JP2014002501A - Alarm system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an alarm system which detects abnormality such as fire and outputs alarm sound and a smart robot system which performs housekeeping service by a robot, etc. to collaborate with each other without degrading their respective functions and mutually extend their functions by using a sound recognition function installed in the robot.SOLUTION: Home alarm devices 24-1 and 24-2 detect fire in a monitoring area and output fire alarm sound by including alarm source identification sound in the fire alarm sound. A smart cleaning robot 10 performs predetermined operation by autonomously moving around in a predetermined work area including a monitoring area, and also, for example, if the smart cleaning robot 10 recognizes the fire alarm sound output by the home alarm device, notifies a user's portable phone 22 of the fire by transmitting a fire detection signal via a server 18. Also, the smart cleaning robot recognizes the alarm source identification sound included in the fire alarm sound or detects sound pressure of the alarm sound, detects the monitoring area of the alarm source in which the home alarm device is installed, moves to the monitoring area, and captures an image by a camera unit to transmit the image to the user's portable phone.

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 and an alarm sound is output.

  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.

  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 includes input / output devices such as a camera, a microphone, and a speaker in addition to a cleaning function based on independent running, and each input / output device is connected to the Internet via a wireless LAN communication function by a wireless LAN communication function. It is possible to link with a server on an external network, etc., use a mobile terminal such as a smartphone owned by the user, and perform various communications with a cleaning robot, so that a so-called smart cleaning robot can be realized Yes. In addition, the cleaning robot has a voice recognition function, and can operate according to an instruction by a user's voice or perform a simple conversation.

JP 2010-49604 A Japanese Patent No. 3387816 JP2007-156684A WO2009 / 147927

  By the way, since the background and purpose of the alarm system with a conventional house monitoring device for fire monitoring and the smart robot system for household services represented by cleaning robots are different, the systems are different. Development has been promoted as In particular, various alarm systems for detecting and alarming fires have been developed and spread with the legal installation obligation.

  For this reason, in the near future, in the same environment as a home, an alarm system in which a house alarm device for monitoring a fire is installed and a smart robot system using a cleaning robot will exist and function separately. For this reason, for example, when a fire is detected by a house alarm, the alarm system and the smart robot system are linked to a server on an external network such as the Internet by using the wireless LAN communication function of the cleaning robot, and possessed by the user. Integration such as notification of a fire alarm from a mobile terminal such as a smartphone is conceivable.

  However, the background and purpose of the two are greatly different, and the product standards are also unique, and some ingenuity is required to integrate the two. For example, in order to link with a smart robot system, it is necessary to provide a wireless LAN communication function for the home alarm, or to connect a relay adapter having a wireless LAN communication function to the home alarm. There is a problem that the cost increases due to a significant change of the device and the addition of a relay adapter.

  In addition, the existing home alarm device cannot be provided with a wireless LAN communication function, and even if a smart cleaning robot is introduced, it may not be sufficiently used as an alarm system in cooperation with the home alarm device.

The present invention impairs the functions of an alarm system that detects an abnormality such as a fire and outputs an alarm sound, and a smart robot system that performs housework services by a robot or the like by using a voice recognition function provided in the robot. It is an object to provide an alarm system that can extend functions mutually in cooperation.

(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;
A mobile unit that performs predetermined work while performing a predetermined work while independently running in a predetermined work area including a monitoring area, and that performs predetermined abnormality handling control when the abnormal alarm sound output by the alarm unit is recognized by voice,
It is provided with.

(Abnormality notification by user terminal)
The mobile means, when recognizing the abnormality alarm sound, transmits an abnormality detection signal to the user terminal via the server of the external network to notify the abnormality.

(Move to alarm source and take control 1)
The alarm means outputs an abnormal alarm sound including an alarm source identification sound indicating the alarm source,
The moving body means recognizes the alarm source identification sound of the abnormal alarm sound, detects the alarm source monitoring area where the alarm means outputs the abnormal alarm sound, and moves to the alarm source monitoring area to detect an abnormality. Take action control.
(Move to alarm source and take control 2)
The mobile means detects the sound pressure of the abnormal alarm sound at a plurality of different locations, identifies the location of the alarm source from which the alarm means outputs the abnormal alarm sound, and moves to the monitoring area of the alarm source. Perform error handling control.

(Image capture of alarm source area)
The mobile unit includes an imaging unit, and as an abnormality handling control, the image of the monitoring area of the alarm source is captured by the imaging unit, and the image of the monitoring area is transmitted to the user terminal via the server of the external network. To display.

(Alarm sound recognition due to temporary suspension of cleaning)
When the mobile means detects an alarm sound as long as the alarm means outputs during a predetermined work, the mobile means temporarily interrupts the work and repeats the voice recognition operation.

(Fire detection and fire extinguishing by voice recognition)
The moving body means further includes a fire position specifying means and a fire extinguishing means for specifying the fire position, and when the alarm means detects the alarm source monitoring area outputting the abnormal alarm sound, it moves to the alarm source monitoring area. Apply fire extinguishing agent toward the fire location detected by the fire location identification means.

(Abnormality detection by abnormality detection means)
The moving body means is equipped with an abnormality detection means for detecting an abnormality associated with a fire, and when a fire is detected as an abnormality by the abnormality detection means, a fire detection signal is transmitted to a user terminal via an external network server. Notify the fire.

(Fire detection and extinguishing by means of abnormality detection)
The moving body means further includes a fire position specifying means and a fire extinguishing means for specifying a fire position, 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.

  According to the alarm system of the present invention, when an abnormality associated with a fire in the monitoring area is detected, an abnormal alarm sound output from the alarm unit is recognized by a moving body unit such as a cleaning robot having a voice recognition function, For example, a network constructed with the introduction of a moving means such as a cleaning robot is provided because an abnormality detection motion signal is transmitted from a mobile means to a user terminal via a server of an external network to notify the abnormality. By utilizing this function, the function of the alarm system can be expanded. For example, even when the user is out, the abnormality detection by the alarm means can be known and the user can respond appropriately.

  On the other hand, in a smart robot system using mobile means such as a cleaning robot, it is possible to add a new function of detecting and alarming a fire in cooperation with an alarm system. As a result, the services that can be provided as a smart robot system will be enhanced, improving the convenience of service users, and increasing the subscription of service users.

  In addition, since the moving body means recognizes the abnormality alarm sound of the alarm means and transmits an abnormality detection signal, even if the abnormality alarm sound is different due to different manufacturers of the alarm means, each abnormality alarm sound is output. By making initial settings (pre-registration) so that voice recognition is possible, it is possible to construct an alarm system in cooperation with an open mobile unit that does not depend on the manufacturer of the alarm unit. This also applies to the case where the same manufacturer version is different.

  The alarm means outputs the alarm source identification sound indicating the alarm source in the abnormal alarm sound, the mobile means recognizes the alarm source identification sound of the abnormal alarm sound, and the alarm means generates the abnormal alarm sound. Since the monitoring area of the alarm source that is output is detected and moved to the monitoring area of the alarm source to perform abnormality handling control, any of the alarm means arranged in each of the multiple rooms detects the abnormality. When an abnormal alarm sound is output, a room that becomes a monitoring area in which the alarm source alarm means that outputs the abnormal alarm sound is detected and moved to that location, for example, an image in the monitoring area of the alarm source Is captured and displayed on the user terminal, and more appropriate abnormality handling control is enabled.

In addition, as a method of identifying the alarm source of the abnormal alarm sound, the mobile unit can identify the position of the alarm source by detecting the sound pressure of the abnormal alarm sound at a plurality of different locations, and does not include the alarm source identification sound Even in the case of an abnormal alarm sound, it is possible to detect a room serving as a monitoring area in which alarm means for alarms are arranged.

Explanatory drawing showing an installation example of an alarm system according to the present invention that links a wireless interlocking house alarm and a smart cleaning robot A sketch showing a house where the alarm system of the present invention is installed Explanatory drawing which showed the outline of the functional composition in a house alarm 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

[Configuration of alarm system]
(Outline of system configuration)
FIG. 1 shows an example of installation of an alarm system according to the present invention for a house. The alarm system of the present invention is a stand-alone type residential alarm 24-1, 24-2, smart cleaning robot 10, wireless router 12, gateway 14, Internet. 16, a server 18, a mobile phone network 20, and a mobile phone 22.

  Here, the stand-alone type alarm devices 24-1 and 24-2 constitute a fire alarm system, and the smart cleaning robot 10, the wireless router 12, the gateway 14, the Internet 16, the server 18, the mobile phone network 20 and the mobile phone 22 include Configures a smart robot system.

  The home alarm 24 (24-1, 24-2) is an alarm means when it detects an abnormality associated with a fire in a monitoring area such as a room and outputs an abnormality alarm sound. The smart cleaning robot 10 The mobile means performs predetermined work while performing a predetermined work while traveling independently in a predetermined work area including the sound and recognizing an abnormal alarm sound output from the warning means.

  For example, when the smart cleaning robot 10 serving as the mobile means recognizes an abnormal alarm sound, the smart cleaning robot 10 transmits an abnormality detection signal to the mobile phone 22 as a user terminal via the server 18 of the external network to notify the abnormality. Let

  Moreover, the housing alarm device 24 (24-1, 24-2) serving as an alarm means outputs an alarm alarm sound including an alarm source identification sound indicating an alarm source, and the smart cleaning robot 10 serving as a mobile body means The alarm source identification sound of the abnormal alarm sound is recognized by voice, the alarm means detects the monitoring area of the alarm source that outputs the abnormal alarm sound, and moves to the monitoring area of the alarm source to perform abnormality handling control.

  In addition, when the residential alarm 24 (24-1, 24-2) serving as an alarm means outputs an abnormal alarm sound that does not include an alarm source identification sound, the smart cleaning robot 10 serving as a moving body means has a plurality of different types. Detect the sound pressure of the abnormal alarm sound at the location, identify the location of the alarm source where the alarm means is outputting the abnormal alarm sound, and move to the monitoring area of the alarm source to perform the abnormality countermeasure control Also good.

(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 is based on predetermined cleaning route information stored in advance, or a predetermined time schedule set in advance or a user operation (voice instruction). Cleaning operation to suck and remove the dust on the floor surface by driving the mounted dust suction part by self-supporting traveling according to the cleaning route information. 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 the room layout of the house 15 in which the smart cleaning robot 10 is introduced. For example, when the charging station 28 is arranged at one corner of the room A, the smart cleaning robot 10 moves to the corner. Waiting while charging.

  Cleaning work by the autonomous running of the smart cleaning robot 10 is performed by storing the cleaning route starting from the charging station 28 in the memory in units of rooms A to D in advance, for example, by determining the cleaning start time, Moves and sucks dust while traveling independently from the corner of the room according to the reciprocating cleaning route, and if there is an obstacle in the middle of the cleaning route, a route to avoid the obstacle is generated by an ultrasonic sensor etc. While cleaning by self-supporting. 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. When a decrease in battery power is detected in the middle of the cleaning operation, the charging station 28 is returned to perform charging, and after the charging is completed, the cleaning operation is resumed by returning to the position where the cleaning is interrupted.

  Referring again to FIG. 2, the path when the smart cleaning robot 10 moves from the charging station to the working room, and the path to return to the charging station for the completion of the work or charging, is near the wall indicated by a dotted line running along the wall. The route L is stored, and the vehicle goes back and forth between the charging station and each of the rooms A to D by the independent running along the wall-side route L.

  In addition, the smart cleaning robot 10 has a wireless LAN communication function, and correspondingly, a wireless router 12 functioning as an access point (fixed station) is disposed in the house 15 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, when the mobile phone 22 using a smartphone or the like has a wireless LAN communication function that functions as an access point (fixed station), the smart cleaning robot does not pass through the wireless router 12 in the house 15. 10 and the mobile phone 22 can be connected by wireless LAN.

  Further, 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 via the server 18 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 10, and transmission of instructions from the mobile phone 22 to the smart cleaning robot 10. is there.

  The smart cleaning robot 10 includes a microphone and a speaker, and has a voice recognition function for recognizing voice detected by the microphone. The voice recognition function of the smart cleaning robot 10 converts the sound input to the microphone into a voice signal, amplifies it, converts it to AD and inputs it as voice data, and performs matching with the voice registered in advance according to a predetermined voice recognition algorithm. Then, it is determined that the input is a registered voice with a recognition rate equal to or higher than a predetermined threshold value, and as a control corresponding to the determined voice, for example, an operation based on a voice command and a simple daily conversation are enabled.

(Arrangement of home alarm)
In FIG. 1, stand-alone residence guards 24-1 and 24-2 are installed in each room of the house 15. 1 is a part of the house 15 shown in FIG. 2, and the house 15 is provided with residence police devices 24-1 to 24-4 corresponding to the rooms A to D, for example, as shown in the sketch of FIG. Yes. In addition, hereinafter, the housing alarm devices 24-1 to 24-4 are referred to as the housing alarm device 24 when not distinguished from each other.

  For example, if the residence police 24-1 observes the temperature or smoke density of the room A in which it is installed, and detects a fire based on the temperature or smoke density indicated by the observation results Outputs a fire alarm sound. The fire alarm sound output from the home alarm devices 24-1 and 24-2 includes a predetermined alarm source identification sound indicating an alarm source in addition to sounds and sounds indicating fire.

(Cooperation between the Sumibo and smart cleaning robots)
The alarm system of FIG. 1 uses a voice recognition function provided in the smart cleaning robot 10 in order to link the home alarm 24 with the smart cleaning robot 10. For this reason, by registering the fire alarm sound output from the resident alarm 24 in the smart cleaning robot 10 in advance, the fire alarm sound is detected by matching the sound data of the fire alarm sound detected and input by the microphone with the registered voice data. Voice recognition is possible. The smart cleaning robot 10 generates a fire detection signal when the fire alarm sound output from the home bulletin 24 is recognized, and transmits the fire detection signal to the server 18 via the wireless router 12, the gateway 14, and the Internet 16. 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 home alarm device 24.

  When the server 18 receives the fire detection signal transmitted from the smart cleaning robot 10, the server 18 generates a fire detection signal including fire notification information by processing with the fire cooperation function, and transmits the fire detection signal to the Internet 16 and the mobile phone network 20. Via the mobile phone 20 of the user. 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, when the smart cleaning robot 10 detects a room serving as an alarm source based on the voice recognition of the fire alarm sound output from the resident alarm 24, the smart cleaning robot 10 moves to the room serving as the alarm source that detected the fire. An image can be captured by a camera and transmitted to the user's mobile phone 22 via the wireless router 12, gateway 14, Internet 16, server 18, Internet 16, and mobile phone network 20 for display.

  In the following description, descriptions of the wireless router 12, the gateway 14, the Internet 16, and the cellular phone network 20 may be omitted as necessary.

[Configuration of the home alarm 24]
FIG. 3 is a block diagram showing an outline of the functional configuration of the stand-alone house alarm device 24, and the other house alarm devices 24-2 to 24-4 are the same.

  In FIG. 3, the house alarm 24-1 includes an alarm control unit 60, a sensor unit 62, a notification unit 64, and an operation unit 66, and operates by a battery power source (not shown).

  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 notification unit 64 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 66 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 fire when it is equal to or higher than a predetermined threshold, and performs control to output a fire alarm from the notification unit 66. As a fire alarm in this case, for example, a voice message such as “Pippy is a fire, a fire is a pip” is repeatedly output from the speaker and the LED is turned on, for example.

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. Also, the last single sound “beep” is an alarm source identification sound that identifies the home alarm device 24-1 that has detected the fire. For example, if the registration number of the home alarm device 24-1 is No. 1, the alarm source for one time Use the identification sound. Correspondingly, if the registration numbers of the residence warning devices 24-2 to 24-4 are 2 to 4, the alarm source identification sound is the house alarm 24-2: beeping house alarm 24-3: beeping beeping. House alarm 24-4: Beep. In addition to this, the alarm source identification sound may be an appropriate identification sound or phrase. 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.

(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, and the fire alarm output indicating the interlocking destination from the notification unit 64 is stopped.

(Alarm stop control)
When the alarm control unit 60 detects the alarm stop operation received by the alarm stop switch of the operation unit 66 during the output of the fire alarm, the alarm control unit 60 stops the fire alarm output from the notification unit 64.

[Configuration of smart cleaning robot]
FIG. 4 is a block diagram showing an outline of a functional configuration of the smart cleaning robot. In FIG. 4, 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 to and from the wireless router 12 according to a predetermined wireless LAN communication protocol. This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g. In addition, when there is a mobile phone 22 having an access point function for wireless LAN communication in the house 15 (when the mobile phone 22 is in a wireless LAN communication area), the wireless LAN communication unit 32 is connected to the mobile phone 22. Signals can be transmitted and received according to the wireless LAN communication protocol without going through the wireless router 12.

  The voice input / output unit 38 includes a microphone, an amplifier circuit thereof, a speaker, and a drive circuit thereof. Based on an instruction from the control unit 30, the voice input / output unit 38 recognizes a voice of a predetermined phrase with the user and performs voice conversation and cleaning control. Audio input / output to perform Also, a fire alarm sound can be output based on an instruction from the control unit 30. In the present invention, the voice input / output unit 38 also performs voice input for performing fire countermeasure control by recognizing the fire alarm sound output from the house alarm 24 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 42 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 travel drive unit 44 includes a motor that individually rotates and drives the left and right drive wheels provided in the robot body. In straight traveling, the left and right wheels are rotationally driven at the same speed, and in turning traveling, one of the left and right wheels is rotated. This is done by speeding up and slowing down the other. The robot body is provided with auxiliary wheels in addition to the left and right drive wheels.

  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 program execution of the CPU and the like, and performs fire cooperation control based on the following cleaning control camera control, voice recognition control, and voice recognition.

(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 based on the operation signal from the remote controller operated by the user received by the remote control receiving unit of the operation display unit 40.

(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 32 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 32 and displayed. In this case, a travel operation button of the cleaning robot 10 is displayed on the screen of the mobile phone 32, and based on an instruction from the mobile phone 22, the control unit 30 instructs the travel drive unit 44 to go straight and turn the cleaning robot 10. Alternatively, it is possible to perform control such that the vehicle is moved backward, and for example, it is possible to search for an object or find a pet while viewing an image of a room photographed by the camera unit 36.

(Voice recognition control)
The control unit 30 performs voice recognition control according to a predetermined voice recognition algorithm. The speech recognition control by the control unit 30 performs control for recognizing speech by a speech recognition engine (speech recognition LSI) that operates according to a phrase recognition method that performs recognition in units of isolated words, for example. In the phrase recognition method, when a user selects one phrase from phrases registered in the memory in advance and inputs a voice, the voice recognition engine calculates a voice feature amount for each phrase of the input voice, and for each calculated phrase. An identifier (index) indicating a phrase having a likelihood value exceeding a predetermined threshold by calculating a likelihood value for each phrase by comparing the speech feature quantity of the phrase and the speech pattern series information of a plurality of phrases registered in the memory ) Is output as a recognition result.

  As a phrase to be registered in the memory for voice recognition by the control unit 30, for example, a phrase such as “start” or “stop” is registered by voice input in advance for cleaning operation control, and “good morning” for conversation control. , it is registered with voice input to advance the phrase simple greeting such as "Hello".

  The control unit 30 recognizes a voice input such as “start” from the user via the microphone of the voice input / output unit 38 in a state where the cleaning control is not performed, and determines an operation instruction based on the recognition result. Control. The control unit 18 also recognizes a voice input such as “good morning” from the user via the microphone of the voice input / output unit 38, determines a predetermined conversation input, and inputs a corresponding response voice into the voice input. Control to output from the speaker of the output unit 38 is performed.

  Note that the speech recognition control is not limited to the phrase recognition method, and includes an appropriate speech recognition method.

(Fire cooperation control based on voice recognition)
In addition to the recognition of the instruction voice for cleaning control and the voice recognition for conversation, the control unit 30 recognizes the fire alarm sound output from the resident alarm 24 in the present invention, and fires based on this. Perform linked control (fire countermeasure control).

  In order to recognize the fire alarm sound output from the resident alarm 24, the control unit 30 inputs a specific phrase included in the fire alarm sound and calculates the voice feature amount of the input voice phrase. The audio feature amount for each phrase is registered in the memory in advance.

  Here, since the fire alarm sound output by the resident alarm 24-1 is, for example, “Pippy is a fire, fire is a beep”, the control unit 30 is, for example, a sweep sound “Piece”, a fire message is “fire,” ”And the alarm source identification sound“ Pip ”, and the speech feature values calculated by inputting these phrases are registered in the memory.

  In addition, the control unit 30 corresponds to the voice recognition result of the alarm source identification sound included in the fire alarm sound, and stores the alarm source identification sound and the house alarm in the memory (monitoring area serving as the alarm source) in the memory. The relationship is registered in advance. Thereby, the control unit 30 detects the fire by recognizing the fire alarm sound output from the resident alarm 24-1 and detects the room A serving as the alarm source where the resident alarm 24-1 is installed. Is possible.

  In addition, even if the fire alarm sound output by the mortgage 24-1 due to differences in the manufacturer is, for example, “Pew Pew Fire is a fire” or “Ph Few Hue is a fire”, these fire alarm sounds Selected different phrases such as “Pew”, “Pee”, and “Pew”, and pre-registered the voice feature values calculated based on the respective voice inputs in the memory, so that the manufacturers of the home guards 24 differed. If the version is different even if the manufacturer is the same, the fire alarm sound output by the resident alarm 24 is recognized and the alarm sound detection signal is output without being affected by the difference. Can do. In this case as well, a predetermined alarm source identification sound is added to the end of the voice message or the like as necessary so that the alarm source can be detected based on the voice recognition.

  Moreover, the control part 30 has stopped voice recognition control in principle during cleaning control, and performs voice recognition control in a state other than that. Further, even during the cleaning control, the control unit 30 temporarily interrupts the cleaning control every predetermined time, performs voice recognition control during that time, and outputs a fire alarm sound output from the resident alarm 24 during the cleaning. Can be reliably recognized.

  In addition, since the fire alarm sound output from the resident alarm 24 is a large volume, the control unit 30 can recognize the voice even when the noise during the cleaning control is being emitted, and the voice recognition is also performed during the cleaning control. The control may be performed in parallel.

  In addition, during the voice recognition control, for example, when the resident alarm 24-1 detects a fire and outputs a fire alarm sound, the control unit 30 recognizes the fire alarm sound to detect the fire, and detects the fire. A signal is generated, the wireless LAN communication unit 32 is instructed, the fire detection signal is transmitted to the server 18 via the wireless router 12, the gateway 14, and the Internet 16, and the fire cooperation of the server 18 that has received the fire detection signal The function generates a fire detection signal including fire notification information, transmits the fire detection signal to the user's mobile phone 22 via the Internet 16 and the mobile phone network 20, displays a fire alarm screen and fire alarm sound Control to output.

  In addition, when the control unit 30 recognizes the fire alarm sound output from the home alarm device 24-1 and detects a fire, the control unit 30 recognizes the fire alarm sound from the recognition result of the alarm source identification sound included in the fire alarm sound. The room A in which the device 24-1 is installed is detected, the travel drive unit 44 is instructed, the residence guard 24-1 moves to the room A that is the monitoring area where the fire is detected, and the camera unit 36 is instructed, An image of the room in which the fire is detected is captured, transmitted to the user's mobile phone 22 via the server 18, and displayed.

  Here, the control of moving the cleaning robot 10 to the room where the fire is detected by the voice recognition control of 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, a wall-side path along the wall side of each room A to D is set as the fire monitoring path L, and monitoring points P1 to P4 to be photographed for each room A to D are set in advance. To do. Here, the monitoring point P0 is a standby point to be connected to the charging station 28 and is the origin. Moreover, when each room AD is image | photographed with the camera part 36 of the cleaning robot 10, the monitoring points P1-P4 are set to the predetermined position which can image | photograph the whole room.

  For the fire route information, a straight route passing through the monitoring points P1 to P4 and a turning point are set starting from the origin P0, and based on this, traveling control information is generated and stored in the memory.

  In addition, the generation of the fire monitoring path L 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. May be.

  Since the control unit 30 can identify the room in which the resident alarm 24 detects a fire based on the voice recognition of the alarm source identification sound included in the fire alarm sound, the room where the cleaning robot 10 becomes a fire occurrence place based on the fire monitoring route information. Control to move to the monitoring point.

  Further, the control unit 30 may perform patrol monitoring control for detecting a fire by voice recognition while moving along the fire monitoring path L shown in FIG. 2 according to a predetermined time schedule.

  In this patrol monitoring control, when the house guard 24 in a room away from the smart cleaning robot 10 detects a fire and outputs a fire alarm sound, the fire alarm sound does not reach or reaches the room where the smart cleaning robot 10 is located. However, it is assumed that the voice input level capable of voice recognition is not reached. In such a case, voice recognition of the fire alarm sound becomes uncertain. Therefore, the smart cleaning robot 10 performs the patrol monitoring control that passes near the house alarm that outputs the fire alarm sound along the fire monitoring path L, so that the fire alarm sound output by the house alarm is generated. It is possible to input at a sufficiently large volume, and to detect fires reliably by voice recognition of fire alarm sounds, and to perform predetermined fire countermeasure control.

  In addition, the control unit 30 moves along the fire monitoring path L shown in FIG. 2 when the house alarm 24 outputs a fire alarm sound that does not include the alarm source identification sound, and a plurality of different alarms are generated. When the sound pressure of the fire alarm sound is detected at a location, and the sound pressure exceeding a predetermined level is detected, the location of the alarm source that the fire alarm 24 outputs the fire alarm sound is specified, and the monitoring area of the alarm source It is also possible to move to and perform abnormality handling control. For this reason, even if it is the residence warning device 24 which outputs the fire alarm sound which does not contain an alarm origin identification sound, the location of an alarm origin can be specified.

[Cleaning robot with fire sensor]
FIG. 5 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 the case of FIG. 4, 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 travel drive unit 44 on the basis of a predetermined time schedule or a user's control instruction from the mobile phone 22 and circulates the fire monitoring route L shown in FIG. I do.

  The control unit 30 instructs the voice input / output unit 38 to output a fire alarm sound and generate a fire interlocking signal when a fire is detected by the detection signal of the fire sensor unit 50 during the circulation of the fire monitoring route L. Then, the wireless LAN communication unit 32 is instructed, transmitted to the server 18 via the wireless router 12, the gateway 14, and the Internet 16, and the server 18 generates a fire-linked signal including fire notification information, and the user's mobile phone Control is performed to notify the fire by outputting a warning sound while transmitting to 22 and displaying a fire alarm screen.

  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.

[Cleaning robot with fire extinguishing unit]
FIG. 6 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 the case of FIG. 4, 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. The fire-extinguishing unit 30 may be provided with a nozzle through an on-off valve in a cylinder filled with a fire-extinguishing gas or a fire-extinguishing powder, and open the on-off valve to spray 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)
When the control unit 30 receives the fire interlock signal from the relay adapter 26 via the wireless LAN communication unit 32 and moves to the monitoring point of the fire occurrence location based on the fire monitoring signal,
Alternatively, 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 taken, via the server 18. To the user's mobile phone 22 and control to display the image 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.

  The automatic fire extinguishing control of the control unit 30 is performed when the AND condition (logical condition) of the fire detection by the house alarm 24 and the fire detection by the fire sensor unit 50 is established and it is detected that the fire is surely detected. The fire extinguishing unit 52 may be activated to improve the reliability of the automatic fire extinguishing control.

[Modification of the present invention]
In addition, although the above-mentioned embodiment was taken as an example of a residential alarm device that detects and alarms a fire, an alarm system in which a gas leak alarm device, a CO alarm device are arranged, and those alarm devices are mixed and arranged. The present invention can be similarly applied to an alarm system that outputs an alarm sound.

  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.

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 24-1-24-4: House alarm device 30: Control unit 32: Wireless LAN communication unit 36: Camera unit 38: Voice input / output unit 40: Operation display unit 42: Self-supporting travel sensor unit 44: Travel drive unit 46: Charging unit 48: Dust collection unit 50: Fire sensor unit 52: Fire extinguishing unit 60: Alarm control unit 62: Sensor unit 64: Notification unit 66: Operation unit

Claims (10)

Alarm means for detecting an abnormality associated with a fire in the monitoring area and outputting an abnormal alarm sound;
A mobile unit that performs predetermined work while performing a predetermined work while running independently in a predetermined work area including the monitoring area, and that performs predetermined abnormality countermeasure control when the abnormality warning sound output by the alarm unit is recognized by voice,
An alarm system characterized by comprising:
2. The alarm system according to claim 1, wherein the mobile means transmits an abnormality detection signal to a user terminal via a server of the external network when the abnormality alarm sound is recognized by voice. An alarm system characterized by informing the user.
The alarm system according to claim 1, wherein
The alarm means outputs an alarm source identification sound indicating an alarm source in the abnormal alarm sound,
The mobile means recognizes an alarm source identification sound of the abnormal alarm sound, detects an alarm source monitoring area where the alarm means outputs an abnormal alarm sound, and moves to the alarm source monitoring area And performing the abnormality handling control.
The alarm system according to claim 1, wherein
The mobile means detects the sound pressure of the abnormal alarm sound at a plurality of different locations, identifies the location of the alarm source from which the alarm means is outputting the abnormal alarm sound, and places the alarm source in the monitoring area of the alarm source. An alarm system that moves to perform the abnormality handling control.
5. The alarm system according to claim 3, wherein the moving body unit includes an imaging unit, and as the abnormality countermeasure control, an image of the monitoring area of the alarm source is captured by the imaging unit, and the monitoring area An alarm system, wherein an image is transmitted and displayed to the user terminal via a server of the external network.
2. The alarm system according to claim 1, wherein the moving means repeats an operation of recognizing voice by temporarily interrupting the work during the predetermined work.
5. The alarm system according to claim 3 or 4, wherein the moving body means further includes a fire position specifying means and a fire extinguishing means for specifying a fire position, wherein the alarm means outputs an abnormal alarm sound. When a monitoring area is detected, the alarm system moves to the monitoring area of the alarm source 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 the abnormality detection means detects a fire as the abnormality, An alarm system, wherein the fire is notified by transmitting to the user terminal via a server of an external network.
9. The alarm system according to claim 8, 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 means performs control based on the control instruction signal when receiving the control instruction signal from the user terminal.

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