JP2007179366A - Security system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To find a faulty detector in an early stage, and to guard an installation place of the detector in an early stage, in regard to a security system having a movable body such as a robot patrol a security area with detectors. <P>SOLUTION: The security system has a security device 22, a center device 6, and the movable body 30. The security device 22 has a transmitting part 24 detecting the movable body 30 by a detector 21 during a period from a patrol start to a patrol end of the movable body 30, and transmitting acquired first detector information, in a security cancel mode. The center device 6 has a processing part 8f comparing and collating second detector information prestored in a storage part 8g with the first detector information acquired by transmission from the security device 22, and a communication part 8e transmitting a detector 21 specified by a difference between the first detector information and the second detector information, as missing information. The movable body 30 has a control part 42 storing an installation place of the detector 21 specified by the received missing information as an intensive monitoring place in a storage part 38 for intensive monitoring. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a security system, and more particularly to a security system that makes a moving body such as a robot circulate in a security area where a detector is arranged.

A system that arranges a plurality of sensors (detectors) in a facility used by a plurality of tenants and guards each tenant with 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 from being judged as an intrusion of a suspicious person, the security mode of the sensor in the patrol course is set when the security robot visits. It cancels or cancels the abnormality detection signal by the sensor arranged in 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 detect a malfunctioning detector at an early stage and can early guard the installation location of the detector.

  A first aspect of the present invention for solving the above-described problem is that a mobile body that moves and guards the inside of the security area and a detector that is connected to the detector arranged in the security area and includes a security mode setting unit. A security system having a device and a center device that monitors the security area based on security information transmitted from the security device or the mobile body, wherein the security area is set to a security release mode. A storage unit for storing first detector information acquired by detecting the moving body by the detector between the start of patrol of the moving body and the end of patrol in the state of being moved; and the first detector information Is transmitted to the center device, and the center device is stored in the detector information storage unit that stores in advance second detector information about the detector and the detector information storage unit. Said second The processing unit for comparing and comparing the detector information and the first detector information acquired by reception from the security device, and the processing due to the difference between the first detector information and the second detector information. A communication unit that transmits the detector specified by the unit as missing information, and the moving body moves itself, a storage unit that stores at least a patrol route and a priority monitoring point, and the missing information. And a control unit that causes the storage unit to store an arrangement location of the detector identified by receiving the focus monitoring location as the priority monitoring location.

  According to a second aspect of the present invention, in the security system according to the first aspect described above, the moving body is stored in the storage unit by movement for patrol in the security area by the moving means. Control means for performing predetermined monitoring when the important point monitoring point is reached is provided.

  According to a third aspect of the present invention, in the security system according to the first aspect, the moving body moves to the priority monitoring location stored in the storage unit after the security area is set to the security mode. It is characterized by standing up.

  According to a fourth aspect of the present invention, in the security system according to the third aspect, the moving body stops the standing-up when the security area is set in a security release mode.

According to the present invention, in the state where the security area is set to the security release mode, the detector installed in the security area is detected by circulating a moving body such as a mobile robot, thereby detecting the failure of the detector. Since it did so, the failure of the detector can be recovered before the security area enters the security mode, and the detector can perform normal detection after entering the security mode.
In addition, even if the failure of the detector cannot be recovered, it is possible to detect a suspicious person or the like instead of the failed detector by allowing the moving body to monitor the installation location of the detector as a priority monitoring area. Can do.

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

  In FIG. 1, a security area 10 managed by a mobile robot 30 that is a monitoring mobile body includes a plurality of facilities 11 to 13 such as a tenant, a warehouse, a factory, and a house, and a later-described battery 40 built in the mobile robot 30. There is a robot house 14 equipped with a charging facility for charging, and the inside of each of the facilities 11 to 13 and the outer periphery thereof are a traveling course of the mobile robot 30, respectively. The security area 10 includes not only a plurality of facilities but also buildings, condominiums, and the like including a plurality of floors. The movement of each floor of the mobile robot 30 can be lifted and lowered by a signal from the mobile robot 30. Is done by.

  A plurality of detectors 21 that detect the presence of moving objects such as people and animals are arranged in the security area 10 and the facilities 11 to 13. The detectors 21 are located in the facilities 11 to 13, for example. It is comprised so that a detection signal may be output to the security apparatus 22 attached to. Examples of the detector 21 include a passive or active infrared detector, other optical detectors, a fire detector, a window open / close detector, and the like.

  The security device 22 is connected to an operating device 23 which is an input unit for setting and changing various security modes such as the security start mode, the security mode, and the security release mode in the security area 10 and the facilities 11 to 13. The operation device 23 has a medium input unit (not shown) for receiving information from a recognition medium such as a magnetic card for confirming that the operator has authority to set and change the security mode. . The detector 21, the security device 22, and the operation device 23 are connected by wire, but may be connected wirelessly as necessary. The security device 22 is connected to a transmission / reception unit 24 for transmitting and receiving signals to and from the mobile robot 1 wirelessly.

  The security device 22 stores information on various security modes, detector information when the detector 21 is in a normal state, and receives and stores the detector information of the detector 21 that has detected the mobile robot 30 during the patrol. And a control unit 22b that transmits information stored in the storage unit to the mobile robot 30 and the center device 6 and performs predetermined processing. It should be noted that the detector information includes information about the detector 21 such as whether or not the detector 21 is set in a detectable state, detection history of the detector 21, location of the detector 21, type of the detector 21, and sensitivity. Various types of information.

Such a security device 22 is connected to the center device 6 of the monitoring center 5 located in a region away from the security device 22 via a communication network 4 in a wired or wireless manner, under a predetermined condition based on signals from the operation device 23 and the detector 21. The information indicating the security status of the security area 10, for example, various security mode information, an abnormal signal such as an intrusion abnormality and a fire abnormality, and the like are transmitted to the center device 6 and the mobile robot 30.
In addition, although the security apparatus 22 is separately installed in each facility 11-13 in FIG. 1, you may make it centrally manage individual security information etc. of the some facilities 11-13 by one security apparatus.

  Guide means 20 for guiding the mobile robot 30 to the detection point of each detector 21 while moving along the patrol route of the mobile robot 30 is disposed inside each facility 11-13 and around the outside thereof. As the guide means 20, for example, there is a white line tape 20W drawn on the floor along the route of each traveling course, and a square for indicating points at predetermined positions along the longitudinal direction on both sides of the white line tape 20W. The indicator marker 20M is attached in white. The guide means 20 may be a magnetic guide, an electromagnetic induction guide, an IC tag, or other sensors.

  The center device 6 has a communication unit 8e that communicates with the security device 22 as described above and communicates wirelessly with the mobile robot 30 via the communication network 4 as shown in FIG. Further, the center device 6 monitors the inside of the security area 10 based on the signals received from the security device 22 and the mobile robot 30, or sends a predetermined value to the mobile robot 30 based on the received signal from the security device 22, a manual operation, and the like. It has a monitoring computer system 8 for performing various processes such as performing operations, causing the security device 22 to perform predetermined processing, and managing customer information and patrol information. Each facility 11-13 is monitored to determine whether it is in a normal state or an abnormal state. As a signal to be transmitted from the center device 6 to the mobile robot 30, for example, a tour schedule necessary for guarding, a tour start time, a tour start position, a tour end position, a tour route information such as a tour course instruction and a tour order, and the guard device 22 There is detector information of the detector 21 transmitted from.

  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, etc., a keyboard 8b, other input units 8c such as a joystick and pointing device, a CPU 8f, And a computer main body 8d provided with a storage device 8g and the like. In the storage device 8g, detector information by the detector 21, traveling route information of the mobile robot 30, and the like are stored.

Next, the configuration of the mobile robot 30 will be described with reference to FIG.
The mobile robot 30 includes a moving unit 31 attached to the bottom thereof, a movement control unit 33 that controls the moving unit 31, a guide unit detecting unit 32 that detects the guide unit 20 in the security area 10, and the position of the mobile 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, and a second security that is an image processing unit that collects security information by image processing. Signals are transmitted between the information collection means 36, the abnormality determination unit 37 that determines the occurrence of an abnormal situation, the storage unit 38 that stores information and programs used for each process, and the security device 22 and the center device 6. A communication unit 39 that transmits and receives, a battery 40 that supplies necessary electrical energy to each unit, a time measuring unit 41 that detects a current time and measures a predetermined time, and controls these elements And a control unit 42.

The moving means 31 includes, for example, four front and rear wheels 31t attached to or near the bottom of the mobile 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 mobile robot 30 and is guarded from the guide means detector 32a provided with an imaging device for photographing the white line tape 26W and its surroundings, and image information acquired by the guide means detector 32a. A road surface information extraction unit 32b having an image information processing function of extracting road surface information in the region 10 and outputting the road surface information to the control unit 42.
When the guide unit 20 is a magnetic guide, an electromagnetic induction guide, an IC tag or the like, the guide unit detector 32a includes a sensor that reads the information.

The movement control unit 33 moves in accordance with the detection output from the guide means detection unit 32 so as to move and stop the mobile robot 30 along the guide means 20 such as the white line tape 20W and the instruction marker 20M 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 which detect the positions of the respective rotating shafts of the first and second motors 31a and 31b and calculate the rotation amounts of the rotating shafts. Based on the rotation amounts calculated by the first and second rotation detection means 34a and 34b, the respective left and right rotation amounts of the wheel 34t are calculated, and the current position coordinates of the mobile robot 30 on the map of the security area 10 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 mobile robot 30, and the obstacle sensor 35b attached to a plurality of locations of the mobile robot 30 and the relative position of the obstacle based on the output of the obstacle sensor 35b. And an obstacle determination unit 53c that calculates and outputs to the control unit 42. The security sensor 35d is means for detecting an abnormality of disaster prevention / crime prevention in the security areas 11 to 14, for example, a fire detector for detecting a fire. Furthermore, the imaging unit 35e is an imaging unit that is mounted on the mobile 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 obtains 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 10 or each of the facilities 11 to 13, and detects an abnormal situation. For example, the existing object information indicating the existing position of the existing object in the facilities 11 to 13 in the security area 10 stored in the storage unit 38 is compared with the detection result of the obstacle detecting unit 35a. Thus, it is configured to determine whether or not an abnormal situation has occurred, and to output an abnormal signal to the control unit 42 when it is determined that an abnormal situation has occurred.

  The storage unit 38 is configured by a storage device such as a semiconductor storage device or a hard disk device, and includes a program file 38 a for storing a program for controlling each unit in the mobile robot 30, and facilities 11 to 13 in the security area 10. A map storage area 38b for storing an environmental map including information on other existing objects, a tour route storage area 38c for storing a tour path based on the tour route information received from the center apparatus 6, and a center apparatus 6 A tour schedule storage area 38d for storing tour schedule information such as a tour schedule and a start time based on the tour route information, a tour start / end storage area 38e for storing a tour start position and a stop position, and reception from the guard device 22. Various security mode storage areas 38f for storing various security modes and the security device 22 And a region for storing information Priority Priority monitoring location storage area 38g stores the monitoring point, is used in other processes based on the received respective detectors information detector 21 (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 4. Further, the communication unit 39 transmits / receives a signal related to the patrol by the mobile robot 30 by wireless transmission / reception with, for example, the security device 22 or the center device 6 connected to the communication network 4, or an image taken by the imaging unit 35e. Is transmitted to the center apparatus 6 together with the position information detected by the self-position detecting section 34 by the image processing section 36, the abnormality signal output from the abnormality determining section 37 is transmitted to the center apparatus 6, and the center apparatus 6 It has functions of demodulating various signals received from the security device 22 and outputting them to the control unit 42 and other communication processing.

  The control unit 42 is a means for controlling the configuration of each part of the mobile 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 mobile robot 30 is executed by the control unit 42. For example, when the tour start time stored in the tour schedule storage area 38d of the storage unit 38 coincides with the time of the time measuring unit 41, the movement control unit A signal is sent to 33 to drive the moving means 31 to move the mobile robot 30 to the patrol start position stored in the patrol start / end position storage area 38e, and further, information about the patrol path stored in the patrol path storage area 38c. Is compared with the map coordinates of the security area 10 in the map storage area 38b, and the mobile means 30 is moved by driving the moving means 31 along the route along the designated tour course while detecting the guide means 20 included in the tour route. , And so on. Further, the control unit 42 drives the moving means 31 and stores the priority monitoring location under the condition that the time measuring unit 41 measures a predetermined time and the information stored in the various security mode storage areas 38f is in the predetermined mode. The mobile robot 30 is configured to perform processing such as moving the mobile robot 30 to the priority monitoring location stored in the area 38g.

Next, it will be described how the mobile robot 30 is used to determine whether or not the detector 21 is functioning normally in the security system.
First, in the mobile robot 30, when the mode stored in the traveling schedule storage area 38d of the storage unit 38 is set to the standby mode, the control unit 42 determines the traveling schedule based on the current time obtained by the time measuring unit 41. The arrival of the teaching tour start time stored in the storage area 38d is detected (S1, S2 in FIG. 4). The teaching tour of the mobile robot 30 in this case is a tour for determining whether or not the detector 21 is functioning normally. The tour start time is set to a later time during the business hours of the customer and stored in the tour schedule storage area 38d.

  Subsequently, the control unit 42 of the mobile robot 30 switches the mode set in the tour schedule storage area 38d from the standby mode to the teaching tour mode (S3 in FIG. 4), and further from the communication unit 39 via the communication network 4. A teaching patrol start signal is transmitted to the transmission / reception unit 24 of the security device 22 (S4 in FIG. 4).

  The security device 22 that has received the teaching patrol start signal determines whether or not the internal storage unit 22a is set to the security release mode, and if it is set to the security release mode, shifts to the teaching tour mode. In addition to setting, a teaching patrol permission signal is transmitted to the mobile robot 30 and the center device 6 via the transmission / reception unit 24 and the communication network 4. The security device 22 set in the teaching patrol mode is in a state of storing the detection operation of each detector 21 at the patrol time in the storage unit 22a.

  In contrast, when the storage unit 22a is set to the security mode, the security device 22 transmits a teaching patrol non-permission signal to the mobile robot 30 and the center device 6 (N in S5 in FIG. 4). The mobile robot 30 that has received the teaching tour disapproval signal stops teaching tour (S6 in FIG. 4) and switches the mode set in the tour schedule storage area 38d from the teaching tour mode to the standby mode (FIG. 4). S7).

  The control unit 42 of the mobile robot 30 that has received the teaching tour permission signal reads the tour information stored in the tour route storage area 38c of the storage unit 38 and starts teaching tour (Y of S5 in FIG. 4, S8). . The start of the tour may be set at a time according to the schedule stored in the tour schedule storage area 38d, or may be set when a tour permission signal is received.

The control unit 42 of the mobile robot 30 that has started teaching patrol inputs a signal from the guide detection unit 32 and drives and controls the moving unit 31 by the movement control unit 33 to establish a patrol route along the white line tape 20W of the guide unit 20. Moving.
The control unit 42 of the mobile robot 30 stops the moving means 31 when it is determined that the current position detected by the guide detection unit 32 matches the tour end position stored in the tour start / end position storage area 38e. Then, the teaching tour is ended (S9, S10, S11 in FIG. 4), and the mode of the tour schedule storage area 38d is shifted from the teaching tour mode to the standby mode. Further, the control unit 42 transmits a teaching tour end signal from the communication unit 39 to the transmission / reception unit 24 of the security device 22 via the communication network 4 (S12 in FIG. 4).

  The detector information of each detector 21 from the start of the teaching tour of the mobile robot 30 to the end of the teaching tour is sent to the center via the transmission / reception unit 24 and the communication network 4 by the control unit 22b of the security device 22 along with the detection time in the order of detection. It is transmitted to the communication unit 8e of the device 6. The detector information may be stored in the storage unit 38 through the communication unit 39 of the mobile robot 30.

  The center device 6 transmits the detector information obtained when the detector 21 detects the mobile robot 30 between the start of the teaching tour of the mobile robot 30 and the end of the teaching tour through the security device 22 or the mobile robot 30 through the communication network 4. Received from the communication unit 8e. The storage device 8g of the center device 6 stores the detector information detected by the detector 21 set along the route order set in advance in the traveling route storage area 38c of the mobile robot 30. Then, according to the program, the CPU 8f compares and collates the detector information received while the mobile robot 30 is patroling with the detector information preset in the storage device 8g, and they are missing because they do not match. If there is a detector 21 that is determined not to function as the detector 21, the center device 6 identifies the detector 21 and displays the contents on its display device 8a to detect the detection. The monitor 21 is urged to replace the device 21 and the missing information that identifies the missing detector 21 is transmitted to the security device 22 via the communication network 4.

  In addition, the mobile robot 30 waits for a predetermined time after receiving the teaching tour end signal as described above (S13 in FIG. 4), and is transmitted directly from the security device 22 or from the center device 6. The missing information is stored as priority monitoring location information in the priority monitoring location storage area 38g of the storage unit 38 (S15 in FIG. 4). The priority monitoring location information is various types of information such as map information, coordinate information, and route information for specifying the installation location of the detector 21 that is determined to have a failure based on missing information.

  The monitor gives an appropriate response instruction to the nearest security guard in order to restore the failure of the failed detector 21, and when the security guard can respond before the security area 10 is changed to the security mode, Then, a deletion signal for deleting the missing information of the detector 21 is transmitted from the center device 6 to the mobile robot 30 and the security device 22 via the communication network 4. The mobile robot 30 deletes the priority monitoring location information stored in the priority monitoring location storage area 38g of the storage unit 38 by receiving the deletion signal (S16 and S17 in FIG. 4).

  When the priority monitoring location information does not exist in the priority monitoring location storage area 38g, or when the priority monitoring location information is deleted, the control unit 42 of the mobile robot 30 determines that the priority monitoring location does not exist and stores the traveling schedule. The patrol is performed by setting the security mode according to the normal schedule stored in the area 38d.

  On the other hand, when the priority monitoring location information is stored in the priority monitoring location storage area 38g of the storage unit 38 of the mobile robot 30, the control unit 42 preliminarily stores the information based on the current time obtained by the timer 41. By detecting the arrival of the set tour start time, the mode of the tour schedule storage area 38d is set from the standby mode to the tour mode (S21, S22, S23 in FIG. 5), and the tour signal is transmitted from the communication unit 39 to the communication network. 4. Transmit to the security device 22 through the transmission / reception unit 24 (S24 in FIG. 5).

In the security device 22, the control unit 22b determines whether the security area 10 is set to the security mode or the security release mode.
If the security mode is set, the security mode is switched to the patrol mode. Depending on the setting of the patrol mode, the detection of the detectors 21 in the patrol course of the security robot 30 may be canceled in order so that the detection of the detector 21 is not determined as the intruder of the suspicious person by the setting of the patrol mode, or The abnormality detection signal by the detector 21 is canceled in order.

When the security mode is set in the security device 22, a patrol permission signal is transmitted to the mobile robot 30 (Y in S25 in FIG. 5).
On the other hand, when the security device 22 is set to the security release mode, the security device 22 transmits a patrol non-permission signal that does not permit patrol to the mobile robot 30. When the mobile robot 30 receives the patrol non-permission signal, the mobile robot 30 enters a standby mode for waiting for patrol until the guard release mode in the guard device 22 is switched to the guard mode (N in S25 in FIG. 5, S26, S21).

The patrol start of the mobile robot 30 may be started by receiving a patrol start signal from the security device 22 or the center device 6 instead of starting after waiting for the patrol start time.
When the mobile robot 30 receives the patrol permission signal (S25 in FIG. 5), the control unit 42 determines whether or not the focus monitoring information is stored in the focus monitoring location storage area 38g (S27 in FIG. 5). If it is, a strengthening tour is started to focus on the priority monitoring points (S28 in FIG. 5). On the other hand, when the priority monitoring information does not exist in the priority monitoring location storage area 38g, the normal tour without the priority monitoring location is started (S30 in FIG. 5).

  When starting the patrol, the mobile robot 30 operates the obstacle detection unit 35a and spatially scans the surroundings with the obstacle sensor 35b, or operates the security sensor 35d to monitor the presence of an intruder or a fire. In addition, the imaging unit 35e is operated to image the surrounding situation. The captured image information acquired by the imaging unit 35e is buffered in the storage unit 38 and transmitted to the center device 6.

  When the mobile robot 30 starts patrol, a signal from the guide means detector 32 is input, and the movement means 33 is driven and controlled by the movement controller 33 to move the patrol path along the white line tape 20W. If the abnormality determination unit 37 determines that an abnormality has occurred based on the input from the obstacle sensor 35b or the security sensor 35d during the traveling of the mobile robot 30 along the patrol route, the mobile robot 30 stops traveling and the center device 6 An abnormal signal is transmitted to (S29 in FIG. 5).

While traveling along the patrol route, the mobile robot 30 reads the priority monitoring location information from the priority monitoring location storage area 38g, and the current position of the mobile robot 30 constantly detected by the self location detection unit 34 is the priority monitoring location, that is, the failure location. It is determined whether or not an installation location of a certain detector 21 has been reached (S31 in FIG. 5).
Then, when the mobile robot 30 arrives at the priority monitoring location, it is stopped at that point for a predetermined time as an enhanced tour, and the enhanced tour monitoring is performed such as operating the imaging unit 35e to image the surroundings (FIG. 5). S32). Information of the captured image acquired by the imaging unit 35e is temporarily stored in the storage unit 38.

When the predetermined time has elapsed, the mobile robot 30 resumes normal patrol due to movement by the moving means 31.
When the mobile robot 30 reaches the final position of the patrol route where its current position is set (Y in S33 in FIG. 5), the mobile robot 30 stops driving the obstacle 31 and the obstacle detector 35 and the security sensor 35d. Then, the operation of the imaging unit 35e is stopped, the tour is ended (S34 in FIG. 5), and a tour end signal is further transmitted to the security device 22 via the communication unit 39, the communication network 4, and the transmission / reception unit 24 (FIG. 5). S35).

After this, the mobile robot 30 shifts the mode of the tour schedule storage area 38d from the tour mode to the standby mode by the control unit 42.
The security device 22 that has received the patrol end signal shifts the mode of the storage unit 22a from the patrol mode to the guard mode and causes the detector 21 to perform normal detection.

Next, the temporary standing up of the important point monitoring location by the mobile robot 30 will be described.
First, when the security mode is set in the storage unit 22a of the security device 22, the security mode is transmitted from the security device 22 to the communication unit 39 of the mobile robot 30 via the transmission / reception unit 24 and the communication network 4 (S41 in FIG. 6). ).
The mobile robot 30 that has received the guard mode signal determines whether or not the priority monitoring location is stored in the priority monitoring location storage area 38g of the storage unit 38 (S42 in FIG. 6).

When the priority monitoring location is not stored in the priority monitoring location storage area 38g, the standby mode set in the various security mode storage areas 38f is maintained as it is (S47 in FIG. 6).
On the other hand, when the priority monitoring location is stored in the priority monitoring location storage area 38g, the standby mode set in the various security mode storage areas 38f is switched to the temporary standing mode. And the control part 42 drives the moving means 31 by the movement control part 33, and moves the mobile robot 30 to an important point monitoring location along the white line tape 20W (S43 of FIG. 6).

When the mobile robot 30 arrives at the priority monitoring point, the mobile robot 30 is stopped at that point as a temporary standup, and the imaging unit 35e is operated to monitor the surroundings. Information of the captured image acquired by the imaging unit 35e is temporarily stored in the storage unit 38. Thereby, the place is guarded instead of the failed detector 21 (S45 in FIG. 6).
Thereafter, the mobile robot 30 receives the security release signal from the security device 22, thereby stopping the operation of the temporary standing arm and moving to a predetermined position to return to a standby state (S45 and S46 in FIG. 6).

  Note that the temporary standing by the mobile robot 30 is performed by determining whether the mode of the security area 10 is the security mode or the security release mode. You may make it stand up temporarily. This may be determined according to the consumption status of the battery 40 in the mobile robot 30.

Moreover, you may combine the security reinforcement | strengthening patrol which stops an important point monitoring location for the predetermined time during the regular patrol of the mobile robot 30, and a temporary standing lantern.
Incidentally, as described above, whether the detector 21 using the mobile robot 30 is normal or abnormal may be determined not by the center device 6 but by the security device 22. Moreover, although embodiment mentioned above demonstrated the security system which transmits a security system to a remote center apparatus via the communication network 4, the center apparatus may be a disaster prevention center in the same building, for example.

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 mobile robot in the security system according to the embodiment of the present invention. FIG. 3 is a block diagram showing the configuration of the mobile robot of the security system according to the embodiment of the present invention. FIG. 4 is a flowchart showing the operation of teaching patrol by the mobile robot and storage of the important monitoring points in the security system according to the embodiment of the present invention. FIG. 5 is a flowchart showing a forced patrol operation by the mobile robot in the security system according to the embodiment of the present invention. FIG. 6 is a flowchart showing the operation of temporary standing by the mobile robot after the start of security in the security system according to the embodiment of the present invention.

Explanation of symbols

4: Communication network 5: Monitoring center 6: Center device 8: Computer 9: Wireless base station 10: Security area 11, 12, 13: Facility 20: Guide means 21: Detector 22: Security device 22a: Storage unit 22b: Control Unit 23: Controller 24: Transmission / reception unit 30: Mobile robot 31: Movement unit 32: Guide unit detection unit 33: Movement control unit 34: Self-position detection unit 35: First security information collection unit 36: Second security information Collecting means 37: abnormality determination unit 38: storage unit 39: communication unit 40: battery 41: timer unit 42: control unit

Claims (4)

A mobile body that moves in the security area, a security device that is connected to a detector arranged in the security area and includes a security mode setting unit, and security information transmitted from the security device or the mobile body A security system having a center device for monitoring the security area based on:
The security device is a first detector that is obtained by detecting the mobile body with the detector during a period from the start of patrol of the mobile body to the end of patrol in a state where the security area is set in the security release mode. A storage unit for storing information, and a transmission unit for transmitting the first detector information to the center device,
The center device includes a detector information storage unit that stores second detector information about the detector in advance, the second detector information stored in the detector information storage unit, and the security device. The processing unit that compares and collates the first detector information acquired by reception and the detector specified by the processing unit due to the difference between the first detector information and the second detector information is missing. A communication unit that transmits information,
The mobile body is a moving means that moves itself, a storage unit that stores at least a patrol route and a priority monitoring location, and an arrangement location of the detector identified by receiving the missing information as the priority monitoring location. A security system comprising: a control unit for storing in the storage unit The moving body has control means for performing predetermined monitoring when the moving means reaches the priority monitoring location stored in the storage unit by movement for patrol in the guard area by the moving means. The security system according to claim 1, wherein 2. The security system according to claim 1, wherein after the security area is set to a security mode, the mobile body moves to and stands up at the priority monitoring location stored in the storage unit. The security system according to claim 3, wherein the moving body stops the standing-up when the security area is set to a security release mode.

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