• 专利附录
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    • 专利摘要:
    monitoring system, and, method for monitoring an environmental condition of an area a monitoring system (100) for monitoring an environmental condition of an area (105) by measuring a corresponding environmental quantity is described. the system comprises a static monitoring section (110) comprising a plurality of static sensor units (120); each static sensor unit is configured to collect first measurement data relating to the environmental quantity in a respective portion of the area according to predetermined first programmed routines. the system further comprises a mobile monitoring section (115) comprising at least one robot (125); each of said at least one robot is configured to move itself within the area and is configured to collect second measurement data relating to the environmental quantity in a portion of the area around at least one robot itself according to predetermined second routines scheduled. the system further includes a central unit (130) in communication relationships with the static sensor units and the at least one robot for receiving the first measurement data and the second measurement data and evaluating the environmental condition of the area on a per-pilot basis. minus one between the first and second measurement data received. the central unit is configured to carry out at least one of: - conditioned to the assessment of an anomalous environmental condition of the first measurement data collected by at least one static sensor unit, command at least one robot to operate according to anomaly routines under the control of the central unit, and - conditioned on the assessment of an anomalous environmental condition of the second measurement data collected by at least one robot, commanding at least one static sensor unit to operate according to anomaly routines under the control of the central unit .
    公开号:BR112013027456B1
    申请号:R112013027456-5
    申请日:2011-04-27
    公开日:2021-08-24
    发明作者:Roberto Antonini；Gian Piero Fici；Marco Gaspardone
    申请人:Telecom Italia S.P.A.；
    IPC主号:
    专利说明:

    Fundamentals of the Invention
    [0001] The present invention relates to the field of automated systems to monitor areas. Description of Related Technique
    [0002] These days, a so-called “Internet of Things” is one of the most interesting and promising aspects in the fields of computing and telecommunications. By the term "Internet of Things" is generally intended a networking interconnection of machines capable of making resources available that can be accessed remotely. The "machines" can be sensors, actuators, or everyday objects (such as household appliances, clothes, cars, etc.), all provided with a wired network communication or wireless communication capability. "Resources" can be readings of monitored parameters (eg readings from electrical meters, gas meters, water meters or weather reports, traffic information, etc.), status of sensors (eg proximity sensors, sensors industrial process, sensors to monitor people and patients, etc.), trigger capabilities (eg, open a door, trigger a process, trigger an action, etc.).
    [0003] In this regard, exploiting the capabilities of modern technologies, it is possible to implement a number of advantageous services, such as for example a service to monitor the elderly, an integrated service to control traffic, a service for the remote inspection of a area requiring a particular degree of surveillance, a service to remotely monitor environmental conditions in an area, and so on.
    [0004] A possible known system implementing an area monitoring service provides for the use of a so-called Sensor Network (SN). Specifically, an SN consists of a plurality of autonomous sensor units spatially distributed within the area to be monitored; each sensor unit is configured to monitor environmental conditions of a respective portion of the area, such as temperature, sound, vibration, pressure, movement or concentration of pollutants.
    [0005] The SN is configured to pass on the data collected by the sensor units to a remote server, possibly via a gateway, over an external network - such as the Internet - for access by an end user.
    [0006] A Wireless Sensor Network (WSN) is a particular SN, in which the sensor units are connected to each other - and as well as to the passing gate - by means of a wireless link.
    [0007] A system of this type can be advantageously implemented with relatively low cost sensor units, provided with the basic minimum equipment to operate (such as the sensor itself, an energy source and/or a system for obtaining energy by means of external ones, a simple microcontroller and a transceiver), on condition that the heaviest computational processes are delegated to the base unit, for example remotely connected to the WSN via the gate.
    [0008] An additional known system implementing an area monitoring service provides for the use of one or more mobile sensor units, adapted to traverse within the area to be monitored. For example, mobile sensor units can be self-propelled automatically operated machines - hereafter referred to as "robot" - equipped with appropriate sensors. Such robots can be configured to automatically patrol the area to be monitored, for example following a predetermined or dynamically calculated patrol path, to sequentially monitor portions of the total area with the sensors while moving along the patrol path. In this way, instead of having to install a large number of static sensor units to cover the total area to be monitored, a smaller number of mobile robots equipped with sensors may suffice.
    [0009] Chinese Patent Application CN101468664 refers to a small size crawler type inspection robot system for hazardous cable tunnel environment, comprising a mobile platform, a top cover, a gas sensor box, a data transmission antenna, an image transmission antenna, a thermal camera tripod head, an ultrasonic sensor, a wireless monitoring device, a control box, a control unit and an operation panel, in which the mobile platform comprises a front guide belt wheel, a locking bolt, a swing arm, a first tension bolt, a front load carrying wheel, a second tension bolt, an intermediate guide wheel, a track, a rear load carrying wheel, a speed reducer, a swingarm motor and a steering motor. The system overcomes the drawbacks of previous cable tunnel inspection technology, avoids dangerous factors caused by manual inspection, simplifies the robot mechanism and provides a simple mechanism for cable tunnel inspection.
    [00010] A US Patent No. US 2009/023449 describes systems, methods, and user interfaces for controlling a robot. A map of the environment and a robot designator are presented to a user. User can place, move, and modify task designators in the map environment. Task designators indicate a position on the environment map and indicate a task for the robot to perform. An intermediate control links task designators with robot instructions issued to the robot. Intermediate control analyzes a relative position between the task designators and the robot. Intermediate control uses an analysis to determine a task-oriented autonomy level for the robot and communicates target achievement information information to the robot. Target achievement information may include instructions to directly guide the robot if the autonomy level indicates low robot initiative and may include instructions to direct the robot to determine a robot's plan to perform the task if the autonomy level indicates high robot initiative. robot.
    [00011] A US Patent No. US 2008/0009969 refers to methods and system for controlling a plurality of robots through a single user interface. The user interface includes at least one robot display window for each of a plurality of robots with the at least one robot display window illustrating one or more conditions of the respective robot of a plurality of robots. The user interface further includes at least one robot control window for each of a plurality of robots with the at least one robot control window configured to receive one or more commands to send to the respective robot from a plurality of robots. . The user interface further includes a multiple robots common window comprised of information received from each of a plurality of robots. Invention Summary
    [00012] It has been found that the aforementioned systems known in the above art implementing an area monitoring service are affected by several drawbacks.
    [00013] Specifically, even if a monitoring system arranged with a network of sensors can be advantageously implemented with relatively inexpensive sensor units, if the environmental condition object(s) of the monitoring system requires to be monitored with high accuracy, more sophisticated (and higher cost) sensors may be required, which are energy hungry. Furthermore, in order to efficiently cover the entire area to be monitored, without leaving unmonitored portions of it, the number of sensor units must be kept as large as possible, greatly increasing installation and management costs.
    [00014] Known solutions providing the use of robots equipped with sensors are affected by drawbacks, too. Specifically, in order to be able to autonomously deal with any unforeseen issue, such as the sudden appearance of obstacles blocking the planned patrol path, a robot must be provided with resources to make sufficiently evolved decisions.
    [00015] Since a robot of this type is quite expensive, the number of robots configured to operate in the same area to be monitored should be kept as small as possible. However, if the area to be monitored is large, a small number of robots would not be enough for an efficient service.
    [00016] The problem of how to improve the existing systems that implement an area monitoring service was addressed. Specifically, the Applicant addressed the problem of how to improve the energy efficiency of the system, as well as reduce installation costs and system management costs, while providing a reliable service capable of monitoring the area with a sufficiently high accuracy.
    [00017] One aspect of the present invention relates to a monitoring system for monitoring an environmental condition of an area by measuring a corresponding environmental quantity. The system comprises a static monitoring section comprising a plurality of static sensor units; each static sensor unit is configured to collect first measurement data relating to the environmental quantity in a respective portion of the area according to predetermined first programmed routines. The system further includes a mobile monitoring section comprising at least one robot; each of said at least one robot is configured to move itself within the area and is configured to collect second measurement data relating to the environmental quantity in a portion of the area around at least one robot itself according to predetermined second routines scheduled. The system still further includes a central unit in communication relationships with the static sensor units and the at least one robot for receiving the first measurement data and the second measurement data and evaluating the environmental condition of the area based on the at least one between the first and second measurement data received. The central unit is configured to carry out at least one of: - conditioned to the assessment of an anomalous environmental condition of the first measurement data collected by at least one static sensor unit, command at least one robot to operate according to anomaly routines under the control of the central unit, subject to the assessment of an anomalous environmental condition of the second measurement data collected by at least one robot, command at least one static sensor unit to operate according to anomaly routines under the control of the central unit .
    [00018] Due to the cooperation between sensors equipped on static sensor units and sensors equipped on mobile robots managed by the central unit, the proposed monitoring system is more flexible and efficient compared to known monitoring systems provided with an extensive coverage of sensor units statics only. Furthermore, the proposed monitoring system is less expensive compared to known monitoring systems based exclusively on robots, as it is possible to use a much smaller number of robots (for example, only one); in fact, the presence of the central unit ensures that such few robots are guided towards the area locations where monitoring is most required.
    [00019] According to an embodiment of the present invention, each robot is configured to autonomously roam within the area by operating according to the second predetermined programmed routines.
    [00020] According to an embodiment of the present invention, each static sensor unit is equipped with sensors configured to collect the first measurement data with a first sampling rate when operating according to the first predetermined programmed routines, and each robot is equipped with sensors configured to collect the second measurement data with a second sampling rate while operating according to the second predetermined programmed routines.
    [00021] Preferably, the sensors of at least one static sensor unit are configured to collect the first measurement data with a third sampling rate greater than the first sampling rate when operating according to the anomaly routines, and/ or the sensors of at least one robot are configured to collect the second measurement data with a fourth sample rate greater than the second sample rate when operating according to the anomaly routines.
    [00022] Advantageously, each robot is configured to be guided within the area by the central unit when operating according to the anomaly routines.
    [00023] According to an embodiment of the present invention, conditioned to the assessment of an anomalous environmental condition, the central unit is configured to guide at least one robot towards the portion of the area, in which such anomalous environmental condition has been assessed and then it is instructed not to leave that portion of the area, autonomously investigating the source of the anomalous environmental condition, until the environmental condition changes or a certain amount of time is expired.
    [00024] The environmental quantity can be selected from a set of quantities including temperature, sound, vibration, pressure, movement and concentration of pollutants.
    [00025] According to an embodiment of the present invention, each static sensor unit is equipped with temperature sensors, and each robot is equipped with a thermographic camera.
    [00026] Another aspect of the present invention provides a corresponding method for monitoring an environmental condition of an area by measuring a corresponding environmental quantity. The method comprises collecting first measurement data related to environmental quantity through a plurality of static sensor units according to first predetermined programmed routines and collecting second measurement data related to environmental quantity through at least one robot configured to move itself within the area according to second predetermined programmed routines. The method further comprises, in a central unit, receiving the first measurement data and the second measurement data, and evaluating the environmental condition of the area on the basis of at least one of the received first and second measurement data. The method still further comprises carrying out at least one of:- conditioned to the assessment of an anomalous environmental condition of the first measurement data collected by at least one static sensor unit, commanding at least one robot to operate according to anomaly routines under the central unit control, and conditioned to the assessment of an anomalous environmental condition from the second measurement data collected by at least one robot, commanding at least one static sensor unit to operate in accordance with anomaly routines under the control of the central unit.
    [00027] According to an embodiment of the present invention, the method further comprises in static sensor units, collecting the first measurement data with a first sampling rate when operating according to the first predetermined programmed routines, and not by minus one robot, collect the second measurement data with a second sampling rate by operating according to the second predetermined programmed routines.
    [00028] According to a further embodiment of the present invention, the static sensor units collect the first measurement data with a third sampling rate greater than the first sampling rate when operating according to the anomaly routines.
    [00029] According to a still further embodiment of the present invention, the at least one robot collects the second measurement data with a fourth sampling rate greater than the second sampling rate when operating according to the anomaly routines.
    [00030] Advantageously, the central unit, conditioned to the assessment of an anomalous environmental condition, guides at least one robot towards the portion of the area, in which such anomalous environmental condition was assessed. Brief Description of Drawings
    [00031] These and other features and advantages of the present invention will be evident from the following description of some exemplary and non-limiting modalities thereof, to be read in conjunction with the attached drawings, in which: Figure 1 represents an area monitoring system according to an embodiment of the present invention; Figure 2 is a flowchart illustrating operations performed by the area monitoring system of Figure 1; Figure 3A illustrates an area monitoring system according to an embodiment of the present invention when operating in a standard state , and Figure 38 illustrates the area monitoring system of Figure 3A when operating in an anomaly state. Detailed description of exemplary embodiments of the invention
    [00032] With reference to the drawings, Figure 1 illustrates in terms of functional blocks an area monitoring system 100 according to an embodiment of the present invention. Area monitoring system 100 is configured to monitor an environmental condition of an area 105 by measuring a corresponding environmental quantity. For example, the area monitoring system 100 can implement a "green computing" service for monitoring the temperature within a server farm; in this case, the area 105 to be monitored by the area monitoring system 100 is the place , where the servers forming the server farm are physically located.
    [00033] According to an embodiment of the present invention, the area monitoring system 100 includes two main sections, and specifically a static section, identified in the figure with reference 110, and a mobile section identified in the figure with reference 115. Static section 110 comprises a plurality of static sensor units 120 spatially arranged within area 105, while movable section 115 comprises at least one robot 125 configured to autonomously prowl area 105.
    [00034] The static section 110 and the mobile section 115 of the area monitoring system 100 are managed by the central unit 130, for example, a server supporting appropriate control and surveillance applications, in schematic form, identified in the figure with reference 135 As will be described in greater detail in the following description, according to an embodiment of the present invention the static section 110 and the movable section 115 together operate under the mediation of the central unit 130; in other words, the central unit 130 is present as a middleware.
    [00035] The area monitoring system 100 according to the embodiment of the invention illustrated in figure 1 provides a constant monitoring of the area 105 through static sensor units 120; the static sensor units 120 are configured to measure an environmental quantity - in the example in question, the temperature - of a respective portion of area 105.
    [00036] According to an embodiment of the present invention, the static sensor units 120 are configured to transmit (and receive) data to (from) (from) the central unit 130 in real time. More particularly, the static sensor units 120 are connected to a local sensor network 140, for example of the wireless type, which is in turn coupled to an access control unit 145. The measured data generated by the various sensor units statics 120 during area monitoring 105 are sent through the local sensor network 140 to be collected by the access control unit 145, which passes them on to the central unit 130. Similarly, the central unit 130 is configured to pass. further commands to the static sensor units 120 by sending them - via the access control unit 145 - over the local sensor network 140.
    [00037] The central unit 130 can be directly installed within (or close to) the area 105 to be monitored, or it can be located in a location that is remote from the area 105. In the first case, the central unit 130 is directly connected to the access control unit 145. If instead the central unit 130 is remote, the central unit 130 and the local sensor network 140 are coupled via an external network 148, such as the Internet. In this case the transmit/receive protocol used in the local sensor network 140 (eg a local radio protocol such as the ZigBee protocol) is different from that used in the external network 148 (eg the Internet Protocol (IP) , the interface between such two different protocols is performed by the access control unit 145. In both cases, the access control unit 145 operates as a gateway.
    [00038] According to an embodiment of the present invention, the control and surveillance applications 135 used by the central unit 130 to operate the area monitoring system 100 are locally installed in the central unit 130 itself. According to an additional embodiment of the present invention (not illustrated) the control and surveillance applications 135 are instead remotely provided to the central unit 130 via the external network 148.
    [00039] According to an embodiment of the present invention, each static sensor unit 120 comprises:- at least one sensor 152 for monitoring the environmental condition of a respective portion of the area 105 by generating measurement data relating to a corresponding quantity environmental; in the example considered, said sensor is a temperature sensor, the environmental quantity is temperature, and said measurement data are temperature values; - a transceiver unit 154 to transmit measurement data collected by the sensor 152 to the unit central 130 and to receive commands sent by central unit 130; in the example considered, the transceiver unit includes a wireless interface with an internal antenna or a connection to an external antenna; - a central sensor unit 156 configured to operate other sections of the static sensor unit 120 under the control of an application of application of local sensor 157, such that, in the absence of external commands, the static sensor unit 120 operates following predetermined programmed routines; - a power source 158, such as a battery and/or a system for obtaining power by external means , for the power supply of sensor 152, transceiver unit 154 and central sensor unit 156.
    [00040] The local sensor application 157 is preferably installed in the static sensor unit 120 itself, for example in the form of program instructions stored in a local memory unit; however, similar considerations apply if such an application is remote, for example provided to static sensor unit 120 via local sensor network 140.
    [00041] According to an embodiment of the present invention, in addition to monitoring through static sensor units 120, the area monitoring system 100 at the same time provides monitoring of the area 105 through sensors equipped on the at least one robot 125 Like the static sensor units 120, the robots 125 are likewise configured to transmit (and receive) data to (from) (from) the central unit 130 in real time.
    [00042] According to an embodiment of the present invention, the measurement data generated by the robots 125 during the monitoring of the area 105 are sent to the central unit 130 directly through the external network 148. Similarly, the central unit 130 passes on commands to the static sensor units 120 by sending them directly over the external network 148.
    [00043] According to a further embodiment of the present invention, the robots 125 and the central unit 130 exchange data with a network configuration similar to that employed for the static sensor units 120, with the robots 125 that are connected to a network of local robots 150, for example of the wireless type, which are in turn coupled to a corresponding additional control access unit 151.
    [00044] According to a still further embodiment of the present invention, the robots 125 are instead of interfacing with the local sensor network 140 used by the static sensor unit 120.
    [00045] According to an embodiment of the present invention, each robot 125 comprises: - at least one sensor 160 to monitor the environmental condition of the portion of area 105 surrounding the robot 125 by generating measurement data related to the corresponding environmental quantity ( preferably more sophisticated and more accurate than sensors 152 equipped in static sensor units 120); in the example considered, said sensor is a thermographic camera, the environmental quantity is temperature, and said measurement data are thermal images; - a transceiver unit 165 equipped with an antenna to transmit measurement data collected by the sensor 160 to the central unit 130 and to receive commands sent by central unit 130; for example, in case the robot 125 is configured to directly exchange data via the external network 148, the transceiver unit is equipped with a subscriber identity module (SIM), on the other hand it includes a wireless interface;- a unit robot hub 170 configured to operate the other sections of robot 125 under the control of a local robot application 175 such that, in the absence of external commands, robot 125 operates following predetermined programmed routines; the central unit of the robot 170 is further configured to receive commands from the central unit 130 and consequently operate the robot 125 to perform special routines that are not covered by the local robot application 175; - a locomotion unit 185 configured to provide the robot 125 with movement capabilities, such as, for example, wheels and/or tracks adapted to be moved by a corresponding motor (not shown);- a power source 190, such as a battery and/or a power cleaning system, for the power supply of other sections of the robot 125.
    [00046] As the local sensor application 157, the local robot application 175 is also preferably installed on the robot 125 itself, for example, in the form of program instructions stored in a local memory unit; however, similar considerations apply if such an application is remote, for example provided to robot 125 via external network 148.
    [00047] According to an embodiment of the present invention, the central unit 130 is configured to modify in real time the behavior of a static section 110 and a mobile section 115, in order to improve the area monitoring service based on the effective condition of the area 105.
    [00048] Specifically, until area 105 is assessed to be in a standard environmental condition (hereafter simply standard condition"), the area monitoring system 100 operates in a corresponding standard state, with the sensor units static 120 and robots 125 which operate following their predetermined programmed routines.
    [00049] As soon as the static sensor unit 120 or a robot 125 assesses an anomaly or a deviation from the standard condition that is susceptible to further analysis, the central unit 130 takes control of the operation to further investigate the cause of such anomaly. To this end, according to an embodiment of the present invention at least one robot 125 is instructed by the central unit 130 to proceed towards the portion of area 105 where such anomaly has been detected, and remains confined within such portion to collect more. detailed measurement data. Furthermore, the central unit 130 can additionally instruct the sensors (both those in the static sensor units 120 and those in the robots 125) to collect measurement data with a sampling rate greater than that used in the standard state. In addition, the central unit 130 can update a suitable anomaly record to keep track of any anomaly event occurring in area 105.
    [00050] If a condition gets worse (ie, if the deviation from the standard condition still increases), the central unit 130 can additionally issue alarm signals, via real-time communications (eg an email or an SMS) and /or updating an alarm log to signal the occurrence of such an anomalous condition to a user of area monitoring system 100.
    [00051] In order to illustrate in greater detail how the area monitoring system 100 operates in accordance with an embodiment of the present invention, reference is now made to the flowchart illustrated in figure 2.
    [00052] When the area monitoring system 100 is in a "default state" (block 202), the sensors 152 of the static sensor units 120 collect measurement data related to the monitored environmental quantity with a sample frequency of sf1, while the sensors 160 of robots 125 collect measurement data related to the same monitored environmental quantity with a sample frequency rf1.
    [00053] In this situation, robots 125 autonomously operate following respective predetermined programmed routines, under the control of local robot application 175. For example, depending on local robot application 175, each robot 125 can be guided in such a way to follow a predetermined tour path or wander within the area 105 to be monitored, automatically avoiding any obstacles.
    [00054] The measurement data is sent to the central unit 130 as soon as they are collected by the static sensor units 120 and the robots 125. According to an embodiment of the present invention, the measurement data collected by the static sensor units 120 are sent to the access control unit 145 via the local sensor network 140, which pass them on to the central unit 130 via the external network 148, while the measurement data collected by the robots 125 is sent to the central unit 130 directly. via the external network 148, or via the access control unit 151.
    [00055] The measurement data is received by the central unit 130, which checks whether or not its values are within the prescribed pattern condition range. As long as the measured data falls within the standard condition range, the area monitoring system 100 is held in the standard state (output branch "N" of block 204, returning back to block 202).
    [00056] Figure 3A illustrates an example area monitoring system when operating in the default state. In this example, the static portion of the system includes three static sensor units 120(1), 120(2) and 120(3), and the mobile portion includes a single robot 125, which autonomously roams between the area 105 to be monitored.
    [00057] Returning to Figure 2, as soon as the measured data received by the central unit 130 from at least one static sensor unit 120 or robot 125 falls outside the corresponding standard condition range, an anomaly is detected, and the system state of area monitoring 100 is switched by the central unit 130 to an "anomaly state" (output branch “Y” of block 204 proceeding to block 206).
    [00058] In an anomaly state, the central unit 130 starts an anomaly time counter ANT, and commands the static sensor units 120 and robots 125 to operate according to new anomaly routines (different than those programmed and predetermined ) under the control of the central unit 130.
    [00059] Specifically, according to an embodiment of the present invention the anomaly routines configured by the central unit 130 provide increased sampling frequencies of (at least some) static sensor units 120 and robots 125. More particularly, in a state of anomaly, sensors 152 of (at least a subset of) static sensor units 120 collect measurement data with a sample frequency sf2 > sf1, and sensors 160 of (at least one of) robots 125 collect measurement data with a sample frequency rf2 > rf1.
    [00060] In addition, the central unit 130 is able to determine in which portion of the area 105 the anomaly occurred by identifying the source of the measured data that fell outside the prescribed standard ranges. For example, if such measured data originates from a specific static sensor unit 120, the anomaly is presumably caused by something that is occurring in a portion - hereinafter referred to as "anomaly area" - of the area 105 that is next to the mentioned specific static sensor unit 120. If there are no robots 125 within such anomaly area (output branch "N" of block 208), the anomaly routines configured by the central unit 130 provide for commanding at least one robot 125 to proceed towards the anomaly area (block 210 ). Once the mentioned at least one robot 125 has reached the anomaly area, or in the case that a robot 125 was already within the anomaly area when the anomaly was detected (output branch “S” of block 208), the routine of anomaly configured by the central unit 130 provides provides to guide such at least one robot 125 in such a way to wander confined within such anomaly area (block 211). Thanks to the presence of at least one robot 125 (which is preferably equipped with sensors that are more sophisticated and more accurate than the sensors of the static sensor units 120) within the anomaly area, and thanks to the increased sample frequencies sf2, rf2 , during an anomaly state the central unit 130 receives a greater amount of (better) data considering the anomaly area, in order to facilitate the following situation analysis. In addition, the central unit 130 can record an occurrence of an anomaly event by updating a corresponding anomaly record.
    [00061] Figure 3B illustrates the area monitoring system example of Figure 3A when operating in an anomaly state, even after an anomaly condition has occurred. In the example in question, measurement data that fell outside the standard condition range was generated by static sensor unit 120(2). In this case, the central unit 130 defines within the area 105 a corresponding anomaly area 300 around such static sensor unit 120(2). For example, the anomaly area 300 is a circular area having a center corresponding to the location of the static sensor unit 120(2) and a radius R.
    [00062] Returning to Figure 2, an anomaly state is held by the central unit 130 until an ant anomaly time counter expires, or a worse anomaly is detected.
    [00063] Specifically, if the previously detected anomaly did not get worse (output branch "N" of block 212, going to block 214), in the sense that the measured data collected by the sensor unit(s) 120 and/or the robot(s) 125 within the anomaly area do not appreciably increase their distance from the corresponding standard condition interval, the central unit 130 checks the value assumed by the anomaly time counter ant. If the anomaly time counter ant is still less than (or equal to) a first threshold thl, an anomaly state is maintained (output branch "N" of block 214, returning to block 211); if instead the ant anomaly time counter exceeds the first threshold thl, the central unit 130 switches back the state of the area monitoring system 100 to the default state (output branch “S” of block 214, returning to the block 202), with the central unit 130 resetting the ant anomaly time counter, and configuring the static sensor units 120 and robots 125 to operate again according to their predetermined programmed routines. Specifically, the central unit 130 commands the static sensor units 120 and robots 125 to lower their sample frequencies to sfl and rfl, respectively, and allows the robot(s) 125 previously confined in the anomaly area to freely roam within the entire area 105. According to an embodiment of the present invention, before switching the state of the area monitoring system 100 back to the default state, the central unit 130 sets up an anomaly extinction time counter adt associated with the previously detected anomaly (block 215). During the subsequent default state, and while such adt anomaly extinguishing time counter is less than a pre-defined threshold, the central unit 130 is configured to ignore the presence of an anomaly associated with the counter, in such a way to allow the detection of additionally different anomalies.
    [00064] Conversely, if the previously detected anomaly worsens, in the sense that the measured data collected by the sensor unit(s) 120 and/or the robot(s) 125 within the anomaly area have increased their distances from the corresponding condition range default of a greater extent than a corresponding alarm limit, the state of the area monitoring system 100 is switched by the central unit 130 to an "alarm state" (output branch "S" of block 212, going to block 216).
    [00065] In the alarm state (block 216), the central unit 130 starts an alt alarm time counter, and commands the static sensor units 120 and robots 125 to operate according to new alarm routines (other than anomaly routines) under the control of the central unit itself 130.
    [00066] Specifically, according to an embodiment of the present invention the alarm routines configured by the central unit 130 provide operation (at least some) of the static sensor units 120 and robots 125 to further increase their sample frequencies. Specifically, in the alarm state, sensors 152 of (at least a subset of) static sensor units 120 collect measurement data with a sample frequency sf3 > sf2, and sensors 160 of (at least one of) robots 125 collect measurement data with a sample frequency rfi > rf2. During the alarm state, the central unit 130 issues alarm signals, for example, through real-time communications (e.g., email or SMS) and/or updating an alarm record to signal the occurrence of such an alarm to a user of the area monitoring system 100.
    [00067] Furthermore, according to an embodiment of the present invention, during the alarm state the alarm routines configured by the central unit 130 further provide reduction in the extent of an anomaly area, for example, reducing the radius R thereof ( block 218).
    [00068] The alarm state is held by the central unit 130 until the alt alarm time counter expires. Specifically, as long as the alt alarm time counter is less than (or equal to) a second threshold th2, the alarm state is maintained (output branch "N" of block 220, returning to block 218); if instead the alt alarm time counter exceeds the second threshold th2, the central unit 130 switches the state of the area monitoring system 100 back to the default state (output branch “S” of block 220, returning to the block 202), with the central unit 130 resetting the alt alarm time counter, and configuring the static sensor units 120 and robots 125 to operate again in accordance with their predetermined programmed routines. Specifically, static sensor units 120 and robots 125 are operated to lower their sample frequencies to sf1 and rf1, respectively, and robot(s) 125 previously confined in the reduced anomaly area are allowed to freely roam within the entire area. 105. According to an embodiment of the present invention, prior to switching the state of the area monitoring system 100 back to the default state, the central unit 130 sets up an alarm extinction time counter aldt associated with the anomaly that has previously worsened detected (block 222). During the subsequent default state, and while such altt alarm extinguishing time counter is less than a predefined threshold, the central unit 130 is configured to ignore the presence of an anomaly associated with the counter, in such a way to allow detection of additional anomalies.
    [00069] The synergy cooperation between sensors equipped on the static sensor units and sensors equipped on the mobile robots managed by the central unit is more flexible and efficient compared to known monitoring systems provided with an extensive coverage of the static sensor units only. Furthermore, with the proposed solution it is possible to reduce the overall cost of the system using a smaller number of robots (for example, only one), since the presence of the central unit ensures that such robots are guided towards the locations of the area, in that monitoring is most required. In addition, the resulting system has improved energy efficiency, can be installed easily, and requires very little management effort.
    [00070] The foregoing description presents and discusses in detail various embodiments of the present invention; however, various changes to the described embodiments, as well as different embodiments of the invention are possible, without departing from the scope defined by the appended claims.
    [00071] The concepts of the present invention are also applicable in the case where the at least one robot is kept in a steady state - in which the robot does not move - during the default state, and is activated by the central unit only when the system enters the anomaly state to be guided towards the portion of the area where the anomaly was determined.
    [00072] In addition, similar considerations apply if the cooperation between static sensor units and mobile robots driven by the central unit provide for, once the occurrence of an anomaly was detected by a robot, guiding only the static sensor units with the anomaly routines (for example, for increasing sample frequencies), which allows the robot to operate according to predetermined programmed routines.
    [00073] Although reference has been made to an area monitoring system implementing a service for temperature monitoring, similar considerations apply if each sensor (both in static sensor units and robots) is configured to monitor different environmental conditions by measuring different environmental quantities such as sound, vibration, pressure, movement, concentration of pollutants and the like.
    权利要求:
    Claims (14)
    [0001]
    1. Monitoring system (100) for monitoring an environmental condition of an area (105) by measuring a corresponding environmental quantity, comprising:- a static monitoring section (110) comprising a plurality of static sensor units (120) , each static sensor unit being configured to collect first measurement data relating to the environmental quantity in a respective portion of the area according to first predetermined routines programmed during a standard environmental condition; - a mobile monitoring section (115) comprising at least one robot (125), each of said at least one robot being configured to move itself within the area and being configured to collect second measurement data relating to the environmental quantity in a portion of the area around at least one robot itself. according to predetermined second routines programmed during a standard environmental condition, and - a central unit (130) in relation to communication es with the static sensor units and the at least one robot to receive the first measurement data and the second measurement data and assess the environmental condition of the area based on at least one of the received first and second measurement data , the central unit being configured to carry out at least one of: - conditioned to the assessment of an anomalous environmental condition of the first measurement data collected by at least one static sensor unit, command at least one robot to operate according to anomaly routines under the control of the central unit, and conditioned to the assessment of an anomalous environmental condition of the second measurement data collected by at least one robot, command at least one static sensor unit to operate according to anomaly routines under the control of the unit central, characterized by the fact that each robot is configured to autonomously roam within the area when operating according to the predetermined second routines programmed during a standard environmental condition.
    [0002]
    2. Monitoring system according to claim 1, characterized in that: - each static sensor unit is equipped with sensors configured to collect the first measurement data with a first sampling rate when operating according to the first predetermined programmed routines, e- each robot is equipped with sensors configured to collect the second measurement data with a second sampling rate while operating according to the second predetermined programmed routines.
    [0003]
    3. Monitoring system according to claim 2, characterized in that the sensors of at least one static sensor unit are configured to collect the first measurement data with a third sampling rate greater than the first sampling rate when operating according to the anomaly routines.
    [0004]
    4. Monitoring system according to any one of claims 2 or 3, characterized in that the sensors of at least one robot are configured to collect the second measurement data with a fourth sampling rate greater than the second sampling rate. sampling when operating according to the anomaly routines.
    [0005]
    5. Monitoring system according to any one of claims 1 to 4, characterized in that each robot is configured to be guided within the area by the central unit when operating according to the anomaly routines.
    [0006]
    6. Monitoring system according to claim 5, characterized in that, conditioned to the assessment of an anomalous environmental condition, the central unit is configured to guide at least one robot towards the portion of the area, in which such environmental condition anomalous was evaluated.
    [0007]
    7. Monitoring system according to claim 6, characterized in that, conditioned to the assessment of said anomalous environmental condition, the central unit is further configured to guide said at least one robot in such a way that said at least one robot remains confined within the mentioned portion of the area, in which such anomalous environmental condition was assessed.
    [0008]
    8. Monitoring system according to any one of claims 1 to 7, characterized in that such environmental quantity is a selected quantity among the set of quantities including temperature, sound, vibration, pressure, movement and concentration of pollutants.
    [0009]
    9. Monitoring system according to any one of claims 3 to 8, characterized in that: - each static sensor unit is equipped with temperature sensors, and - each robot is equipped with a thermographic camera.
    [0010]
    10. Method for monitoring an environmental condition of an area by measuring a corresponding environmental quantity, comprising:- collecting first measurement data relating to the environmental quantity through a static monitoring section (110) comprising a plurality of static sensor units (120) according to first predetermined routines programmed during a standard environmental condition;- collect second measurement data related to the environmental quantity through a mobile monitoring section (115) comprising at least one robot (125) configured to move itself within the area according to second predetermined routines programmed during a standard environmental condition; - in a central unit (130): - receive the first measurement data and the second measurement data, and - evaluate the environmental condition of the area based on at least one between the first and second measurement data received, the method further comprising performing by me us one of:- conditioned to the assessment of an anomalous environmental condition of the first measurement data collected by at least one static sensor unit, commanding at least one robot to operate according to anomaly routines under the control of the central unit, and- conditioned to the assessment of an anomalous environmental condition of the second measurement data collected by at least one robot, command at least one static sensor unit to operate according to anomaly routines under the control of the central unit, the method characterized by the fact that it comprises further cause each robot to autonomously roam within the area by operating according to the second predetermined routines programmed during a standard environmental condition.
    [0011]
    11. Method according to claim 10, characterized in that it further comprises: - in static sensor units, collecting the first measurement data with a first sampling rate when operating according to the first predetermined programmed routines, and - in the at least one robot collects the second measurement data with a second sampling rate while operating according to the second predetermined programmed routines.
    [0012]
    12. Method according to claim 11, characterized in that it further comprises: - in static sensor units, collecting the first measurement data with a third sampling rate greater than the first sampling rate when operating in accordance with the anomaly routines.
    [0013]
    13. Method according to any one of claims 11 or 12, characterized in that it further comprises: - in the at least one robot, collecting the second measurement data with a fourth sampling rate greater than the second sampling rate when operating from according to the anomaly routines.
    [0014]
    14. Method according to claim 13, characterized in that it further comprises: - in the central unit, conditioned to the assessment of an anomalous environmental condition, guiding at least one robot towards the portion of the area, in which such anomalous environmental condition was evaluated.
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    同族专利:
    公开号 | 公开日
    US9689882B2|2017-06-27|
    US20140039825A1|2014-02-06|
    BR112013027456A2|2020-08-11|
    EP2702577B1|2019-06-12|
    AR086148A1|2013-11-20|
    WO2012146279A1|2012-11-01|
    EP2702577A1|2014-03-05|
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    法律状态:
    2020-08-25| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2020-09-01| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-06-29| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-24| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/04/2011, OBSERVADAS AS CONDICOES LEGAIS. PATENTE CONCEDIDA CONFORME ADI 5.529/DF, QUE DETERMINA A ALTERACAO DO PRAZO DE CONCESSAO. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/EP2011/056669|WO2012146279A1|2011-04-27|2011-04-27|Area monitoring system and method|
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