JP2007179270A - Security system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a security system for promptly guarding vicinity of an installation place of a sensor, even when the sensor fails. <P>SOLUTION: The security system has a security device 28 storing undetected information of a detector in a security cancel mode, and sending the undetected information when it is changed to a security start mode, a center device 6 receiving the undetected information and determining that the undetected installation place of the detector as an intensive monitoring place, and a movable body 30 forcibly guarding the intensive monitoring place on the basis of intensive monitor information. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

    The present invention relates to a security system, and more particularly to a security system in which a security robot moves in a security area equipped with a detector to perform security.

In a security system that guards the inside of a facility such as a building or a factory, a system that arranges sensors in the facility and guards the inside of the facility by a security robot is described in Patent Document 1 below.
In this security system, when the security robot patrols the security area, in order to prevent the detection of the security robot by the sensor as being intruded by a suspicious person, the security mode of the detector in the patrol course when the security robot patrols Or canceling an abnormality detection signal by a sensor arranged on the traveling course.

Further, Patent Document 1 refers to a detection signal from a sensor and information on the current position of the security robot, and if the detection signal is output from the sensor when the security robot passes around the sensor by patrol, the sensor Describes that the sensor is functioning normally, and if no detection signal is output from the sensor, it is determined that the sensor is not functioning normally, and thus a failure of the sensor can be detected at an early stage.
JP 2003-288118 A

However, even if a sensor located on the patrol course of a security robot is discovered early, it takes time to repair and replace the sensor. In the conventional security system, even if a suspicious person intrudes, it cannot be handled.
An object of the present invention is to provide a security system that can perform security in the vicinity of the location where the sensor is installed at an early stage even if there is a malfunctioning sensor.

  According to a first aspect of the present invention, there is provided a mobile body that moves and guards in a security area, a security device that is connected to a detector arranged in the security area and includes a security mode setting unit, the security device, and the security device. A security system comprising: a center device that monitors the security area based on security information transmitted from a mobile body and transmits security information to the mobile body, wherein the security area includes the mode setting unit. Storage means for extracting undetected detectors from a plurality of the detectors and storing undetected detector information while the security release is set by the control, and control for transmitting the undetected detector information to the center device A storage unit for storing the undetected detector information transmitted from the security device, and a transmitting unit for determining the undetected detector information as priority monitoring information and transmitting the information to the moving body. And The moving body includes a moving unit that moves the moving unit, a control unit that operates the moving unit based on the undetected detector information and moves to the installation location of the undetected detector, and the installation location. And a storage unit having an area for storing a tour route as well as storing focus monitoring information.

  According to a second aspect of the present invention, in the security system according to the first aspect, the control means of the security device is configured such that the undetected state detector is within a predetermined time after the security mode operation by the mode setting unit. The center device has a function of transmitting new detection information of the detector to the security device in a detection state, and the center device determines the priority monitoring information when the new detection information is received. It has the function to cancel.

According to a third aspect of the present invention, in the security system according to the first or second aspect, the control unit of the moving body stands at the point of importance monitoring after storing the point of monitoring information in the storage unit. It has a function to hesitate.
According to a fourth aspect of the present invention, in the security system according to any one of the first to third aspects, the control unit of the mobile body starts a tour when a tour time is reached, and the priority monitoring information is stored in the storage unit. It has the function to carry out a forced circulation to the said important point monitoring location on the conditions where is stored.

    With the security system of the present invention, a security robot that is a moving body can move upright with the installation location where the detector of the security system is broken as a priority monitoring location, and strengthen the monitoring of that location Can do. Therefore, the security system of the present invention can improve the safety and reliability in the security area during replacement and repair after the failure of the detector.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 6.
FIG. 1 is a schematic configuration diagram illustrating a security system according to an embodiment of the present invention, and FIG. 2 is a configuration illustrating a communication state via a communication network between a monitoring center and a security robot in the security system according to the embodiment of the present invention. FIG.

  In FIG. 1, in the security area 11 including a plurality of facilities 21 to 23 such as buildings, factories, warehouses, etc. to which the security robot 30 which is a monitoring mobile body has jurisdiction, or the security area 11 including these, the movement position and route of the security robot 30 The guide means 26 for confirming is arranged. As the guide means 26, for example, there is a white line tape 26 </ b> W that extends over the entire length of the circuit courses 1 to 3 and is drawn on the floor along the path connecting the circuit courses 1 to 3, and both sides of the white line tape 26 </ b> W. In FIG. 4, a square indicating marker 26M for indicating a point is provided in white at a predetermined position along the longitudinal direction. The guide means 26 may be a magnetic guide, an electromagnetic induction guide, an IC tag, or other signs.

In the security area 11, a robot house 25 having a charging facility for charging a battery 40 (described later) built in the security robot 30 is disposed.
Further, a plurality of detectors 27 are arranged in the facilities 21 to 23 or the security area 11. As the detector 27, for example, a passive or active infrared detector for detecting the presence of a moving object such as a person, an animal, or a bicycle, other light detection elements, a fire detector, a gas leak detector, a window open / close sensor Etc. can be attached.
Each detector 27 is connected to a security device 28 provided in the facilities 21 to 23 and the security area 11, and detection information detected by the detector 27 is transmitted to the security device 28 and stored in the security device 28. It is stored in a device (not shown).

  The security device 28 has an operation device 28a that is an input unit for setting and changing various security modes such as a security start mode, a security mode, a security release mode, and a patrol mode in the facilities 21 to 23 and the security area 11. It is connected. The operation device 28a is provided with a medium recognition unit that receives information from a recognition medium in order to confirm that the operator has the authority to set and change various security modes. The various security modes may be set according to a time schedule set in the security device 28. For example, there is a magnetic card as a recognition medium.

In addition, the security device 28 is connected to a transmission unit 28b for transmitting and receiving signals to and from the security robot 30 for the purpose of temporary standing and strengthening patrol described later.
The security device 28 is connected to the center device 6 of the monitoring center 5 in a wired or wireless manner through the communication network 7, and the security status of the facilities 21 to 23 and the security area 11 based on signals from the detector 27 and the operation device 28 a. It has a function of transmitting information to the center device 6 under a predetermined condition and a display function of displaying a security mode. Examples of the security status information include the security mode information as described above and abnormal information such as an intrusion abnormality and a fire abnormality.
In FIG. 1, the security device 28 is separately installed in each of the facilities 21 to 23, but one security device may be provided in the security area 11 to be centrally managed.

  The center device 6 communicates with the security device 28 as described above, and has a communication unit 8e that communicates wirelessly with the security robot 30 via the communication network 7 as shown in FIG. By monitoring the inside of the security area 11 based on the signal received from the device 28 or the security robot 30, it is possible to determine whether the security area 11 is in a normal state or in an abnormal state, A monitoring computer system for performing a process such as causing the security robot 30 to perform a predetermined operation based on a manual operation or the like, causing the security device 28 to perform a predetermined process, or managing customer information and patrol information. 8. The customer information includes a patrol schedule necessary for patrol of the security robot 30, a patrol start time, a patrol start position, a patrol end position, patrol route information, or an installation state of the detector 27.

  As shown in FIG. 2, the computer system 8 of the center device 6 includes a display unit 8a composed of a liquid crystal monitor, a CRT, and the like, a keyboard 8b, other input units 8c such as a joystick and a pointing device, a CPU 8f, and a memory. And a computer main body 8d provided with a device 8g and the like. Further, when the center device 6 receives the signal of the security mode from the security device 28, the center device 6 acquires the detection information of the detector in the security release mode from the security device 28, stores it in the storage device 8g, and detects the undetected state. The device 27 is extracted, and a forced movement command signal for moving to the point of the extracted detector 27 is transmitted to the security robot 30.

Next, the configuration of the security robot 30 will be described with reference to FIG.
The security robot 30 includes a moving means 31 attached to the bottom thereof, a movement control unit 33 for controlling the moving means 31, a guide means detecting unit 32 for detecting the guide means 26 in the security area 11, and the position of the security robot 30. A self-position detecting unit 34 to detect, a first security information collecting unit 35 that collects security information based on output information of various detection units or by image processing, and an image processing unit that collects security information by image processing A certain second security information collecting means 36, an abnormality determination unit 37 for determining the occurrence of an abnormal situation, a storage unit 38 for storing information and programs used for each process, the security device 28 and the center device 6 A communication unit 39 that transmits and receives signals to and from each other, a battery 40 that supplies necessary electric energy to each unit, a timing unit 41 that detects a current time and measures a predetermined time, and And a control unit 42 for controlling et elements.

The moving means 31 includes, for example, four front and rear wheels 31t attached to or near the bottom of the security robot, and first and second motors 31a and 31b that independently drive the left and right of the wheels 31t. have.
The guide means detection unit 32 is installed on the bottom surface of the security robot 30 and is provided with a guide means detector 32a having an imaging device for photographing the white line tape 26W and its surroundings, and the image information acquired by the guide means detector 32a is used for security. A road surface information extraction unit 32b having an image information processing function for extracting road surface information in the region 11 and outputting the road surface information to the control unit 42. When the guide means 26 is a magnetic guide, electromagnetic induction guide, IC tag, or the like, the guide means detector 32a includes a sensor that reads the information.

  The movement control unit 33 moves according to the detection output from the guide means detection unit 32 so as to move and stop the security robot 30 along the guide means 26 such as the white line tape 26W and the instruction marker 26M by, for example, PID control. The first and second motors 31a and 31b of the means 31 are independently controlled to rotate and stop the wheels 31t.

  The self-position detecting unit 34 detects first and second rotation detecting units 34a and 34b that detect the positions of the rotary shafts of the first and second motors 31a and 31b and calculate the rotation amounts of the rotary shafts. Based on the rotation amounts calculated by the first and second rotation detecting means 34a and 34b, the respective left and right rotation amounts of the wheels 34t are calculated, and the current position coordinates of the security robot 30 in the map of the security area 11 are obtained. And a position calculation unit 34c for calculation.

  The first security information collection unit 35 includes an obstacle detection unit 35a, a security sensor 35d, and an imaging unit 35e. The obstacle detection unit 35a detects the relative position of the obstacle with respect to the security robot 30, and the obstacle sensor 35b attached to a plurality of locations of the security robot 30 and the relative position of the obstacle by the output of the obstacle sensor 35b. An obstacle determination unit 35c that calculates and outputs the obstacle to the control unit 42.

  The security sensor 35d is means for detecting an abnormality of disaster prevention / crime prevention in the security area 11, and includes, for example, a fire detector that detects a fire. Furthermore, the imaging unit 35e is an imaging unit that is mounted on the security robot 30 and images the surroundings thereof, such as a pan / tilt / zoom camera and an omnidirectional monitoring camera, and outputs image information acquired by imaging to the control unit 42. It is configured.

  The second security information collecting unit 36 is an image processing unit, acquires image information output from the imaging unit 35e according to a command from the control unit 42, and performs image processing on the image information, for example, around the mobile robot 30. The moving object is detected.

  The abnormality determination unit 37 is a unit that acquires output information from the obstacle detection unit 35a and the security sensor 35d according to a command from the control unit 42, detects an object that has entered the security area 11, and determines the presence or absence of an abnormal situation. Yes, for example, whether or not an abnormal situation has occurred by comparing existing object information indicating the location of existing objects such as the facilities 21 to 23 in the security area 11 stored in the storage unit 38 with the detection result of the obstacle detection unit 35a And an abnormal signal is output to the control unit 42 when it is determined that an abnormal situation has occurred.

  The storage unit 38 is composed of a storage device such as a semiconductor storage device or a hard disk device, and is a priority monitoring point for focusing monitoring during patrol or guarding based on a forced movement signal received from the center device 6. A key monitoring point information storage area 38a for storing information and failure information of the detector 27, a map storage area 38b for storing an environmental map including information on the facilities 21 to 23 and other existing objects in the security area 11, a center A cyclic route storage area 38c for storing a cyclic route based on the cyclic route information received from the device 6, and a cyclic schedule information such as a cyclic schedule and a start time based on the cyclic route information received from the center device 6 Schedule storage area 38d, patrol start / end storage area 38e for storing patrol start position and stop position, security robot 3 Program file 38f stores a program for controlling each part of the inner, and a region for storing information to be used for other processing (not shown).

  As illustrated in FIG. 2, the communication unit 39 is a wireless communication unit that performs wireless communication with the wireless base station 9 connected to the communication network 7. Further, the communication unit 39 transmits / receives a signal related to the patrol by the security robot 30 by wirelessly transmitting / receiving between the security device 28 and the center device 6 connected to the communication network 7, or the imaging unit 35 e takes a picture. The image is compressed by the image processing unit 36 and transmitted to the center device 6 together with the position information detected by the self-position detecting unit 14, the abnormality signal output from the abnormality determining unit 37 is transmitted to the center device 6, and the center device 6 The function of demodulating various signals received from the receiver and outputting them to the control unit 42 or the like, or performing other communication processing.

  The control unit 42 is a means for controlling each component configuration of the security robot 30 and is configured by a computer including a CPU, a memory, a storage device, and the like, and the storage unit 38 is configured by a part of the storage device. There is also. At least a part of the processing in the security robot 30 is executed by the control unit 42. For example, the movement control is performed when the tour start time stored in the tour storage schedule storage area 38d of the storage unit 38 coincides with the time of the timer unit 41. A signal is output to the unit 32 to drive the moving means 31 to move the mobile robot 30 to the tour start position stored in the tour start / end position storage area 38e, and further to the tour path stored in the tour path storage area 38c. The information is compared with the map coordinates of the guard area 11 in the map storage area 38b, and the guard robot 30 is moved by driving the moving means 31 along the route along the designated tour course while detecting the guide means 26 included in the tour route. Or the driving means 31 is driven to the installation location of the detector 27 identified based on the information in the priority monitoring point information storage area 38a of the storage unit 38. Forced to move, to perform various operations, such as.

  Next, the control of the security robot 30 when a forced movement signal other than the time schedule is received from the center device 6 will be described along with the operation with reference to the flowchart of FIG. The flowchart is realized in accordance with a program stored in the storage units 8g and 38f.

  First, when the security device 28 connected to each detector 27 in the predetermined facility 3 in the security area 11 is in the security mode, whether the security has been released by the operator while continuing the predetermined security by each detector 27. It is always determined whether or not security has been released according to the time schedule (S1 in FIG. 4). When the security device 28 is set to the security release mode, the security device 28 transmits a signal indicating that the security device 28 has been changed to the security release mode to the center device 6 and constantly receives detection information from the detector 27. The detector in the undetected state is extracted from the detection information, and the detector information is stored in the storage device (S2 in FIG. 4).

  When the security device 28 is set to the security start mode by the operation device 28a (S3 in FIG. 4), the security device 28 determines whether or not each of the connected detectors 27 is in a security-enabled state. (S4 in FIG. 4). Here, for example, when the detector 27 provided in the house of the facility 3 detects the open state of the window, the security device 28 displays that fact and prompts the operator to close the window. Accordingly, the operator closes the window and sets the security start mode again (S5 and S3 in FIG. 4).

When the security device 28 determines that all of the detectors 27 are in the alertable state, the timing device is activated in the security device 28, and the security device 28 is activated when a predetermined time has elapsed. Switches the security start mode to the security mode. The detector 27 transmits a security mode setting signal to the center device 6 via the communication network 7 and transmits detection information for specifying the undetected detector 27 to the sensor device 6 (S6 in FIG. 4). .
If detection by the undetected detector 27 is performed during the transition period from the security start mode to the security mode, the security device 28 determines that the undetected detector 27 has already been detected and detects the detection. Information is transmitted to the center device 6 and deleted from the undetected detector information that has already been transmitted and stored.

  The center device 6 stores the undetected detector information in the security release mode received from the security device 28. When the presence of the undetected device 27 is confirmed, a forced movement signal is transmitted to the security robot 30 together with the undetected device information. When there is no undetected detector 27, the center device 6 circulates the security robot 6 according to a time schedule in a normal security mode set in advance.

  The security robot 30 that has received the undetected detector information and the forced movement signal stores the undetected detector information in the priority monitoring location information storage area 38a of the storage unit 38, and based on the information stored in the map storage area 38b. Then, the installation location of the undetected detector 27 is specified, and the moving means 31 is driven to move to that point along the guide means 26 (S7 in FIG. 4).

  Thereafter, when the undetected detector 27 detects the security robot 30 (S8 in FIG. 4) within a predetermined time counted by a timing means (not shown), the security device 28 displays detection information by the detector 27. The data is transmitted to the center device 6 (S9, S11 in FIG. 4).

  When the detection information of the detector 27 has already been detected, the detector 27 determines that it is normal, and the center device 6 moves the security robot 30 to a predetermined location, for example, the patrol start position, the robot house 25, or the like. The patrol is performed according to the patrol schedule (S11 in FIG. 4).

    On the other hand, when the predetermined time has elapsed and the detection information of the detector 27 has not been detected, the detector 27 determines that it is abnormal. And the center apparatus 6 recognizes the area | region which the undetected detector 27 has jurisdiction as a priority monitoring location, and transmits important monitoring location information to the security apparatus 28 and the mobile robot 30 (S10 of FIG. 4). . This information is stored in the priority monitoring location information storage area 38a of the storage unit 38 of the security robot 30.

Next, the temporary standing by the security robot 30 that has received such priority monitoring point information will be described based on the flowchart of FIG.
As described above, when the security robot 30 receives and stores the priority monitoring location information (S21 and S22 in FIG. 5), the security robot 30 transmits a security mode to start security to the security device 28 to notify the presence of the security robot 30. (S23 in FIG. 5).
Then, the security robot 30 starts a temporary standing trap (S24 in FIG. 5) at the priority monitoring location. The security robot 30 stops at that point for a predetermined time as an extraordinary stand-up, activates the security sensor 35d (S25 in FIG. 5), and operates the imaging unit 35e to image the surrounding situation (S26 in FIG. 5). The captured image information acquired by the imaging unit 35e is temporarily stored in the storage unit 38 and transmitted to the center device 6 (S27 in FIG. 5). Thereby, the security robot 30 guards the location instead of the detector 27.

When the security robot 30 receives a security release signal from the security device 28 or the center device 6, the security robot 30 stops the monitoring operation of the temporary standing arm (S28 and S29 in FIG. 5), returns to a predetermined position and waits (FIG. 5). S30).
In the present embodiment, it has been described that the temporary standing of the security robot 30 is released by the security release signal. However, the temporary standing of the security robot 30 may be performed periodically for a predetermined time during the security period in the security area 11. Good. This may be determined according to the consumption status of the battery 40 of the security robot 30.

Next, the reinforcement tour by the security robot 30 will be described with reference to the flowchart shown in FIG.
The security robot 30 is stored in the tour schedule storage area 38d so as to wait at a predetermined position until a preset tour time is reached (S41 in FIG. 6). Then, when the preset tour time is reached, the security robot 30 transmits a tour mode signal to the security device 28 (S41 and S42 in FIG. 6). Thereby, the security device 28 confirms that the security robot 30 starts patrol.

  After the patrol mode signal is transmitted, the security robot 30 activates the obstacle detection unit 35a during the patrol to scan the surrounding space, or activates the security sensor 35d to monitor whether there is an intruder or a fire. Or operating (S43 in FIG. 6). After the monitoring function is activated, road surface information and the like are extracted and input to the guide means detection unit 33 of the security robot 30, and the movement means 31 is driven and controlled by the movement control unit 32, and travels along the white line tape 26 </ b> W. The movement of the route is started (S44 in FIG. 6).

  If the abnormality determination unit 37 determines that an abnormality has occurred based on the input from the obstacle detection unit 35a or the security sensor 35d during the traveling of the patrol route, the security robot 30 stops traveling and sends an abnormal signal to the center device 30. Is transmitted (S45, S46 in FIG. 6). Further, the imaging unit 35e is operated to image the surrounding situation. The captured image acquired by the imaging unit 35e is stored in the storage unit 38 and transmitted to the center device 28. With this abnormality signal and the captured image, the security device 28 can confirm the abnormality in the facility. After the abnormal signal is transmitted, the security robot 30 starts patrol in the facility again and repeats until there is no abnormality.

  On the other hand, when it is confirmed that no abnormality has occurred while the security robot 30 is traveling around the facilities 21 to 23 and the security area 11 (S45 in FIG. 6), the priority monitoring point information is stored in the priority monitoring point information storage area 38a. It is confirmed whether or not the information is registered. If the information is not registered (S47 in FIG. 5), the reinforcement tour is not performed.

  When the information is registered (S47 in FIG. 6), the security robot 30 moves toward the priority monitoring location by the moving means 31, and presents itself in the facilities 21 to 23 and the security area 11. It is determined whether or not the position has reached the priority monitoring point. If the position has arrived at the priority monitoring point (S48 in FIG. 6), the security robot 30 stops at that point until a predetermined time elapses and strengthens patrol monitoring. And the imaging unit 35e is operated to perform processing such as imaging the surrounding situation (S49 and S50 in FIG. 6).

The captured image acquired by the imaging unit 35e is temporarily stored in the storage unit 38 and transmitted to the center device 6. The monitoring person who is monitoring the center device 6 confirms the security status of the important monitoring point with the captured image. Note that the security mode may be set for the security device 28 during a predetermined time that the security robot 30 is monitoring at the priority monitoring location. This is because the security robot 30 is stopped at the priority monitoring location, and therefore the security robot 30 is not detected even if the normal detector 27 guards an area other than the priority monitoring location.
When the predetermined time has passed (S50 in FIG. 6), the security robot 30 resumes patrol and patrols the predetermined patrol route (S51 in FIG. 6).
Note that the detection by the detector 27 arranged on the patrol route of the patrol robot 30 being patrol is canceled by the security device 28 or the center device 6 or the abnormality detection signal based on the detected 27 is canceled.

  The security robot 30 determines whether or not its current position has reached the end position of the set patrol route (S51 in FIG. 6). If the position is not the end position (S52 in FIG. 6), the circulation is continued (S44 in FIG. 6).

  When the security robot 30 reaches the end position of the patrol route where the current position of the security robot 30 is set (S52 in FIG. 6), the security robot 30 stops moving and operates the obstacle detection unit 15, the security sensor 16, and the imaging unit 17. Stop (S53 in FIG. 6), end the tour, and transmit a tour end signal to the security device 28 via the communication unit 39 and the transmission / reception unit 22.

  Then, the security robot 30 stands by at a predetermined position (S54 in FIG. 6). At this time, a patrol end signal is transmitted from the communication unit 39 to the security device 28. Thereby, the security device 28 shifts the security mode of the security areas 11 to 14 to the security mode that is the previous mode of the patrol mode.

In the present embodiment, when the point of importance monitoring is registered in the security robot 30, the temporary standing-up and the reinforcing tour have been described separately. However, the temporary standing-up is performed for a predetermined time, and then the strengthening tour is combined. May be. Moreover, although this embodiment demonstrated the security system which transmits a security system to the remote center apparatus 6 via the communication network 7, the center apparatus 6 may be a disaster prevention center in the same building, for example.
Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention.

  According to the security system of the present invention, the security robot can determine that the sensor of the security system has failed, and in the security mode, the installation location of the sensor is stored in the security robot as the priority monitoring location. The vicinity of the installed sensor can be strengthened and monitored, and the industrial applicability is high.

FIG. 1 is a schematic configuration diagram showing a security system according to an embodiment of the present invention. FIG. 2 is a configuration diagram illustrating a communication path through a communication network between a monitoring center and a security robot in the security system according to the embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of the security robot of the security system according to the embodiment of the present invention. FIG. 4 is a flowchart showing the priority monitoring confirmation operation of the center device and the security device of the security system according to the embodiment of the present invention. FIG. 5 is a flowchart showing the temporary standing operation of the security robot of the security system according to the embodiment of the present invention. FIG. 6 is a flowchart showing an enhanced tour of the security system according to the embodiment of the present invention.

Explanation of symbols

1, 2, 3 Traveling course 5 Monitoring center 6 Center device 7 Communication network 8 Computer 9 Wireless base station 11 Security area 21, 22, 23 Facility 26 Guide means 27 Detector 28 Security device 28a Mode setting unit 28b Medium input unit 30 Security Robot 31 Movement means 32 Guide means detection section 33 Movement control section 34 Self-position detection section 35 First security information collection means 36 Second security information collection means 37 Abnormality determination section 38 Storage section 39 Communication section 40 Battery 41 Timing section 42 Control unit

Claims (4)

A moving body that moves in the security area, a security device that is connected to a detector arranged in the security area and has a security mode setting unit, and security information transmitted from the security device and the mobile body A security system having a center device that monitors the security area and transmits security information to the mobile body,
The security device is configured to extract undetected detectors from the plurality of detectors and store undetected detector information while the security area is set to be unlocked by the mode setting unit; Control means for transmitting the non-detector information to the center device,
The center device includes a storage unit that stores the non-detector information transmitted from the security device, and a transmission unit that determines the non-detector information as priority monitoring information and transmits the information to the mobile body.
The moving body focuses on a moving unit that moves itself, a control unit that moves the moving unit based on the undetected detector information to move to the installation location of the undetected detector, and the installation location. A storage unit having an area for storing priority monitoring information as a monitoring location and storing a circulation route,
Security system characterized by that. The control means of the security device provides new detection information of the detector when the undetected detector is in a detection state within a predetermined time after a security mode operation by the mode setting unit. Has the ability to send to the device,
The center device has a function of canceling the determination of the priority monitoring information when the new detection information is received.
The security system according to claim 1. 3. The security system according to claim 1, wherein the control unit of the mobile body has a function of standing up at the focus monitoring location after the focus monitoring information is stored in the storage unit. 4. . The control unit of the mobile body has a function of starting a tour at a tour time and forcibly touring the focus monitoring location under a condition in which the focus monitoring information is stored in the storage unit. The security system according to any one of claims 1 to 3.

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