Mobile detection system

In a mobile detection system having a robot, a method for performing crime and fire preventive functions during movement of the robot, comprising the steps of:

• establishing a driving unit with respect to an absolute position by initiating the robot and detecting a steering detecting sensor;
• driving a drive operating system after analyzing an obstacle detected by a navigation unit and determining a distance to the obstacle and a direction in which the robot must move to avoid the obstacle;
• determining whether or not a faulty surface exists on a running surface of the robot by operating a driving sensing unit;
• controlling a driving condition of the robot, a moving speed of the robot, and a steering angle of the robot to avoid the faulty surface;
• performing crime and fire preventive functions by operating an abnormal condition detection unit while the robot is stopped;
• and
• informing a remote location of a situation which has occurred, said situation including at least one of an intruder entering a monitored region and a fire.

A mobile detection system including a robot, which is movable in order to execute multiple detecting functions to detect abnormal conditions within a monitoring region, said detection system comprising:

• a microcomputer for discriminating an occurrence of an abnormal condition within the monitoring region and for sending a signal to peripheral equipment to control a moving state of the robot;
• a drive operating system, controlled by the microcomputer, which includes:
• driving means for providing forward and reverse driving power and
• steering means for changing a direction of the robot;
• navigation means for monitoring the region surrounding the robot by emitting ultrasonic waves and simultaneously receiving reflected ultrasonic waves and for outputting, to the microcomputer, a signal representative of an object within the monitored region;
• faulty surface detecting means having at least two sensors which detect surface faults, said faulty surface detection means being operatively coupled to said drive operating system to cause said robot to reverse its direction when one of said sensors detects a surface fault and subsequently move forward and turn in a direction away from a side on which said one of said sensors is mounted;
• abnormal condition detection means for detecting an abnormal state occurring within the monitoring region and for outputting a representative signal to the microcomputer;
• communication means which comprises:
• a signal transmitting portion for transmitting the detected abnormal state to a location outside the monitored region and
• a signal receiving portion for receiving a control signal for the robot sent from said outside location, said received control signal being performed by the microcomputer;
• and
• automatic telephone notifying means for supplying peripheral conditions to pre-listed addresses in the microcomputer based on signals received from the transmitting portion of the communication means.

A mobile detection system mounted on a robot, which is movable in order to execute multiple detecting functions to detect abnormal conditions within a monitoring region, said detection system comprising:

• a microcomputer for identifying when an abnormal state arises within the monitoring region and for controlling movement of said robot;
• a drive operating system controlled by the microcomputer and including:
• driving means for providing forward and reverse driving power to the robot, and
• steering means for altering a direction in which the robot moves;
• navigation means for emitting an object detection signal and receiving said object detection signal which is reflected from an object in the monitoring region in order to detect the object, said navigation means outputting, to the microcomputer, a signal identifying the object;
• abnormal condition detection means for detecting generation of abnormal states within the monitoring region and for outputting, to the microcomputer, a signal representative of the abnormal condition;
• and
• communication means for transmitting the signal, representative of the abnormal condition, to a location external to the monitoring region;
• faulty surface detecting means having at least two sensors which detect surface faults, said faulty surface detection means being operatively coupled to said drive operating system to cause said robot to reverse its direction when one of said sensors detects a surface fault and subsequently move forward and turn in a direction away from a side on which said one of said sensors is mounted.

A mobile detection system for detecting abnormal states within a monitoring region, said system comprising:

• a microcomputer for, after discriminating a generation of an abnormal state within the monitoring region, sending a signal to peripheral equipment to control movement of a robot;
• a drive operating system including driving means for propelling the robot in forward and reverse directions and steering means for changing a direction of the robot, said driving operating system being controlled by the microcomputer;
• navigation means for emitting ultrasonic waves and simultaneously receiving reflected waves to monitor the monitoring region of space, said navigation system supplying a signal representing detection of an object to the microcomputer;
• abnormal condition detection means for detecting abnormal states generated within the monitoring region of space and for outputting a detected signal to the microcomputer;
• said robot includes:
• a signal transmitting portion for transmitting to a remote location signal indicative of the generation of an abnormal state;
• a signal receiving portion for outputting a control signal for said robot sent from the remote location;
• and
• communication means which is controlled by the microcomputer, for allowing said robot to communicate with said microcomputer, said robot being mounted with the transmitting and receiving portions and the communication means in an integral assembly and being controlled by the microcomputer to perform movement and monitoring functions;
• and
• emergency measure means for effecting emergency measures with the monitoring region necessary for minimizing damage during a generation of an emergency situation.

A faulty surface detector system for use with a robot, for detecting a faulty condition of a driving surface of the robot, comprising:

• a roller member for rotating in contact with the driving surface;
• a lever having two ends, the roller member being disposed on one end of the lever and a magnet being disposed on another end of the lever;
• and
• drop sensors which include a magnetic field sensing element for sensing the magnetic field of the magnets and thus the position of the rolling members.

A driving sensor system, for use with a robot, for sensing a driving condition of the robot, comprising:

• drop sensors for detecting a faulty surface existing on a driving surface of the robot;
• a drive adjustment detecting sensor for detecting a drive condition of wheels mounted on a bottom of the robot;
• a speed detecting sensor for detecting a moving speed of the robot by detecting inverse electromotive force generating from a stator coil of a driving motor of the robot;
• a steering detecting sensor for detecting, during an initial start of the robot, whether or not driving means, for driving the robot, mounted on a rotary disc member on the robot has reached a predetermined position;
• and
• an encoder for discriminating a steering angle of the robot by converting revolutions of the steering motor of the steering means to pulses which are indicative of the steering angle if an obstacle is sensed during an operation of the robot.