JP2006000999A - Monitoring system, its method, monitoring robot and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a monitoring system managing time series change of measurement information by a sensor at monitoring points, and also to provide its method, a monitoring robot and a program. <P>SOLUTION: A measuring robot 10 transmits change information integrating numerical values measured by the sensor movable in an optional direction, to a customer terminal 20 through a network 50, and the customer terminal 20 displays the change information on a screen. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a monitoring system, a method, a monitoring robot, and a program capable of managing time-series transition of measurement information by a sensor at a monitoring point.

  Conventionally, environment measurement in a customer's machine room by a monitoring system has been performed by manually attaching a plurality of sensors to a measurement point. Therefore, a plurality of the same sensors are required or man-hours for attachment to the measurement point are required.

  In addition, patrol monitoring in the customer's machine room is carried out manually or using a swing-type camera attached to the ceiling, etc. In the case of manual patrol, when there is an intruder or a fire etc. occurs A life-threatening danger arises, and the swing camera attached to the ceiling has a blind spot on the back of the camera because it is fixed to the ceiling.

Here, a robot device including a human sensor, a photo sensor, a flame / smoke sensor, a temperature sensor, and an infrared sensor capable of plane movement, an information processing device that wirelessly receives an abnormal signal from the robot device, and a robot remote control A technique has been proposed in which an apparatus can monitor indoors or outdoors such as a home from the outside, and can detect an abnormal state (for example, see Patent Document 1).
JP 2003-280729 A

  However, the conventional example described above has the following problems.

  Each sensor only has a function of notifying the information processing device that receives an abnormal signal from the sensor of the fact and the abnormal value when the abnormality occurs, including before and after the abnormality occurs. There was a problem that it was not possible to manage the time-series transition of information measured by the sensor at the monitoring point.

  Therefore, the present invention provides a monitoring system, a method thereof, a monitoring robot, and a program capable of managing time-series transition of measurement information by a sensor at a monitoring point by collectively displaying continuous measurement information by the sensor. For the purpose.

  The invention according to claim 1 is a monitoring system including a robot for measuring an environment to be monitored and connected via a network, and a terminal device, wherein the robot includes a moving means for moving its own device, an arbitrary A sensor that is movable in the direction, an abnormality transmission means that determines that an abnormality has occurred and the sensor device transmits a message to that effect when the numerical value measured by the sensor exceeds a predetermined threshold, and the sensor A database for storing the numerical values measured by the sensor, storage means for storing the numerical values measured by the sensors in the database, and transition information that summarizes the numerical values measured by the sensors in a predetermined monitoring period stored in the database The terminal device receives the transition information and the fact that the abnormality transmitted from the robot has occurred. And signal means, a monitoring system, characterized in that it comprises display means abnormality received by the receiving means for displaying that and transition information is generated.

  According to a second aspect of the present invention, in the monitoring system according to the first aspect, the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor.

  The invention according to claim 3 is a monitoring method using a robot for measuring an environment to be monitored connected via a network and a terminal device, and the robot moves in any direction while moving by a moving means. If the numerical value measured by the sensor exceeds the predetermined threshold by the step of measuring the environment to be monitored by the movable sensor and the abnormality occurrence transmission means, it is determined that an abnormality has occurred and the terminal device The terminal device receives the fact that the abnormality transmitted from the robot is received by the receiving means, and the abnormality received by the receiving means occurs by the display means. The robot further includes a step of storing a numerical value measured by the sensor in a database by the storage means, and a transition step. And a step of transmitting, to the terminal device, transition information in which numerical values measured by the sensors in a predetermined monitoring period stored in the database are stored in the database. It is a monitoring method characterized by having the step which receives the transmitted transition information, and the step which displays the transition information received by the receiving means by the display means.

  According to a fourth aspect of the present invention, in the monitoring method according to the third aspect, the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor.

  According to the fifth aspect of the present invention, an abnormality has occurred when the moving means for moving the own machine, the sensor movable in an arbitrary direction, and the numerical value measured by the sensor exceed a predetermined threshold value. The abnormality occurrence output means for judging and outputting the fact, the database for storing the numerical value measured by the sensor, the storage means for storing the numerical value measured by the sensor in the database, and the predetermined stored in the database A monitoring robot, comprising: transition information output means for outputting transition information in which numerical values measured by sensors in a monitoring period are collected.

  According to a sixth aspect of the present invention, in the monitoring robot according to the fifth aspect, the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor.

  According to a seventh aspect of the present invention, there is provided a robot for measuring a monitoring target environment, the step of measuring the monitoring target environment with a sensor that is movable in an arbitrary direction while being moved by the moving unit, and the abnormality occurrence transmitting unit. If the measured numerical value exceeds a predetermined threshold value, it is determined that an abnormality has occurred, and a step of transmitting the fact to the terminal device is executed. And a step of displaying the fact that the abnormality received by the receiving means is displayed by the display means, and the robot further executes a sensor by the storage means. A step of storing the numerical value measured by the step in the database, and the sensor in the predetermined monitoring period stored in the database by the transition information transmitting means. Transmitting the transition information that summarizes the numerical values measured by the terminal device, the terminal device further receiving the transition information transmitted from the robot by the receiving means, and the receiving means by the display means And a step of displaying the transition information received in (1).

  The invention according to claim 8 is the program according to claim 7, wherein the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor.

  According to the monitoring system, the method, the monitoring robot, and the program of the present invention, it is possible to manage the time-series transition of the measurement information by the sensor at the monitoring point.

  Next, the configuration of an embodiment of the present invention will be described with reference to the drawings.

  Referring to FIG. 1, the monitoring system according to this embodiment includes a measurement robot 10 and a customer terminal 20. The measurement robot 10 and the customer terminal 20 are connected to each other via a network 50 such as the Internet or an intranet.

  Referring to FIG. 2, the measurement robot 10 includes an operation processing system 101, a main body moving unit 102, an information storage unit 103, and a sensor unit 104.

  The motion processing system 101 includes a motion processing terminal 105 and a basic motion information database 106, and has a function of controlling all motions of the measuring robot 10.

  The operation processing terminal 105 is a small information processing apparatus such as a built-in board computer or notebook computer.

  In addition, when there is an abnormality such as an over-threshold value of each sensor, the operation processing terminal 105 sends the abnormality content, the position where the abnormality is detected, the time, each sensor information, video information, etc. to the customer terminal 20 via the network 50. It has the function to transmit to.

  The operation processing terminal 105 has a function of storing the numerical value, measurement position, measurement time, and the like of each sensor at each measurement point and height direction in the sensor information database 108.

  The operation processing terminal 105 combines the numerical value, measurement position, measurement time, and the like of each sensor stored in the sensor information database 108 with the measurement position of each measurement point for each monitoring point stored in the monitoring point information database 107. Thus, it has a function of transmitting the numerical change of each sensor for each measurement position to the customer terminal 20 via the network 50.

  The basic operation information database 106 has a function of storing the monitoring point layout, the traveling route of the measuring robot 10, the operation of each sensor during the traveling in association with each other, and the like.

  The main body moving unit 102 is configured by a moving mechanism such as a wheel or a bipedal walking, and has a function of moving the measuring robot 10 to a place designated by the motion processing system 101.

  The information storage unit 103 includes two types of databases: a monitoring point information database 107 and a sensor information database 108.

  The monitoring point information database 107 has a function of storing the measurement position and the like of each measurement point for each monitoring point.

  The sensor information database 108 has a function of storing each measurement point by the temperature / humidity sensor 110, the odor sensor 111, and the electromagnetic wave sensor 112, the numerical value of each sensor in the height direction, the measurement position, the measurement time, and the like.

  The sensor unit 104 includes a CCD camera 109, a temperature / humidity sensor 110, an odor sensor 111, an electromagnetic wave sensor 112, a human sensor 113, and a sensor movable mechanism 114.

  The CCD camera 109 is an omnidirectional camera capable of confirming an omnidirectional image, and has a function of confirming that no obstacle is present when the measuring robot 10 travels or measures an environment. In addition, it may have a function of checking whether there is an abnormality such as a threshold value of each sensor during patrol and transmitting the video information of the monitoring point to the customer terminal 20 if there is an abnormality.

  The temperature / humidity sensor 110 is a sensor capable of measuring temperature / humidity in real time, and has a function of confirming whether there is a temperature / humidity abnormality at a monitoring point when the measuring robot 10 circulates. Further, the temperature / humidity sensor 110 has a function of transmitting a numerical value, a measurement position, and a measurement time of the sensor at the time of patrol to the sensor information database 108.

  The odor sensor 111 is a sensor capable of detecting a strange odor in real time, and has a function of confirming whether there is an abnormality at a monitoring point when the measuring robot 10 circulates. In addition, the odor sensor 111 has a function of transmitting a numerical value, a measurement position, and a measurement time of the sensor at the time of patrol to the sensor information database 108.

  The electromagnetic wave sensor 112 is a sensor capable of measuring an electromagnetic wave in real time, and has a function of confirming whether there is an abnormality at a monitoring point when the measuring robot 10 travels. The electromagnetic wave sensor 112 has a function of transmitting the numerical value, measurement position, and measurement time of the sensor at the time of patrol to the sensor information database 108.

  The human sensor 113 is a human sensor using infrared rays, ultrasonic waves, or the like that detects an intruder, and has a function of confirming that there is no intruder at the monitoring point when the measuring robot 10 is patrol. In addition, the human sensor 113 has a function of transmitting a numerical value, a measurement position, and a measurement time of the sensor at the time of patrol to the sensor information database 108.

  The sensor movable mechanism 114 is a point to be monitored. For example, when traveling around a customer machine room where a group of customer information processing devices is installed, the above-described sensors are moved up and down, left and right, front and rear, diagonally. It has the function to move in the direction of.

  The customer terminal 20 is an information processing device such as a personal computer, a mobile phone, or a PDA (Personal Digital Assistant) used by the customer. The customer terminal 20 has a display mechanism such as a liquid crystal display that displays data received from the measurement robot 10 via the network 50.

  Next, with reference to FIG. 3, the flow of processing for grasping the time series transition of the numerical value measured by the sensor at the monitoring point in this embodiment will be described in detail.

  First, the measurement robot 10 circulates in a customer machine room where a customer information processing apparatus group is installed, which is a point to be monitored by the main body moving unit 102 (S301).

  Next, the measurement robot 10 is set in advance at the time of the above-described tour, and uses the data regarding the layout of the monitoring points, the tour route, and the operation of each sensor during the tour stored in the basic motion information database 106, At the monitoring point, is there any abnormality in the monitoring point by the temperature / humidity sensor 110, the odor sensor 111, or the electromagnetic wave sensor 112 moved up and down by the CCD camera 109, the human sensor 113, and the sensor movable mechanism 114 of the sensor unit 104? It is determined whether or not (S302). At this time, the monitoring point information database 107 storing the measurement position of each measurement point for each monitoring point, the temperature / humidity sensor 110, the odor sensor 111, the electromagnetic sensor 112, and the numerical values of the sensors in the height direction. Data of the sensor information database 108 in which measurement positions, measurement times, and the like are stored may be used.

  When the operation processing terminal 105 of the measurement robot 10 is over the threshold value exceeding the threshold value indicating the normal state set in advance by the CCD camera 109, the numerical value measured by each sensor, etc. (S302 / No), The abnormal content and the position, time, sensor information, video information, etc. at which the abnormality is detected are transmitted to the customer terminal 20 via the network 50 (S303).

  The customer terminal 20 displays the details of the abnormality received from the operation processing terminal 105 via the network 50 and the position, time, sensor information, video information, and the like at which the abnormality is detected, for example, on the display unit shown in FIG. It is displayed (S304). As a result, the customer can know in real time that an abnormality has occurred, and can easily grasp the details of the abnormality content and take subsequent measures.

  On the other hand, if there is no abnormality during the tour (S302 / Yes), the numerical values, measurement positions, and measurement times of the temperature / humidity sensor 110, odor sensor 111, and electromagnetic wave sensor 112 are stored in the sensor information database 108 in real time. (S305).

  Then, the measurement robot 10 performs the tour monitoring using the data such as the tour route stored in the basic motion information database 106, but determines whether the tour monitoring is finished (S306). If the tour monitoring has not ended (S306 / No), the process returns to step S301 to continue the tour monitoring.

  On the other hand, when the patrol monitoring is completed (S306 / Yes), the operation processing terminal 105 detects the temperature / humidity sensor 110, the odor sensor 111, and the electromagnetic wave sensor 112 at each measurement point during the patrol stored in the sensor information database 108. The time-series transition of each sensor for each measurement position is transmitted to the customer terminal 20 via the network 50 by combining the numerical value, measurement position, and measurement time of each sensor (S307).

  The customer terminal 20 displays, for example, a table including a line graph as shown in FIG. 5 on the display unit, for example, the time-series transition of each sensor for each measurement position received from the operation processing terminal 105 via the network 50. (S308). As a result, the customer can grasp not only the information at a specific point of time but also the overall situation including the state before and after the occurrence of the abnormality, and can easily perform analysis for operation and maintenance. .

  According to the above-described embodiment, since measurement is performed while the measurement robot 10 is unattended and the sensor itself moves to each measurement point, it is possible to perform multi-point measurement without causing a blind spot with one sensor, and to connect the sensor to the measurement point. Installation work is also unnecessary.

  The above-described embodiment is a preferred embodiment of the present invention, and various modifications can be made without departing from the gist of the present invention. For example, you may perform the process which implement | achieves the function of this system by making each information processing apparatus read and run the program for implement | achieving the function of the measurement robot 10 and customer terminal 20 in said embodiment. Further, the program is transmitted to another computer system by a transmission wave through a CD-ROM or magneto-optical disk as a computer-readable recording medium, or through the Internet or a telephone line as a transmission medium. Also good.

  In the above embodiment, the system configuration in which the measurement robot 10 and the customer terminal 20 are connected as separate devices has been described. However, a plurality of servers are provided for each configuration and function in which each function is realized as one computer system. Of course, the present invention can be applied to a configuration in which a device or the like is added.

It is a figure which shows schematic structure of the monitoring system in embodiment of this invention. It is a figure which shows the structure of a measurement robot. It is a sequence diagram which shows the processing operation which grasps | ascertains the time series transition of the numerical value which the sensor measured. It is a figure which shows an example of the screen on which a customer terminal displays abnormal content etc. It is a figure which shows the example of a display of the time series transition of the numerical value which the sensor measured.

Explanation of symbols

10 Measuring robot 20 Customer terminal 50 Network

Claims (8)

A monitoring system including a robot for measuring an environment of a monitoring target connected via a network and a terminal device,
The robot includes a moving means for moving the robot;
A sensor that can move in any direction;
When the numerical value measured by the sensor exceeds a predetermined threshold value, an abnormality occurrence transmitting means for determining that an abnormality has occurred and transmitting the fact to the terminal device;
A database in which numerical values measured by the sensors are stored;
Storage means for storing numerical values measured by the sensors in the database;
Transition information transmitting means for transmitting, to the terminal device, transition information summarizing numerical values measured by the sensors in a predetermined monitoring period stored in the database;
With
The terminal device includes a receiving means for receiving the fact that the abnormality transmitted from the robot has occurred and the transition information;
Display means for displaying that the abnormality received by the receiving means has occurred and the transition information;
A monitoring system comprising:   The monitoring system according to claim 1, wherein the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor. A monitoring method using a robot and a terminal device for measuring an environment to be monitored connected via a network,
The robot measures the environment to be monitored with a sensor movable in an arbitrary direction while being moved by a moving means;
When the numerical value measured by the sensor exceeds a predetermined threshold value by the abnormality occurrence transmission means, it is determined that an abnormality has occurred and transmits the fact to the terminal device,
The terminal device receives by the receiving means that the abnormality transmitted from the robot has occurred;
Displaying by the display means that the abnormality received by the receiving means has occurred,
The robot further stores a numerical value measured by the sensor in a database by storage means;
Transmitting, by the transition information transmitting means, transition information that summarizes the numerical values measured by the sensor in a predetermined monitoring period stored in the database, to the terminal device,
The terminal device further receives the transition information transmitted from the robot by a receiving unit;
And a step of displaying the transition information received by the receiving means by a display means.   The monitoring method according to claim 3, wherein the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor. Moving means for moving the aircraft;
A sensor that can move in any direction;
When the numerical value measured by the sensor exceeds a predetermined threshold, it is determined that an abnormality has occurred, and an abnormality occurrence output means for outputting that effect;
A database in which numerical values measured by the sensors are stored;
Storage means for storing numerical values measured by the sensors in the database;
Transition information output means for outputting transition information that summarizes the numerical values measured by the sensors in a predetermined monitoring period stored in the database;
A surveillance robot characterized by comprising:   The monitoring robot according to claim 5, wherein the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor. Measuring the environment of the monitoring target with a sensor that is movable in an arbitrary direction while moving by a moving means to the robot that measures the environment of the monitoring target;
When the numerical value measured by the sensor exceeds a predetermined threshold value by the abnormality occurrence transmitting means, the step of determining that an abnormality has occurred and transmitting the fact to the terminal device is executed, and
Receiving in the terminal device by the receiving means that the abnormality transmitted from the robot has occurred;
Displaying by the display means that the abnormality received by the receiving means has occurred, and
The robot further stores a numerical value measured by the sensor in a database by storage means;
The transition information transmitting means transmits the transition information that summarizes the numerical values measured by the sensor in the predetermined monitoring period stored in the database to the terminal device, and
The terminal device further receives the transition information transmitted from the robot by a receiving unit;
And a step of displaying the transition information received by the receiving means by a display means.   The program according to claim 7, wherein the sensor is at least one of a camera, a temperature / humidity sensor, an odor sensor, an electromagnetic wave sensor, and a human sensor.

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