Remote facility management method and facility management system using same

Abstract

A facility management system according to an embodiment of the present invention comprises: a robot disposed within a facility; and a remote control device positioned at a remote place to receive facility information from the robot, wherein the remote control device receives information on a target object selected on a map, configures an optimal position condition for photographing the selected target object by a robot disposed at the remote place, identifies image information of the target object, obtained by the robot having moved to a POI corresponding to the optimal position condition, and stores optimal position information of the robot and a condition of a camera provided in the robot.

Description

Remote facility management method and facility management system utilizing the same

[0001] The present invention relates to a remote facility management method and a facility management system using the same.

[0002] As technology advances, various service devices are emerging, and in particular, technological development for robots that perform various tasks or services is actively underway.

[0003] Furthermore, with the recent advancements in artificial intelligence technology and cloud technology, the utilization of robots is gradually increasing.

[0004] Meanwhile, precise robot control is crucial for providing various tasks or services. Given the practical limitations of allowing users to physically control robots from their immediate vicinity, the need for remote robot control technology is becoming increasingly crucial.

[0005] When using conventional robots to manage facilities, there are situations where human entry is difficult or precise control of the location and posture of the object to be inspected is required. It can be dangerous and difficult for a human to move alongside the robot and adjust the camera angle for the object to be inspected.

[0006] The purpose of the present invention is to provide a robot and a remote control device that provide a remote facility management method.

[0007] In order to achieve the above object, the facility management system of the present invention comprises: a robot placed within a facility; and a remote control device located at a remote location for receiving facility information from the robot, wherein the remote control device receives target object information selected on a map, sets optimal location conditions for photographing the target object selected by the robot placed at the remote location, confirms image information of the target object acquired by the robot moving to a POI corresponding to the optimal location conditions, and stores optimal location information of the robot and conditions of a camera provided in the robot.

[0008] According to an embodiment, the remote control device calculates a cost function corresponding to the selected target object and derives optimal parameters based on the cost function.

[0009] In an embodiment, the remote control device calculates a required angle score according to a movement direction of the robot and a required PAN angle of the camera, calculates a required distance score according to a distance between the target object and the camera, calculates a distance inversion score according to a distance between an obstacle adjacent to the target object and the camera, and calculates a cost function based on the required angle score, the required distance score, and the distance inversion score.

[0010] According to an embodiment, the remote control device selects at least one candidate condition that minimizes the cost function, and calculates an optimal parameter among the candidate conditions by considering the previous POI location of the robot.

[0011] In an embodiment, the remote control device calculates optimal parameters based on the position of the robot, the position of the POI, the PAN angle of the camera, and the TILT angle of the camera when the map is a 3D map.

[0012] In an embodiment, the remote control device calculates optimal parameters based on the position of the robot, the position of the POI, and the PAN angle of the camera when the map is a 2D map.

[0013] In an embodiment, the remote control device determines the parameters by adjusting the angle of the camera so as to identify the target object based on the image received from the robot.

[0014] In an embodiment, the remote control device stores conditions under which the robot can move to at least one POI in the remote location and measure the facility, thereby generating an entire POI.

[0015] In an embodiment, the remote control device updates the entire generated POI to an optimal position that can increase the movement efficiency of the robot by taking into account adjacent POIs.

[0016] The effects of the robot according to the present invention are described as follows.

[0017] According to at least one of the embodiments of the present invention, there is an advantage in that the robot can automatically move to an optimal condition that can be measured from a remote location and check the image of the camera, thereby efficiently performing management settings.

[0018] The effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by a person having ordinary skill in the art to which the present invention belongs from the description below.

[0019] FIG. 1 illustrates a facility management system according to one of the embodiments of the present invention.

[0020] FIG. 2 is a drawing for explaining a remote facility management method according to a manual POI setting method according to one embodiment of the present invention.

[0021] FIG. 3 is a drawing for explaining a map according to a manual POI setting method according to one embodiment of the present invention.

[0022] FIG. 4 is a drawing for explaining a manual POI setting method according to one embodiment of the present invention.

[0023] FIG. 5 is a drawing for explaining a remote facility management method according to an automatic POI setting method according to one embodiment of the present invention.

[0024] FIG. 6 is a drawing for explaining a map according to an automatic POI setting method according to one embodiment of the present invention.

[0025] FIGS. 7 and 8 are diagrams for explaining a cost function setting method according to one embodiment of the present invention.

[0026] FIG. 9 is a drawing for explaining an automatic POI setting method according to one embodiment of the present invention.

[0027] Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the attached drawings. Regardless of the drawing numbers, identical or similar components will be given the same reference numbers, and redundant descriptions thereof will be omitted. The suffixes "module" and "part" used for components in the following description are assigned or used interchangeably only for the convenience of writing the specification, and do not in themselves have distinct meanings or roles. In addition, when describing the embodiments disclosed in this specification, if it is determined that a specific description of a related known technology may obscure the gist of the embodiments disclosed in this specification, a detailed description thereof will be omitted. In addition, the attached drawings are only intended to facilitate easy understanding of the embodiments disclosed in this specification, and the technical ideas disclosed in this specification are not limited by the attached drawings, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and technical scope of the present invention.

[0028] The following examples of the present invention are intended only to illustrate the invention and are not intended to limit or restrict the scope of the invention. Anything readily inferred by a specialist in the technical field of the invention from the detailed description and examples of the invention is construed as falling within the scope of the invention.

[0029] The above detailed description should not be construed as limiting in any respect, but rather as illustrative. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are intended to be included within the scope of the present invention.

[0030] FIG. 1 illustrates a facility management system according to one of the embodiments of the present invention.

[0031] As illustrated in FIG. 1, the facility management system comprises a robot (100) and a remote control device (200) connected to each other via a communication network. In this specification, the robot (100) corresponds to any device that is placed within a facility and operates autonomously. Furthermore, the remote control device (200) corresponds to a device that is placed in a remote location and controls the robot (100) via a network. The remote control device (200) can receive facility information from the robot (100).

[0032] The robot (100) may include a camera unit (110), a sensor unit (120), a communication unit (130), and a control unit (140).

[0033] The camera unit (110) may include an RGB / IR camera. The RGB / IR camera can acquire RGB images and IR thermal images. The camera unit (110) can acquire images of the surroundings outside the robot.

[0034] The sensor unit (120) may include one or more of a lidar sensor and a radar sensor to detect surrounding objects outside the robot. The sensor unit (120) may measure the distance to the detected surrounding objects.

[0035] The sensor unit (120) may include GPS to obtain location information of the robot (100). This location information may be utilized to control the driving of the robot (100) in autonomous driving mode or manual driving mode through the control unit (140).

[0036] The communication unit (130) can receive map information, driving route information, etc. through communication with the remote control device (200), and can also transmit images acquired from the camera unit (110) and object information recognized by the sensor unit (120) to the remote control device (200).

[0037] The control unit (140) performs the role of controlling the camera unit (110), sensor unit (120), communication unit (130), etc.

[0038] For example, the robot (100) can obtain an image of the robot's surroundings through the camera unit (110), detect an object around the robot through the sensor unit (120), and receive POI information for photographing a target object from a remote control device (200) through the communication unit (130), so that the control unit (140) can control the robot to move to a location corresponding to the POI.

[0039] Thereafter, when the robot (100) moves to a location corresponding to the POI, the control unit (140) can transmit the image acquired from the camera unit (110) and the object information detected by the sensor unit (120) to the remote control device (200) through the communication unit (130).

[0040] The remote control device (200) may include at least one of a communication unit (210), a storage unit (220), a display unit (230), an input unit (240), and a control unit (250).

[0041] The communication unit (210) may be configured to communicate with the robot (100) via wired or wireless communication. The communication unit (210) may be configured to receive images captured by the camera unit (110) provided in the robot (100) through communication with the robot (100).

[0042] The communication unit (210) can receive camera images, sensor information, robot position information (x, y), robot posture information (yaw), and camera PTZ (pan, tilt, zoom) information from the robot (100).

[0043] The storage unit (220) can store pre-built map information. The map information can store information on movable spaces and obstacles within the facility. The map information can include 2D map information and 3D map information.

[0044] Next, a map (or map information) for a facility may be stored in the storage unit (220). Here, the map may be composed of at least one of a two-dimensional (2D) or three-dimensional (3D) map. The map for the facility may refer to a map that can be utilized to determine the current location of the robot (100) or to set the robot's driving path.

[0045] In particular, in the remote control device (200) according to the present invention, the location of the robot (100) can be determined based on the image received from the robot (100). To this end, the map of the facility stored in the storage unit (220) can be composed of data that enables the location to be estimated based on the image.

[0046] The display unit (230) can output images captured from the camera unit (110) provided in the robot (100).

[0047] The display unit (230) can be configured to output at least one of the map images stored in the storage unit (220).

[0048] The display unit (330) can output the location information of the robot, the posture information of the robot, and the angle information of the camera to remotely manage the robot (100).

[0049] The input unit (240) is for inputting information input from an operator, and the input unit (240) can serve as a medium between the operator and the robot (100). More specifically, the input unit (240) can mean an input means for receiving a control command from a user to remotely control the movement of the robot (100).

[0050] The control unit (250) can receive target object information selected on a map pre-stored in the storage unit (220).

[0051] The control unit (250) can set the optimal position conditions for photographing a target object selected by a robot (100) placed in a remote location.

[0052] To this end, the control unit (250) can calculate a cost function corresponding to the selected target object.

[0053] For example, the control unit (250) can calculate a required angle score based on the movement direction of the robot (100) and the required PAN angle of the camera. The control unit (250) can calculate a required distance score based on the distance between the target object and the camera. The control unit (250) can calculate a distance inversion score based on the distance between the target object and an obstacle adjacent to the camera. The control unit (250) can calculate a cost function based on the required angle score, the required distance score, and the distance inversion score.

[0054] And, the control unit (250) can calculate optimal parameters based on the cost function.

[0055] The control unit (250) can select at least one candidate condition that minimizes a cost function. Furthermore, the control unit (250) can calculate optimal parameters among the candidate conditions by considering the previous POI location of the robot (100). At this time, the POI may be a target location to which the robot (100) must move for facility management.

[0056] The control unit (250) can calculate optimal parameters based on the type of map, the movable space provided in the map, obstacle information, and height information of objects.

[0057] For example, if the map is a 3D map, the control unit (250) can calculate optimal parameters based on the position of the robot (100), the position of the POI, the PAN angle of the camera, and the TILT angle of the camera.

[0058] For example, if the map is a 2D map, the optimal parameters can be calculated based on the position of the robot (100), the position of the POI, and the PAN angle of the camera.

[0059] The control unit (250) can check the image information of the target object acquired by the robot (100) by moving to the POI corresponding to the optimal position conditions, and can precisely control the robot based on the image to finally determine the parameters for the mission.

[0060] For example, if the map is a 3D map, the final parameters can be determined by the operator checking the image received from the robot (100).

[0061] For example, if the map is a 2D map, the parameters can be finally determined by adjusting the angle of the camera so that the target object can be identified based on the image received from the robot (100).

[0062] The control unit (250) can store the optimal position information of the robot (100) and the conditions of the camera equipped in the robot (100).

[0063] Meanwhile, the control unit (250) stores conditions under which the robot (100) can move to at least one POI in a remote location and measure facilities, thereby generating the entire POI.

[0064] In addition, the control unit (250) can update the entire generated POI to an optimal position that can increase the movement efficiency of the robot (100) by considering adjacent POIs.

[0065] FIG. 2 is a drawing for explaining a remote facility management method according to a manual POI setting method according to one embodiment of the present invention.

[0066] Referring to FIG. 2, the remote control device (200) can configure a map for managing remote facilities (S201).

[0067] The location where the robot (100) will move on the map can be specified through a remote control device (200) (S202).

[0068] The robot (100) can move to a designated location via a remote control device (200) (S203).

[0069] The robot position for shooting can be finely controlled based on real-time images and sensor information received from the robot (100) via a remote control device (200) (S204).

[0070] The remote control device (200) can control camera conditions based on image-processed video information (S205).

[0071] The remote control device (200) can store the robot position, posture, and camera conditions (S206). At this time, the robot position (x, y), the robot posture (yaw), and the camera PTZ information (PAN, TILT, ZOOM) can be stored.

[0072] The remote control device (200) can determine whether all POIs for target objects within the facility have been selected (S207).

[0073] The remote control device (200) can perform facility management based on the entire stored POI list when all POIs are selected (S208).

[0074] Meanwhile, if not all POIs are selected, the remote control device (200) can select the next facility management target (S209). Thereafter, the location to which the robot (100) will move can be designated based on the selection of the next target.

[0075] FIG. 3 is a drawing for explaining a map according to a manual POI setting method according to one embodiment of the present invention.

[0076] As illustrated in FIG. 3, map information (300) may be provided in the form of a planar diagram including movable space and obstacle information. An operator at a remote location may input a command to have the robot (100) move to a location surrounding a target object (310) for which a manual POI is to be set.

[0077] FIG. 4 is a drawing for explaining a manual POI setting method according to one embodiment of the present invention.

[0078] Referring to FIG. 4, when an operator at a remote location commands the movement location of the robot (100) on a map (300) via a remote control device (200), the robot (100) can move to the vicinity of a target object (310) through autonomous driving (S401).

[0079] And, when the remote control device (200) arrives at the POI location to be inspected by the robot (100), the remote control device (200) can perform fine control based on the position of the robot (100), the posture of the robot, and the conditions of the camera based on the operator's input (S402).

[0080] The remote control device (200) can control the robot (100) by inputting the conditions of the camera for photographing the target object (310) (S403).

[0081] The remote control device (200) can control the robot (100) by inputting the optimal distance for photographing the target object (310) (S404).

[0082] The remote control device (200) can control the robot (100) by inputting a position to minimize interference with adjacent obstacles (S405).

[0083] The remote control device (200) can control the robot (100) by inputting the robot's posture / camera conditions for movement efficiency in an adjacent POI (S406).

[0084] The remote control device (200) can adjust the robot position / camera conditions when the operator confirms the robot's posture / camera conditions (S407).

[0085] However, this manual POI setting method requires operator intervention beyond simply moving the robot (100) to the destination and assuming a specific posture. For example, when setting camera shooting conditions, facility management setting information may vary depending on the operator's skill level.

[0086] FIG. 5 is a drawing for explaining a remote facility management method according to an automatic POI setting method according to one embodiment of the present invention.

[0087] Referring to Fig. 5, a map for managing remote facilities can be configured (S501).

[0088] When a remote control device (200) selects a target object (310) on a map, it can store the movable position (x, y) and attitude (yaw) close to the selected position in the space state tree (S502, S503).

[0089] The remote control device (200) can select at least N candidate conditions that minimize the cost function based on the movable positions (x, y) and attitudes (yaw) stored in the space tree (S504).

[0090] The remote control device (200) can select optimal parameter conditions by considering the adjacent POI location where the robot (100) was previously located (S505).

[0091] A robot (100) that moves according to optimal parameter conditions from a remote control device (200) can arrive at a POI location to inspect a target object (S506).

[0092] The remote control device (200) can perform image processing on an image received from a robot (100) at a remote location to automatically control the position to photograph the target object (310) (S507).

[0093] The remote control device (200) can store the robot position, robot posture, and camera conditions (S508).

[0094] The remote control device (200) can determine whether all POIs for the target object (310) within the facility have been selected (S509).

[0095] The remote control device (200) can perform facility management based on the entire stored POI list when all POIs are selected (S510).

[0096] Meanwhile, if not all POIs are selected, the remote control device (200) can select the next facility management target object (310) (S511). Thereafter, the location to which the robot (100) will move can be designated based on the selection of the next target object (310).

[0097] FIG. 6 is a drawing for explaining a map according to an automatic POI setting method according to one embodiment of the present invention.

[0098] As illustrated in Fig. 6(a), the location of the target object (310) can be provided on the map. An operator at a remote location can input a command to have the robot (100) move to the target object (310) for which an automatic POI is to be set via a remote control device (200).

[0099] As illustrated in FIG. 6(b), the remote control device (200) can calculate a cost function to move from a previous POI to a POI related to a target object (310). The remote control device (200) can sample the area around the target object (310) using the cost function calculated according to requirements corresponding to the target object (310) to create a candidate group (610).

[0100] As illustrated in Fig. 6(c), the remote control device (200) can select the top N candidates from the minimum cost function, or leave only those candidates below a certain value as final candidates, and calculate optimal parameters by considering previous POIs. Through this, the remote control device (200) can set the robot position, posture, and PTZ angle corresponding to the target object (310) as the final parameters (620).

[0101] FIGS. 7 and 8 are diagrams for explaining a cost function setting method according to one embodiment of the present invention.

[0102] Referring to FIG. 7, the remote control device (200) can determine the robot direction and the degree of proximity to the required angle of the camera, determine the degree of proximity to the required distance between the robot (100) and the facility, and inversely calculate the distance between the robot (100) and the adjacent obstacle. Through this, the remote control device (200) can calculate a cost function based on the inverse calculation of the required angle, the required distance, and the distance to the adjacent obstacle.

[0103] For example, the condition can be set to operate the robot forward if possible according to the required angle for the target object (310) of the remote control device (200).

[0104] For example, a condition can be set so that the measurement distance of the camera is 5 m according to the required distance to the target object (310) of the remote control device (200).

[0105] For example, a condition can be set to allow the robot (100) to avoid interfering pillars when photographing the target object (310) by calculating the distance from adjacent obstacles to the target object (310) of the remote control device (200).

[0106] To this end, the remote control device (200) can calculate a cost function (COST) using the following mathematical expression 1.

[0107]

[0108] At this time, "θ i ", “d i " can be decomposed into K and L pieces by a fixed sampling interval, and the location and PTZ conditions of the candidates for calculating the cost function can be determined. “occ i "FOV occlusion is the distance of an object entering the field of view of the PTZ camera. “obs i "The distance to adjacent obstacles measured by the robot's surrounding sensors. a1, a2, a3, and a4 are values ​​that determine the scaling of each element and which element to weight.

[0109] Referring to FIG. 8, when a target object (310) is selected, the remote control device (200) can create a candidate group by sampling around each given requirement through a cost function, calculate the candidate group, and select N final candidates having the minimum value.

[0110] The remote control device (200) can select the top N candidates with a minimum cost function, or only those candidates with a cost function lower than a preset value as final candidates. Thereafter, the remote control device (200) can select the final position and posture by considering the cost function and the movement efficiency relative to the previous POI. In other words, the candidate with the optimal movement efficiency relative to the previous POI can be selected.

[0111] For example, if the given PAN required angle is 90 degrees and the required distance is 5 m, the remote control device (200) can consider surrounding obstacles (320, 330, 340) around the target object (310) and leave a candidate group with cost functions of 31, 42, and 46. Thereafter, the remote control device (200) can select a candidate with cost function of 31, which is a candidate with optimal movement efficiency from the previous POI, among the candidate group.

[0112] FIG. 9 is a drawing for explaining an automatic POI setting method according to one embodiment of the present invention.

[0113] Referring to FIG. 9, an operator at a remote location can select a target object (310) to be photographed by the robot (100) on the map through a remote control device (200) (S901).

[0114] The remote control device (200) can calculate a cost function based on map information (300). At this time, the cost function can be calculated by inversely calculating the robot direction and the required angle of proximity of the camera, the required distance proximity to the facility, and the distance to the adjacent obstacle (S902).

[0115] The remote control device (200) can calculate optimal parameters (robot position, posture, and PTZ (Pan Tilt Zoom) angle) by considering the target adjacent POI for managing the target object (310) (S903).

[0116] The remote control device (200) can autonomously move the robot (100) to a POI location corresponding to the optimal parameters (S904).

[0117] The remote control device (200) can receive an image of a target object (310) from the robot (100) (S905).

[0118] The remote control device (200) can identify the target object by performing image processing (S906). In addition, the remote control device (200) can identify the target object by receiving the operator's judgment regarding the image.

[0119] The remote control device (200) can store the robot position, posture, and camera conditions based on the confirmed POI information (S907).

[0120] Therefore, in the automatic POI setting method according to the present invention, when the operator selects only the target object (310), the robot moves and arrives after selecting the optimal robot movement position and camera angle through pre-calculation, and then the operator confirms the POI.

[0121] The embodiments have been described in terms of methods and / or devices, and the descriptions of methods and devices may be applied complementarily.

[0122] For the convenience of explanation, each drawing has been described separately, but it is also possible to design a new embodiment by combining the embodiments described in each drawing. In addition, designing a computer-readable recording medium having a program recorded thereon for executing the previously described embodiments, as needed by a person skilled in the art, also falls within the scope of the embodiments. The devices and methods according to the embodiments are not limited to the configurations and methods of the embodiments described above, but the embodiments may be configured by selectively combining all or part of the embodiments so that various modifications can be made. Although preferred embodiments of the embodiments have been illustrated and described, the embodiments are not limited to the specific embodiments described above, and various modifications can be made by a person skilled in the art to which the present invention pertains without departing from the gist of the embodiments claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the embodiments.

[0123] The various components of the devices of the embodiments may be implemented by hardware, software, firmware, or a combination thereof. The various components of the embodiments may be implemented by a single chip, for example, a single hardware circuit. According to embodiments, the components according to the embodiments may be implemented by separate chips. According to embodiments, at least one of the components of the devices of the embodiments may be configured with one or more processors capable of executing one or more programs, and the one or more programs may perform, or include instructions for performing, one or more of the operations / methods according to the embodiments. The executable instructions for performing the methods / operations of the devices of the embodiments may be stored in non-transitory CRMs or other computer program products configured to be executed by one or more processors, or may be stored in temporary CRMs or other computer program products configured to be executed by one or more processors. In addition, the memory according to the embodiments may be used as a concept including not only volatile memory (e.g., RAM, etc.), but also non-volatile memory, flash memory, PROM, etc. Additionally, it may include implementations in the form of carrier waves, such as transmissions via the Internet. Furthermore, processor-readable recording media may be distributed across network-connected computer systems, allowing processor-readable code to be stored and executed in a distributed manner.

[0124] In this document, “ / ” and “,” are interpreted as “and / or”. For example, “A / B” is interpreted as “A and / or B”, and “A, B” is interpreted as “A and / or B”. Additionally, “A / B / C” means “at least one of A, B, and / or C”. Also, “A, B, C” means “at least one of A, B, and / or C”. Additionally, “or” in this document is interpreted as “and / or”. For example, “A or B” can mean 1) “A” only, 2) “B” only, or 3) “A and B”. In other words, “or” in this document can mean “additionally or alternatively”.

[0125] Terms such as "first" and "second" may be used to describe various components of the embodiments. However, the various components according to the embodiments should not be interpreted as limited by these terms. These terms are merely used to distinguish one component from another. For example, a first user input signal may be referred to as a "second user input signal." Similarly, a second user input signal may be referred to as a "first user input signal." The use of these terms should be interpreted as not departing from the scope of the various embodiments. Although "first user input signal" and "second user input signal" are both user input signals, they do not mean the same user input signals unless the context clearly indicates otherwise.

[0126] The terminology used to describe the embodiments is for the purpose of describing particular embodiments and is not intended to be limiting of the embodiments. As used in the description of the embodiments and in the claims, the singular is intended to include the plural unless the context clearly dictates otherwise. The expressions “and / or” are used to mean all possible combinations of terms. The expression “includes” describes the presence of features, numbers, steps, elements, and / or components, but does not mean that additional features, numbers, steps, elements, and / or components are not included. Conditional expressions such as “if” or “when” used to describe the embodiments are not intended to be limited to only optional cases. When a specific condition is satisfied, a related action is performed in response to a specific condition, or a related definition is intended to be interpreted.

[0127] Additionally, the operations according to the embodiments described in this document may be performed by a transceiver device including a memory and / or a processor according to the embodiments. The memory may store programs for processing / controlling the operations according to the embodiments, and the processor may control various operations described in this document. The processor may be referred to as a controller, etc. The operations according to the embodiments may be performed by firmware, software, and / or a combination thereof, and the firmware, software, and / or a combination thereof may be stored in the processor or in the memory.

[0128] Meanwhile, the operations according to the embodiments described above may be performed by a transmitting device and / or a receiving device according to the embodiments. The transmitting / receiving device may include a transmitting / receiving unit for transmitting and receiving media data, a memory for storing instructions (program code, algorithm, flowchart, and / or data) for a process according to the embodiments, and a processor for controlling the operations of the transmitting / receiving device.

[0129] The processor may be referred to as a controller or the like, and may correspond to, for example, hardware, software, and / or a combination thereof. The operations according to the above-described embodiments may be performed by the processor. Furthermore, the processor may be implemented as an encoder / decoder or the like for the operations of the above-described embodiments.

[0130] Various embodiments for implementing the present invention have been described in detail in the previous table of contents.

[0131] The present invention is applicable to technology related to facility management systems, and thus its industrial applicability is recognized.

Claims

1. Robots deployed within the facility; A remote control device located at a remote location and receiving facility information from the robot, The above remote control device Receive information on selected target objects on the map, Set the optimal position conditions for photographing the target object selected by the robot deployed in the above remote location, The above robot moves to the POI corresponding to the optimal location conditions and checks the image information of the target object obtained, characterized by storing the optimal position information of the robot and the conditions of the camera equipped in the robot. Facility management system.

2. In paragraph 1, The above remote control device Compute a cost function corresponding to the selected target object, It is characterized by calculating the optimal parameters based on the above cost function. Facility management system.

3. In paragraph 2, The above remote control device Calculate the required angle score according to the movement direction of the robot and the required PAN angle of the camera, Calculate the required distance score according to the distance between the target object and the camera, Calculate the distance inversion score according to the distance between the target object and the adjacent obstacle and the camera, characterized in that the cost function is calculated based on the above required angle score, required distance score, and distance inversion score. Facility management system.

4. In paragraph 3, The above remote control device Select at least one candidate condition that minimizes the above cost function, It is characterized by calculating the optimal parameter among the candidate conditions by considering the previous POI location of the robot. Facility management system.

5. In paragraph 4, The above remote control device A facility management system characterized in that, when the above map is a 3D map, optimal parameters are calculated based on the position of the robot, the position of the POI, the PAN angle of the camera, and the TILT angle of the camera.

6. In paragraph 4, The above remote control device If the above map is a 2D map, it is characterized in that the optimal parameters are calculated based on the position of the robot, the position of the POI, and the PAN angle of the camera. Facility management system.

7. In paragraph 6, The above remote control device It is characterized in that the parameter is finally determined by adjusting the angle of the camera so that the target object can be identified based on the image received from the robot. Facility management system.

8. In paragraph 1, The above remote control device The robot is characterized in that it moves to at least one POI in the remote location and stores the conditions for measuring the facility, thereby generating the entire POI. Facility management system.

9. In paragraph 8, The above remote control device It is characterized by updating the entire generated POI to the optimal optimal position that can increase the movement efficiency of the robot by considering adjacent POIs. Facility management system.

10. A step of receiving information on a target object selected on a map; A step for setting optimal position conditions for photographing a target object selected by a robot deployed in a remote location; A step in which the robot moves to a POI corresponding to the optimal position conditions; A step of confirming image information of the target object acquired by the camera of the robot; A step of storing the optimal position information of the robot and the conditions of the camera. Method for managing remote facilities.

11. In paragraph 10, A step for setting optimal position conditions for photographing a target object selected by a robot deployed at the above remote location; A step of calculating a cost function corresponding to the selected target object; and A step of calculating optimal parameters based on the above cost function is included. Method for managing remote facilities.

12. In paragraph 11, The step of calculating the cost function corresponding to the selected target object is A step of calculating a required angle score according to the movement direction of the robot and the required PAN angle of the camera; A step of calculating a required distance score according to the distance between the target object and the camera; A step of calculating a distance inversion score according to the distance between the target object, an adjacent obstacle, and the camera; Comprising a step of calculating a cost function based on the above required angle score, required distance score, and distance inversion score. Method for managing remote facilities.

13. In paragraph 12, The step of calculating the optimal parameters based on the above cost function is A step of selecting at least one candidate condition that minimizes the above cost function; A step of calculating the optimal parameter among the candidate conditions by considering the previous POI location of the robot. Method for managing remote facilities.

14. In paragraph 13, The step of calculating the optimal parameters among the candidate conditions by considering the previous POI location of the robot is as follows. If the above map is a 3D map, it further includes a step of calculating optimal parameters based on the position of the robot, the position of the POI, the PAN angle of the camera, and the TILT angle of the camera. Method for managing remote facilities.

15. In paragraph 13, The step of calculating the optimal parameters among the candidate conditions by considering the previous POI location of the robot is as follows. If the above map is a 2D map, it further includes a step of calculating optimal parameters based on the position of the robot, the position of the POI, and the PAN angle of the camera. Method for managing remote facilities.

16. In paragraph 15, The step of checking the image information of the target object acquired by the camera of the robot Further comprising a step of adjusting the angle of the camera so as to identify the target object through image processing. Method for managing remote facilities.

17. In paragraph 10, The step of generating the entire POI by storing the conditions under which the robot can move to at least one POI in the remote location and measure the facility is further included. Method for managing remote facilities.

18. In paragraph 17, It further includes a step of updating the entire generated POI to an optimal position that can increase the movement efficiency of the robot by considering adjacent POIs. Method for managing remote facilities.

19. Camera section for obtaining images of the robot’s surroundings; A sensor unit that detects objects surrounding the robot; A communication unit for receiving POI information for photographing a target object from a remote control device; and Including a control unit that controls the robot to move to a location corresponding to the POI, The above control unit When the robot moves to a location corresponding to the POI, it is characterized in that the image acquired from the camera unit and the object information detected by the sensor unit are transmitted to the remote control device. Robot.

Images