JP2002092762A - Monitoring system and moving body for monitoring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a monitoring system capable of easily monitoring the whole without construction. SOLUTION: A storage battery 6 for supplying electric power is connected to a traveling means 7 equipped with a traveling wheel rotating by a driving means so that the moving body can autonomously travel. The moving body is equipped with an image detecting means 8 for producing an image and various kinds of sensors 9 to provide a circumstance state detecting means 10 for detecting a sate of the circumstance. A dust suction means 13 for sucking dust from a floor is provided. Further, a moving body control means 5 for controlling the traveling means 7, the circumstance state detecting means 10 and the dust suction means 13 is provided. A transmitting and receiving means 12 for transmitting an image data and a detected signal from the sensor 9 to a battery charger 4 via a radio medium 16 is connected to the moving body control means 5. An abnormal determination means 20 of the battery charger 4 determines abnormality based on the image data and the detected signal and then the abnormality is reported to a resident or a maintenance management facility from a communications means 19.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monitoring system for judging an abnormality based on a detected surrounding state and a moving object for the monitoring system.

[0002]

2. Description of the Related Art Conventionally, an abnormality such as an intruder or a fire is determined by a vibration detection sensor or a smoke detection sensor, and transmitted to a resident or a maintenance management institution using a telephone line or wireless communication to notify the abnormality. Various monitoring systems are known.

[0003]

However, in the conventional monitoring system, in order to detect an abnormal state such as an intruder or a fire in the entire house, for example, a plurality of various sensors are arranged in the entire house and each sensor is provided. Need to be wired to a centralized control panel or the like provided with a communication system such as a telephone line, and the construction is complicated and the cost is increased.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and has as its object to provide a monitoring system and a moving body for the monitoring system which can be easily monitored as a whole without requiring any construction.

[0005]

According to a first aspect of the present invention, there is provided a monitoring system comprising: a moving body provided with a surrounding state detecting means for detecting a surrounding state; and a traveling means for running independently, and a surrounding state detecting means for the moving body. Abnormality determination means for determining an abnormality based on the detected surrounding state.

[0006] Then, the surrounding state is detected while appropriately moving by the surrounding state detecting means provided on the moving body provided with the traveling means, and abnormality is determined by the abnormality determining means based on the detected surrounding state. By doing so, it is possible to monitor abnormalities in all areas to be maintained and managed without installing them in a plurality of locations.

According to a second aspect of the present invention, there is provided a monitoring system according to the first aspect.
In the monitoring system described above, the surrounding state detecting unit detects a surrounding state as image data, and the abnormality determining unit includes
The control unit controls the traveling unit based on the image data detected by the surrounding state detection unit and determines an abnormality.

The traveling means is controlled by the abnormality judging means based on the image data of the surrounding state detected by the surrounding state detecting means, and the abnormality is judged.
With the configuration for detecting the surrounding state, it is possible to determine the abnormality and recognize the traveling direction for independent traveling.

According to a third aspect of the present invention, there is provided a monitoring system.
In the monitoring system described in the above, the surrounding state detecting means includes image detecting means for detecting a surrounding state as image data, and the abnormality determining means processes the image data detected by the image detecting means to cause an obstacle to traveling. And an abnormality detecting means for processing the image data and judging an abnormality.

Then, the image data of the surrounding state detected by the image detecting means of the surrounding state detecting means is processed by the obstacle detecting means of the abnormality judging means to detect an obstacle which becomes an obstacle to traveling. At the same time, processing is performed by the abnormality detecting means of the abnormality determining means to determine the abnormality, so that the surrounding state can be detected so that the abnormality can be determined and the traveling direction for independent traveling can be recognized.

According to a fourth aspect of the present invention, there is provided a monitoring system.
4. The monitoring system according to any one of claims 3 to 3, wherein the moving body includes a power supply unit that supplies power, and includes a charging unit that charges a power supply unit of the moving body. The abnormality is determined based on the surrounding state detected by the surrounding state detecting means even when the section is charged.

[0012] Even when the power supply unit of the moving object is being charged by the charging means, the abnormality is determined by the abnormality determining means based on the surrounding state detected by the surrounding state detecting means. The monitoring efficiency can be improved by monitoring the occurrence of the occurrence of the charging means, for example, by using the charging time that requires time by placing the charging means in a place where the monitoring needs to be intensively performed.

According to a fifth aspect of the present invention, there is provided a monitoring system according to the fourth aspect.
In the monitoring system described above, the abnormality determining means is provided in the charging means.

[0014] By providing the charging means with the abnormality judging means, the size and weight of the moving body can be reduced, the running performance can be improved and the monitoring of abnormalities can be improved. Damage and malfunction of the judgment means are reliably prevented, and abnormality monitoring is ensured.

According to a sixth aspect of the present invention, there is provided a monitoring system according to the first aspect.
In the monitoring system according to any one of the first to fifth aspects, the moving body includes a dust suction unit that sucks dust from a surface on which the traveling unit travels.

Further, by providing the moving body with dust suction means for sucking dust from the surface on which the traveling means travels, the area for monitoring the abnormality during the traveling for monitoring the abnormality is cleaned, and the area for the separate cleaning is separately provided. Work becomes unnecessary.

According to a seventh aspect of the present invention, there is provided a moving body for a monitoring system, which is used in a monitoring system which detects a surrounding state and determines an abnormality based on the detected surrounding state. And a surrounding state detecting means for detecting a state.

[0018] By providing the traveling means for traveling independently together with the surrounding state detecting means for recognizing the surrounding state for judging the abnormality of the monitoring system, maintenance management can be performed by the surrounding state detecting means without installing at a plurality of locations. It is possible to monitor abnormalities in all the areas where the operation is performed.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A configuration of an embodiment of a monitoring system according to the present invention will be described below with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a monitoring system. The monitoring system 1 is a mobile body 3 which can travel independently within a monitoring area, for example, a dwelling 2 as shown in FIGS.
And a charger 4 as charging means.

The moving body 3 includes a moving body control means 5 and a storage battery 6 as a power supply for supplying power to the moving body control means 5. In addition, a traveling means 7 which is connected to a storage battery, is supplied with electric power, and travels independently, is connected to the moving body control means 5. Further, the moving body control means 5 is connected to an image detecting means 8 for detecting the surrounding state of the moving body 3 as image data and an ambient state detecting means 10 provided with various sensors 9. Further, a transmitting / receiving means 12 having a mobile antenna 11 is connected to the mobile control means 5. Further, the moving body control means 5 is connected to a dust absorbing means 13 which is connected to a storage battery, is supplied with electric power, and sucks and cleans dust from a floor surface on which the traveling means 7 travels.

On the other hand, the charger 4 has a head office antenna 15, transmits and receives signals to and from the transmission / reception means 12 of the mobile unit 3 via a wireless medium 16 such as infrared rays, radio waves, sound waves, and the like.
(Personal Handyphone System), mobile phones such as mobile phones, maintenance managers (recipients) such as radios, etc. A communication unit 19 for transmitting and receiving signals via a telephone line, a wire, a wireless medium 16, or the like is provided to a maintenance management organization as a receiver.

The charger 4 is connected to the communication means 19 and transmitted from the mobile unit 3 via the wireless medium 16 to the communication means 19.
An abnormality determining means 20 for processing the signal received at 19 and determining whether or not an abnormality such as an intruder, a fire, a gas leak, a water leak, or an abnormal condition of the care receiver has occurred is connected.

Next, a specific configuration of the monitoring system 1 will be described with reference to the drawings.

As shown in FIGS. 4 to 6, the moving body 3 includes a case body 23 having a substantially disk-shaped bottom plate portion 21 and a cover portion 22 for detachably covering the upper surface of the bottom plate portion 21. ing.

A rectangular suction port 25 is formed in the bottom plate portion 21 of the case body 23 along the radial direction.
Further, the bottom plate portion 21 is provided with a pair of turning wheels 26, 26 at symmetrical positions in the narrow dimension direction of the suction port 25. And
A rib 27 is provided on the upper surface of the bottom plate portion 21 in a wall shape.
, A circuit chamber 29 isolated from the suction chamber 28
And a power supply chamber 30 accommodating the storage battery 6 are defined.

Further, a suction chamber 28 is provided on the rib 27 of the bottom plate 21.
A dust collecting portion 32 is provided at the upper part of the airtightly and is detachably attached in an airtight manner. An electric blower 33 having an intake port (not shown) air-tightly connected to the dust collecting unit 32 and held by the rib 27 is disposed above the dust collecting unit 32. The suction chamber 28 that opens the suction port 25, the dust collection unit 32, and the electric blower 33 constitute the dust suction unit 13.

Further, in the suction chamber 28, a rotary cleaning body 36 having an axial direction along the longitudinal direction of the suction port 25 is rotatably disposed. In addition, running wheels 38 are coaxially and independently rotatably provided at both axial ends of the rotary cleaning body 36. These running wheels 38, 38 are driven by driving means such as an electric motor disposed in the circuit chamber 29 of the bottom plate portion 21.
39 and 39 are connected to each other and rotate independently. The traveling means 7 for traveling the moving body 3 on the floor is constituted by the traveling wheels 38, 38 and the driving means 39, 39 forming a pair.

In the circuit room 29, a plurality of circuit boards (not shown) on which the moving body control means 5 are mounted are provided.
The moving body control means 5 is provided with a time measuring means (not shown) for measuring time and elapsed time. This timekeeping means can be input as appropriate. The moving body control means 5 is connected to the electric blower 33 of the dust suction means 34 to control the driving of the electric blower 33, and is connected to the driving means 39 of the traveling means 7 to drive the driving means 39, 39. To control the traveling direction and traveling speed.

Further, the moving body control means 5 is provided in the circuit room 29.
Is connected to the circuit board on which the CCD (Charge Coup
A led device) camera 40 is connected, and a circuit board (not shown) for controlling the CCD camera 40 and converting a captured image into image data is connected. The CCD camera 40 and the circuit board constitute the image detecting means 8. In addition,
The CCD camera 40 of the image detecting means 8 can change the photographing range which is a range in which image data is taken in by a driving source (not shown) which is connected to the moving body control means 5 and controlled in driving.

The circuit board on which the moving body control means 5 is mounted includes a temperature sensor (not shown) for detecting temperatures such as flames, animals and body temperature, a smoke sensor for detecting smoke, a gas sensor for detecting gas leakage, and a faucet. Humidity sensor that detects the state where water or hot water flows out for a long time due to the opening of the door, a voice microphone that is a sensor that detects the surrounding voice, a distance sensor that recognizes the reflection of light or sound waves and detects a predetermined distance, Various sensors 9 for recognizing the surrounding state, such as a condition detecting sensor such as a heart rate, a respiratory rate, and a body temperature of the person, are connected.
A surrounding state detecting means 10 is constituted by the image detecting means 8 and the various sensors 9.

Further, a mobile antenna 11 is connected to the circuit board on which the mobile control means 5 is mounted, and
Are connected to a circuit board (not shown) on which is mounted. The transmission / reception means 12 can transmit image data detected by the image detection means 8 of the surrounding state detection means 10 and detection signals detected by various sensors 9, and is transmitted from the communication means 19 of the charger 4. The signal is receivable and the received signal is transmitted to the mobile control means 5.

In the power supply chamber 30, a charged terminal 42 is provided near the outer peripheral edge of the bottom plate 21 and connected to the storage battery 6.

The cover section 22 is provided with a window section 45 which is substantially transparent and corresponding to the circuit room 29 and which allows the CCD camera 40 of the image detecting means 8 to photograph the surrounding state. Further, the cover portion 22 is provided with an exhaust hole (not shown) for covering the electric blower 33 of the dust suction means 34 and discharging the exhaust air exhausted from the electric blower 33 to the outside, and allows the moving body antenna 11 to penetrate. A through hole (not shown) that protrudes to the outside is provided.

Further, a storage medium 47 such as a memory card is detachably mounted on the
The connector 48 connected to the circuit board on which the is mounted is provided. Then, the moving body control means 5 controls the traveling means 7, the surrounding state detection means 10 and the dust suction means 13 based on the data input to the storage medium 47.

On the other hand, the charger 4 has a main body case 51,
Inside the main body case 51, a charging terminal disposed on the inner surface of the main body case 51 at a position corresponding to the charged terminal 42 of the moving body 3
A power conversion unit (not shown) for connecting a commercial AC power supply to a DC power supply is connected thereto. Also, body case 51
Inside, a circuit board on which communication means 19 to which the telephone line and the head office antenna 15 are connected is mounted. Further, in the main body case 51, an abnormality determining means 20 connected to a circuit board (not shown) on which the communication means 19 is mounted and which processes a signal transmitted from the transmission / reception means 12 of the mobile unit 3 via the communication means 19 is provided. A mounted circuit board is provided. Then, the abnormality judging means 20 stores the storage medium 47 transmitted from the mobile unit 3 by the transmitting / receiving means 12 and received and transmitted by the communication means 19.
Appropriately processes the detected image data and the detection signal of the sensor together with the data input to the intruder and judges abnormalities such as intruder, fire, gas leak, water leak, abnormal condition of the care receiver,
If it is determined that an abnormality has occurred, a telephone line, a wired connection, a mobile communication device 18 carried by the resident 17, a security company, a police organization, a maintenance center such as a care center, etc. The occurrence of the abnormality and the content of the abnormality are transmitted and notified via the wireless medium 16 or the like. The transmission destination may be appropriately selected and notified according to the content of the abnormality.

The charger 4 can be installed in a movable manner, that is, a living room 2c provided with a veranda 2a or a window 2b provided with an area that the resident 17 particularly wants to monitor particularly, for example, an intruder is likely to enter. Can be carried to a position where it can be monitored and installed.

Next, the operation of the monitoring system will be described.

First, monitoring conditions such as a traveling route in which the moving body 3 travels in the house 2 and the layout of the house 2, arrangement of furniture, running time and running time intervals, and dust collecting means are stored in the storage medium 47.
Data such as the cleaning conditions by 13 is input. The monitoring condition data is input to the storage medium 47 in advance using a personal computer (not shown), or from a personal computer connected to the mobile unit 3 via a USB (Universal Serial Bus). The input is made with an operation key (not shown) provided on the body 3. Further, the door 2e of each room 2d of the house 2 is opened so that the moving body 3 can travel.

Then, when the resident 17 goes out, the mobile unit 3 is set to the monitoring state. That is, for example, a switch (not shown) is closed, the time is set in advance in the storage medium 47 so as to be in a monitoring state immediately after leaving, or mobile communication such as a mobile phone carried by the resident 17 after leaving. Using the device 18, the monitoring state is set by a remote operation or the like so that the monitoring state is established by the setting operation of the operation key 18a of the mobile communication device 18.

The monitoring system 1 in this monitoring state is:
Regardless of whether the storage battery 6 is being charged or not charged by the charger 4, the surrounding state is constantly photographed by the image detecting means 8 to detect the surrounding state as image data, and various sensors 9 detect the surrounding state. To detect. Then, the moving body control means 5 transmits the image data and the detection signals detected by the various sensors 9 to the communication means 19 of the charger 4 by the transmission / reception means 12.

When the measurement time measured by the timer provided in the moving body control means 5 reaches the set time, the moving body control means 5 drives the traveling means 7.
The drive wheels 39, 39 are appropriately controlled to rotate the traveling wheels 38, 38 of the traveling means 7, and travel on the traveling route set in the storage medium 47. At the time of this traveling, the surrounding state is photographed by the image detecting means 8 and the surrounding state is detected as image data, and the surrounding state is detected by various sensors 9. The signal is transmitted by the transmission / reception means 12 to the communication means 19 of the charger 4.

When the setting for cleaning is made in the storage medium 47, the moving body control means 5 sets each room 2d,
When traveling in 2d, the electric blower 33 of the dust suction means is appropriately driven, and the driving means 39, 39 of the traveling means 7 are appropriately controlled to travel substantially the entire area of the floor of the room 2d for cleaning. . At the time of this cleaning, when the floor surface is a carpet or the like, the rotating cleaning body 36 is appropriately rotated by the driving means 39 to scrape up dust and absorb the dust.

The mobile unit 3 received by the communication means 19
The abnormality determination means 20 processes the image data and the detection signal from the image data and recognizes the moving object from a moving part or a light part which is relatively different from the photographed image flowing by traveling, and also processes the processed image data and various Based on the detection signal from the sensor 9 and the data input to the storage medium 47, it is determined whether or not the moving object is abnormal by an intruder,
Judge abnormalities such as fire, gas leak, smoke generation, water leak, abnormal condition of the cared person. When the abnormality judging means 20 judges the occurrence of an abnormality, a telephone line or the like is sent from the communication means 19 to the mobile communication device 18 carried by the resident 17 or to a maintenance management organization as a maintenance manager such as a security company, a police agency, a care center, or the like. Wired,
The occurrence of the abnormality and the content of the abnormality are transmitted and notified via the wireless medium 16 or the like.

When the remaining amount of the electric charge of the storage battery 6 is reduced by the traveling for monitoring and the cleaning by the dust suction means 13, the moving body control means controls the traveling means 7 as needed to charge the moving body 3. The battery 4 is controlled to be charged. During charging by the charger 4, image data detected by detecting the surrounding state by the surrounding state detecting means 10 and a detection signal from the sensor 9 are transmitted to the communication means of the charger 4, and the abnormality determining means At 20 the determination of abnormality is continued.

For example, when a visitor's schedule is set while going out and it is necessary to clean the room in a hurry, the resident 17 sets and operates the operation keys 18a of the mobile communication device 18 as appropriate to instruct the user to clean the room. Set. This setting is received by the communication means 19 and a signal to the effect that the mobile unit 3 is to be cleaned is transmitted from the communication means 19. Then, based on a signal transmitted from the communication means 19 via the transmission / reception means 12, the moving body control means 5 drives the moving means 7 and the electric blower 33 of the dust suction means 13 and the rotary cleaning body 36 to rotate. The means 39 is appropriately controlled to perform cleaning in accordance with the setting operation.

Further, it is confirmed whether or not a state that causes an abnormality such as a closed state of a power supply of an iron that causes a fire and a locked state of a doorway that causes an intruder to intrude. Therefore, the resident 17 appropriately sets and operates the operation key 18a of the mobile communication device 18 to
The moving means 7 of the moving body 3 is moved by operating the operation keys 18a as appropriate while confirming the image transmitted from the moving body 3 as image data, converted and displayed on the mobile communication device 18 via the mobile communication device. The presence or absence of an abnormality is directly determined based on the image displayed on 18.

When the dust trapped in the dust collecting section 32 becomes full to some extent by cleaning, the cover section 23 is removed, the dust collecting section 32 is removed, and the dust is discharged and then mounted again.

As described above, the surrounding state is detected while appropriately moving by the surrounding state detecting means provided on the moving body provided with the traveling means, and based on the detected surrounding state, the abnormality determining means determines the surrounding state. In order to judge an abnormality, it is not necessary to install a plurality of surrounding state detecting means in each place of the house 2 as in the related art, and it is possible to easily attach the surrounding state detecting means irrespective of the state of the area to be monitored. Abnormalities in all areas that are maintained and managed can be monitored only by the mobile unit 3 provided, and by providing the communication unit 19, it is possible to quickly and appropriately deal with abnormalities.

The storage battery 6 charged by the charger 4 is used as a power source for detecting the traveling state of the moving body 3 and the surrounding state. Since it is not a separately installed configuration for making the judgment, the charger 4 can be arranged at any position and charged. For example, by arranging the charger 4 at a place where monitoring needs to be focused, Focused monitoring can be performed using the charging time that takes time.

Further, since the abnormality judging means 20 and the communication means 19 are provided in the charger 4, the moving body 3 can be easily reduced in size and weight, the traveling performance of the moving body 3 can be improved, and the ability to detect the surrounding state can be improved. It is possible to improve the monitoring performance by increasing
It is possible to reliably prevent the abnormality determination means 20 and the communication means 19 from being damaged or malfunctioning due to shock or vibration during traveling of the vehicle, and to reliably monitor the abnormality.

Further, since the moving body 3 is provided with the dust absorbing means 13, an electric vacuum cleaner which operates by traveling on the floor surface in a cleaning mode, that is, the dust absorbing means 13 which sucks and cleans the moving body 3 for monitoring the moving body 3. , The area to be monitored is cleaned, and a separate cleaning operation can be eliminated or reduced.

Then, since the surrounding state is detected as image data by the image detecting means, the abnormality can be more reliably determined, the content of the abnormality and the progress of the abnormality can be confirmed, and a measure corresponding to the abnormality can be taken. Quick, easy and accurate.

Further, by providing the image detecting means, it is possible to recognize the state of the house 2 from outside by setting operation of the mobile communication device 18 from the outside. For example, the power supply of the iron which causes a fire is closed. It is also possible to confirm whether or not the state is a state that may cause an abnormality, such as a state, a locked state of an entrance or an entrance that causes an intruder.

In the above-described embodiment, the location where the vehicle travels to some extent by inputting a travel route or the like into the storage medium is set. For example, as shown in FIG.
The image data captured by the image detecting means 8 is processed by an abnormality detecting means 61 provided in the abnormality determining means to determine the abnormality, and the obstacle detecting means provided in the abnormality determining means 20
The moving object control means 5 controls the traveling means 7 so as to travel while avoiding the obstacle detected by the obstacle detecting means 62. You may be able to run by yourself. That is, the image detecting means 8 for detecting the surrounding state to determine the abnormality can be used for traveling,
The work of setting the travel route and the like in the storage medium 47 becomes unnecessary.

Then, when an abnormality has occurred, the occupant 17 or a maintenance management institution is notified of the situation. It may be transmitted to the user 17 or a maintenance management organization.

Further, although the abnormality judging means 20 and the communication means 19 are provided in the charger 4, the abnormality judging means 20 and the communication means 19 may be provided directly in the moving body 3 as shown in FIG. According to this configuration, the surrounding state detected by the mobile unit 3 can be quickly determined by the abnormality determination unit 20 without passing through the wireless medium 16, and the time required for determining the abnormality and notifying the abnormality can be reduced, The transmission / reception means 12 provided on the moving body 3 for transmitting and receiving signals between the moving body 3 and the charger 4 becomes unnecessary, and the configuration can be simplified.

The communication means 19 is provided.
Instead of providing 19, notification may be made to the outside by a notification means such as a buzzer or siren provided on the moving body 3 or a red light.

Further, when it is determined that a fire has occurred as an abnormality, for example, a structure for coping with the determined abnormality is provided separately, for example, by spraying a digestive solution mounted on the mobile unit 3 to extinguish the fire initially. May be taken.

Further, the traveling means 7 is not limited to the configuration in which the traveling wheel 38 is rotated to run on its own, and may travel in any configuration, such as a crawler, a sphere, and a double-legged walk.

The surrounding state detecting means 10 may be configured to detect the surrounding state only by the sensor without the image detecting means 8 or to detect the surrounding state only by the image detecting means 8.

The dust suction means 13 is provided.
It is not necessary to provide the 13, the dust suction means 13 is not limited to the above configuration, any configuration such as a configuration using a dust collection bag, a configuration that does not exhaust the exhaust air by sucking dust by circulating wind,
The rotating cleaning body 36 may not be provided. Further, the rotary cleaning member may be a member for polishing a floor formed of, for example, a cloth member, or may be provided with only a cleaning member for polishing the floor without providing the dust suction means 13 so as to polish the floor during traveling.

[0063]

According to the monitoring system of the first aspect,
In order to judge an abnormality by the abnormality judging means based on the surrounding state detected while appropriately moving around by the surrounding state detecting means of the moving body traveling independently by the traveling means, a configuration for detecting the surrounding state at a plurality of locations is installed. It is possible to monitor abnormalities in all areas that are maintained and managed without having to perform any operations.

According to the monitoring system of the second aspect, in addition to the effect of the monitoring system of the first aspect, the traveling means is controlled based on the surrounding state image data detected by the surrounding state detecting means by the abnormality determining means. In order to control and judge an abnormality, it is possible to judge an abnormality and recognize a traveling direction for self-sustained traveling with a configuration for detecting a surrounding state.

According to the monitoring system of the third aspect, in addition to the effect of the monitoring system of the first aspect, based on the image data of the surrounding state detected by the image detecting means, the vehicle travels by the obstacle detecting means. Since the obstacle is detected and the abnormality is determined by the abnormality detecting means, it is possible to determine the abnormality and recognize the traveling direction for independent traveling by detecting the surrounding state.

According to the monitoring system of the fourth aspect, in addition to the effect of the monitoring system of any one of the first to third aspects, an abnormality is determined based on the surrounding state even when the power supply unit of the moving body is charged. For this reason, it is possible to monitor the occurrence of an abnormality even during charging, and it is possible to monitor using a charging time that requires a long time by, for example, installing charging means in a place where monitoring is to be performed with priority, thereby improving monitoring efficiency.

According to the monitoring system of the fifth aspect, in addition to the effect of the monitoring system of the fourth aspect, since the abnormality determining means is provided in the charging means, the moving body can be reduced in size and weight, and the traveling performance can be improved to improve the abnormality. Of the abnormality determination means due to the impact of the moving body during traveling can be reliably prevented, and the abnormality can be reliably monitored.

According to the monitoring system of the sixth aspect, in addition to the effect of the monitoring system of any one of the first to fifth aspects, since there is provided a dust suction means for sucking dust from a surface on which the mobile body travels, an abnormality is monitored. The area for monitoring the abnormality during the traveling can be cleaned, so that a separate cleaning operation is not required.

According to the moving body for the monitoring system according to the seventh aspect, since the traveling means for traveling independently is provided together with the surrounding state detecting means for detecting the surrounding state for judging the abnormality of the monitoring system, the moving body is provided at a plurality of locations. It is possible to monitor abnormalities in all areas to be maintained and managed without installing the surrounding state detecting means.

[Brief description of the drawings]

FIG. 1 is a block diagram of a monitoring system according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating an operation of the monitoring system.

FIG. 3 is a floor plan showing an area monitored by the monitoring system.

FIG. 4 is a cross-sectional view showing the moving object.

FIG. 5 is a side view showing the moving object.

FIG. 6 is a bottom view showing the moving object.

FIG. 7 is a block diagram of a monitoring system showing another embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Monitoring system 3 Moving body 4 Charger as a charging means 6 Storage battery as a power supply part 7 Running means 8 Image detection means 10 Ambient condition detection means 13 Dust suction means 20 Abnormality judgment means 61 Abnormality detection means 62 Obstacle detection means

Claims (7)

[Claims] 1. A moving body having a surrounding state detecting means for detecting a surrounding state and a traveling means for running independently, and an abnormality for judging an abnormality based on a surrounding state detected by the surrounding state detecting means of the moving body. A monitoring system comprising: a determination unit. 2. The surrounding state detecting means detects surrounding conditions as image data, and the abnormality determining means controls the traveling means and determines an abnormality based on the image data detected by the surrounding state detecting means. The monitoring system according to claim 1, wherein: 3. The surrounding state detecting means includes image detecting means for detecting a surrounding state as image data, and the abnormality judging means processes the image data detected by the image detecting means to determine that there is an obstacle to traveling. 2. The monitoring system according to claim 1, further comprising: an obstacle detecting unit that detects an obstacle, and an abnormality detecting unit that processes the image data to determine an abnormality. 4. The mobile unit includes a power supply unit that supplies power, and a charging unit that charges a power supply unit of the mobile unit. The abnormality determination unit includes a power supply unit charged by the charging unit. The monitoring system according to any one of claims 1 to 3, wherein the abnormality is determined based on a surrounding state detected by the surrounding state detecting means even in the state. 5. The monitoring system according to claim 4, wherein the abnormality judging means is provided in the charging means. 6. The monitoring system according to claim 1, wherein the moving body includes dust suction means for sucking dust from a surface on which the running means travels. 7. A monitoring system for detecting surrounding conditions and judging an abnormality based on the detected surrounding conditions, comprising: a traveling means for running independently; and a surrounding state detecting means for detecting surrounding conditions. A moving object for a monitoring system, characterized in that: