JP2014002500A - Alarm system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an alarm system which detects abnormality such as fire and issues an alarm to collaborate with a moving body such as a smart cleaning robot having a communication function via an external network.SOLUTION: Fire alarm sound output from a wireless linked type home alarm apparatus 24-1 which has detected fire is detected by an alarm relay adapter 26 installed in the vicinity of the wireless linked type home alarm apparatus 24-1. A fire detection signal is transmitted via a radio router 12 to a smart cleaning robot 10 which performs predetermined operation by autonomously moving around in a predetermined work area including a monitoring area. When the smart cleaning robot 10 receives the fire detection signal from the alarm relay adapter 26 via the radio router 12, the robot 10 notifies a user's portable phone 22 of the fire by transmitting the fire detection signal via an external network server 18.

Description

The present invention relates to an alarm system for notifying an abnormality using a communication function with an external network provided in a moving body such as a cleaning robot when an abnormality such as a fire is detected.

  2. Description of the Related Art Conventionally, alarm devices that detect and warn of fires in homes and the like have become widespread. Of these, residential fire alarms are referred to as residential alarms.

  For example, in such a house alarm, it is operated by a battery power source, and a sensor part for detecting a fire and an alarm part for alarming a fire are integrated in the house alarm, and a fire is generated based on a detection signal of the sensor part. When a fire alarm is detected, a fire alarm sound of a predetermined pattern is output from the alarm unit, and a fire monitor and alarm notification can be performed by a single residential alarm without the need for a receiver or the like as in the so-called automatic fire alarm equipment. It is simple and inexpensive, and it has become widespread with the obligatory installation in ordinary houses.

  A home alarm device that detects a fire at the sensor unit and outputs a fire alarm sound from the alarm unit is known as a stand-alone type. When a fire is detected by a warning device and a fire alarm sound is output, a wireless interlocking home alarm device that outputs a fire alarm sound in conjunction with other residential alarms by wireless communication is also put into practical use and popularized. doing.

  In addition, cleaning robots that perform cleaning in homes and the like by independent running have been put into practical use, and their spread has begun. Such a cleaning robot has input / output devices such as a camera, a microphone, and a speaker in addition to a cleaning function based on independent running, and the wireless LAN communication function allows each input / output device to be connected to the Internet via the wireless LAN communication function. It is possible to link with a server on the external network, and use a mobile terminal such as a smartphone owned by the user to perform various communications with the cleaning robot, thereby realizing a so-called smart cleaning robot. .

JP 2007-094719 A Utility Model Registration No. 3143139 JP 2009-140236 A Japanese Patent No. 3387816 JP2007-156684A

  When smart cleaning robots equipped with input / output devices such as cameras, microphones, and speakers and wireless LAN communicators are installed in homes, etc., cooperation with residential police devices that are currently widely used as residential fire alarms Can be considered.

  In this case, if a wireless LAN communication function is installed in the house alarm, a fire detection signal detected by the house alarm can be sent to the cleaning robot and sent from the cleaning robot to the user's mobile terminal to notify the fire.

  However, in the case of a wireless interlocking type living alarm, for example, an interlocking alarm is performed by a wireless communication function conforming to the standard of a specific low power wireless station in the 400 MHz band. The addition of a wireless LAN function that enables communication has a problem that costs are increased because it involves a significant change in the home alarm.

  In order to solve this problem, it is possible to prepare a relay adapter having a wireless LAN communication function and connect the signal line to the home alarm, but the home alarm is provided with a connector and an interface circuit for adapter connection. There is a problem that it is necessary and cannot be easily done.

  In addition, the existing home alarm cannot be equipped with a wireless LAN communication function or connected to the signal line of the relay adapter, and even if a smart cleaning robot is introduced, the alarm system linked with the home alarm There is a possibility that it cannot be used sufficiently.

It is an object of the present invention to provide an alarm system that enables an alarm device that detects and detects an abnormality such as a fire by using a mobile object such as a smart cleaning robot having a communication function via an external network. Objective.

(Alarm system)
The present invention provides an alarm system,
Alarm means for detecting an abnormality associated with a fire in the monitoring area and outputting an abnormal alarm sound;
An alarm relay means for transmitting an abnormality detection signal when an abnormal alarm sound output from the alarm means is detected; and
When a predetermined work is carried out while traveling independently in a predetermined work area including the monitoring area, and an abnormality detection signal is received from the alarm relay means, an abnormality detection signal is sent to the user terminal via an external network server. Moving means for transmitting and notifying abnormality,
It is provided with.

(Move to the place where the abnormality occurred and take a picture)
The moving body means includes an imaging means, and when a fire detection signal is received from the alarm relay means, the moving means moves to the monitoring area where the abnormality is detected, the image of the monitoring area is taken by the imaging means, and the imaging The transmitted image is transmitted to the user terminal via the server of the external network and displayed.

(Detection of alarm sweep sound)
The alarm relay means detects a sweep sound in which the volume is substantially constant and the frequency changes within a predetermined range among the abnormal alarm sounds output from the alarm means, and transmits an abnormality detection motion signal.

(Arrangement of alarm relay means)
The alarm relay means is disposed within a predetermined range in which the sound pressure of the abnormal alarm sound output from the alarm means is equal to or higher than a predetermined level.

(Fire detection and extinguishing by alarm means)
The moving body means further includes a fire extinguishing means, and when a fire detection signal is received as an abnormality detection signal from the alarm relay means, the alarm means moves to the monitoring area where the fire is detected and moves to the fire position detected by the fire position specifying means. Spread fire extinguishing agent toward.

  The mobile means includes an abnormality detection means for detecting an abnormality associated with a fire, and when a fire is detected as an abnormality, a fire detection signal is transmitted to a user terminal via an external network server to prevent the fire. Let me know.

(Fire detection and extinguishing by means of abnormality detection)
The moving body means further includes a fire extinguishing means, and when a fire is detected as an abnormality by the abnormality detecting means, a fire extinguishing agent is sprayed toward the fire position detected by the fire position specifying means.

(Remote control of mobile means by user terminal)
When the mobile unit receives a control instruction signal from the user terminal, the mobile unit performs control based on the control instruction signal.

(Basic effect)
According to the alarm system of the present invention, when an abnormality in the monitoring area is detected, an abnormality alarm sound output from the alarm unit is detected by the alarm relay unit, an abnormality detection signal is transmitted to the mobile unit, and from the mobile unit Since an abnormality detection signal is sent to the user terminal via an external network server to notify the abnormality, the user can move by simply placing the alarm relay means near the alarm means where the alarm sound can be detected. The alarm system can be easily linked with the body means, and it is not necessary to provide a dedicated interface circuit for the alarm means or connect the signal line, and the user can easily relay the alarm without any specialized knowledge. By arranging the means, it is possible to perform an alarm in cooperation with the moving body.

  In addition, the alarm relay means detects the alarm sound of the alarm means and transmits an abnormality detection signal, so even if the alarm means is different, for example, the fire alarm sound is determined according to the standard. Can be detected and linked, and an alarm system linked to an open mobile body that does not depend on the manufacturer of the alarm means can be constructed. This also applies to the case where the same manufacturer version is different.

  In addition, the existing alarm means can be used as it is, and it is only necessary to add an alarm relay means. The alarm system that uses existing resources can greatly reduce the cost of alarming in cooperation with mobile units. Can be used.

(Effect by detecting alarm sweep sound)
The alarm relay means detects, for example, a fire alarm sound output from the alarm means, a sweep sound whose volume is substantially constant and whose frequency changes in a predetermined range, for example, a sweep sound which changes in a frequency range from about 2 KHz to about 3 KHz. Since the fire detection signal is transmitted, the alarm means erroneously detects the low battery alarm sound indicating the battery voltage drop that is output in addition to the fire alarm sound, the failure alarm sound such as sensor failure, and the sound of the TV or radio. Can reliably prevent fire alarms.

Explanatory drawing showing an installation example of an alarm system according to the present invention for linking a home alarm and a smart cleaning robot A sketch showing a house where the alarm system of the present invention is installed Block diagram showing outline of functional configuration of smart cleaning robot Block diagram showing outline of functional configuration of smart cleaning robot equipped with fire sensor Block diagram showing the functional configuration of a smart cleaning robot equipped with a fire extinguishing unit Explanatory drawing which showed the outline of the functional composition in a radio interlocking type residence guard Block diagram showing an outline of the functional configuration of the alarm relay adapter Explanatory drawing showing an installation example of an alarm system according to the present invention for linking a home alarm and a smart cleaning robot Explanatory drawing which showed the outline of the functional composition in a house alarm

[Configuration of alarm system]
(Outline of system configuration)
FIG. 1 shows an installation example of an alarm system according to the present invention for a house. The alarm system according to the present invention includes wireless interlocking house alarms 24-1 and 24-2, alarm relay adapter 26, smart cleaning robot 10, and wireless router 12. , Gateway 14, Internet 16, server 18, mobile phone network 20, and mobile phone 22.

  The wireless interlocking house alarm 24 (24-1, 24-2) is an alarm unit that detects an abnormality in a monitoring area such as a room and outputs an abnormal alarm sound. The alarm relay adapter 26 is connected to the alarm unit. When the output abnormality alarm sound is detected, it is an alarm relay means for transmitting an abnormality interlocking signal, and the smart cleaning robot 10 performs a predetermined work while running independently in a predetermined work area including the monitoring area, When an abnormality detection signal is received from the alarm relay means, the abnormality is transmitted to the mobile phone 22 as a user terminal via the external network including the Internet 16 and the mobile phone network 22 to notify the abnormality. It is a body means. In the following description, a case where a fire alarm is output as an abnormality alarm will be described as an example.

(Introduction environment for smart cleaning robot)
In FIG. 1, a smart cleaning robot 10 is introduced into a house 15, and the smart cleaning robot 10 accepts a preset time schedule or a user's operation based on previously stored cleaning route information, and follows the cleaning route. By self-propelled running, cleaning work is performed to suck and remove the dust on the floor surface by driving the installed dust suction part. Moreover, when not performing cleaning work, it returns to the charging station arrange | positioned in the predetermined location of a house, the charging terminal is connected to the station side in the charging station, and the battery power source mounted is charged.

  FIG. 2 is a sketch showing an example of room allocation of the house 15 in which the smart cleaning robot 10 is introduced. For example, when a charging station (not shown) is arranged at one corner of the living / dining LD, the smart cleaning robot 10 is shown. Go there and wait while charging.

  Cleaning work by the autonomous running of the smart cleaning robot 10 is stored in advance in a memory for each kitchen, LD, Western-style room A to C, for example, and the cleaning path starting from the charging station. Move to the room and follow the reciprocating cleaning path from the corner of the room to suck the dust while running independently in the room without any gaps. If there is an obstacle in the middle of the cleaning path, use an ultrasonic sensor to avoid the obstacle. Clean up by running independently while generating a route. When the self-sustained travel on the cleaning route is finished, it moves to the next room and continues the cleaning work by self-supporting travel along the predetermined cleaning route. If a drop in battery power is detected during the cleaning operation, the battery is returned to the charging station and charged. After the charging is completed, the cleaning operation is continued by returning to the position where the cleaning is interrupted.

  Further, the smart cleaning robot 10 stores a wall-side route that travels along the wall as a route when moving from the charging station to the working room, and a route returning to the charging station for work completion or charging. Go back and forth between the charging station and each room by running independently.

  In addition, the smart cleaning robot 10 has a wireless LAN communication function, and a wireless router 12 functioning as an access point (fixed station) is arranged in the house 15 corresponding to this to construct a wireless LAN communication environment. The wireless router 12 is connected to the gateway 14 and enables communication connection with a server 18 that provides various services related to the smart cleaning robot 16 via the Internet 16 serving as an external network via the gateway 14. Communication connection with a mobile phone 22 such as a smartphone held by the user via the telephone network 20 is possible.

  Here, in a smartphone having a wireless LAN communication function that functions as an access point (fixed station), a wireless LAN can be provided between the smart cleaning robot 10 and the mobile phone 22 in the house 15 without passing through the wireless router 12. Enables communication connection by.

  The smart cleaning robot 10 is equipped with a camera as an imaging means, and an image captured by the camera can be transmitted to the mobile phone 22 and displayed. In addition, using a robot operation application installed on the mobile phone 22, it is possible to remotely start and stop the cleaning operation of the smart cleaning robot 10, perform an imaging operation with a camera, and the like by operating the screen of the mobile phone 22. It is said.

  The server 18 is provided with predetermined service functions corresponding to cleaning control, camera control, and the like by the smart cleaning robot 10 introduced into the house 15. The service function of the server 18 includes, for example, a communication exchange service between the smart cleaning robot 10 and the mobile phone 22, analysis of sensing data by the smart cleaning robot, and transmission of instructions from the mobile phone 22 to the smart cleaning robot 10. .

(Arrangement of home alarm)
In FIG. 1, the wireless interlocking home guards 24-1 and 24-2 are installed in each room of the house 15. FIG. 1 is a part of the house 15 of FIG. 2, and the house 15 is provided with wireless interlocking type house guards 24-1 to 24-5 as shown in FIG. In addition, hereinafter, when the radio interlocking house alarm devices 24-1 to 24-5 are not distinguished from each other, they are referred to as radio interlocking house alarm devices 24.

  Taking the wireless interlocking home guard 24-1 as an example, the wireless interlocking home guard 24-1 observes the temperature or smoke concentration of the room in which it is installed, for example, the living / dining LD, and the temperature indicated by the observation result. Or, when a fire is detected based on the smoke concentration, a fire alarm sound indicating the link source is output.

  Moreover, the interlocking | linkage group is formed between the radio | wireless interlocking-type residence guard 24-1-24-5. A communication path 12 according to a predetermined communication protocol is provided between the wireless interlocking home alarm devices 24-1 to 24-5, and by transmitting a signal including a predetermined interlocking group code, communication within the interlocking group is performed. Make it possible. For example, when the wireless interlocking home guard 24-1 detects a fire and outputs a fire alarm indicating the interlocking source, it sends a fire interlocking signal to the other wireless interlocking home guards 24-2 to 24-5. The fire alarm indicating the interlocking destination is output to the wireless interlocking home alarm devices 24-2 to 24-5 that have received this.

(Linkage of alarm relay adapter and smart cleaning robot)
In the alarm system of FIG. 1, in order to link the wireless interlocking house alarm 24 with the smart cleaning robot 10, for example, the alarm relay adapter 26 is arranged corresponding to the wireless interlocking house alarm 24-1. The alarm relay adapter 26 transmits a wireless LAN communication function for communication connection to the smart cleaning robot 10 via the wireless router 12 serving as an access point, and a fire alarm sound output from the wireless interlocking home alarm 24-1. It has a function to detect. Further, the alarm relay adapter 26 is arranged in a close position where the fire alarm sound output from the wireless interlocking house alarm 24-1 can be detected, for example, within a range within 1 meter where a sound pressure of 70 dB or more can be obtained. To do.

  In addition to predetermined service functions corresponding to cleaning control, camera control, and the like by the smart cleaning robot 10 introduced into the house 15, the server 18 is provided with a predetermined fire cooperation function in conjunction with the wireless interlocking home alarm 24. ing.

  For example, when a fire is detected by the wireless interlocking type residence guard 24-1 and a fire alarm indicating the interlocking source is output, the fire alarm sound is detected by the alarm relay adapter 26 and the fire detection signal is transmitted via the wireless router 12. Then, it transmits to the smart cleaning robot 10, and further transmits a fire detection signal to the server 18 via the smart cleaning robot 10, the wireless router 12, the gateway 14 and the Internet 16. Upon receiving the fire detection signal, the server 18 generates a fire detection signal including fire notification information by the fire cooperation function, and sends the fire detection signal to the user's mobile phone 20 via the Internet 16 and the mobile phone network 20. Send. The mobile terminal 22 that has received the fire detection signal from the server 18 outputs a fire alarm by displaying a fire notification display screen, outputting sound from a speaker, or the like.

  In addition, the smart cleaning robot 10 detects a fire alarm sound from the wireless interlocking house keeper 24-1 and receives a fire detection signal transmitted from the alarm relay adapter 26 via the wireless router 12, and then fires. Move to the detected room, capture the image with the camera, and send it to the user's mobile phone 22 via the wireless router 12, gateway 13, Internet 14, server 18, Internet 14 and mobile phone network 20. It can also be displayed.

[Configuration of smart cleaning robot]
FIG. 3 is a block diagram showing an outline of a functional configuration of the smart cleaning robot. In FIG. 3, the smart cleaning robot 10 includes a control unit 30, a wireless LAN communication unit 32 connected with an antenna 34, a camera unit 36, a voice input / output unit 38, an operation display unit 40, a self-supporting traveling sensor unit 42, and a traveling drive unit 44. The charging unit 46 and the dust suction unit 48 are provided and operated by a battery power source (not shown).

  The control unit 30 is a function realized by executing a program, for example. As the hardware, a computer circuit or a wired logic circuit having various input / output ports including a CPU, a memory, and a USB port is used.

  The wireless LAN communication unit 32 transmits and receives signals between the wireless router 12 and the alarm relay adapter 26 according to a predetermined wireless LAN communication protocol. The wireless LAN communication unit 32 also functions as a wireless LAN access point (base station). This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g. Further, the wireless LAN communication unit 32 is portable when the user's mobile phone 22 is in the house 25 (in a wireless LAN communication area), and the mobile phone 22 has a wireless LAN communication access point function. Signals are transmitted to and received from the telephone 22 according to the wireless LAN communication protocol.

  The voice input / output unit 38 includes a microphone, an amplifier circuit thereof, a speaker, and a drive circuit thereof, and is a voice for recognizing a predetermined voice with a user and performing a voice conversation based on an instruction from the control unit 30. Perform input / output. Also, a fire alarm sound can be output based on an instruction from the control unit 30.

  The operation display unit 40 performs various setting operations necessary for the operation of the smart cleaning robot 10 and various displays associated with the operation. Further, the operation display unit 40 includes a remote control receiving unit, and accepts a remote operation.

  The autonomous running sensor unit 44 detects information necessary for autonomous running of the smart cleaning robot 10, and uses, for example, an ultrasonic sensor, a contact sensor, an optical sensor, or the like. The ultrasonic sensor is used for control for detecting and avoiding obstacles during independent running. The contact sensor is used for control that detects contact with an obstacle that is running independently and turns it back in the opposite direction. The optical sensor is arranged in such a manner that the detection direction is directed toward the floor surface, and for example, an optical beacon disposed on the floor surface side of the charging station is detected and the respective charging terminals are aligned and connected.

  The traveling drive unit 42 includes a motor that individually rotates and drives the left and right drive wheels provided in the robot body. In the straight traveling, the left and right wheels are rotationally driven at the same speed, and in the turning traveling, one of the left and right wheels is rotated. This is done by speeding up and slowing down the other.

  The charging unit 46 moves to the charging station and receives charging power from the charging station in a state where the charging terminals are connected to each other, and charges a battery power source (not shown).

  The dust collection unit 48 collects dust with side brushes arranged on both sides of the lower surface of the robot body, takes in dust collected with the side brushes with a rotating brush arranged at the center of the lower surface, sucks it by rotation of a built-in fan, and collects dust through a filter. The dust removed and exhausted above the robot body is stored in the dust box.

  The control unit 30 is a function realized by executing a program of the CPU, and performs the following cleaning control camera control, voice recognition control, and fire cooperation control.

(Cleaning control)
The cleaning control by the control unit 30 includes, for example, an automatic mode, a wall-side mode, and a local mode. In the automatic mode, the floor of the room is automatically cleaned according to the cleaning route stored in the memory in advance. In the wall-side mode, the wall-side mode of the room is intensively cleaned according to the wall-side route stored in advance in the memory. In the local mode, a floor surface having a predetermined radius stored in advance in a memory is intensively cleaned according to, for example, a spiral path.

  Further, the control unit 30 performs cleaning control according to the automatic mode, the wall-side mode, or the local mode received by the remote control receiving unit of the operation display unit 40 based on the operation signal from the remote control operated by the user.

(Camera control)
In addition, when receiving a shooting instruction signal by operating the mobile phone 22 of the user who is away from the destination via the wireless LAN communication unit 32, the control unit 30 instructs the camera unit 36 to display an image of the room by the shooting operation. Acquisition and transmission to the user's mobile phone 22 to perform image control are performed.

  In addition, when the control unit 30 receives a shooting instruction signal by operating the mobile phone 22 of a user in the room via the wireless LAN communication unit 32, the control unit 30 acquires an image of the room taken by the camera unit 36. The image is transmitted to the user's mobile phone 22 and displayed. In this case, the travel operation button of the cleaning robot 10 is displayed on the image screen of the mobile phone 22, and based on an instruction from the mobile phone 22, the control unit 30 instructs the travel drive unit 44 to go straight through the cleaning robot 10. For example, it is possible to search for an object or find a pet while viewing a moving image of a room photographed by the camera unit 36 by turning or moving backward.

(Voice recognition control)
The control unit 30 recognizes the voice input through the microphone of the voice input / output unit 38 in a state where the cleaning control is not performed, and performs a corresponding control by determining an operation instruction based on the recognition result. In addition, the control unit 30 determines a predetermined predetermined conversation input from the recognition result of the input voice, and performs control to output a corresponding response voice from the speaker of the voice input / output unit 38.

(Fire cooperation control)
The control unit 30 performs a fire based on detection of a fire alarm sound output when a fire is detected by the wireless interlocking house alarm 24 from the alarm relay adapter 26 illustrated in FIG. 1 via the wireless LAN communication unit 32. When the detection signal is received via the wireless router 12, a fire detection signal is generated, directed to the wireless LAN communication unit 32, transmitted to the server 18 via the wireless router 12, the gateway 14, and the Internet 16, and The server 18 that has received the fire detection signal generates a fire detection signal including fire notification information by the fire cooperation function, and transmits the fire detection signal to the user's mobile phone 22 via the Internet 16 and the mobile phone network 20. Controls to display a fire alarm screen and output a fire alarm sound.

  In addition, when the fire detection signal is received from the alarm relay adapter 26 via the wireless router 12 via the wireless LAN communication unit 32, the control unit 30 instructs the traveling drive unit 44 to establish a wireless interlocking residence warning device. 24 moves to the room which becomes the monitoring area where the fire is detected, and instructs the camera unit 36 to take an image of the room where the fire is detected and transmit it to the user's mobile phone 22 for display.

  Here, the control of moving the cleaning robot 10 to the room where the fire is detected by the control unit 30 is performed based on the fire monitoring path stored in advance in the memory. For example, taking the floor plan of FIG. 2 as an example of the fire monitoring route, the monitoring points P0 to P4 for photographing the room are set for each room or place where the wireless interlocking home guards 24-1 to 24-5 are installed. Set in advance. Here, the monitoring point P0 is the monitoring point for the living / dining LD and at the same time the charging station, which is the starting point. The monitoring points P1 to P4 are set near the entrance where the entire room can be imaged when each room is imaged by the camera unit 36 of the cleaning robot 10.

For the fire route information, linear routes L1 to L9 and needle changing points Q1 to Q7 indicated by dotted lines from the origin P0 to the monitoring points P1 to P4 are set, and based on this, travel control information is generated and stored in the memory. For example, the route information for moving from the origin P0 to the monitoring point P1 of the Western room A is (P0, L1 meter, Q1, L2 meter, Q2, L3 meter, P1), and the travel control information based on this is (distance L1 travel, Q1 turns 90 degrees right and travels distance L2, Q2 turns 90 degrees left and travels distance L3).

  Further, the generation of the fire monitoring path from the origin P0 to the monitoring points P1 to P4 is performed by actually moving the cleaning robot 10 with the remote controller, and the traveling control information of the traveling drive unit 44 at this time is stored in the memory. Also good.

  In the case of FIG. 1 and FIG. 2, the fire alarm signal of the wireless interlocking house guard 24-1 is detected by the alarm relay adapter 26, and a fire detection signal is transmitted to the smart cleaning robot 10. No. 30 cannot uniquely identify the location of the fire from the fire detection signal received from the alarm relay adapter 26. When a fire is detected in any of the wireless interlocking home guards 24-2 to 24-5 other than the wireless interlocking home guard 24-1, a fire interlocking signal is transmitted and this is indicated. This is because the alarm device 24-1 receives and outputs a fire alarm sound indicating the link destination.

  Therefore, when the fire detection signal is received from the alarm relay adapter 26, the control unit 30 moves all the monitoring points P1 to P4 including the origin P0 in order based on the fire monitoring path stored in the memory, while the camera unit The image taken by 36 is transmitted to the user's mobile phone 22 and displayed as an image. The location where the user has performed the confirmation operation is determined as the fire occurrence location by seeing this image, and the confirmed fire occurrence location monitoring point Then, the cleaning robot 10 is stopped, and the camera unit 36 sequentially captures the room and sends the image to the user's mobile phone 22 for display.

  Of course, when the alarm relay adapter 26 is arranged corresponding to each of the wireless interlocking home alarm devices 24-1 to 24-5, the control unit 30 makes a fire from the transmission source code included in the received fire detection signal. Since it is possible to identify the detected wireless interlocking house alarm 24, the correspondence between the transmission source codes of the wireless interlocking house alarms 24-1 to 24-5 and the monitoring points is stored in advance in the memory, and the fire detection signal Based on the above, it is possible to obtain a monitoring point of the fire occurrence location and to control the movement of the cleaning robot 10 to the fire occurrence location based on the fire monitoring route information to that point.

[Cleaning robot with fire sensor]
FIG. 4 is a block diagram showing another embodiment of the cleaning robot. In this embodiment, a fire sensor unit 50 is further provided in the embodiment of FIG. Since other configurations and functions are the same as those in FIG. 3, the same reference numerals are given and description thereof is omitted.

  The fire sensor unit 50 is an anomaly detection means for detecting an anomaly associated with a fire, and includes a flame sensor that detects a flame associated with a fire, and an infrared sensor that detects an infrared ray emitted from the flame or an ultraviolet ray emitted from the flame. Use UV sensor to detect.

  The control unit 30 instructs the traveling drive unit 44 based on a predetermined time schedule or a user's control instruction from the mobile phone 22 and circulates the fire monitoring routes L1 to L9 shown in FIG. Perform supervisory control.

  When the control unit 30 detects a fire by the detection signal of the fire sensor unit 50 during the circulation of the fire monitoring paths L1 to L9, the control unit 30 instructs the voice input / output unit 38 to output a fire alarm sound and a fire interlocking signal. Is generated, and the wireless LAN communication unit 32 is instructed to transmit the fire-linked signal to the home alarm device 24 via the relay adapter 38 and to the server 18. The residential alarm 24 that has received the fire-linked signal from the smart cleaning robot 10 outputs a fire alarm sound and outputs a fire alarm by turning on or blinking the LED. The server 18 that has received the fire interlock signal from the smart cleaning robot 10 generates a fire interlock signal including fire alarm information and transmits it to the user's mobile phone 22 to display a fire alarm screen and output an alarm sound. To control fire.

  Further, when a fire is detected by the detection signal of the fire sensor unit 50, the control unit 30 stops at the position where the fire is detected, instructs the camera unit 36, captures an image of the room where the fire is detected, and the server 18 Is transmitted to the user's mobile phone 22 via the control and displayed.

  The fire sensor unit 50 detects a fire that has occurred in a room that the smart cleaning robot 10 is patroling, and if a fire has occurred in any other room, the fire is detected by the home alarm 24, A fire alarm is output in conjunction with the smart cleaning robot 10.

[Cleaning robot with fire extinguishing unit]
FIG. 5 is a block diagram showing another embodiment of the cleaning robot. This embodiment is characterized in that a fire extinguishing unit 52 is further provided in the embodiment of FIG. Since other configurations and functions are the same as those in FIG. 3, the same reference numerals are given and description thereof is omitted.

  The fire extinguishing unit 52 is built in the cleaning robot 10 or mounted as a separate unit, and receives an instruction from the control unit 30 to spray a fire extinguishing agent from the nozzle. For example, the fire extinguishing unit 52 puts fire-extinguishing water into a tank, introduces air discharged by a dust suction fan of the cleaning robot 10 into a nozzle using a venturi pipe, sucks out water from the tank by a venturi action, and turns it into exhaust air. It is sprayed by mixing and sprayed. Further, the fire extinguishing unit 52 may be provided with a nozzle via an on / off valve in a cylinder filled with a fire extinguishing gas or a fire extinguishing powder, and the on / off valve may be opened to release the fire extinguishing gas or the fire extinguishing powder.

  The fire extinguishing control by the control unit 30 when the fire extinguishing unit 52 is provided includes the following remote fire extinguishing control and automatic fire extinguishing control.

(Remote fire extinguishing control)
The control unit 30 detects the fire alarm sound of the residential alarm 24 via the wireless LAN communication unit 32, receives the fire detection signal transmitted from the alarm relay adapter 26, and fires to the monitoring point of the fire occurrence location based on this When moving according to the monitoring route information, or when a fire is detected by the detection signal of the fire sensor 50 and stopped at that location, the camera unit 36 is instructed at the monitoring point or stop location, and an image of the room where the fire is detected is displayed. An image is picked up and transmitted to the user's mobile phone 22 via the server 18 to control the image to be displayed on the screen.

  The screen displayed on the mobile phone 22 includes operation buttons for driving the smart cleaning robot 10 and starting a fire extinguishing operation. The user looks at the displayed image and operates the fire extinguishing unit 52 to the fire position. In this state, when the user performs a fire extinguishing start operation by touching an operation button or the like, an instruction signal for the fire extinguishing start operation is transmitted to the cleaning robot 10 via the server 18, and the control unit 30 extinguishes the fire. The fire extinguishing unit 52 is actuated upon receipt of the start operation instruction signal, and the fire extinguishing agent is sprayed toward the fire position.

  In this case, the fire position specifying means by the control unit 30 has a control function of accepting a user operation performed by viewing the fire position image with the mobile phone 22 and directing the fire extinguishing unit 52 to the fire position.

  In addition, the control unit 30 controls the camera unit 36 to transmit the image of the fire occurrence location to the user's mobile phone 22 and display it on the screen even after the fire extinguishing unit 52 is operated. Make it possible to check the fire extinguishing.

(Automatic fire extinguishing control)
The control unit 30 basically performs control to operate the fire extinguishing unit 50 after waiting for the user's fire extinguishing instruction from the mobile phone 22, but the user's fire extinguishing instruction cannot be obtained even after a predetermined time has elapsed. In this case, automatic fire extinguishing control for operating the fire extinguishing unit 52 is performed according to an instruction from the control unit 30.

  The automatic fire extinguishing control by the control unit 30 specifies a fire position by a predetermined fire position specifying means when a fire extinguishing instruction signal is not received even after a predetermined time has passed since the image of detecting a fire is transmitted to the user terminal. Then, the fire extinguishing unit 50 is actuated toward the specified fire position, and the fire extinguishing agent is sprayed toward the fire position.

  As the fire position specifying means by the control unit 30 in this case, for example, the direction of the fire sensor unit 50 is changed by turning the smart cleaning robot 10 by instructing the traveling drive unit 44, and the position where the detection signal becomes maximum is determined. The fire position is specified, and the fire extinguishing unit 50 is controlled to operate at the specified fire position. Further, as another fire position specifying means by the control unit 30, an image captured by the camera unit 36 is sent to the server 18, the fire position is specified by the image processing, and the fire extinguishing unit 50 is placed at the fire position specified by the server 18. The control which operates toward is performed.

  In the automatic fire extinguishing control of the control unit 30, the AND condition (logical product condition) of the fire detection for detecting the fire alarm sound of the house alarm 24 by the alarm relay adapter 26 and the fire detection by the fire sensor unit 50 is established. When it is surely detected that there is a fire, the fire extinguishing unit 52 may be operated to improve the reliability of the automatic fire extinguishing control.

  When the fire extinguishing unit 52 is provided, the control unit 30 basically performs control to operate the fire extinguishing unit 50 after waiting for the user's fire extinguishing instruction. If it cannot be obtained, the control of the fire extinguishing unit 50 is performed according to an instruction from the control unit 30.

  That is, when the control unit 30 receives a fire detection signal from the alarm relay adapter 26 via the wireless LAN communication unit 32 and moves based on the fire monitoring route information to the monitoring point of the fire occurrence location, The presence / absence of a fire is determined based on the detection signal of the fire sensor unit 50. When a fire is determined, the fire is determined, a fire detection signal is generated, the wireless LAN communication unit 32 is instructed and transmitted to the server 18, and the server 18 A fire detection signal including fire notification information is generated and transmitted to the user's mobile phone 22 to display a fire notification screen and to output a warning sound to notify the fire.

  The fire alarm screen displayed on the mobile phone 22 includes a display requesting a fire extinguishing start operation and a display of an operation button. When the user performs a fire extinguishing start operation by touching the operation button, the fire extinguishing start operation is displayed. The instruction signal is transmitted to the cleaning robot 10, and the control unit 30 performs control for detecting the reception of the instruction signal for the fire extinguishing start operation by the user and operating the fire extinguishing unit 52.

  In the case where the fire sensor unit 50 is not provided in the cleaning robot 10 as in the embodiment of FIG. 3, the control unit 30 moves to the fire occurrence location and instructs the camera unit 36 to image the fire occurrence location. Then, the screen is displayed on the user's mobile phone 22, and a display requesting a fire extinguishing start operation and an operation button are displayed on this screen, and when the user confirms the fire from the display image and performs the fire extinguishing start operation, The fire extinguishing start operation instruction signal may be transmitted to the cleaning robot 10, and the control unit 30 may perform control for detecting the reception of the fire extinguishing start operation instruction signal by the user and operating the fire extinguishing unit 52.

  Further, even after the fire extinguishing unit 52 is operated, the control unit 30 performs control to send an image of a fire occurrence place sequentially instructed to the camera unit 36 to the user's mobile phone 22 and display it on the screen.

[Configuration of Wireless Interlocking Housekeeper 24]
FIG. 6 is a block diagram showing an outline of the functional configuration of the wireless interlocking house alarm 24-1, and the same applies to the other wireless interlocking house alarms 24-2 to 24-5.

  In FIG. 6, the wireless interlocking type house guard 24-1 includes an alarm control unit 60, a sensor unit 62, an interlocking communication unit 64 connected to an antenna 65, a notification unit 66, and an operation unit 68, and operates with a battery power source (not shown). To do.

  The alarm control unit 60 is a function realized by executing a program, for example. As hardware, a CPU, a memory, a computer circuit provided with various input / output ports, or a wired logic circuit is used.

  The sensor unit 62 is a temperature detection unit or a smoke detection unit. When a temperature detection unit is provided as the sensor unit 62, for example, a thermistor is used as the temperature detection element. In this case, a voltage detection signal corresponding to a change in resistance value due to temperature is output to the alarm control unit 60. In addition, when a smoke detector is provided as the sensor unit 62, a light emitting unit using a known scattered light type smoke detector structure and using an infrared LED is intermittently driven to emit light at predetermined intervals in accordance with an instruction from the alarm controller 60. The light reception signal of the scattered light received by the light receiving unit such as a photodiode is amplified, and the smoke density detection signal is output to the alarm control unit 60.

  The interlocking communication unit 64 transmits / receives a fire interlocking signal to / from other wireless interlocking home alarm devices 24-2 to 24-5 according to a predetermined communication protocol. This communication protocol is, for example, STD-30 (radio equipment standard for low power security system radio stations) or STD-T67 (specially specified as a standard for specific low power radio stations in the 400 MHz band in Japan. Conforms to the standard of low power radio station telemeter, telecontrol and data transmission radio equipment). This fire interlocking signal has a format including a transmission source code indicating a transmission source, a group code, an event code, a control command, and the like.

  The notification unit 66 includes a speaker, an LED, and respective drive circuits, and outputs an alarm sound from the speaker according to an instruction from the alarm control unit 60 as needed, and displays an alarm with the LED. The operation unit 68 includes various switches such as an alarm stop switch that receives an operation for stopping an alarm sound and / or an alarm display.

  The alarm control unit 60 is a function realized by executing a program of the CPU, and performs the following fire alarm control, fire recovery control, alarm stop control, and the like.

(Fire alarm control)
The alarm control unit 60 reads the temperature or smoke density detection signal output from the sensor unit 62 by AD conversion, detects a fire when it is equal to or greater than a predetermined threshold, and outputs a fire alarm indicating the interlock source from the notification unit 66. Take control. As a fire alarm in this case, for example, a voice message such as “It is a fire.

  When the alarm control unit 60 outputs a fire alarm from the notification unit 66, the alarm control unit 60 generates a fire interlocking signal according to the second communication protocol, instructs the interlocking communication unit 64, and another wireless interlocking type residential alarm device. Control to transmit a fire interlocking signal to 24-2 to 24-5, and output a fire alarm indicating the interlocking destination in the other wireless interlocking house mortars 24-2 to 24-5 that have received the fire interlocking signal .

  In this case, for example, a fire alarm indicating the link destination is repeatedly output by a voice message such as “Please confirm that another alarm device has been activated” and the LED is turned on.

  Further, when the alarm control unit 60 detects the effective reception of the fire-linked signal transmitted by any of the other wireless-linked dwelling devices 24-2 to 24-5 via the linked communication unit 64, the warning unit 66 Controls to output a fire alarm indicating the link destination from. In this case, the fire alarm indicating the link destination is also repeatedly output from the speaker with a voice message such as “Please confirm that another alarm device has been activated” and the LED is turned on.

  Here, the “Peep-Peep” portion of the fire alarm sound is a sweep sound that changes the frequency in a range from about 2 kHz to about 3 KHz with a substantially constant volume. The sound pressure of the fire alarm sound is equal to or higher than a predetermined sound pressure defined in the standard, for example, a sound pressure of 90 dB / m.

  “Detecting effective reception of signal” means that the group code included in the received signal is recognized as a signal addressed to itself in accordance with the group code registered in advance in its own memory as the receiving device, This means that there is no abnormality in the signal content.

(Fire recovery control)
The alarm control unit 60 recovers the fire when the temperature or smoke density falls below the threshold value based on the detection signal of the sensor unit 62 for a predetermined time, or for example, continues for a predetermined number of times (the fire detection state has been eliminated). Is detected, the fire alarm output indicating the interlocking destination from the notification unit 66 is stopped, a fire recovery interlock signal is generated, the interlock communication unit 64 is instructed, and the fire recovery interlock signal is transmitted to another wireless interlocking residence police. The control which transmits to the devices 24-2 to 24-5 is performed, and the fire alarm output which shows the interlocking destination is stopped in the other dwelling device which received this.

  When the alarm control unit 60 detects the effective reception of the fire recovery interlocking signal transmitted by any of the other wireless interlocking home alarm devices 24-2 to 24-5 via the interlocking communication unit 64, the alarm control unit 60 Control which stops the fire alarm output which shows the interlocking | linkage destination from 66 is performed.

(Alarm stop control)
When the alarm control unit 60 detects the alarm stop operation received by the alarm stop switch of the operation unit 68 during the output of the fire alarm as the linkage source, the alarm control unit 60 stops the fire alarm output indicating the linkage source from the notification unit 66, and Generate an alarm stop interlocking signal, instruct the interlocking communication unit 64, and perform control to transmit the alarm stop interlocking signal to the other wireless interlocking type residential alarm devices 24-2 to 24-5. The fire alarm output indicating the interlocking destination is stopped by the wireless interlocking type home alarm devices 24-2 to 24-5.

  When the alarm control unit 60 detects the effective reception of the alarm stop interlocking signal transmitted by any of the other wireless interlocking home alarm devices 24-2 to 24-5 via the interlocking communication unit 64, the alarm control unit 60 Control which stops the fire alarm output which shows the interlocking | linkage destination from 66 is performed.

[Alarm relay adapter configuration]
FIG. 7 is a block diagram showing an outline of a functional configuration of the alarm relay adapter 26. In FIG. 7, the alarm relay adapter 26 includes a wireless LAN communication unit 74 to which an alarm sound detection unit 70, a relay control unit 72, and an antenna 76 are connected, and is operated by a battery power source (not shown). The relay control unit 72 is a function realized by executing a program, for example. As hardware, a CPU, a memory, a computer circuit provided with various input / output ports, or a wired logic circuit is used.

  The wireless LAN communication unit 74 transmits a fire detection signal to the cleaning robot 10 via the wireless router 12 according to the wireless LAN communication protocol. This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g.

  The alarm sound detection unit 70 detects a fire alarm sound output from the wireless interlocking house alarm 24-1, but in particular, the fire alarm sound has a substantially constant volume and a frequency range of, for example, about 2 KHz to about 3 KHz. The sweeping sound that changes in the above is detected and an alarm sound detection signal is output to the relay control unit 72. For this reason, the alarm sound detection unit 70 includes a microphone for converting the alarm sound into an audio signal, a band filter having a passband frequency of, for example, about 2 KHz to about 3 KHz corresponding to a sweep sound in the audio signal from the microphone, and a band filter. And a circuit such as an amplifier for amplifying the signal extracted in step (b) and a comparator for outputting when the predetermined threshold level of the amplified sound signal is exceeded, and outputs an alarm sound detection signal based on the sound signal corresponding to the sweep sound.

  Here, the fire alarm sound of the wireless interlocking mortgage 24 will be “Peep, fire, fire”, and the alarm sound detection unit 70 will detect the sweep sound of “Peep” in the fire alarm sound. An alarm sound detection signal is output to the relay control unit 72.

  In addition, even if the fire alarm sound output by the wireless interlocking home guard 24-1 due to a difference in the manufacturer is, for example, “Pew Pew Fire is a fire” or “P Hugh Hugh is a fire”, both are about 2KHz. To about 3 KHz, the warning sound detection unit 70 detects a sweep sound such as “Pew Pew” or “Pee Hugh Hugh” that changes the frequency, and outputs a warning sound detection signal to the relay control unit 72. For this reason, when the manufacturer of the radio interlocking home alarm device 24 is different, or when the version is different even if the same manufacturer, the output of the radio interlocking home alarm device 24 is not affected by such a difference. A fire alarm sound can be detected and an alarm sound detection signal can be output.

  In addition, the alarm sound detection unit 70 can exclude the failure alarm sound from the detection target without outputting the alarm sound detection signal, for example, for the failure alarm sound other than the fire alarm sound that does not include the sweep sound.

  When the relay control unit 72 reads the alarm sound detection signal output from the alarm sound detection unit 70 and determines the fire alarm sound, the relay control unit 72 generates a fire detection signal according to a predetermined wireless LAN communication protocol, and the wireless LAN communication unit 74. Control to transmit to the smart cleaning robot 10 via the wireless router 12.

  Note that the alarm sound output from the wireless interlocking house alarm 24 is a loud alarm sound that does not occur in daily life, so the alarm sound detection unit 70 detects the sweep sound in the fire alarm sound. Not only the detection but also the fire alarm sound itself may be detected and an alarm sound detection signal may be output. The alarm sound detection unit 70 in this case includes a microphone that converts the alarm sound into an audio signal, an amplifier that amplifies the audio signal from the microphone, and a comparator that outputs when the amplified audio signal exceeds a predetermined threshold level. It is not necessary to provide a band filter for extracting a sweep sound as a circuit. The microphone may be a low-sensitivity microphone because the fire alarm sound is loud.

  In addition, the radio interlocking house keeper 24-1 outputs a test fire alarm sound with a slightly reduced volume when a predetermined test operation is performed, but the alarm sound detection unit 70 detects the fire alarm for this test. By detecting the sound and outputting an alarm sound detection signal, it is possible to perform a fire alarm test in cooperation with the smart cleaning robot in accordance with the test operation of the wireless interlocking house alarm 24.

[Alarm system using a stand-alone residential alarm]
FIG. 8 shows an example of installation of a warning system according to another embodiment of the present invention in a house. In this embodiment, stand-alone house alarms 80-1 and 80-2 are arranged in each room of the house 15. The relay relay adapters 26-1 and 26-2 are provided corresponding to the stand-alone dwelling devices 80-1 and 80-2, and other configurations are the same as those in FIG. Therefore, the same reference numerals are given and the description thereof is omitted.

  The stand-alone home alarm devices 80-1 and 80-2 are obtained by removing the interlocking communication function from the wireless interlocking home alarm device 24 of FIG. The temperature or smoke density of the room is observed, and a fire alarm sound is output when a fire is detected based on the temperature or smoke density indicated by the observation results.

  FIG. 9 is an outline of a functional configuration of the stand-alone house alarm 80-1, and the stand-alone house alarm 80-1 includes an alarm control unit 82, a sensor unit 84, a notification unit 86, and an operation unit 88. Does not work with battery power.

  The sensor unit 84, the notification unit 86, and the operation unit 88 are basically the same as those of the sensor unit 62, the notification unit 66, and the operation unit 68 provided in the wireless interlocking house guard 24-1 of FIG.

  The alarm control unit 82 has the same control function as the alarm control unit 60 provided in the wireless interlocking house keeper 24-1 of FIG.

  Referring to FIG. 8 again, the alarm relay adapters 26-1 and 26-2 arranged corresponding to the stand-alone house alarm devices 80-1 and 80-2 are the stand-alone house alarm devices 80-1 and 80-2. The fire alarm sound output when a fire is detected is detected, a fire detection signal is transmitted to the cleaning robot 10 via the wireless router 12, and the cleaning robot 10 performs fire linkage control.

[Modification of the present invention]
The above embodiment is an example of a residential alarm device that detects and alarms a fire, but an alarm system in which a gas leak alarm device, a CO alarm device are arranged, and an alarm device in which those alarm devices are mixed are arranged. The same applies to the system.

  Further, in the above embodiment, a residential alarm (alarm) operating with a battery power source is taken as an example, but the present invention can also be applied to a device operating with a power source other than the battery power source.

  Further, the above-described embodiment is applicable not only to residential use but also to various types of alarm devices such as buildings and offices.

The present invention is not limited to the above-described embodiments, includes appropriate modifications that do not impair the objects and advantages thereof, and is not limited by the numerical values shown in the above-described embodiments.

10: Smart cleaning robot 12: Wireless router 14: Gateway 16: Internet 18: Server 20: Mobile phone network 22: Mobile phone 24-1 to 24-5: Wireless interlocking home police 26, 26-1, 26-2 : Alarm relay adapter 30: Control units 32 and 74: Wireless LAN communication unit 36: Camera unit 38: Voice input / output unit 40: Operation display unit 42: Self-supporting traveling sensor unit 44: Traveling drive unit 46: Charging unit 48: Dust absorbing unit 50: Fire sensor unit 52: Fire extinguishing unit 60: Alarm control unit 62: Sensor unit 64: Interlocking communication unit 66: Notification unit 68: Operation unit 26: Interlocking control unit 70: Alarm sound detection unit 72: Relay control unit 80-1 , 80-2: Stand-alone home guard

Claims (8)

Alarm means for detecting an abnormality in the monitoring area and outputting an abnormality alarm sound;
An alarm relay means for transmitting an abnormality detection signal when an abnormality alarm sound output from the alarm means is detected;
When a predetermined work is performed while running independently in a predetermined work area including the monitoring area, and an abnormality detection signal is received from the alarm relay means, an abnormality is detected in the user terminal via an external network server. Mobile means for transmitting a signal and notifying the abnormality;
An alarm system characterized by comprising:
The alarm system according to claim 1, wherein the moving body means includes an imaging means, and when the fire detection signal is received from the alarm relay means, the alarm means moves to a monitoring area where the abnormality is detected, An alarm system characterized in that an image of the monitoring area is captured by the imaging means, and the captured image is transmitted to the user terminal via the server of the external network and displayed.
2. The alarm system according to claim 1, wherein the alarm relay means detects a sweep sound in which a volume is substantially constant and a frequency changes within a predetermined range among the abnormal alarm sounds output from the alarm means. An alarm system characterized by transmitting an interlocking signal.
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2. The alarm system according to claim 1, wherein the interlocking alarm unit is disposed within a predetermined range in which a sound pressure of the abnormal alarm sound output from the alarm unit is equal to or higher than a predetermined level.
2. The alarm system according to claim 1, wherein the mobile means further includes a fire position specifying means and a fire extinguishing means for specifying a fire position, and a fire detection signal is received as an abnormality detection signal from the alarm relay means. The alarm system moves to a monitoring area where a fire is detected and sprays a fire extinguishing agent toward the fire position detected by the fire position specifying means.
2. The alarm system according to claim 1, wherein the moving body means includes an abnormality detection means for detecting an abnormality associated with a fire, and when a fire is detected as the abnormality, a fire detection signal is transmitted to the server of the external network. An alarm system characterized in that the fire is notified by being transmitted to the user terminal via the terminal.
7. The alarm system according to claim 6, wherein the mobile means further includes a fire position specifying means and a fire extinguishing means for specifying a fire position, and when the abnormality is detected by the abnormality detection means, the fire position is detected. An alarm system in which a fire extinguishing agent is sprayed toward a fire position detected by a specific means.
  2. The alarm system according to claim 1, wherein the mobile unit performs control based on the control instruction signal when receiving the control instruction signal from the user terminal.

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