KR20240055967A - System for controlling Mobile robot of monitoring and Driving method thereof - Google Patents

Abstract

The present invention relates to a mobile robot control system for environmental monitoring that obtains and monitors a specific substance detection signal from various types and types of sensors mounted on the mobile robot and a method of driving the same, including a sensor for detecting a specific substance, and a method of operating the same. A mobile robot including a detection signal acquisition unit that acquires a specific substance detection signal and a data transmission unit that transmits the specific substance detection signal acquired by the detection signal acquisition unit to an environmental monitoring server when a preset position is reached or a preset period arrives. and a detection signal collection unit that receives a specific substance detection signal from the mobile robot, and an environment that derives environmental analysis data by analyzing the density and distribution of the measured substance in the monitoring space based on the specific substance detection signal collected by the detection signal collection unit. Even if a large number of sensors are not installed, a small number of sensors are installed by the mobile robot control system for environmental monitoring, which includes an environmental monitoring server including an analysis unit and an information provision unit that provides environmental analysis data derived from the environmental analysis unit to the user terminal. The effect of providing a mobile robot control system and its driving method for environmental monitoring capable of monitoring the environment of the work space, such as temperature/humidity, Co, VoC, and dust in a wide range by using sensors, is derived.

Description

Mobile robot control system for environmental monitoring and driving method thereof {System for controlling Mobile robot of monitoring and Driving method thereof}

The present invention relates to a mobile robot control system for environmental monitoring and a driving method thereof. More specifically, the present invention relates to a mobile robot control system for environmental monitoring that obtains and monitors specific substance detection signals from various types and types of sensors mounted on mobile robots. It relates to the system and its operation method.

The demand for environmental monitoring has continued for a long time, and accidents continue to occur due to hazardous environments in factories and construction sites, but environmental monitoring is carried out in a haphazard manner.

Although safety monitoring personnel are legally required to be deployed in various cases, this is done only perfunctorily in the field, so the risk of accidents always exists.

For this reason, suffocation deaths among workers in confined spaces continue to occur, and the risk of such occurrence still remains. Just looking at the statistical result that the death rate from suffocation accidents is 44 times (1.2%: 52.9%) compared to general accidental accidents from 2010 to 2019, environmental improvement in the working environment is necessary. Environmental safety personnel often compromise on dangerous environments due to their personal relationships with workers, increasing the importance of environmental monitoring without artificial intervention.

Asphyxiation accidents continue to occur in closed work environments, but the field application and spread of preventive work environment monitoring systems to prevent such situations is relatively slow.

One of the reasons for the delay in application to actual work environments is the electrical and mechanical difficulties and large costs incurred when installing multiple sensors.

As interest in environmental sensors increases, various sensors are being released. In order to monitor the environment such as work space, a large number of sensors must be installed.

For this purpose, electrical work for power supply must be performed and mechanical parts for fixation must be designed and manufactured.

In addition, installing battery-type sensors requires charging or replacing a large number of batteries periodically, so in reality, battery-type sensors have limitations in that they are difficult to install from a management perspective.

Additionally, a communication repeater is required to ensure smooth communication with sensors installed in different locations.

In other words, when there are multiple locations to measure or a large space, a large number of sensors must be installed to obtain spatial distribution, which requires a lot of cost and effort. For example, highly accurate fine dust measuring instruments cost tens of millions of won and have the limitation that they are fixed types and can only measure fine dust concentrations in limited locations.

Installation of sensors for environmental monitoring requires large-scale construction and incurs excessive costs, so only nominal installation is carried out. Environmental monitoring systems are developed in various forms, but are not spread in actual fields.

In particular, when self-monitoring of the environment is required, such as in schools with many children or in large apartment complexes, it is difficult to install expensive fixed measuring devices, so it is often difficult to give up or use low-cost sensors with somewhat low accuracy.

Meanwhile, as autonomous driving technology develops, the driving technology of mobile robots has reached a certain level of advancement, and the market utilizing mobile robots, such as serving robots and logistics mobile robots, is growing rapidly. Since mobile robots replace human movement, the possibilities are endless, but their application can still be said to be in the beginning stages.

KR 10-0929476 B1 KR 10-1708258 B1

The present invention was derived from this technical background, and uses mobile robot control technology to detect materials in a specific space without consuming the time and manpower of electrical and mechanical installation, even without installing a large number of sensors for environmental monitoring in factories, etc. The purpose is to provide a mobile robot control system and driving method for environmental monitoring that can monitor the environment of the work space, such as temperature/humidity, Co, VoC, and dust, in a wide range using a small number of sensors.

In addition, we aim to provide a mobile robot control system and its driving method to provide a work environment monitoring solution that is low in price and installation cost and can provide ease of maintenance and management.

In addition, we aim to provide a mobile robot control system and its driving method that can reduce damage caused by harmful gases such as nitrogen and carbon dioxide at construction sites and ensure work stability.

The present invention for achieving the above problems includes the following configuration.

That is, the mobile robot control system for environmental monitoring according to an embodiment of the present invention includes a sensor that detects a specific substance, a detection signal acquisition unit that acquires a specific substance detection signal from the sensor, and a preset position or a preset period. Upon arrival, a mobile robot including a data transmission unit for transmitting a specific substance detection signal obtained from the detection signal acquisition unit to an environmental monitoring server, and a detection signal collection unit for receiving a specific substance detection signal from the mobile robot, the detection signal collection unit. An environmental analysis unit that derives environmental analysis data by analyzing the density and distribution of measured substances in the monitoring space based on the collected specific substance detection signal, and an information provision unit that provides the environmental analysis data derived from the environmental analysis unit to the user terminal. Includes an environmental monitoring server.

Meanwhile, the driving method of the mobile robot control system performed in the mobile robot control system including the mobile robot and the environmental monitoring server includes a detection signal acquisition step in which the mobile robot acquires a specific substance detection signal from a sensor that detects the specific substance, and the mobile robot A data transmission step of transmitting the acquired specific substance detection signal to an environmental monitoring server when the preset position is reached or a preset period arrives, a detection signal collection in which the environmental monitoring server receives the specific substance detection signal from the mobile robot. An environmental analysis step of deriving environmental analysis data by analyzing the density and distribution of the measured material in the monitoring space based on the specific material detection signal collected in the detection signal collection step, and environmental analysis data derived from the environmental analysis step. It includes a step of providing information to the user terminal.

According to the present invention, by detecting materials in a specific space using mobile robot control technology, a small number of sensors can be used to monitor the environment in a factory without consuming time or manpower. The effect of providing a mobile robot control system and its driving method for environmental monitoring capable of monitoring the environment of the work space, such as temperature/humidity, Co, VoC, and dust, is derived.

In addition, a mobile robot control system and its driving method can be provided to provide a work environment monitoring solution that has low price and installation cost and can provide ease of maintenance and management.

In addition, the effect of providing a mobile robot control system, its driving method, and its driving method that can reduce damage caused by harmful gases such as nitrogen and carbon dioxide at construction sites and ensure work stability is derived.

Figure 1 is a block diagram showing the configuration of a mobile robot control system for environmental monitoring according to an embodiment of the present invention.
Figure 2 is an exemplary diagram of a mobile robot according to an embodiment of the present invention.
Figure 3 is an example of a screen provided for setting a movement route according to an embodiment of the present invention.
Figure 4 is a flowchart of a method of driving a mobile robot control system according to an embodiment.

It should be noted that the technical terms used in the present invention are only used to describe specific embodiments and are not intended to limit the present invention. In addition, the technical terms used in the present invention, unless specifically defined in a different sense in the present invention, should be interpreted as meanings generally understood by those skilled in the art in the technical field to which the present invention pertains, and are not overly comprehensive. It should not be interpreted in a literal or excessively reduced sense.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a block diagram showing the configuration of a mobile robot control system for environmental monitoring according to an embodiment of the present invention.

A mobile robot control system for environmental monitoring according to one embodiment includes a mobile robot 10 and an environmental monitoring server 20. And the user terminal 30 owned by the manager performing environmental management is connected through the network 40.

Figure 2 is an exemplary diagram of a mobile robot according to an embodiment of the present invention.

In one embodiment, the mobile robot 10 is equipped with sensors necessary for environmental monitoring, moves, and acquires sensing data using sensors at a designated location. Then, the acquired data is transmitted to the environmental monitoring server 20 through the network 40.

The mobile robot 10 is equipped with a sensor-mobile integration board, the sensor can be easily replaced when necessary, and the robot program can be remotely upgraded through TCP/IP communication.

The mobile robot 10 can generate environmental monitoring data by moving along a location and path designated by the user through the environmental monitoring server 20.

In one embodiment, the mobile robot 10 may be implemented to drive in a SLAM method using LIDAR and vision. Driving can be performed using the Differential Wheel Driver method.

And the power supply method can be implemented with, for example, a 24V lithium-ion battery.

And location identification tags are possible through virtual label creation and recognition.

Specifically, as shown in FIG. 1 , the mobile robot 10 includes a sensor 110, a detection signal acquisition unit 120, and a control module 130.

Sensor 110 detects a specific substance. In one embodiment, the sensor 110 measures SO₂, CO, O₃, NO₂, PM10, PM2.5, oxygen concentration, LNG, LPG, CH ₄ , H ₂ , Cl ₂ , NO, NH ₃ , HCL, and fine dust. At least one substance can be detected. In one embodiment, the sensor 110 may detect at least two different substances. In addition, it can detect explosive gas, oxygen-deficient gas, and toxic gas. However, it is not limited to this. The sensor 110 is interpreted to encompass various types and types of sensors that can detect various situations and substances that require detection to enable monitoring of environmental factors such as temperature and humidity.

The detection signal acquisition unit 120 acquires a specific substance detection signal from the sensor 110.

In one embodiment, the detection signal acquisition unit 120 is implemented as a technical structure that integrates the mobile robot 10 and the sensor 110, that is, an integrated board structure. The detection signal acquisition unit 120 is implemented as a technical structure that acts as an intermediary so that the control module 130 (mobile robot controller), which controls the overall operation of the mobile robot 10, and the sensor 1 10 operate in conjunction. The detection signal acquisition unit 120 may receive a detection result of a specific substance from at least one sensor 110 .

Specifically, the detection signal acquisition unit 120 is a power output unit 122 that converts the battery power of the mobile robot 10 and supplies it as sensor power, and a power supply that receives the power of the mobile robot battery to supply it to the sensor 110. An input unit 124, a data receiver 126 that receives data from various sensors, converts the input sensing results into a predetermined format in the control module 130, and transmits the data acquired from the data receiver 126 to the mobile robot protocol. It includes a data output unit 128 that transmits data to the control module 130 accordingly.

The detection signal acquisition unit 120 receives detection signal data from various types of sensors 110 and transmits it in a format determined by the control module 130 of the mobile robot. That is, the detection signals input from the sensor 110 in various data forms are processed and converted into the same form. Since the detection signal acquisition unit 120 must be capable of both analog and digital, it must be composed of an analog input terminal and a communication terminal for each communication type. For example, TCP/IP, UART, etc. are possible.

The detection signal acquisition unit 120 transmits the acquired detection signal data to the control module 130 according to the mobile robot protocol. Therefore, even if the sensor 110 is replaced, detection signal data can be transmitted in the same format as before the sensor replacement.

The detection signal acquisition unit 120 may be implemented to receive a detection signal from the sensor 110 when the mobile robot 10 reaches a preset position or a preset period arrives.

The control module 130 detects the current location of the mobile robot 10 and acquires a detection signal through the sensor 110 while the mobile robot 10 runs according to the movement path stored in the storage unit 138. Controls the overall operation of (10). It includes a communication unit 132, a data transmission unit 135, and a storage unit 138.

In one embodiment, the data transmission unit 135 transmits a specific substance detection signal obtained from the detection signal acquisition unit 120 to the environmental monitoring server 20 when the mobile robot 10 reaches a preset position or a preset period arrives. ) and send it to

In one embodiment, the data transmission unit 135 may perform TCP/IP communication and remote management functions through the communication unit 132 of the control module 130. However, it is not limited to this, and data communication with the environmental monitoring server 20 can be performed through the network 40 using various types of communication protocols or communication methods.

At this time, the data transmission unit 135 matches the measurement position information of the mobile robot 10 with the specific substance detection signal obtained from the detection signal acquisition unit 120 and transmits it. Accordingly, the environmental monitoring server 20 can determine the exact location of the environmental measurement value. Measured location information may be location information based on GPS signals, or may be implemented as tag identification information recognized through RF tags installed for location identification within the monitoring space and short-range wireless communication.

The storage unit 138 stores various data and computer programs, such as data received/input from an external device and data generated by the mobile robot 10. The storage unit 138 may include volatile memory and non-volatile memory. The storage unit 138 may include, for example, flash memory, ROM, RAM, EEROM, EPROM, EEPROM, hard disk, and registers. Alternatively, the storage unit 138 may include a file system, database, or embedded database.

In one embodiment, the storage unit 138 stores detection signal data detected from the sensor 110 for a predetermined period of time, route setting information required for driving the mobile robot 10, and detection signal data from the sensor 110. Stores location information or period information to obtain.

Additionally, the mobile robot 10 according to one embodiment further includes a camera. Additionally, it can be implemented to record captured images with a camera, store them in the storage unit 138, and periodically back up the captured images to the environmental monitoring server 20.

Additionally, the mobile robot 10 may be implemented to determine the battery status and automatically charge the battery when the remaining battery level is below a standard value.

Network 40 may be an http network, a private line, an intranet, or any other network. Furthermore, the connection between the mobile robot 10, the environmental monitoring server 20, and the user terminal 30 may be connected through a secure network to prevent data from being attacked by any hackers or other third parties. Additionally, the environmental monitoring server 20 may include a plurality of database servers, and is implemented in such a way that these database servers are separately connected to the environmental monitoring server 20 through any type of network connection, including a distributed database server architecture. do.

The user terminal 30 may be a smart phone, a portable terminal, a mobile terminal, a foldable terminal, a personal digital assistant (PDA), or a portable multimedia device (PMP). Player terminal, telematics terminal, navigation terminal, personal computer, laptop computer, Slate PC, Tablet PC, ultrabook, wearable device Device (e.g., watch-type terminal (Smartwatch), glass-type terminal (Smart Glass), HMD (Head Mounted Display), etc.), Wibro terminal, IPTV (Internet Protocol Television) terminal, smart TV, digital broadcasting It can be applied to various terminals such as terminals, AVN (Audio Video Navigation) terminals, A/V (Audio/Video) systems, flexible terminals, and digital signage devices.

In one embodiment, the user terminal 30 controls the movement of the mobile robot within a space requiring environmental monitoring, and reviews, analyzes, and understands the monitoring results based on environmental data detected and collected by the mobile robot 10. It can be implemented with a terminal device possessed by the desired environment manager.

The environmental monitoring server 20 may be implemented in the form of a web server, database server, proxy server, etc. In addition, the environmental monitoring server 20 may be equipped with a network load balancing mechanism or one or more of various software that allows the environmental monitoring server 20 to operate on the Internet or another network, through which a computerized system may be installed. It can be implemented as:

The environmental monitoring server 20 specifies the movement path and data acquisition location of the mobile robot 10, and performs the function of collecting, analyzing/judging, and storing data acquired by the environmental robot.

Then, the data stored in the storage unit 270 as a database is provided in a form desired by the user through the user terminal 30.

For this function, an optimal user interface (GUI) is provided to the user, and the overall state of the mobile robot 10 is managed and controlled.

In one embodiment, the environmental monitoring server 20 introduces machine learning as an analysis technique and continuously improves analysis capabilities. Additionally, new information is provided by giving various new meanings to the acquired data, and the user interface (GUI) can also be flexibly changed to suit user requirements.

The environmental monitoring server 20 may provide a user interface (GUI) to the user terminal 30 and transmit a control signal to the mobile robot 10 according to a control signal received from the user terminal 30.

The environmental monitoring server 20 may be implemented to control the mobile robot 10 to which at least two different identification information is assigned.

Specifically, the environmental monitoring server 20 includes a communication unit 210, a detection signal collection unit 220, an environmental analysis unit 230, an information provision unit 240, a robot status monitoring unit 250, and a movement path setting unit 260. ), and a storage unit 270.

The communication unit 210 communicates with any internal component or at least one external terminal through a wired/wireless communication network. Here, wireless Internet technologies include Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wibro (Wireless Broadband: Wibro), Wimax (World Interoperability for Microwave Access: Wimax), and HSDPA (High Speed Downlink Packet Access). ), HSUPA (High Speed Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), etc. The communication unit 210 transmits and receives data according to at least one wireless Internet technology, including Internet technologies not listed above.

In addition, short-range communication technologies include Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), UWB (Ultra Wideband), ZigBee, and Near Field Communication (NFC). , Ultrasound Communication (USC), Visible Light Communication (VLC), Wi-Fi, Wi-Fi Direct, etc. may be included. Additionally, wired communication technologies may include Power Line Communication (PLC), USB communication, Ethernet, serial communication, optical/coaxial cables, etc.

The detection signal collection unit 220 receives a specific substance detection signal from the mobile robot 10.

The environmental analysis unit 230 analyzes the density and distribution of the measured substance in the monitoring space based on the specific substance detection signal collected by the detection signal collection unit 220 to derive environmental analysis data. The environmental analysis unit 230 can determine the concentration of a specific substance. It can also analyze various environmental factors such as temperature and humidity.

The environmental analysis unit 230 can compare and analyze the results of detecting specific substances by time period. In addition, it is possible to compare and analyze the detection results of specific substances by area in space.

The environmental analysis unit 230 determines and measures whether hydrogen sulfide, carbon dioxide, harmful gases, and carbon monoxide are generated due to oxidation of storage containers or stored materials, generation of inert gas due to use of inert gas, growth of microorganisms or spoilage, and carbon monoxide due to fuel combustion. Collect and analyze generation information.

The information providing unit 240 provides environmental analysis data derived from the environmental analysis unit 230 to the user terminal 30. The information providing unit 240 provides environmental analysis data derived from the environmental analysis unit 230 to the user terminal 30 at regular intervals. Alternatively, if the derived environmental analysis data deviates from predefined safety standards, an abnormality notification signal is immediately transmitted to the user terminal 30.

For example, oxygen (O ₂ ) is normally 21%. On the other hand, if it is less than 18%, you are exposed to oxygen deficiency. In other words, when a decrease in concentration occurs, it is necessary to identify the cause and safely evacuate workers.

Hydrogen sulfide (H ₂ S) above 50ppm causes damage to the human body, and exposure above 500ppm poses a risk of death, olfactory paralysis, and foaming effect. Carbon monoxide (CO) is harmful to the human body if it exceeds 200 ppm. The information provider 240 transmits an abnormality notification signal to the user terminal 30 when the concentration of the above-mentioned specific substance is above the reference value.

The information providing unit 240 may monitor and provide the change in concentration of each specific substance measured according to the analysis results from the environmental analysis unit 230. For example, changes in the concentration of a specific substance during the day or during work can be analyzed and provided in a schematic form such as a graph.

In one embodiment, the sensor 110 may detect fine dust concentration, and the environmental analysis unit 230 may perform a fine dust monitoring function. Fine dust sensors that require accuracy are expensive and can only measure in extremely limited areas. In other words, existing fine dust measurement data measures only approximate average values over a wide area.

In order to know the exact distribution of fine dust, it is necessary to subdivide the measurement locations, but not only is it difficult to install expensive fine dust meters at each desired location, but most of the existing fine dust measurement stations are installed on the rooftops of buildings, so the fine dust is generated on the ground. It is not possible to provide accurate information on the distribution of fine dust.

If a fine dust detection sensor is mounted on the mobile robot 10 according to an embodiment and the environmental monitoring server 20 performs fine dust monitoring, the detailed fine dust distribution in a small area to be measured can be determined. Accordingly, not only will it bring about groundbreaking developments in measuring fine dust and air pollution, but it can also play a big role in improving the air environment by discovering previously undiscovered causes of pollution.

In one aspect of the present invention, the robot state monitoring unit 250 periodically receives operation state information including the battery, communication sensitivity, and driving consistency with the driving path of the mobile robot 10 and uses the robot's operating state as a standard. If it deviates from the normal range, an abnormality notification signal is transmitted to the user terminal 30.

The robot status monitoring unit 250 receives overall status information of the mobile robot 10, such as battery, communication sensitivity, and remaining space of the storage unit 138.

And, if it deviates from the normal range according to the status information of the mobile robot 10, a notification message requesting to check the status of the mobile robot 10 can be sent to the user terminal 30.

For example, if the battery charge of the mobile robot 10 is less than a standard amount or the remaining data storage space of the storage unit 138 is less than a certain amount, a notification message requesting a status check is sent to the user terminal 30. Alternatively, even if there is an abnormality in the operation signal of the sensor 110 or camera of the mobile robot 10, a notification message requesting a status check can be sent.

In addition, the robot status monitoring unit 250 receives a specific substance detection signal matched with the robot measurement position information from the mobile robot 10 and determines whether it is moving in accordance with the movement path set in the movement path setting unit 260. .

That is, it is possible to monitor whether the mobile robot 10 is moving along the path without deviating from the path set in the movement path setting unit 260.

The movement path setting unit 260 diagrammatically provides a monitoring space map to the user terminal 30, provides a user interface to receive movement path setting information of the mobile robot on the monitoring space map, and provides movement input through the user interface. Route setting information is transmitted to the mobile robot 10.

Figure 3 is an example of a screen provided for setting a movement route according to an embodiment of the present invention.

The movement path setting unit 260 may graphically provide a monitoring space map to the user terminal 30 so that the locations of major equipment or machines are reflected.

Alternatively, the movement path setting unit 260 may provide a GUI through which the user can select and place equipment or equipment items to be placed in the work environment through a user interface.

In one embodiment, the movement path setting unit 260 provides a graphical image of the work space as shown in FIG. 3 through the user interface of the user terminal 30, and allows the user to place facilities or equipment directly on the work space. To help you do this, provide a list of specific facilities or equipment associated with the task.

Then, the user can place specific facilities or equipment at a specific location in the workspace on the workspace graphic through the GUI. The movement path setting unit 260 sets the movement path to include a high-frequency measurement point in the movement path or to acquire detection signal data at a shorter cycle than other spaces, depending on the possibility of hazardous substance emissions from the corresponding facility or equipment placed by the user. It can be reflected by including it as a measurement point in the poem. It is also possible to determine what data should be mainly acquired depending on the type of gas that the facility or equipment can emit.

Additionally, in the case where the monitoring environment is a school or park, the movement path setting unit 260 may set the movement route to include points with high population density as measurement locations.

The movement path setting unit 260 may receive movement path setting information through the GUI of the user terminal 30 to measure a specific substance detection signal at a specific point in the work space at regular time intervals. That is, on the workspace image provided in graphic format, the user can input at least two measurement positions and the measurement time interval at the measurement positions. For example, setting information can be entered to detect aa specific substances at point a at intervals of 1 hour, and at point b to detect bb specific substances at intervals of 30 minutes. The movement path setting unit 260 calculates the movement path and movement speed so that the mobile robot 10 can be located at point a at 1-hour intervals and at point b at 30-minute intervals.

That is, the movement path setting unit 260 sets not only the movement path of the mobile robot 10 but also the movement speed between points. Alternatively, you can calculate the waiting time to reach a designated measurement location at a specified measurement time between measurement locations and move after waiting for the waiting time.

At this time, the movement path setting unit 260 may recommend a measurement location or measurement cycle for detection of a specific substance using optimized data.

In one embodiment, the hazardous gas generation process during the semiconductor manufacturing process can be implemented to detect over 100 types of hazardous chemical substances.

For example, it can be set to measure in places where gas leakage is a concern among facilities that handle flammable and toxic substances during the wafer manufacturing process.

Production equipment, gas supply equipment, VMB, engineer lockers, plenum, gas storage warehouse, around the connection area of charging equipment, and central gas supply rooms such as substation rooms, switchboard rooms, and control rooms in explosion-proof areas can be set as measurement locations.

And, for example, in the case of a factory, the mobile robot 10 is implemented to measure certain substances more frequently during working hours, when work is performed, and automatically stops moving and measuring for environmental monitoring when work is finished. It can be set to .

As another example, when monitoring the school environment, the measurement time or cycle can be automatically set according to the school arrival and departure time.

For example, between school starting and leaving time, it can be implemented to move and measure according to a routine at 30-minute intervals, and after school dismissal time, it can be implemented to stop or move and measure at intervals of several hours.

In one embodiment, the movement path setting unit 260 may create, change, or recommend a movement path for the mobile robot 10, that is, a movement path for sensing and measuring a specific material, based on a deep learning algorithm.

For example, the movement route setting unit 260 reflects the analysis results from the environmental analysis unit 230 and recommends that a point with a high concentration of a specific substance be included as a measurement location in the movement route, or that there is a possibility of emission of a specific substance. The movement path of the mobile robot 10 can be recommended by including a point in the movement path several times as a measurement point so that the measurement frequency is higher than other places.

Figure 4 is a flowchart of a method of driving a mobile robot control system according to an embodiment.

In a method of driving a mobile robot control system according to an embodiment, the mobile robot 10 acquires a specific substance detection signal from a sensor that detects a specific substance (S400).

And when the mobile robot 10 reaches a preset position or a preset period arrives (S410), the acquired specific substance detection signal is transmitted to the environmental monitoring server 20 (S420).

In one aspect, the signal transmission step matches and transmits the mobile robot measured location information to the specific substance detection signal obtained in the detection signal acquisition step.

Accordingly, the environmental monitoring server 20 can determine exactly where the signal is detected by the sensor.

Afterwards, the environmental monitoring server 20 receives a specific substance detection signal from the mobile robot 10, and analyzes the density and distribution of the measured substance in the monitoring space based on the specific substance detection signal collected in the detection signal collection step to determine the environment. Derive analysis data (S430).

And the environmental analysis data derived from the environmental analysis step is provided to the user terminal 30 (S440).

In one aspect of the present invention, the environmental monitoring server 20 periodically receives operation status information including the battery, communication sensitivity, and driving consistency with the driving path of the mobile robot 10 (S450) to determine the operating state of the robot. If it deviates from the normal range for each standard (S460), an abnormality notification signal is transmitted to the user terminal (S465).

In another aspect of the present invention, the environmental monitoring server 20 provides a schematic monitoring space map to the user terminal 30 (S470), and receives movement path setting information of the mobile robot 10 on the monitoring space map. A user interface is provided, and movement path setting information input through the user interface is transmitted to the mobile robot 10 (S480, S485).

At this time, the movement path setting step uses deep learning on the analysis results from the environment analysis unit 230 to recommend a mobile robot movement path for detecting a specific substance when setting the movement path.

The above-described method may be implemented as an application or in the form of program instructions that can be executed through various computer components and recorded on a computer-readable recording medium. The computer-readable recording medium may include program instructions, data files, data structures, etc., singly or in combination.

The program instructions recorded on the computer-readable recording medium may be specially designed and configured for the present invention, or may be known and usable by those skilled in the computer software field.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs and DVDs, and magneto-optical media such as floptical disks. media), and hardware devices specifically configured to store and perform program instructions, such as ROM, RAM, flash memory, etc.

Examples of program instructions include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform processing according to the invention and vice versa.

Although the above has been described with reference to embodiments, those skilled in the art will understand that various modifications and changes can be made to the present invention without departing from the spirit and scope of the present invention as set forth in the following patent claims. You will be able to.

10: Mobile robot 20: Environmental monitoring server
30: user terminal 110: sensor
120: detection signal acquisition unit 130: control module
210: Communication unit 220: Detection signal collection unit
230: Environmental analysis department 240: Information provision department
250: Robot status monitoring unit 260: Movement path setting unit
270: storage unit

Claims (10)

A sensor that detects a specific substance, a detection signal acquisition unit that acquires a specific substance detection signal from the sensor, and an environmental monitoring server that receives a specific substance detection signal obtained from the detection signal acquisition unit when a preset position is reached or a preset period arrives. A mobile robot including a data transmission unit for transmitting to; and
A detection signal collection unit that receives a specific substance detection signal from the mobile robot, and an environmental analysis unit that analyzes the density and distribution of the measured substance in the monitoring space based on the specific substance detection signal collected by the detection signal collection unit to derive environmental analysis data. A mobile robot control system for environmental monitoring, including a unit, an environmental monitoring server including an information provision unit that provides environmental analysis data derived from the environmental analysis unit to a user terminal.
According to claim 1,
The data transmission unit,
A mobile robot control system for environmental monitoring that matches and transmits the mobile robot measured location information to a specific substance detection signal obtained from the detection signal acquisition unit.
According to claim 1,
The environmental monitoring server,
A robot status monitoring unit that periodically receives operation status information including the mobile robot's battery, communication sensitivity, and driving consistency with the driving path, and transmits an abnormality notification signal to the user terminal when it deviates from the normal range for each robot's operation status criteria. A mobile robot control system for environmental monitoring, including further.
According to claim 1,
The environmental monitoring server,
A method of providing a schematic diagram of a monitoring space map to a user terminal, providing a user interface that receives the mobile robot's movement path setting information on the monitoring space map, and transmitting the movement route setting information input through the user interface to the mobile robot. A mobile robot control system for environmental monitoring, further comprising a path setting unit.
According to claim 4,
The movement path setting unit,
A mobile robot control system for environmental monitoring that recommends a mobile robot movement path for detecting specific substances when setting a movement route by deep learning the analysis results from the environmental analysis unit.
In a method of driving a mobile robot control system performed in a mobile robot control system including a mobile robot and an environmental monitoring server,
A detection signal acquisition step in which the mobile robot acquires a specific substance detection signal from a sensor that detects the specific substance;
A data transmission step of transmitting the acquired specific substance detection signal to an environmental monitoring server when the mobile robot reaches a preset position or a preset period arrives;
A detection signal collection step in which the environmental monitoring server receives a specific substance detection signal from the mobile robot;
An environmental analysis step of deriving environmental analysis data by analyzing the density and distribution of the measured material in the monitoring space based on the specific material detection signal collected in the detection signal collection step; and
A method of driving a mobile robot control system for environmental monitoring, including an information providing step of providing environmental analysis data derived from the environmental analysis step to a user terminal.
According to claim 6,
The data transmission step is,
A method of driving a mobile robot control system for environmental monitoring, wherein the mobile robot measured position information is matched to a specific substance detection signal obtained in the detection signal acquisition step and transmitted.
According to claim 6,
The environmental monitoring server periodically receives operation status information including the mobile robot's battery, communication sensitivity, and driving consistency with the driving path, and transmits an abnormality notification signal to the user terminal when the robot's operation status deviates from the normal range. A method of operating a mobile robot control system for environmental monitoring, further comprising a robot status monitoring step.
According to claim 6,
The environmental monitoring server,
A monitoring space map is diagrammatically provided to a user terminal, a user interface is provided to receive the mobile robot's movement path setting information on the monitoring space map, and the movement route setting information input through the user interface is transmitted to the mobile robot. A method of driving a mobile robot control system for environmental monitoring, further comprising a path setting step.
According to clause 9,
The movement route setting step is,
A method of driving a mobile robot control system for environmental monitoring that recommends a mobile robot movement path for detecting a specific substance when setting a movement route by deep learning the analysis results from the environmental analysis unit.