Method for detecting a relevant alarm event, method for detecting a fire risk, method for controlling a mobile surveillance robot and mobil surveillance robot

Abstract

Some examples relate to a computer-implemented method for detecting a relevant alarm event. The method comprises determining alarm information of an alarm event based on sensor information which is generated by one or more sensors of a mobile robot. The method furthermore comprises detecting an unimportant alarm event based on the alarm information and saving information about the unimportant alarm event in a database when the alarm information fulfils at least one first criterion but does not fulfil a second criterion. The method also comprises detecting a relevant alarm event based on the alarm information, triggering an output of an alarm to a control centre and saving information about the relevant alarm event in the database when the alarm information fulfils at least the second criterion.

Description

[0001] Method for detecting a relevant alarm event, method for detecting a fire hazard, method for controlling a mobile security robot and mobile security robot

[0002] Technical area

[0003] Examples of implementation deal with the use of mobile robots for object protection and object monitoring.

[0004] background

[0005] Monitoring real estate (e.g., company buildings or public buildings such as airports) is a labor-intensive and expensive activity. Therefore, there is a need to support this process with automation.

[0006] Summary

[0007] Some examples relate to a computer-implemented method for detecting a relevant alarm event. The method comprises determining alarm information of an alarm event based on sensor information generated by one or more sensors of a mobile robot. The method further comprises detecting an unimportant alarm event based on the alarm information and storing information about the unimportant alarm event in a database if the alarm information meets at least a first criterion but does not meet a second criterion. In addition, the method comprises detecting a relevant alarm event based on the alarm information, triggering an output of an alarm to a control center, and storing information about the relevant alarm event in a database if the alarm information meets at least the second criterion.

[0008] By using a mobile robot and automatically classifying alarm events, personnel deployment can be significantly reduced. For example, only relevant events impact the control center's capacity. Yet, an overview of all events can still be provided.

[0009] Some examples involve a computer-implemented method for detecting a fire hazard. The method includes detecting a heat source based on sensor data from a thermal imaging camera of a mobile robot and receiving a sensor signal from a gas sensor or smoke detector of the mobile robot. The method further includes triggering a fire alarm based on the detected heat source and the sensor signal from the gas sensor or smoke detector.

[0010] By using a mobile robot with different sensors, the reliability of fire detection can be increased and the personnel required can be significantly reduced.

[0011] Some examples relate to a computer-implemented method for controlling a mobile security robot. The method includes generating two-dimensional map data based on three-dimensional image data of an area and calculating a movement route within the area for the mobile security robot. The method further includes triggering the mobile security robot to follow the movement route.

[0012] By using three-dimensional image data, the mobile security robot can define and follow movement routes, even if no two-dimensional maps of the area to be guarded are available. This can significantly reduce personnel deployment.

[0013] Some examples relate to a computer-implemented method for controlling a mobile security robot. The method comprises determining biometric characteristics of a person based on a camera image of a mobile security robot and comparing the determined biometric characteristics with biometric characteristics of a plurality of authorized persons stored in a database. Furthermore, the method comprises triggering an alarm and tracking the person by the mobile security robot if the comparison does not result in a match with an authorized person. By using a mobile security robot, personnel deployment can be significantly reduced and the risk to security personnel when tracking unauthorized persons can be reduced.

[0014] Some examples involve a mobile patrol robot comprising a drone, one or more sensors configured to generate sensor information, and one or more processing circuits configured to detect a hazardous situation based on the sensor information and to launch the drone when a hazardous situation is detected. The drone is configured to provide video footage of an area of ​​the hazardous situation.

[0015] By using a mobile security robot, personnel deployment can be significantly reduced. Even if the security robot is attacked, the drone can ensure continued surveillance.

[0016] Short character description

[0017] Some examples of devices and / or methods are explained in more detail below with reference to the accompanying figures. They show:

[0018] Fig. 1 shows a flowchart of a method for detecting a relevant alarm event;

[0019] Fig. 2 shows a schematic representation of a mobile guard robot;

[0020] Fig. 3 shows a schematic representation of a device for detecting a relevant alarm event;

[0021] Fig. 4 shows a flowchart of a method for detecting a fire hazard;

[0022] Fig. 5 shows a flowchart of a method for controlling a mobile security robot; Fig. 6 shows a flowchart of a method for controlling a mobile security robot; and

[0023] Fig. 7 shows a schematic representation of a mobile guard robot.

[0024] Description

[0025] Some examples will now be described in more detail with reference to the accompanying figures. However, other possible examples are not limited to the features of these detailed embodiments. These may include modifications of the features, as well as equivalents and alternatives to the features. Furthermore, the terminology used herein to describe specific examples is not intended to be limiting of other possible examples.

[0026] Throughout the description of the figures, identical or similar reference numerals refer to identical or similar elements or features, which may be implemented identically or in a modified form while providing the same or a similar function. Furthermore, the thickness of lines, layers, and / or regions in the figures may be exaggerated for clarity.

[0027] When two elements A and B are combined using "or," this is to be understood as disclosing all possible combinations, i.e., only A, only B, and both A and B, unless explicitly defined otherwise in the individual case. Alternative wording for the same combinations may be "at least one of A and B" or "A and / or B." This applies equivalently to combinations of more than two elements.

[0028] If a singular form is used, such as "a," "an," and "the," and the use of only a single element is neither explicitly nor implicitly defined as mandatory, further examples may also use multiple elements to implement the same function. If a function is described below as being implemented using multiple elements, further examples may implement the same function using a single element or a single processing entity.It is further understood that the terms "comprises", "comprising", "has" and / or "having" when used herein describe the presence of the specified features, integers, steps, operations, processes, elements, components and / or a group thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, processes, elements, components and / or a group thereof.

[0029] Fig. 1 shows a flowchart of a computer-implemented method for detecting a relevant alarm event. The method 100 includes determining 110 alarm information of an alarm event based on sensor information generated by one or more sensors of a mobile robot. Furthermore, the method 100 includes detecting 120 an unimportant alarm event based on the alarm information and storing information about the unimportant alarm event in a database if the alarm information meets at least a first criterion but does not meet a second criterion. Additionally, the method 100 includes detecting 130 a relevant alarm event based on the alarm information, triggering an alarm to a control center, and storing information about the relevant alarm event in a database if the alarm information meets at least the second criterion.

[0030] By using a mobile robot and automatically classifying alarm events, personnel deployment can be significantly reduced. For example, only relevant events require the control center's capacity. Yet, an overview of all events can still be provided.

[0031] A relevant or important alarm event can be, for example, unauthorized access by a person or animal, a fire, an open door or window, a heavy water leak or a gas leak.

[0032] An unimportant or irrelevant alarm event could be, for example, a person or animal near (but outside) a critical area, a heat source, a tilted window, or a small water leak.

[0033] An alarm event can be any event that deviates from a normal state. The presence of an alarm event can be determined based on sensor information generated by one or more sensors of a mobile robot. For example, the mobile robot can have one or more cameras (e.g., daylight camera, thermal imaging camera, infrared camera, and / or LIDAR camera) that provide images or videos as sensor information. Based on the images or videos, image recognition can be used to detect, for example, a person, an animal, a heat source, an open door, or an open window. Additionally or alternatively, the mobile robot can have a temperature sensor, a gas sensor, a smoke detector, and / or a microphone that provide a sensor signal or sensor values ​​as sensor information.

[0034] The alarm information of an alarm event can be information that characterizes the event. For example, the alarm information can include an alarm parameter, such as a temperature, or the location of a heat source if the alarm event is a heat source or a fire. Alternatively, the alarm information can be information about a detected person or animal and the location of the detected person or animal.

[0035] Based on the alarm information received from the alarm event, the alarm event can be categorized into unimportant and relevant alarm events. For example, the alarm event may be of minor significance or of low importance, so that it is sufficient for the alarm event to be stored in a database (e.g., an electronic watch log). For this purpose, it can be determined that the alarm information meets a first criterion (e.g., a heat source exceeds a normal temperature range), but a second criterion is not met (e.g., the heat source does not exceed a dangerous temperature).

[0036] However, if a relevant alarm event is detected based on the received alarm information, immediate intervention may be necessary. Therefore, in addition to recording the occurrence of the relevant alarm event, an alarm is also triggered to a control center. This can be done by determining that the alarm information meets the second criterion (e.g., the heat source exceeds a dangerous temperature).

[0037] The alarm to the control center can, for example, be an acoustic alarm via a loudspeaker, a visual alarm via a screen or an alarm signal light, an automatic call and / or an automatic electronic message to a control center.

[0038] The control center could be, for example, a security center manned by security guards, a police station, or the gate of a building or complex. Information about unimportant alarm events and information about the relevant alarm event can be stored in the same database or in different databases.

[0039] For example, the alarm information can include an alarm parameter, such as a temperature or a probability that a person has been detected. The first criterion can be met if the alarm parameter lies between a lower limit (e.g., elevated temperature or low probability that a person has been detected) and an upper limit (e.g., critical temperature or high probability that a person has been detected). The second criterion can be met if the alarm parameter lies below the lower limit or above the upper limit (e.g., critical temperature or high probability that a person has been detected).

[0040] The lower limit and / or the upper limit may be adjustable (e.g. via a configuration interface or configuration software, for example via user input or loading a configuration file).

[0041] For example, the alarm information can contain information about a detected person or animal and the location of the detected person or animal. The first criterion can be met if the location is outside a predefined critical area (e.g., outside property boundaries or at a sufficient distance from a guarded object). The second criterion can be met if the location is within a predefined critical area (e.g., within property boundaries, within a guarded building, or at an insufficient distance from a guarded object).

[0042] For example, method 100 may include the mobile robot independently tracking the detected person or animal if the second criterion is met. This allows the position of the person or animal to be tracked until emergency personnel arrive.

[0043] Additionally or alternatively, the method 100 may include causing a drone to move to the location and provide images of the detected person or animal (e.g., sending them to a control center or sending them locally or for storage) if the second criterion is met. This allows the situation to be monitored independently of the mobile robot.

[0044] Additionally or alternatively, method 100 may involve the control center taking over control of the movement of the mobile robot after detecting a relevant alarm event. This allows for a more precise manual clarification of the situation.

[0045] The mobile robot (e.g., a guard robot, robot dog, or security robot) can be a self-driving and / or ground-based robot or a drone. The mobile robot can be an autonomously driving robot. The mobile robot can be powered, for example, by a built-in accumulator or battery that can be charged at a charging station.

[0046] The method 100 may be performed entirely or partially on a mobile robot (e.g., Fig. 2) or entirely or partially on a device separate from the mobile robot (e.g., Fig. 3).

[0047] The method 100 can, for example, use software to record all predefined events and document them in an electronic patrol log (EWB). The software can allow scaling (e.g., via adjustable thresholds) for the areas of heat sources, water leaks, person and animal detection and / or gas leaks (e.g., also detection of smoke gas) through to ambient air quality measurements. This scaling can, for example, be used to determine the measured value from which an entry is made in the EWB and the reference value from which an alarm is transmitted to the alarm receiving center. The alarm receiving center can, for example, be able to take over control in order to gain a precise picture of the situation on site. The robot can then take over again and continue its predefined autonomous patrol route. All events entered in the EWB can be viewed at any time (e.g., via online access).by authorized users).

[0048] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 1 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more aspects mentioned below (e.g.,

[0049] B. Fig. 2-7) described examples are mentioned.

[0050] Fig. 2 shows a schematic representation of a mobile security robot. The mobile security robot 200 includes one or more sensors 210 configured to generate sensor information. Furthermore, the mobile security robot 200 includes one or more processing circuits 220 configured to determine alarm information of an alarm event based on the sensor information and to detect a non-important alarm event based on the alarm information and to initiate storage of information about the non-important alarm event in a database if the alarm information meets at least a first criterion but does not meet a second criterion.In addition, the one or more processing circuits 220 are configured to detect a relevant alarm event based on the alarm information, trigger an output of an alarm to a control center, and store information about the relevant alarm event in a database if the alarm information meets at least the second criterion.

[0051] By using a mobile security robot and automatically classifying alarm events, personnel deployment can be significantly reduced. For example, only relevant events require the control center's capacity. Yet, an overview of all events can still be provided.

[0052] The mobile security robot 200 can have wheels, legs, or a track to enable it to move on the ground. The mobile security robot 200 can be a self-propelled and / or ground-based security robot. The mobile security robot 200 can be an autonomously driving security robot. The mobile security robot 200 can be powered, for example, by a built-in accumulator or battery that can be charged at a charging station.

[0053] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 2 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Fig. 1) or below (e.g. Figs. 3-7). Fig. 3 shows a schematic representation of a device for detecting a relevant alarm event. The device 300 comprises one or more processing circuits 310 and one or more storage devices 320. The one or more processing circuits 310 are designed to evaluate sensor information generated by one or more sensors of a mobile robot in order to determine alarm information of an alarm event.Furthermore, the one or more processing circuits 310 are configured to detect an unimportant alarm event based on the alarm information and store information about the unimportant alarm event in a database if the alarm information meets at least a first criterion but does not meet a second criterion. Additionally, the one or more processing circuits 310 are configured to detect a relevant alarm event based on the alarm information, trigger an alarm output to a control center, and store information about the relevant alarm event in the database if the alarm information meets at least the second criterion.

[0054] By using a mobile robot and automatically classifying alarm events, personnel deployment can be significantly reduced. For example, only relevant events require the control center's capacity. Yet, an overview of all events can still be provided.

[0055] The one or more processing circuits 310 may, for example, be one or more processors (e.g., CPU or GPU) or may be implemented as an ASIC or FPGA or another hardware component.

[0056] The device 300 can, for example, be part of a mobile robot. Alternatively, the device 300 can be implemented in a data center or in a company's IT infrastructure.

[0057] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 3 may comprise one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g. Figs. 1-2) or below (e.g. Figs. 4-7). Fig. 4 shows a flowchart of a computer-implemented method for detecting a fire hazard. The method 400 comprises detecting 410 a heat source based on sensor data from a thermal imaging camera of a mobile robot and receiving 420 a sensor signal from a gas sensor or smoke detector of the mobile robot. Furthermore, the method 400 comprises triggering 430 a fire alarm based on the detected heat source and the sensor signal from the gas sensor or smoke detector.

[0058] By using a mobile robot with different sensors, the reliability of fire detection can be increased and the personnel required can be significantly reduced.

[0059] The thermal imaging camera can generate sensor data in the form of images of the area in which the mobile robot is located. Heat sources can be detected through image analysis (e.g., by the robot or by a processing unit that receives the images from the robot).

[0060] Furthermore, the mobile robot may have a gas sensor and / or a smoke detector that generates a sensor signal. The sensor signal may contain information about the amount of gas and / or smoke in the air.

[0061] For example, a fire or fire hazard can be detected when an area in a thermal imaging camera image indicates an exceedance of a threshold temperature and the sensor signal indicates information about an amount of gas and / or smoke in the air above a predetermined limit.

[0062] A fire alarm can be triggered, for example, by sending an alarm signal to an alarm system (e.g. to trigger an acoustic or optical signal), by sending an alarm signal to a control center or a fire department.

[0063] Method 400 may further include providing a video stream from a camera (e.g., an HD camera) of the mobile robot to a control center when a fire alarm is triggered. The video stream may include footage from the location of the heat source. This may allow a control center to be automatically informed of the current situation.

[0064] For example, redundant testing can be performed using combined technology (e.g., gas sensor, thermal imaging camera, and HD camera). To avoid false alarms, the software could use multiple reference values ​​from different sensors for redundancy. For example, the thermal imaging camera could report a heat or heat source above the preset reference value. At the same time, the gas sensor can check whether smoke particles are already being detected in the air, and the HD camera can transmit images from the corresponding device or location.

[0065] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 4 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-3) or below (e.g., Figs. 5-7).

[0066] Fig. 5 shows a flowchart of a computer-implemented method for controlling a mobile security robot. The method 500 includes generating 510 two-dimensional map data based on three-dimensional image data of an area and calculating 520 a movement route within the area for the mobile security robot. Furthermore, the method 500 includes triggering 530 a movement route by the mobile security robot.

[0067] By using three-dimensional image data, the mobile security robot can define and follow movement routes, even if no two-dimensional maps of the area to be guarded are available. This can significantly reduce personnel deployment.

[0068] Three-dimensional image data can be used to generate a three-dimensional representation of the area, and this data can be reduced to two-dimensional map data. The movement route of the mobile security robot can be determined, for example, using route optimization algorithms. For this purpose, the start and end points, optional intermediate points, and other optional parameters can be specified so that the movement route can be calculated automatically. For example, an optional parameter can be that the area contains a building and that the movement route runs along at least one or all of the building's exterior walls. The area can contain multiple buildings or other objects, or it can be a building or part of a building.

[0069] The mobile guard robot's travel along the movement route can be triggered, for example, by sending the travel route to the mobile guard robot (e.g., if the guard robot has not calculated the travel route itself) and an activation signal. Alternatively, the guard robot can calculate the travel route itself and travel along the movement route in response to a received activation signal or based on a schedule. Method 500 can include repeatedly triggering the mobile guard robot's travel along the movement route. This allows an area or object to be repeatedly traveled and guarded. The time intervals between successive repetitions of the travel can vary. This can increase security because the guard robot's appearance is less predictable for an observer.

[0070] Method 500 may further include calculating a second movement route within the area for the mobile security robot. For example, the first movement route differs from the second movement route. Additionally, triggering the mobile security robot to follow the second movement route may be included. This may increase safety because the security robot's movement is less predictable for an observer.

[0071] For example, the mobile security robot or a drone can take a series of three-dimensional images (e.g. using a LIDAR sensor, a radar sensor, or a time-of-flight sensor). The three-dimensional images can be combined to create three-dimensional image data for an area. For example, a 3D LIDAR sensor (e.g. on the mobile robot or a drone) can take an environmental image of the current location and import it into software, which is then converted into a 2D representation. This allows the waypoints for the autonomous operation of the mobile robot to be set. For example, it is then not necessary to have current plans of the site or buildings on hand. The robot can autonomously travel along its patrol area at predefined time cycles and then return to its charging station.The software can evaluate whether the lap can be completed based on the battery feedback or whether the driver should return to the charging station immediately.

[0072] For example, in addition to Wi-Fi, there may be the option of having the mobile robot send waypoints using QR code, NFC and / or GPS.

[0073] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 5 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-4) or below (e.g., Figs. 6-7).

[0074] Some examples relate to an apparatus for controlling a mobile security robot, as described by Figure 5. The apparatus comprises one or more processing circuits and one or more memory devices. The one or more processing circuits may be configured to generate two-dimensional map data based on three-dimensional image data of an area, calculate a movement route within the area for the mobile security robot, and trigger the mobile security robot to follow the movement route.

[0075] The device can, for example, be part of a mobile security robot. Alternatively, the device can be implemented in a data center or a company's IT infrastructure.

[0076] Further details and aspects are mentioned in connection with the examples described above or below. Fig. 6 shows a flowchart of a computer-implemented method for controlling a mobile security robot. The method 600 includes determining 610 biometric characteristics of a person based on a recording from a camera of a mobile security robot and comparing 620 the determined biometric characteristics with biometric characteristics of a plurality of authorized persons stored in a database. Furthermore, the method 600 includes triggering 630 an alarm and tracking the person by the mobile security robot if the comparison does not result in a match with an authorized person.

[0077] By using a mobile security robot, the deployment of personnel can be significantly reduced and the risk to security personnel when pursuing unauthorized persons can be reduced.

[0078] Camera footage can show one or more people, partially or completely. For example, facial recognition algorithms can determine a person's biometric characteristics based on such footage.

[0079] When comparing with the biometric characteristics of authorized individuals, it may be sufficient that there is sufficient similarity between the characteristics. For example, a probability can be calculated that an authorized individual was recognized in the comparison. If the calculated probability exceeds a specified or adjustable threshold, the individual can be recognized as an authorized individual, thus identifying a match. The comparison can be terminated as soon as a match is detected.

[0080] If no match is found with a person in the database, an alarm can be triggered. This can, for example, send security guards or alert the police.

[0081] Until security personnel or the police arrive or until the situation is clarified, the security robot can track the unauthorized person to prevent escape.

[0082] Additionally, the security robot can, for example, prompt the person via an acoustic signal to identify themselves more clearly (e.g., removing a hat or mask), and the biometric characteristics can be re-determined based on new images. A new comparison can then be made with people in the database.

[0083] For example, in combination with visitor management software (e.g., a digital gate), prior registration for autonomous access can allow a photo or biometric data of the visitor or service provider to be stored in the database. This can be compared with the corresponding authorization during the robot's patrols. If authorization only applies to certain areas or certain routes and these do not match the visitor's current location, a notification can be sent to the host or security service.

[0084] For example, visitors can pre-register using the digital gate software and upload data (e.g., ID card and / or signature for occupational health and safety instructions) into the system. This data can be stored on a secure server. The robot can access this server and, using a biometric scan, determine whether the person has access authorization or is on the premises without authorization. If this is the case, the robot can immediately send a message to the alarm receiving center, triggering an intervention. The robot can then use its camera system to monitor the person until an appropriate response is received.

[0085] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 6 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-5) or below (e.g., Figs. 6-7).

[0086] Fig. 7 shows a schematic representation of a mobile security robot. The mobile security robot 700 comprises a drone 710, one or more sensors 210 configured to generate sensor information, and one or more processing circuits 220 configured to detect a hazardous situation based on the sensor information and to launch the drone 710 when a hazardous situation is detected. The drone 710 is configured to provide video recordings of an area of ​​the hazardous situation. By using a mobile security robot, the deployment of personnel can be significantly reduced. Even in the event of an attack on the security robot, the drone can ensure continued surveillance.

[0087] If an alarm is triggered, for example, a drone can launch autonomously from the back of the robot to the alarm location and transmit images from above to the control center. In the event of an attack on the robot on the ground, images of the incident can still be transmitted.

[0088] The mobile security robot 700 may additionally or alternatively include a receiver configured to receive alarm information containing information about an alarm location where an alarm was triggered. The one or more processing circuits 220 may additionally or alternatively be configured to control movement of the mobile security robot to the alarm location based on the sensor information and the alarm information and to launch the drone 710 before the alarm location is reached. The drone 710 may be configured to move to the alarm location after launch and to generate and provide video recordings of the alarm location.

[0089] By launching the drone 710 before reaching the alarm location, it can be ensured that the drone 710 is not destroyed or damaged in the event of an attack on the guard robot before the drone 710 can launch. For example, the one or more processing circuits 220 can be configured to launch the drone 710 when the mobile guard robot 700 is still at least 5 m (or at least 10 m or at least 3 m) away from the alarm location.

[0090] The one or more sensors 210 may include a camera (e.g., a daylight camera, thermal imaging camera, infrared camera, and / or LIDAR camera) that generates images and / or videos of the surroundings of the mobile security robot 700 as sensor information. The sensor information from the camera may be used to navigate the mobile security robot 700 when moving to the alarm location in order to avoid static or moving objects. In addition, the camera may be used to generate video recordings of the alarm location. The one or more processing circuits 220 may be configured to control the mobile security robot 700 so that the mobile security robot 700 uses the camera to generate and provide video recordings of the alarm location. The mobile security robot 700 may include a transmitter configured to transmit the video recordings from the alarm location to a control center.Additionally or alternatively, the drone 710 can have a transmitter configured to transmit the video recordings generated by the drone 710 from the alarm location to a control center (or to the mobile security robot 700). The transmission from the drone 710 and from the mobile security robot 700 to the control center can occur simultaneously. This allows the alarm location to be viewed from different angles.

[0091] The drone 710 can be configured to generate and provide video recordings of the alarm location and the mobile security robot 700. For example, the drone 710 can move to a position from which the alarm location and the mobile security robot 700 are simultaneously in the camera's field of view and thus appear simultaneously in the drone's video recording. This allows the drone 710 to film an attack on the mobile security robot 700, which is highly likely to originate from the direction of the alarm location.

[0092] The alarm location can be a location of an alarm reporting device. For example, it can be the location of a motion sensor, an intrusion sensor, or an emergency switch. The alarm reporting device can be configured to report an alarm to a control center, and the control center can send the alarm information to the mobile security robot 700. Alternatively or additionally, the alarm reporting device can send the information directly to the mobile security robot 700.

[0093] Further details and aspects are mentioned in connection with the examples described above or below. The example shown in Fig. 6 may include one or more optional additional features corresponding to one or more aspects mentioned in connection with the proposed concept or one or more examples described above (e.g., Figs. 1-6) or below.

[0094] Some examples relate to a mobile security robot comprising a marking device, one or more sensors configured to generate sensor information, and one or more processing circuits configured to detect an unauthorized person based on the sensor information and to activate the marking device when an unauthorized person is detected. The marking device is configured to spray a marking substance (e.g., artificial DNA) onto the unauthorized person.

[0095] The one or more processing circuits may be configured to determine a location of the unauthorized person based on the sensor information and to trigger an orientation of the marking device (e.g., by controlling the movement of the mobile guard robot and / or the marking device) such that the unauthorized person is within the range and spray direction of the marking device.

[0096] The unauthorized person could, for example, be a burglar or saboteur or another person who does not have access permission to a particular area.

[0097] Further details and aspects are mentioned in connection with the examples described above or below.

[0098] Some examples relate to mobile robots (e.g., guard robots, robot dogs, or security robots) with the functions of monitoring (e.g., reporting human and animal presence), fire, gas, water damage, open doors and / or windows, and forwarding them to humans, control centers, technicians, and / or further processing software (e.g., electronic guard logs or digital gates). Furthermore, a mobile robot could retrieve information from an electronic guard log (e.g., a database with information on alarm events) or a digital gate or digital visitor management system (e.g., a database with information on authorized persons) and further process it (e.g., comparing access authorizations and / or residence permits) and / or comparing target / actual values ​​of specified human and technical parameters / specifications.

[0099] Additionally or alternatively, the mobile robot can also access installed alarm systems (e.g. alarm system or fire alarm system) or be linked to them and / or be used for water damage detection, for checking open doors and windows and / or corresponding documentation in an electronic watch log. For example, redundant checking can be enabled. For example, existing alarm systems can be connected to the robot's system and the alarm location can be automatically controlled with live transmission to an alarm receiving center and / or video control center. All occurrences and / or events can be documented in an electronic watch log (e.g. database with information on alarm events) and, when defined events occur, an alarm can be triggered simultaneously in the control center (e.g. Fig. 1-3).

[0100] For example, by combining and / or replacing digital surveillance technology with, among other things, software for digital visitor management, comparing person recognition and checking the authorization to stay in certain areas or generally on the premises and integrating it into security and reporting systems, faster alarm tracking and / or more automated recording in an EWB can be achieved.

[0101] The camera systems, in combination with a mobile robot's thermal imaging camera, can detect and report open windows, doors, and / or skylights, for example. Additionally or alternatively, water pipe damage or other liquid leaks can be reported via a mobile robot's thermal imaging camera and / or fire detection can be enabled in combination with gas sensors (e.g., Fig. 4).

[0102] Furthermore, a mobile robot can also be used in combination with one or more of the other functions for occupational health and safety testing (e.g. checking the validity of the sticker on fire extinguishers).

[0103] The above-mentioned findings (data) may be transmitted to third parties, for example, to carry out and / or monitor repairs, inspections and / or maintenance.

[0104] A robot can optionally also be designed as a mobile launch pad for isolated technical devices (e.g. drones, stationary data collectors or other independently acting (e.g. AI-based), mobile or immobile devices).

[0105] For example, a mobile robot can be used to monitor properties and / or link various technical monitoring devices. The technology described above can be used to eliminate the need for stationary (e.g., surveillance) technology (e.g., redundant video surveillance or measurement technology, e.g., for machine monitoring).

[0106] The concepts described can, for example, result in cost savings compared to the isolated use of different systems, purely staffed operations and / or the use of stationary (monitoring) technology, rapid intervention in the event of alarms, rapid reaction in the event of water damage and fire, detection of devices that are still switched on and pose a fire hazard, rapid transmission of open windows or skylights to prevent burglary or water damage caused by heavy rainfall, transmission of gas leaks, redundant testing using combined technology (e.g. gas sensor, thermal imaging camera, HD camera), seamless recording of incidents, automatic notification in the event of system malfunctions or sabotage, near real-time streaming via VR glasses for the control center, audio pattern recognition to compare potential hazards (e.g.Voices, bangs or broken glass), ID card recognition or NFC chip comparison for employee recognition, operation of an elevator, operation of light switches and / or connection to the building automation and / or property marking (e.g. spraying artificial DNA on a person or object in the event of sabotage).

[0107] Some examples relate to a computer program with program code for performing a described method when the computer program is executed on one or more computers or processors. A computer-implemented method is, for example, a method whose steps are performed on one or more computers, one or more processors, or one or more other programmable hardware components. The one or more computers, one or more processors, or one or more other programmable hardware components can be located at one location or distributed.

[0108] Some examples relate to a machine-readable storage medium containing program code that, when executed, causes a machine to perform one of the described methods. The aspects and features described in connection with a particular one of the previous examples may also be combined with one or more of the further examples to replace an identical or similar feature of that further example or to additionally introduce the feature into the further example.

[0109] Examples may further be or relate to a (computer) program with program code for executing one or more of the above methods when the program is executed on a computer, a processor, or other programmable hardware component. Steps, operations, or processes of various of the methods described above may therefore also be executed by programmed computers, processors, or other programmable hardware components. Examples may also cover program storage devices, e.g., digital data storage media, that are machine-, processor-, or computer-readable and encode or contain machine-executable, processor-executable, or computer-executable programs and instructions. The program storage devices may, for example,Digital storage, magnetic storage media such as magnetic disks and magnetic tapes, hard disk drives, or optically readable digital data storage media may include or be computers, processors, control units, field-programmable logic arrays ((F)PLAs = (Field) Programmable Logic Arrays), field-programmable gate arrays ((F)PGA = (Field) Programmable Gate Arrays), graphics processor units (GPU = Graphics Processor Unit), application-specific integrated circuits (ASIC = application-specific integrated circuit), integrated circuits (IC = Integrated Circuit), or system-on-a-chip (SoC) programmed to perform the steps of the methods described above.

[0110] It is further understood that the disclosure of multiple steps, processes, operations, or functions disclosed in the description or claims should not be construed as necessarily being in the described order, unless explicitly stated in the individual case or absolutely necessary for technical reasons. Therefore, the foregoing description does not limit the performance of multiple steps or functions to a particular order. Furthermore, in further examples, a single step, function, process, or operation may include and / or be broken down into multiple sub-steps, functions, processes, or operations. Where some aspects in the preceding sections have been described in the context of an apparatus or system, these aspects are also to be understood as a description of the corresponding method.For example, a block, device, or functional aspect of the device or system may correspond to a feature, such as a method step, of the corresponding method. Accordingly, aspects described in connection with a method are also to be understood as a description of a corresponding block, element, property, or functional feature of a corresponding device or system.

[0111] The following claims are hereby incorporated into the Detailed Description, and each claim may stand on its own as a separate example. It should also be noted that although a dependent claim in the claims refers to a particular combination with one or more other claims, other examples may include a combination of the dependent claim with the subject matter of any other dependent or independent claim. Such combinations are hereby explicitly contemplated unless it is specifically stated that a particular combination is not intended. Furthermore, features of a claim for any other independent claim are also intended to be included, even if that claim is not directly defined as dependent on that other independent claim.

Claims

Patent claims 1. A computer-implemented method (100) for detecting a relevant alarm event, the method comprising: Determining (110) alarm information of an alarm event based on sensor information generated by one or more sensors of a mobile robot; Detecting (120) an unimportant alarm event based on the alarm information and storing information about the unimportant alarm event in a database if the alarm information satisfies at least a first criterion but does not satisfy a second criterion; Detecting (130) a relevant alarm event based on the alarm information, triggering an output of an alarm to a control center, and storing information about the relevant alarm event in a database if the alarm information meets at least the second criterion, wherein the alarm information comprises at least one of an alarm parameter or information about a detected person or animal and a location of the detected person or animal, wherein at least one of: the alarm parameter lies between a lower limit and an upper limit, and the second criterion is met if the alarm parameter is below the lower limit or above the upper limit; or the first criterion is met if the location is outside a predefined critical range, and the second criterion is met if the location is within a predefined critical range.

2. The method according to claim 1, wherein at least the lower limit value or the upper limit value is adjustable.

3. The method of any preceding claim, further comprising causing a drone to move to the location and provide images of the detected person or animal if the second criterion is met.

4. Method according to one of the preceding claims, further comprising autonomous tracking of the detected person or animal by the mobile robot if the second criterion is met.

5. Method according to one of the preceding claims, further comprising taking over control of the movement of the mobile robot by the control center after detecting a relevant alarm event.

6. A computer-implemented method (400) for detecting a fire hazard, the method comprising: Detecting (410) a heat source based on sensor data from a thermal imaging camera of a mobile robot; Receiving (420) a sensor signal from a gas sensor or smoke detector of the mobile robot; Triggering (430) a fire alarm based on the detected heat source and the sensor signal from the gas sensor or smoke detector.

7. The method of claim 6, further comprising providing a video stream from a camera of the mobile robot to a control center when a fire alarm is triggered, the video stream comprising footage of the location of the heat source.

8. A computer-implemented method (500) for controlling a mobile guard robot, the method comprising: Generating (510) two-dimensional map data based on three-dimensional image data of an area; Calculating (520) a movement route on the area for the mobile guard robot; and Triggering (530) a travel of the movement route by the mobile guard robot, wherein at least one further comprises: Generating three-dimensional image data of the area using a drone; or repeatedly triggering the mobile patrol robot to travel along the movement route with different time intervals between successive repetitions of the travel.

9. The method according to claim 8, wherein the area comprises a building, the movement route running along at least one exterior wall of the building.

10. The method according to any one of claims 8-9, further comprising: Calculating a second movement route on the area for the mobile guard robot; and Triggering the mobile guard robot to follow the second movement route, wherein the first movement route differs from the second movement route.

11. A computer-implemented method (600) for controlling a mobile guard robot, the method comprising: Determining (610) biometric characteristics of a person based on a recording from a camera of a mobile security robot; Acoustic output of a request to identify yourself more clearly to the person; Determining the person's biometric characteristics based on a new image; Comparing (620) the determined biometric characteristics with biometric characteristics of a plurality of authorized persons stored in a database; and Triggering (630) an alarm and tracking the person by the mobile guard robot if the comparison does not match an authorized person.

12. A mobile guard robot (700) comprising: a drone (710); one or more sensors (210) configured to generate sensor information; a receiver configured to receive alarm information containing information about an alarm location at which an alarm was triggered; one or more processing circuits (220) configured to: control a movement of the mobile guard robot to the alarm location based on the sensor information and the alarm information; and launch the drone before the alarm location is reached, wherein the drone is configured to move to the alarm location and generate and provide video recordings from the alarm location.

13. The mobile guard robot according to claim 12, wherein the one or more processing circuits (220) are configured to launch the drone (710) when the mobile guard robot is still at least 5 m away from the alarm location.

14. The mobile guard robot according to claim 12 or 13, wherein the one or more sensors (210) comprise a camera, wherein the one or more processing circuits tions (220) are designed to control the mobile guard robot so that the mobile guard robot uses the camera to generate and provide video recordings of the alarm location.

15. The mobile security robot of claim 14, further comprising a transmitter configured to transmit the video recordings from the alarm location to a control center.

16. The mobile security robot according to any one of claims 12-15, wherein the drone (710) comprises a transmitter configured to transmit the video recordings from the alarm location to a control center.

17. The mobile guard robot according to any one of claims 12-16, wherein the drone (710) is configured to generate and provide video recordings of the alarm location and the mobile guard robot.

18. The mobile guard robot according to any one of claims 12-17, wherein the drone (710) is configured to move to a position from which the alarm location and the mobile guard robot are simultaneously in a field of view of the camera of the drone.

19. The mobile guard robot according to any one of claims 12-18, wherein the alarm location is a location of an alarm notification device, wherein the alarm notification device is a motion sensor, an intrusion sensor or an emergency switch.

20. A computer program having a program code for carrying out the method according to any one of claims 1-19, when the computer program is executed on one or more computers or processors.

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