Mobile Robot Security Enforcement

• US 20170225334A1
• Filed: 02/06/2017
• Published: 08/10/2017
• Est. Priority Date: 02/09/2016
• Status: Active Grant

• Current Assignee: Cobalt Robotics, Inc.
• Original Assignee: Cobalt Robotics, Inc.
• Inventors: Deyle, Travis J., Schluntz, Erik
• Granted Patent: US 10,478,973 B2
• Time in Patent Office: Days
• CPC Class Codes: B25J 11/002 Manipulators for defensive or military tasks
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B25J 13/086 Proximity sensors
• CPC Class Codes: B25J 19/023 including video camera means
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01V 8/10 Detecting, e.g. by using light barriers by reflection from the object G01S17/00
• CPC Class Codes: G05B 2219/45103 Security, surveillance applications
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06K 19/14 the marking being sensed by radiation
• CPC Class Codes: G06K 7/10297 arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092 cryptographic protocols H04L9/00; network security protocols H04L63/00; real-time communication protocols in data switching networks H04L65/00; network protocols for data switching network services H04L67/00
• CPC Class Codes: G08B 13/196 using television cameras
• CPC Class Codes: G08B 13/19647 Systems specially adapted for intrusion detection in or around a vehicle
• CPC Class Codes: G08B 13/2491 : Intrusion detection systems, i.e. where the body of an intruder causes the interference with the electromagnetic field
• CPC Class Codes: Y10S 901/01 : Mobile robot
• CPC Class Codes: Y10S 901/46 : Sensing device

Abstract

A mobile robot is configured for operation in a commercial or industrial setting, such as an office building or retail store. The robot can patrol one or more routes within a building, and can detect violations of security policies by objects, building infrastructure and security systems, or individuals. In response to the detected violations, the robot can perform one or more security operations. The robot can include a removable fabric panel, enabling sensors within the robot body to capture signals that propagate through the fabric. In addition, the robot can scan RFID tags of objects within an area, for instance coupled to store inventory. Likewise, the robot can generate or update one or more semantic maps for use by the robot in navigating an area and for measuring compliance with security policies.

Claims

1. A mobile robot, comprising:

a motorized base configured to move the mobile robot along one or more patrol routes within a building;

a wireless transceiver configured to communicate with a central system of the building;

a housing body storing one or more sensors configured to detect a violation of a security policy by an object or individual within a proximity of the mobile robot;

a controller configured to, in response to detecting the violation of the security policy;

provide information describing the object or individual and describing the violation of the security policy to the central system;

receive one or more security operations from the central system in response to the provided information; and

perform the received security operations.

2. The mobile robot of claim 1, wherein the mobile robot is configured to move along the one or more patrol routes without input from an operator.

3. The mobile robot of claim 1, wherein the one or more sensors comprise a camera system.

4. The mobile robot of claim 1, wherein detecting the violation of the security policy comprises one of:

determining if the individual is not authorized to be in a location of the individual, determining if the individual is performing an action that the individual is not authorized to perform, and determining if the individual is not in possession of proper credentials.

5. The mobile robot of claim 1, wherein detecting the violation of the security policy comprises one or more of:

determining that a door is unlocked, determining that a door is open, determining that a window is open, determining that the object is not in an authorized location, and determining that the object is malfunctioning.

6. The mobile robot of claim 1, wherein the one or more security operations includes modifying a patrol route based on a location of the object or individual.

7. The mobile robot of claim 1, wherein the one or more security operations includes recording video of the object or individual.

8. The mobile robot of claim 1, wherein the one or more security operations includes obstructing a path of an individual.

9. A method, comprising:

moving, by a mobile robot, along a patrol route within a building;

detecting, by a sensor of the mobile robot, one of an object or an individual within a proximity of the patrol route;

determining, by the mobile robot, if the detected object or individual violates a security policy;

communicatively coupling, by the mobile robot, to a central system of the building;

in response to determining that the detected object or individual violates the security policy;

providing, by the mobile robot, information describing the object or individual and describing the violation of the security policy to the central system of the building;

receiving, by the mobile robot from the central system, one or more security operations in response to providing the information; and

performing, by the mobile robot, the one or more security operations.

10. The method of claim 9, wherein the mobile robot is configured to move along the one or more patrol routes without input from an operator.

11. The method of claim 9, wherein the sensor comprises a camera system.

12. The method of claim 9, wherein determining if the detected object or individual violates the security policy comprises one of:

determining if the individual is not authorized to be in a location of the individual, determining if the individual is performing an action that the individual is not authorized to perform, and determining if the individual is not in possession of proper credentials.

13. The method of claim 9, wherein determining if the detected object or individual violates the security policy comprises one of:

determining that a door is unlocked, determining that a door is open, determining that a window is open, determining that the object is not in an authorized location, and determining that the object is malfunctioning.

14. The method of claim 9, wherein the one or more security operations includes modifying a patrol route based on a location of the object or individual.

15. The method of claim 9, wherein the one or more security operations includes recording video of the object or individual.

16. The method of claim 9, wherein the one or more security operations includes obstructing a path of an individual.

17. A mobile robot, comprising:

a motorized base configured to move the mobile robot along one or more patrol routes within a building;

a wireless transceiver configured to communicate with a central system of the building;

a housing body storing one or more sensors configured to detect a violation of a security policy by an object or individual within a proximity of the mobile robot; and

a controller configured to, in response to detecting the violation of the security policy, cause the mobile robot to perform one or more security operations in response to the detected violation of the security policy.

18. The mobile robot of claim 17, wherein the one or more security operations includes modifying a patrol route based on a location of the object or individual.

19. The mobile robot of claim 17, wherein the one or more security operations includes recording video of the object or individual.

20. The mobile robot of claim 17, wherein the one or more security operations includes obstructing a path of an individual.