CN101211495A - Distributed security system - Google Patents

Abstract

The invention provides a distributed security system, which comprises a plurality of sensing devices, a main system and a plurality of robots. Wherein the sensing device is installed in an environment and transmits measured environmental information to the host system. When the host system judges the abnormal situation according to the environment information, the host system can assign the robot which can reach the abnormal situation position in the shortest time to go to monitor. And the shortest time is calculated according to the relative displacement distance between the robot and the sensing position and the highest moving speed of the robot. By means of the distributed security system, when the plurality of sensing devices are abnormal, the main system commands the plurality of robots to go to process at the same time, so that the effects of providing faster and safer security service and further reducing harm are achieved.

Description

Distributed security system

technical field

The invention relates to a security system, in particular to a distributed security system to expand the scope of environmental anomaly monitoring and the efficacy of simultaneous monitoring.

Background technique

With the advancement of science and technology and the improvement of the quality of life, the safety of the living environment has become a topic that people attach importance to, and its scope covers homes, office buildings, laboratories, factories, financial institutions and other public places. Therefore, in recent years, many industries The world began to devote more efforts to research and develop various security systems, making the security service industry a rapidly developing field. However, the existing commercialized security systems lack sufficient mobility and intelligence to judge various situations, and the system false trigger rate/false alarm rate is high, which not only causes troubles for the client, but also reduces the reliability of the overall security system. Moreover, security maintenance patrols are the last thing security personnel want to do. Although there are perfect systems and regulations, there are always many uncontrollable factors (physiological and psychological) in "people", which make it impossible to perform security duties thoroughly. But the recent rapid research and development of robots has made it more feasible to replace security guards on patrol with mobile robots (hereinafter referred to as robots).

Known technology such as Japanese invention publication No. 2003051082 discloses a single patrol robot, which itself at least includes a control system and several sensing devices, such as image, sound source, heat source, temperature and gas sensing devices, to achieve auxiliary environment Efficacy of monitoring. The several sensing devices report the environment information to the robot, and the main control system of the robot judges whether an abnormal situation occurs according to the environment information. If so, the robot goes to the place where the abnormality occurs to handle the corresponding situation. However, because it is a single robot mobile monitoring, when the detection environment is large, the robot may affect the communication due to obstacles in the environment, and the robot cannot ensure that abnormal information can be collected in the fastest time. If the robot itself has abnormal conditions or even malfunctions during operation, it will cause serious failure of the entire security system. When most real abnormal conditions occur, such as moving intruders, fire smoke, gas, etc., the abnormal conditions usually spread to unspecified locations. Therefore, when there are abnormalities in the environmental information detected by multiple sensing devices, A single robot cannot go to monitor and process at the same time.

Therefore, although it is known that a single robot itself is equipped with multiple environmental sensing systems and can move in time to make up for the lack of mobility of the security system, it is known that a single robot integrates multiple sensing systems, and the system complexity It is expensive, and the real-time mobile monitoring range of a single system is limited, for example, it is limited to the first floor, so that it is impossible to fully grasp all the conditions of the monitoring environment, and it is still unable to effectively fill in the damage prevention loopholes of the existing security system. Therefore, for the security industry, it is necessary to develop a distributed security system to simultaneously monitor different floors, collect abnormal environmental information, and simultaneously process several sensing devices.

Contents of the invention

The purpose of the present invention is to provide a distributed security system, which includes a plurality of sensing devices, a main system and a plurality of robots. Wherein the sensing device is installed in the environment, and transmits the measured environment information to the main system. When the main system judges that an abnormality occurs according to the environmental information, the main system can assign a robot that can reach the location where the abnormality occurs in the shortest time to monitor. And the minimum time is calculated according to the relative displacement distance between the robot and the sensing position and the maximum moving speed of the robot. With the distributed security system, when there are multiple abnormal sensing devices in the environment, the main system will order multiple robots to deal with them at the same time, so as to provide faster and safer security services and reduce the damage effect occurred.

The first object of the present invention is to provide a distributed security system. Wherein the main system is installed on a specific one of the plurality of robots. Any one or several sensing devices are arranged in the environment and transmit the measured environment information to the specific robot. Then, when the main system on the specific robot judges that an abnormality has occurred based on the environmental information, it can assign the robot that can reach the location where the abnormality occurred in the shortest time according to the sensing device where the abnormality occurred, the position of the specific robot and the ordinary robot, and go to the abnormality. Monitor abnormalities and report abnormal conditions to the remote monitoring center. And the minimum time is calculated according to the minimum of the following: the relative displacement distance between the position of the specific robot and the position of the sensing device, and the highest moving speed of the specific robot; and the position of the common robot The relative displacement distance between the position of the sensing device and the maximum moving speed of the ordinary robot is calculated.

In order to make the above and other objects, features and advantages of the present invention more comprehensible, preferred embodiments are specifically cited below and described in detail with reference to the accompanying drawings.

Description of drawings

FIG. 1 discloses a distributed security system according to a first preferred embodiment of the present invention.

FIG. 2 shows a block diagram of a main system architecture according to a first preferred embodiment of the present invention.

FIG. 3 shows a block diagram of the robot architecture according to the first preferred embodiment of the present invention.

FIG. 4 discloses the operation mode of the distributed security system according to the first preferred embodiment of the present invention.

FIG. 5 is a schematic diagram of the distributed security system processing multiple sensing devices to detect anomalies at the same time according to the first preferred embodiment of the present invention.

Fig. 6 is a schematic diagram of installing the distributed security system of the first preferred embodiment of the present invention on different floors.

FIG. 7 discloses a distributed security system according to a second preferred embodiment of the present invention.

FIG. 8 discloses the operation of the distributed security system according to the second preferred embodiment of the present invention.

Description of reference symbols

1(S1-Sx): sensing device;

1’: Sensing device for abnormal occurrence;

3: Main system;

3a: Second communication unit

3b: Control unit

3c: storage unit

5(R1-R6): robot;

5a: Drive unit

5b: Control unit

5c: Sensing unit

5d: Power supply unit

5e: The third communication unit

5f: Second positioning unit

6: Real-time monitoring

7: Monitoring Center

9: Remote terminal

Detailed ways

First, please refer to FIG. 1 , which discloses a distributed security system according to a first preferred embodiment of the present invention. The distributed security system mainly includes a plurality of sensing devices 1, a main system 3 and a plurality of robots (as mentioned above, mobile robots are referred to as robots hereinafter) 5 (R1-R6). The plurality of sensing devices 1 can be sensing devices with different functions, such as image, fire, smoke, infrared, movement, vibration, temperature, gas, human body, etc., which are commonly used in system security or a combination thereof. The device 1 can be installed in different positions in the environment, or installed on a plurality of robots 5 to detect environmental information in the environment, and the sensing device 1 includes a first communication unit (not shown) to connect the The environmental information is transmitted to the main system 3 . The main system 3 can be installed in an appropriate place in the environment, and includes a second communication unit 3a, a control unit 3b and a storage unit 3c, as shown in FIG. 2 . Among them, the second communication unit 3a of the main system 3 can mainly receive the environmental information transmitted by the first communication unit of the sensing device 1' in which the abnormality occurs as shown in FIG. multiple robots5. The storage unit 3c of the main system 3 records the positions of the sensing device 1 (1') and the robot. The robot includes a driving unit 5a, a control unit 5b, a sensing unit 5c, a power supply unit 5d, a third communication unit 5e and a second positioning unit 5f, as shown in FIG. 3 .

The positioning methods of general robots are as follows: 1. Establish environmental map information with distance sensors. Commonly used distance sensors are laser distance sensors, ultrasonic sensors, etc. 2. Use at least three distance sensors (two in the environment and one on the robot) for robot positioning with triangulation. 3. The robot can be directly positioned by using at least one image sensor (CCD). 4. Directly read the reading value of the encoder (encoder). The robot sensing unit 5c is generally an image sensor for recording image information. The drive unit 5a provides the robot 5 with at least two different moving speeds, one is a lower moving speed for patrolling, and the other is a highest moving speed for going to the place where abnormal information occurs.

The storage unit 3c of the main system 3 has map information of the environment, which records the position of each sensing device 1 in the environment, and a plurality of robots 5 regularly pass the third communication unit 5e therein to the second positioning unit 5f therein. The detected position information is transmitted to the second communication unit 3a of the main system 3 and the position of the robot in the storage unit 3c is updated at any time. Wherein, if any robot 5 is too far away from the main system 3 or is blocked by a shelter to affect the communication with the main system 3 (the signal is relatively weak), this robot 5 can first pass through other relatively close or can receive the signal. Other robots 5 transmit the signals to the main system, so that the main system 3 can fully grasp the dynamic positions of multiple robots 5 .

When the main system judges that an abnormality occurs according to the environmental information, the control unit 3b of the main system 3 can calculate the relative displacement distance between the robot 5 and the sensing device 1' where the abnormality occurs, and the arrival of the robot 5 according to the map information in the storage unit 3c. The time required to find an abnormal sensing device 1'. And the required time is calculated according to the relative displacement distance between the robot and the abnormal sensing device 1' and the maximum moving speed of the robot 5. Then, the control unit 3b assigns the robot that can reach the abnormal sensing device 1' in the shortest time to process it. And multiple robots 5 can move according to the set path or move autonomously in the detection environment. Each robot can receive signals from the main system 3 through the third communication unit 5e, and transmit signals with other robots 5 to communicate with each other.

According to the mode of operation of the distributed security system of the first preferred embodiment of the present invention as shown in Figure 4, a plurality of sensing devices (S1-Sx) will transmit their location and environment information to the main computer by their first communication unit System 3, its transmission mode can be wired transmission or wireless transmission. If any robot 5 is too far away from the main system 3 or is blocked by a shelter to affect its communication with the main system 3 (the signal is relatively weak), this robot 5 can first pass through other nearby or can receive signals The other robots 5 in the system transmit the signals to the main system, so that the main system 3 can fully grasp the dynamic positions of multiple robots 5 . When the environmental information is judged by the main system to be abnormal, the control unit 3b of the main system 3 can calculate the distance between each robot 5 (R1-Rn) and any abnormal sensing device 1' according to the map information in the storage unit 3c. The relative displacement distance, and the time required for the robot 5 to reach any abnormality-occurring sensing device 1 ′, and the robot 5 that can reach the abnormality-occurring location in the shortest time is assigned to monitor. And the minimum time is calculated according to the relative displacement distance between the robot 5 and any detected abnormal position and the maximum moving speed of the robot 5 . Through the sensing unit 5c in the robot 5 system, the abnormal information detected can be stored in the robot 5 system, and transmitted to the monitoring center 7 or remote terminal 9 through real-time monitoring 6, and this remote terminal 9 can be a common Mobile communication devices, such as mobile phones, PDAs, etc.

Similarly, when there are multiple sensing devices 1' in the environment that detect abnormalities, the main system 3 can assign each robot 5 that can reach each abnormality location in the shortest time to go to Monitoring is carried out, and the minimum time is calculated according to the relative displacement distance between each robot 5 and each abnormal sensing device 1 ′ and the maximum moving speed of each robot 5 , as shown in FIG. 5 . In addition, the robot 5 can monitor different floors at the same time according to different environments. Please refer to FIG. 6 , where multiple sensing devices 1 and multiple robots 5 are installed on each floor. Therefore, the group security system according to FIG. 6 can form a whole area environment network monitoring system, and is applicable to the security monitoring of general homes or commercial office buildings. Therefore, the present invention can achieve the effect of expanding the monitoring range.

The second preferred embodiment of the present invention is shown in Figure 7. This distributed security system mainly includes a sensing device 1, a main system 3 and a plurality of robots 5, wherein the sensing device 1, the main system 3 and a plurality of robots 5 ( R1-R6), which are as described in the previous first embodiment, and will not be repeated here. In order to prevent the main system fixed device from being easily damaged by intruders in the environment, such as cutting off the signal transmission function or destroying the entire system, etc., in this embodiment, the main system 3 is installed on a specific one of the plurality of robots 5, so that the main system 3 It is not easy to be damaged by intruders, wherein the specific person is called a specific robot, and the rest of the robots are called ordinary robots. In other words, the second communication unit 3a, the control unit 3b and the storage unit 3c in the main system 3 described in the first embodiment, as well as the third communication unit 5e and the second positioning unit 5f in the robot can be integrated into the present embodiment The second communication unit 3a, the control unit 5b, the storage unit 3c and the first positioning unit in the specific robot mentioned above. The operation mode of the distributed security system according to the second preferred implementation of the present invention is shown in FIG. 8 . The storage unit 3c records the positions of the sensing device, the specific robot and the general robot. According to the positioning data detected by its second positioning unit 5f, the common robot regularly updates the position of the common robot in the storage unit of the specific robot through the communication unit of the specific robot, and receives and executes commands from the specific robot. At the same time, the specific robot regularly updates the position of the specific robot in its own storage unit according to the positioning data detected by its own first positioning unit.

When the environmental information detected by one of the multiple sensing devices 1 in the environment (S2 in this embodiment) is transmitted to the specific robot R1, and the specific robot R1 judges from the environmental information that an abnormality occurs, the specific robot R1 can calculate each The relative displacement distance between the robot 5 and the sensing device S2, and the time required for each robot 5 to reach the sensing device S2, and assign the robot 5 (specific robot or common robot) that can reach the location of the abnormality in the shortest time to carry out monitor. And the minimum time is calculated based on the minimum of the following: the relative displacement distance between the position of the specific robot and the position of the sensing device, and the highest moving speed of the specific robot; The relative displacement distance between the position and the position of the sensing device is calculated based on the maximum moving speed of the common robot. The specific robot can store the abnormality information of the location where the abnormality is detected by the sensing unit in the specific robot itself. Moreover, the ordinary robot can also store the abnormality information of the location where the abnormality detected by the sensing unit is stored in the ordinary robot itself. Alternatively, the specific or general robot 5 can transmit the abnormal information detected by the sensing unit to the monitoring center 7 or the remote terminal 9 via the real-time monitoring 6 .

In summary, the present invention has the following advantages:

1. Expanding the scope of abnormality monitoring can allow the distributed security system of the present invention to be installed on different floors for monitoring.

2. When there are multiple abnormal sensing devices in the environment, multiple robots that can reach the location of the abnormality in the shortest time can be assigned to deal with them respectively.

3. The present invention can integrate the main system on a specific robot, so as to prevent the fixed device of the main system from being easily damaged by intruders in the environment.

4. If there is a robot that is too far away from the main system or is blocked and affects the signal received by the main system (the signal is weak), the robot can first transmit the signal to the main system through other robots that are relatively close or can receive the signal. The main system can fully grasp and monitor the dynamic positions of multiple robots.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Those skilled in the art can make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection is based on the claims of the present invention.

Claims (20)

1. A distributed security system comprising at least: A sensing device, including a first communication unit; a main system, including a second communication unit, a control unit and a storage unit; and A plurality of robots, including a third communication unit and a second positioning unit; Wherein, the sensing device is installed in the environment, and transmits an environmental information to the main system through the first communication unit and the second communication unit, and the second communication unit and the third communication unit can transmit data to each other ; The storage unit records the positions of the sensing device and the robot; The robot regularly updates the position of the robot in the storage unit through the third communication unit according to the positioning data detected by the second positioning unit, and receives and executes commands from the main system; The way the sensing device transmits the environment information to the main system through the first communication unit and the second communication unit can be wired transmission or wireless transmission. 2. The distributed security system according to claim 1, wherein when the main system judges that an abnormality occurs according to the environmental information, the control unit assigns the shortest The robot that can reach the location where the abnormality occurred within the specified time will go to the location where the abnormality occurred. 3. The distributed security system according to claim 2, wherein the storage unit also records the highest moving speed of the robot, and the shortest time is based on the relative displacement distance and the relative displacement distance between the robot and the sensing device. Calculate and obtain the maximum moving speed of the above-mentioned robot. 4. The distributed security system as claimed in claim 1, wherein there are multiple sensing devices installed in different positions in the environment, and the environmental information is transmitted through the first communication unit and the second communication unit transmitted to the host system. 5. The distributed security system according to claim 1, wherein, when the main system determines that an abnormality occurs according to the environmental information, the control unit, according to the positions of the sensing device and the robot in the storage unit, The robot that can reach the position of the sensing device where the abnormality occurs in the shortest time is assigned to go to the position where the abnormality occurs. 6. The distributed security system as claimed in claim 5, wherein the storage unit also records the highest moving speed of the robot, and the shortest time is based on the relative displacement distance and the position of the robot and the sensing device Calculate the maximum moving speed of the robot. 7. The distributed security system according to claim 4, wherein the sensing device can be an image, fire, smoke, infrared, movement, vibration, temperature, gas, human body, etc. sensing device or a combination thereof. 8. The distributed security system as claimed in claim 2, wherein the robot further comprises a sensing unit, which can detect the abnormality information of the location where the abnormality occurs, and store the abnormality information in the robot itself. 9. The distributed security system as claimed in claim 2, wherein said robot further comprises a sensing unit, which can detect the abnormal information of the location where the abnormal occurs, and transmit the abnormal information to a remote monitoring center or a remote terminal. 10. The distributed security system as claimed in claim 9, wherein the remote terminal can be a personal mobile communication device, such as a mobile phone, a PDA, and the like. 11. A distributed security system comprising at least: a sensing device including a first communication unit; and A specific robot includes a second communication unit, a first positioning unit, a control unit and a storage unit; At least one ordinary robot, including a third communication unit and a second positioning unit; Wherein, the sensing device is installed in the environment, and transmits an environmental information to the specific robot through the first communication unit and the second communication unit, and the second and third communication units can transmit data to each other ; The storage unit records the positions of the sensing device, the specific robot and the common robot; The ordinary robot regularly updates the position of the ordinary robot in the storage unit through the third communication unit according to the positioning data detected by the second positioning unit, and receives and executes commands from the specific robot; The specific robot regularly updates the position of the specific robot in the storage unit according to the positioning data detected by the first positioning unit; The way in which the sensing device transmits the environment information to the specific robot through the first communication unit and the second communication unit can be wired transmission or wireless transmission. 12. The distributed security system according to claim 11, wherein when the specific robot judges that an abnormality occurs according to the environmental information, the control unit according to the sensing device in the storage unit, the specific robot and the common robot Location, assign the specific robot or the common robot that can reach the location where the abnormality occurred in the shortest time to go to the location where the abnormality occurred. 13. The distributed security system according to claim 12, wherein the storage unit also records the highest moving speed of the specific robot and the common robot; This minimum time is based on: The relative displacement distance between the position of the specific robot and the position of the sensing device is calculated from the maximum moving speed of the specific robot; and The relative displacement distance between the position of the ordinary robot and the position of the sensing device is calculated from the maximum moving speed of the ordinary robot. 14. The distributed security system as claimed in claim 11, wherein there are multiple sensing devices installed in different positions in the environment, and the environmental information is transmitted through the first communication unit and the second communication unit to that particular robot. 15. The distributed security system as claimed in claim 11, wherein When the specific robot judges that an abnormality occurs according to the environmental information, the control unit assigns the sensor that can reach the abnormality within the shortest time according to the positions of the sensing device in the storage unit, the specific robot and the common robot. The specific robot or the general robot that detects the location of the device goes to the location where the abnormality occurred. 16. The distributed security system as claimed in claim 15, wherein the storage unit further records the maximum moving speed of the robot This minimum time is based on: The relative displacement distance between the position of the specific robot and the position of the sensing device is calculated from the maximum moving speed of the specific robot; and The relative displacement distance between the position of the ordinary robot and the position of the sensing device is calculated from the maximum moving speed of the ordinary robot. 17. The distributed security system according to claim 11, wherein the sensing device can be an image, fire, smoke, infrared, movement, vibration, temperature, gas, human body, etc. sensing device or a combination thereof. 18. The distributed security system as claimed in claim 12, wherein the specific robot further comprises a sensing unit, which can detect the abnormal information of the location where the abnormal occurs, and store the abnormal information in the specific robot itself; and The ordinary robot also includes a sensing unit, which can detect the abnormality information of the location where the abnormality occurs, and store the abnormality information in the ordinary robot itself. 19. The distributed security system as claimed in claim 12, wherein the specific robot further comprises a sensing unit, which can detect the abnormal information of the location where the abnormal occurs, and transmit the abnormal information to a remote monitoring center or a remote terminal; and The ordinary robot also includes a sensing unit, which can detect the abnormality information of the location where the abnormality occurs, and transmit the abnormality information to a remote monitoring center or a remote terminal. 20. The distributed security system as claimed in claim 19, wherein the remote terminal can be a personal mobile communication device, such as a mobile phone, a PDA, and the like.

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