Interaction between a mobile robot and an alarm installation

• US 9,984,558 B2
• Filed: 06/25/2013
• Issued: 05/29/2018
• Est. Priority Date: 06/27/2012
• Status: Active Grant

• Current Assignee: Rotrade Asset Management GmbH
• Original Assignee: Robart GmbH
• Inventors: Artes, Harold, Schahpar, Michael, Iskratsch, Kai
• Primary Examiner(s): Zimmerman, Brian
• Assistant Examiner(s): Lau, Kevin
• Application Number:
  US14/411,578
• Publication Number:
  US 20150170509A1
• Time in Patent Office: 1,799 Days
• Field of Search: None
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G08B 13/00 Burglar, theft or intruder alarms
• CPC Class Codes: G08B 13/18 Actuation by interference with heat, light, or radiation of shorter wavelength; Actuation by intruding sources of heat, light, or radiation of shorter wavelength
• CPC Class Codes: G08B 13/19608 Tracking movement of a target, e.g. by detecting an object predefined as a target, using target direction and or velocity to predict its new position
• CPC Class Codes: G08B 13/19645 Multiple cameras, each having view on one of a plurality of scenes, e.g. multiple cameras for multi-room surveillance or for tracking an object by view hand-over
• CPC Class Codes: G08B 13/19656 Network used to communicate with a camera, e.g. WAN, LAN, Internet
• CPC Class Codes: G08B 13/19697 Arrangements wherein non-video detectors generate an alarm themselves
• CPC Class Codes: G08B 25/008 Alarm setting and unsetting, i.e. arming or disarming of the security system
• CPC Class Codes: G08B 25/10 using wireless transmission systems G08B25/009 takes precedence
• CPC Class Codes: G08B 25/14 Central alarm receiver or annunciator arrangements
• CPC Class Codes: G08B 29/18 Prevention or correction of operating errors G08B29/02, G08B29/12 take precedence
• CPC Class Codes: G08B 29/185 Signal analysis techniques for reducing or preventing false alarms or for enhancing the reliability of the system
• CPC Class Codes: H04N 7/181 for receiving images from a plurality of remote sources

Abstract

A system has a mobile robot for autonomously performing activities and a statically fitted alarm installation for monitoring an area. Accordingly, the robot and the alarm installation communicate with one another via a communication link. The mobile self-propelled robot uses a map of the environment to navigate across a floor space through at least a portion of the area and to locate its position on the map. Triggering of an alarm by the alarm installation is prevented when the robot moves into the area to be monitored. The triggering of the alarm by the alarm installation is made possible again when the robot moves out of the area to be monitored.

Claims

1. A system, comprising:

a statically fitted alarm installation configured to monitor an area;

an autonomous mobile robot configured to autonomously perform activities, said autonomous mobile robot having a map of an environment to navigate, using the map, across a floor space through at least a portion of the area to be monitored and to locate a position of itself on the map, wherein the map including information about a location of the area to be monitored and said autonomous mobile robot being further configured to detect, whether said autonomous mobile robot is moving into the area to be monitored or out of the area to be monitored based on information representing the position of said autonomous mobile robot on the map;

a communication link, said autonomous mobile robot and said statically fitted alarm installation communicate with one another via said communication link;

wherein the system is configured to prevent said statically fitted alarm installation from triggering an alarm when said autonomous mobile robot moves into the area to be monitored and the system is further configured to enable the triggering of the alarm by said statically fitted alarm installation when said autonomous mobile robot moves out of the area to be monitored; and

wherein the triggering of the alarm is prevented by said autonomous mobile robot communicating to said statically fitted alarm installation, via said communication link, that it is about to move into the area to be monitored, for which said autonomous mobile robot has detected that it is about to move into.

2. The system according to claim 1, wherein said statically fitted alarm installation has at least one sensor component for monitoring the area entirely or at least the portion of the area.

3. The system according to claim 2, wherein said at least one sensor component is deactivated or ignored in order to prevent triggering of the alarm when said autonomous mobile robot moves into the portion monitored by said at least one sensor component.

4. The system according to claim 3, wherein said at least one sensor component is activated or heeded again to enable triggering of the alarm again when said autonomous mobile robot moves out of the portion monitored by said at least one sensor component.

5. The system according to claim 2, wherein said at least one sensor component is selected from the group consisting of a camera, a motion detector, a light barrier and a safety mat.

6. The system according to claim 1, wherein said autonomous mobile robot is configured to autonomously perform activities while navigating through at least the portion of the area.

7. The system according to claim 1, wherein said autonomous mobile robot and said statically fitted alarm installation communicate with one another via at least one encrypted communication channels.

8. The system according to claim 1, further comprising a monitoring unit that is configured to communicate with at least one of said autonomous mobile robot or said statically fitted alarm installation.

9. The system according to claim 8, wherein said autonomous mobile robot has a navigation computer and maps are stored in at least one of said statically fitted alarm installation, said monitoring unit or said navigation computer.

10. The system according to claim 9, wherein the maps are created during a learning trip of said autonomous mobile robot, during which said autonomous mobile robot moves across the area to be monitored and creates the map in the process.

11. The system according to claim 2, wherein:

said at least one sensor component is one of a plurality of sensor components; and

said autonomous mobile robot detects said sensor components fitted in the area to be monitored and portions monitored by said sensor components and enters them in the map.

12. The system according to claim 2, wherein the alarm is triggered, when said at least one sensor component detects a foreign object, at least one person, smoke, fire or another disturbance in at least one portion of the area in which said autonomous mobile robot is not situated.

13. The system according to claim 12, wherein said autonomous mobile robot uses stored maps to navigate to the at least one portion in which the alarm was triggered.

14. The system according to claim 2, wherein said autonomous mobile robot performs activities depending on a state of at least one of said statically fitted alarm installation and said at least one sensor component.

15. The system according to claim 1, wherein the system is configured to detect portions of the area to be monitored in which there are no or only a few persons.

16. The system according to claim 15, wherein the system allows said autonomous mobile robot to navigate only to the portions in which there are no or only a few persons.

17. The system according claim 1, wherein said autonomous mobile robot concludes its activities in one portion of the area to be monitored before it navigates to a next portion of the area to be monitored.

18. The system according to claim 1, wherein said autonomous mobile robot can autonomously perform activities during navigation including a treatment or cleaning of floor spaces, an inspection of an environment or of objects in the environment, a transport of objects or a cleaning of air.

24. The system according to claim 11, wherein the map is created during a learning trip of the autonomous mobile robot, during which the autonomous mobile robot moves across the area to be monitored and creates the map in the process.

25. The system according to claim 24, wherein said statically fitted alarm installation sends information to said autonomous mobile robot about which of said sensor components is triggered during the learning trip and wherein triggered sensor components and/or the portions of the area associated therewith are stored in the map.

26. The system of claim 2, wherein:

said autonomous mobile robot communicates to said statically fitted alarm installation, via said communication link, when said autonomous mobile robot enters a monitored portion of the area, upon which said at least one sensor component is deactivated or ignored in order to prevent the triggering of the alarm; and

said autonomous mobile robot communicates to the statically fitted alarm installation, via said communication link, when said autonomous mobile robot leaves the monitored portion of the area, upon which said at least one sensor activated or heeded again to enable triggering of the alarm.

27. The system according to claim 11, wherein said sensor components fitted in the area to be monitored and the portions monitored by said sensor components are manually entered in the maps by a user.

19. A method for operating an autonomous mobile robot for autonomously performing activities in an area monitored by a statically fitted alarm installation, which comprises the following steps of:

storing at least one map of an environment, the map including information about a location of the area to be monitored;

navigating the autonomous mobile robot across a floor space of the area using the map of the environment while performing the activities;

detecting, based on information representing a position of the autonomous mobile robot on the map, whether the autonomous mobile robot moves into the area to be monitored or a specific portion of the area or whether the autonomous mobile robot moves out of the area to be monitored or, respectively, the specific portion;

preventing a triggering of an alarm by the statically fitted alarm installation, when it is detected, based on information representing the position of said autonomous mobile robot on the map, that the autonomous mobile robot moves into the area to be monitored, wherein the step of preventing the triggering of the alarm includes that the autonomous mobile robot communicates to the statically fitted alarm installation, via a communication link, that the autonomous mobile robot is about to move into the area to be monitored for which the autonomous mobile robot has detected that it is about to move into; and

enabling the triggering of the alarm again by the statically fitted alarm installation when it is detected, based on the information representing the position of said autonomous mobile robot on the map, that the autonomous mobile robot moves out of the area to be monitored.

21. The method according to claim 19, wherein the statically fitted alarm installation includes at least one sensor, the sensor monitoring a detection region of an area associated with the sensor, the method further comprises:

receiving, by the autonomous mobile robot, information about positions of specific detection regions via a communication link and storing received information in the map.

23. The method according to claim 19, wherein enabling the triggering of the alarm further includes the autonomous mobile robot communicating, via the communication link, that the autonomous mobile robot is leaving the specific detection region or is about to enter another specific detection region.

20. An autonomous mobile robot for autonomously performing activities, the mobile robot comprising:

a drive for moving the autonomous mobile robot across a floor space;

a treatment module for performing activities during a treatment process while the autonomous mobile robot moves across the floor space;

at least one sensor for acquiring information relating to an environment and/or relating to the floor space;

a navigation computer for navigating the autonomous mobile robot across the floor space using a map of the environment;

a communication link communicating with at least one of a statically fitted alarm installation or a monitoring unit, the statically fitted alarm installation being configured to monitor an area;

the autonomous mobile robot programmed to;

store information about a location of the area to be monitored inside the map;

detect, based on information representing a position of the autonomous mobile robot on the map, whether the autonomous mobile robot moves into the area to be monitored or a specific portion of the area or whether the autonomous mobile robot moves out of the area to be monitored or, respectively, the specific portion;

communicate to at least one of the statically fitted alarm installation or the monitoring unit, via said communication link, that the autonomous mobile robot is about to move into the area to be monitored, for which the autonomous mobile robot has detected that it is about to move into;

communicate with at least one of the statically fitted alarm installation or the monitoring unit by the further steps of;

transmitting a request to deactivate or ignore the statically fitted alarm installation to the statically fitted alarm installation and/or the monitoring unit, when the autonomous mobile robot detects, based on the information representing the position of the autonomous mobile robot on the map, that the autonomous mobile robot is moving into the area to be monitored; and

transmitting a request to activate or heed the statically fitted alarm installation again to the statically fitted alarm installation and/or the monitoring unit when the autonomous mobile robot detects, based on the information representing the position of the autonomous mobile robot on the map, that the autonomous mobile robot is moving out of the area to be monitored.

22. A method for operating an autonomous mobile robot for autonomously performing activities in an area monitored by a statically fitted alarm installation, which comprises the following steps of:

storing at least one map of an environment, the map including information about a location of the area to be monitored;

navigating the autonomous mobile robot across a floor space of the area using the map of the environment while performing the activities;

detecting, based on information representing a position of the autonomous mobile robot on the map, whether the autonomous mobile robot moves into the area to be monitored or a specific portion of the area or whether the autonomous mobile robot moves out of the area to be monitored or, respectively, the specific portion;

preventing a triggering of an alarm by the statically fitted alarm installation, when it is detected that the autonomous mobile robot moves into the area to be monitored, wherein the autonomous mobile robot communicating, via a communication link, that the autonomous mobile robot is about to enter a specific detection region, wherein the step of preventing the triggering of the alarm further includes the autonomous mobile robot receiving, via the communication link, a confirmation that the alarm will not be triggered when entering the specific detection region; and

enabling the triggering of the alarm again by the statically fitted alarm installation when it is detected that the autonomous mobile robot moves out of the area to be monitored.

28. A system, comprising:

a statically fitted alarm installation configured to monitor an area;

an autonomous mobile robot configured to autonomously perform activities, said autonomous mobile robot having a map of an environment to navigate, using the map, across a floor space through at least a portion of the area to be monitored and to locate a position of itself on the map, wherein the map including information about a location of the area to be monitored, and said autonomous mobile robot being further configured to detect, whether said autonomous mobile robot is moving into the area to be monitored or out of the area to be monitored based on information representing the position of said autonomous mobile robot on the map;

a communication link, said autonomous mobile robot and said statically fitted alarm installation communicate with one another via said communication link;

wherein the system is configured to prevent said statically fitted alarm installation from triggering an alarm when said autonomous mobile robot moves into the area to be monitored and the system is further configured to enable the triggering of the alarm by said statically fitted alarm installation when said autonomous mobile robot moves out of the area to be monitored; and

wherein said statically fitted alarm installation having at least one sensor component for monitoring the area entirely or at least the portion of the area;

wherein the map being created during a learning trip of the autonomous mobile robot, during which the autonomous mobile robot moves across the area to be monitored and creates the map in the process; and

wherein during the learning trip the position of said at least one sensor component and/or the monitored portion of the area associated therewith are detected and stored in the map.