JPS6063698A - Security system using security robbot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed description of the invention] The present invention has a function to detect abnormalities such as intrusion and fire, as well as an intruder report handling function and a fire report handling function, and automatically handles accidents such as removing intruders and extinguishing fires. This article relates to a security system using mobile security robots.

The conventional equipment system is shown in Figure 1.

In the figure, A is the warning area, B is the central monitoring center,
C indicates a security vehicle, D indicates a security accident, for example, a fire outbreak; security sensors 1 for detecting abnormalities such as fires and intrusions are connected in series within the security area A;
A signal transmitting device 2 is connected to the signal transmitting device 2 for transmitting a signal indicating the occurrence of a detected security abnormality, and this signal transmitting device 2 further includes:
An alarm receiving board 4 installed in a central monitoring center B installed in a remote location outside the warning area A is connected via a signal transmission line 3. In addition to the arrangement of monitoring personnel 5, the central monitoring center B is equipped with a wireless communication device 6 configured to be capable of transmitting and receiving data to and from a wireless communication device 7 installed in a security vehicle C used by accident treatment personnel 8. ing.

Next, the operation will be explained. Now, when the occurrence of a security accident such as a fire is detected by one of the security sensors 1, an alarm signal is sent by the signal sending device 2 to the alarm receiving board 4 via the signal transmission line 3. The alarm receiver displays an alarm according to the 4-digit received signal. In response to the display on the alarm receiving panel 4, the monitoring personnel 5 sends a message to the waiting accident handling personnel 8 about the security accident within the warning area A via the wireless communication device 6 and the wireless communication device 7 installed in the security vehicle C. Instruct to process. In response to this, the accident handling personnel 8 drove the security vehicle C to the warning area A, patrolled the warning area A, and
Deal with the security accident D' mentioned above.

It should be noted that there are several warning areas A that are handled by one accident handling personnel 8.

The conventional security system is as described above, and it takes travel time depending on the distance from the location of the accident handling personnel 8 to the warning area A and the road conditions from the time a security accident is detected to the time it takes measures. If this time is long, there is a risk that the damage caused by the security accident will further increase, so in order to shorten this time, it is necessary to shorten the distance between the accident handling personnel 8 and the multiple warning areas A. However, there were drawbacks such as the need to deploy a large number of accident handling personnel 8 for this purpose.

The present invention has been made in order to eliminate the drawbacks of the conventional ones as described above, and is equipped with a mobile security robot that starts operating when an accident is detected, and is capable of accurately detecting security accidents and taking countermeasures. The purpose of the present invention is to provide a security system that can prevent the spread of accidents by quickly performing the above operations, and can reduce the number of personnel needed for equipment.

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 2 is a block configuration diagram showing an embodiment of the present invention, in which a security sensor 1, a signal sending device 2,
In addition, a mobile security robot) 10 and the signal sending device 2 mentioned above
A communication device 9 connected to the above-mentioned security sensor 1 is installed.
detects a security incident such as an intruder or the occurrence of a fire, and transmits the output signal to the mobile security robot 10 via the signal sending device 2 and the communication device 9, thereby operating the mobile security robot 10. It is configured as follows.

FIG. 3 is an overall configuration diagram of the mobile robot 10 used in an embodiment of the present invention, in which 1
01 is an intruder detection unit that detects the presence of an intruder using, for example, ultrasonic waves, 102 is a fire detection unit that detects the occurrence of a fire using, for example, infrared rays, and 103 is a camera that takes pictures in response to a control signal CC output from the central control unit 105. Controls the drive of the machine MC to automatically take pictures of the scene and intruder threat device 11
A control unit 104 that operates the fire extinguisher F in response to a control signal cF output from the central control unit 105 also operates the fire extinguisher F.
This is a fire extinguisher control unit that drives E and automatically performs fire extinguishing work. The central control unit 105 receives a drive signal Ws from the communication device 9 that indicates the occurrence of a security accident, and outputs the activation signal 106a to the central control unit 105.
06, and the environment recognition unit 107 receives geographical information and behavioral information of the surrounding environment using an ultrasonic ranging means that transmits ultrasonic waves Wv and receives the reflected waves wR, for example, while receiving geographical information and behavior information of the surrounding environment via the central control unit 105. For example, a wheel-driven moving section 108, which moves the main body toward or away from the scene of a security accident to an appropriate position range, is configured to be driven and controlled by a control signal CM. 109 is an external notification device that transmits an intruder or fire alarm wA to the communication device 9 in response to the control signal SAI (intruder alarm signal) or 5AF (fire alarm signal) output from the central control unit 105. .

In addition, the power to operate each component is provided with a built-in patch IJ so that the operation of this device can be performed freely without restrictions.
-B Supplied by A, and the behavior pattern is formed based on geographic information prepared in advance exclusively for this device and behavior information created in response to changes in the surrounding situation, rather than by remote control that requires human operation. As a result, actions are now fully automated.

Based on the above configuration, the operation of one embodiment of the present invention will be described.

The security sensor 1 is always on guard within the security area A, and the mobile security robot 10 is on standby at a predetermined location. Now, when a security accident occurs in the security area A, the security sensor 1 detects it and sends the detection signal to the signal sending device 2, which then moves via the communication device 9. A start signal Ws indicating the occurrence of a security accident is transmitted to the type security robot 10. Mobile security robot 1
When ゜ receives the activation signal Ws from the signal sending device 2,
The starting device 106 sends the starting signal 106a to the central control unit 105.
This sends an activation command to the central control unit 105, which transmits the ultrasonic wave WV and receives the reflected wave wR, thereby transmitting geographic information about the surrounding environment and the user from the environment recognition unit 107 using ultrasonic ranging means. The moving unit 108 is driven and controlled while receiving behavioral information such as recognition data of the current position and behavioral direction. That is, based on a predetermined action pattern, for example, the main body moves within the warning area A along a predetermined patrol route, searches for the target point at the site of the abnormality, and approaches or moves away from the nuclear target point to an appropriate position range. make it far away

During such a search action, if a security incident such as "Intruder present" is detected by the detection means built into the security robot 10, for example, the ultrasonic waves of the intruder detection unit 101,
An intruder detection signal 101a is sent to the central control unit 105, and the central control unit 105 sends an intruder alarm signal SAI to the external notification device 109, and the external notification device 109 sends an alarm wA to the communication device 9. At the same time, the intruder detection section 101 and the environment recognition section 107 are transmitted by the control signal CM.
In addition, while driving and controlling the moving unit 108, the presence of the intruder is repeatedly confirmed, the intruder approaches to an appropriate position range from the intruder's location, and the camera control unit 10 is activated by the control signal CC.
3 is activated to drive the camera MC to take a picture of the intruder, and to activate the intruder threat device 110.

Similarly, when the fire detection unit 102 using infrared rays detects the occurrence of a fire, after repeatedly confirming the occurrence of a fire, the user approaches the location of the fire to an appropriate position and controls the fire extinguisher using the control signal CF. Activate part 104 and fire extinguisher FE
' to quickly extinguish the fire. As mentioned above, the alarm WA sent from the external detection device 109 to the communication device 9 is sent to the central monitoring center B through all the signal sending devices 2,
Accident handling personnel 8 of security vehicle C are notified.

According to one embodiment of the present invention, the security sensor 1
The security system has a configuration in which mobile security robots 10 equipped with all immediate response measures are arranged, and the security system normally detects the occurrence of a security accident detected by at least one of the security sensors connected in series. By having a security robot waiting at a predetermined location perform a mobile search, it is possible to accurately locate the location of the object, and in addition to notifying an external security center, the robot's built-in immediate response means can quickly and appropriately resolve security incidents. This has the practical effect of being able to treat dogs.

As described above, in the present invention, all security sensors detect security accidents such as intrusion by intruders and fires, and activate the security robot, and the security robot can detect and confirm the security accidents, take countermeasures, and notify the outside. This makes it possible to accurately detect and quickly respond to security accidents, prevent the spread of accidents, and reduce the number of accident handling personnel and security vehicles.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of a conventional security system, FIG. 2 is a block diagram of a security system according to the present invention, and FIG. 3 is a block diagram of a security robot according to the present invention. 1... Security sensor, 2... Signal sending device, 9...
communication device, 10... security robot), 101... intruder detection section, 102... fire detection section, 103... control section, 104... fire extinguisher control section, 105... central control Part, 106... Starting device, 107... Environment recognition part,
108... Moving unit, 109... External notification device, 11
0... Intruder threat device, A... Security area, B...
Central monitoring sensor, C...security vehicle, FE...fire extinguisher,
MC...Photographer. Figure 1 Figure 2 Figure 3 +08 Continuation of page 1

Claims (1)

[Claims] A safety sensor installed within the security area to detect security incidents such as intruders and fires within the security area;
A detection confirmation means which is placed in a security area, is activated by receiving a detection signal from a security sensor via a signal relay means, and moves while recognizing the surrounding environment, and also detects and confirms the security accident. The present invention is characterized in that it is equipped with a security robot having a treatment means for taking countermeasures against a security accident according to the output thereof, and an external notification means for notifying the outside of a security accident via the signal relay means according to the output of the detection confirmation means. A security system using security robots.