mobile robot 100 may change the acquired environment data, location data, image size, etc. into a packet and simultaneously transmit the corresponding packet in real time, and may transmit the packet every predetermined time period (in seconds or minutes).

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

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

The mobile robot 100 may generate a movement path to the charging station 120 and move, and may be coupled to a charging terminal provided by the charging station 120 to charge an internal battery.

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

On the other hand, the server device 200 analyzes the environment data and the location coordinates received in step S150, the change of the environment data for each time for each equipment location information (S180).

The server device 200 analyzes the received packet, sets the obstacle factor determination criteria through time series analysis of the environment data collected by equipment and time, and checks the obstacle factor.

Here, the determination criterion may be set to a threshold, and based on a change in the collected environmental data, if the threshold is greater than the threshold, it may be determined as an obstacle.

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

If the degree of change of the environment data is less than or equal to the threshold, the server device 200 receives the environment 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 of the environmental data is greater than or equal to the threshold, the server device 200 determines that there is an obstacle in the corresponding equipment and generates an alarm message (S200)

In this case, the server device 200 may generate an alarm message by selecting a terminal of an administrator or operator to be transmitted, a manual for removing obstacles, etc., based on the characteristics of the corresponding equipment, the size of the degree of change, and the like.

Then, the server device 200 transmits the generated alarm message to the interworking terminal 300 .

In addition, the server device 200 may provide one or more terminals 300 with an interface screen for monitoring unattended national affairs in real time.

Such an interface screen can be implemented as a web page, a program, an application, or the like.

10 is an exemplary diagram illustrating an interface screen provided to a terminal according to an embodiment of the present invention.

(a) of FIG. 10 is a screen for explaining the situation alarm by the alarm reference value considering the characteristics of each equipment by managing the data as a separate table, (b) is the analysis of the inside of the unmanned office building shown in a virtual space and the obstacles It is a screen that provides a thermal image over an area with respect to the area.

As shown in (a) of Figure 10, the server device 200 gives an ID that combines the location of the unmanned office building and the installation location based on the rack for each equipment, and analyzes the surface temperature value for each ID in a time series in a table form. can be displayed

In this case, when a difference value occurs by comparing the threshold value for each device of the same type or the threshold value for each specific device at the same location based on the time series analysis data, an alarm message informing a corresponding situation may be generated.

Also, as shown in (b), when the server device 200 selects for each device for the inside of the unmanned government office implemented in a virtual space, the digital/thermal image taken corresponding to the location of each device and the temperature or humidity value are displayed. can provide

Accordingly, the server device 200 superimposes the thermal image corresponding to the location of the equipment on the area in which the obstacle occurs, so that the administrator can provide specific information on the region in which the obstacle occurs.

According to the present invention, it is possible to recognize the possibility of fire and failure in advance and prevent the occurrence of fire or failure by analyzing the temperature change trend in the power contact area and cable connection location of equipment with a high probability of occurrence of fire.

In addition, according to the present invention, by managing the internal space of the government office as three-dimensional virtualized spatial coordinates, it is possible to accurately perform environmental analysis on the detailed area of the internal equipment to manage the national affairs.

Although the preferred embodiment of the present invention has been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements by those skilled in the art using the basic concept of the present invention as defined in the following claims are also provided. is within the scope of the

Claims (16)

In a monitoring system including one or more mobile robots located in an unmanned office building and a server device connected to a network,
The server device,
A collecting unit for collecting packets including environmental data and location coordinates inside the unmanned office building from the mobile robot sharing the three-dimensional position coordinates inside the unmanned office building;
An analysis unit that analyzes the trend of the environment data by time at the same location coordinates based on the packet and compares the environmental data measured at the location coordinates with a set threshold to analyze the obstacles, and
When determining the obstacle, a control unit that generates an alarm message including the location coordinates of the obstacle, environmental data, and the time at which the environmental data is measured, and transmits the generated alarm message to the interworking terminal;
A monitoring system comprising a.
In claim 1,
The server device further comprises a database unit for implementing the inside of the unmanned office building in a virtualized space and mapping the configuration values of the packet to the internal structure of the unmanned office office stored in three-dimensional coordinates and managing it.
In claim 2,
The mobile robot is
A monitoring system that measures the thermal image, digital image, temperature, and humidity of equipment installed in a rack at each measurement point while moving along a movement path connecting a plurality of measurement points.
In claim 3,
The mobile robot is
A monitoring system for capturing a thermal image and a digital image at each of one or more image capturing positions by moving up and down at each measurement point using a lift-type lift support.
In claim 4,
The mobile robot is
Based on the three-dimensional position coordinates, the position of the robot at each measurement point and the image capturing position according to the vertical movement distance of the lift support are coordinated, and the thermal image or digital image snapshot image taken at the image capturing position is obtained. A monitoring system that calculates the size.
In claim 5,
The collection unit,
A monitoring system for receiving a packet including one or more of a packet generation time, position coordinates of the robot, position coordinates of the image capturing, an image snapshot image, a corresponding image size, a measured temperature value, and a measured humidity value.
In claim 6,
The analysis unit,
A monitoring system that calculates one of the maximum, minimum, and average values for temperature, humidity, and surface temperature values over time for the same location or the same type of equipment, and sets the threshold by analyzing the trend at regular intervals.
In claim 7,
The analysis unit,
If the temperature, humidity, and surface temperature values measured for the equipment at the same location differ from the values at the previous time by more than the first threshold or a difference between the devices of the same type by more than a second threshold, an obstacle is A monitoring system that analyzes what has happened.
In claim 6,
The control unit is
A monitoring system that provides the terminal with the measured surface temperature and image by superimposing a thermal image or digital image on the electrical contact part of the equipment, the internal contact of the distribution board, the wiring or the wire in the virtual space.
In claim 9,
the control unit,
If there is a change due to equipment removal, new construction, or relocation work inside the unmanned office building, monitoring to check whether it matches the asset management information based on the digital image superimposed on the virtual space, and to provide the confirmation result to the terminal system.
A method of operating a mobile robot located inside an unmanned office building and a server device connected to a network, the method comprising:
Implementing the internal facilities of the unmanned office building in a virtual space, setting three-dimensional coordinates for the internal structure of the unmanned office building, and transmitting the three-dimensional coordinates to the mobile robot;
Collecting environmental data including one or more of a thermal image, a digital image, temperature and humidity from the mobile robot and the position coordinates of a point where the environmental data is measured based on the three-dimensional coordinates;
Analyzing the trend of the environment data by time for each location coordinate, and analyzing an obstacle factor by comparing the environment data with a set threshold for each location coordinate, and
When an abnormal temperature is detected according to the obstacle, an alarm message is generated and transmitted to an interlocked terminal.
A method of operation comprising a.
In claim 11,
The collecting step is
While moving according to the set movement path, the environment data obtained by measuring the surface temperature, digital image, temperature and humidity according to the thermal image of the equipment are collected for each one or more measurement points set, and the position coordinates of the robot at each measurement point, the robot An operation method of collecting the image capturing position coordinates according to the vertical movement distance of the lift support, and the size of the snapshot image taken at the image capturing position.
In claim 12,
The step of analyzing the obstacles,
One of the maximum, minimum, and average values is calculated for the temperature, humidity, and surface temperature values measured for the equipment at the same location, and the trend is analyzed for each period and based on the set threshold value, the previous time and the current time An operation method of analyzing that a failure factor has occurred in the corresponding equipment when a difference between the environmental data of the above threshold or more occurs.
In claim 12,
The step of analyzing the obstacles,
For the temperature, humidity, and surface temperature values measured by the same type of equipment, one of the maximum, minimum, and average values is calculated, and the trend is analyzed for each period and based on the set threshold value for the same type of equipment. An operation method of analyzing that a failure factor has occurred when a difference between the thresholds or more occurs.
In claim 11,
A plurality of measurement points measuring environmental data based on the three-dimensional coordinates of the internal structure of the unmanned office building, an electrical contact area for each measurement point, an internal contact point of a distribution panel, a wiring or a wire, and a detailed area are set, and the mobile robot The method further comprising the step of requesting environmental data for the plurality of measurement points and the detailed area.
15. In claim 13 or 14,
The step of transmitting to the terminal,
Generates an alarm message including at least one of the collection time, the equipment location coordinates, the equipment type of the corresponding location coordinates, and the temperature or humidity when the environmental data determined as the obstacle is collected,
An operating method of providing an interface screen in which a thermal image or a digital image is superimposed on the virtual space together with the alarm message to the terminal.

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