JP2016186790A - Alarm coordination system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an alarm coordination system capable of improving reliability and the sense of safety by enhancing a system function by coordinating a plurality of alarm systems installed remotely by using a communication function via an external network such as a cleaning robot.SOLUTION: Houses 15A, 15B are equipped with fire alarm systems including home alarms 24-11 to 24-22 and relay adapters 26-1, 26-2, and have smart cleaning robots 10-1, 10-2 introduced. If the house alarm 24-11 in the house 15A detects a fire, it outputs a fire alarm, and also transmits a fire detection signal to the other house alarm 24-22 and the smart cleaning robot 10-1 to cause them to output a fire alarm, and further transmits the fire detection signal to the smart cleaning robot 10-2 and the house alarm 24-21, 24-22 in the other house 15B via a server 18 on an external network to cause them to output a fire alarm specifying the house 15A.SELECTED DRAWING: Figure 1

Description

  The present invention provides an alarm that cooperates with a plurality of alarm systems that notify an abnormality using a communication function with an external network provided in a moving body such as a cleaning robot when an alarm such as a fire is detected and alarmed. It relates to a linkage system.

  2. Description of the Related Art Conventionally, an alarm device that detects and warns of a fire in a house or the like has 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 housing warning device that outputs a fire alarm sound in conjunction with other residential alarms by wireless communication is also put into practical use and has become widespread Yes.

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

  By the way, in the conventional fire alarm system using such an interlocking type house warning device, for example, one dwelling unit is monitored, and the house warning device is provided for each place (predetermined monitoring area) where fire monitoring is required. The basic principle is to detect fires in conjunction with alarms in the dwelling units.

  However, an alarm system using an interlocked house alarm device cannot mutually cooperate with an alarm system installed in a dwelling unit or the like in a place exceeding the communicable distance range. For example, if a parent household and a child household live in different locations (dwelling units) that are more than a predetermined distance apart, and an alarm system using an interlocking alarm is installed in each dwelling unit, between these two alarm systems However, if alarms linked to each other can be achieved, it is possible to enhance the functions of the alarm system, such as expanding the range where alarms can be linked, and to increase the sense of security of users. On the other hand, there is no effective mechanism for the user to simplify.

  On the other hand, 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, a speaker, and a temperature sensor in addition to a cleaning function by independent running, and each input / output device has a wireless LAN communication function by a wireless LAN communication function. So-called smart cleaning robot system that can be linked with a server on an external network such as the Internet, and can communicate with a cleaning robot using a mobile terminal such as a smartphone owned by the user. Is feasible.

  In the near future, smart cleaning using a fire alarm system that detects and alerts a fire with a residential alarm in the same environment as a home, and a cleaning robot that can output sound and communicate with a user's mobile terminal The robot system exists and functions separately. For this reason, if the voice output function of the cleaning robot and the communication function via the external network can be used for the linkage of multiple alarm systems installed in a place where the communication distance exceeds the range, the new fire alarm system will be different. New functions can be created.

  The present invention uses a communication function via an external network of a smart robot system that performs housework services, strengthens the system function by linking a plurality of remotely installed alarm systems, and is reliable and secure. It aims at providing the alarm cooperation system which can improve.

(Alarm cooperation system: Cooperation by means of alarm relay)
The present invention provides an alarm linkage system,
For each of the different monitoring areas,
An alarm system having an alarm means for outputting an abnormal alarm sound when an abnormality associated with a fire in the monitoring area is detected;
A mobile work system comprising mobile means for performing predetermined work while independently running in a work area including a monitoring area and transmitting / receiving signals to / from user terminals via a server of an external network;
An alarm relay means for transmitting an abnormality detection signal when an abnormal alarm sound output from the alarm means is detected; and
With
The mobile means of the mobile work system receives and notifies the abnormality detection signal from the alarm relay means, and transmits the abnormality detection signal to the mobile means of another mobile work system via the server of the external network. Then, the abnormality is notified.

(Alarm linkage system: Cooperation by mobile means)
The present invention provides an alarm linkage system,
For each of the different monitoring areas,
An alarm system having an alarm means for outputting an abnormal alarm sound when an abnormality associated with a fire in the monitoring area is detected;
A mobile work system comprising mobile means for performing predetermined work while independently running in a work area including a monitoring area and transmitting / receiving signals to / from user terminals via a server of an external network;
With
The mobile means of the mobile work system transmits an abnormality detection signal to the mobile means of another mobile work system via the external network server when the abnormal alarm sound output from the alarm means is recognized by voice. To notify you of abnormalities.

(Voice recognition of abnormal alarm sound)
Here, the alarm means of the alarm system outputs an abnormal alarm sound including an alarm source identification sound that can identify each alarm means,
The mobile means of the mobile work system includes an alarm source identification sound for each alarm means and a relationship between the alarm source identification sound and the monitoring area registered in advance, and an alarm source identification sound included in the abnormal alarm sound output by the alarm means. To detect the monitoring area of the alarm source.

(Cooperation with user terminals)
The mobile means of the mobile work system further transmits an abnormality detection signal to the user terminal assigned to itself and the user terminal assigned to another mobile means to notify the abnormality.

(Move to the place where the abnormality occurred and take a picture)
The mobile means includes an imaging means, the user picks up the image of the monitoring area by the imaging means, and assigns the captured image to the user terminal via the server of the external network and the other mobile means. It is transmitted to the user terminal assigned to and displayed.

(Fire position detection and fire extinguishing)
The moving body means further includes a fire position specifying means and a fire extinguishing means for specifying the fire position, and sprays a fire extinguishing agent toward the fire position detected by the fire position specifying means.

(Abnormality detection by abnormality detection means)
The moving body means is provided with an abnormality detection means for detecting an abnormality associated with a fire. When the abnormality detection means detects a fire as an abnormality, the moving body means notifies the fire and sends the abnormality detection signal via an external network server. Then, it is transmitted to the mobile means of another mobile work system, the user terminal assigned to itself, and the user terminal assigned to the other mobile means to notify the abnormality.

(Detection and extinguishing of fire position by abnormality detection means)
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 multiple user terminals)
When the mobile means receives a control instruction signal from either a user terminal assigned to itself or a user terminal assigned to another mobile means, the mobile means performs control based on the control instruction signal.

  According to the present invention, for example, when an abnormality associated with a fire is detected by an alarm unit of an alarm system provided in any of a plurality of dwelling units, the alarm unit that detects the fire and the other unit installed in the same dwelling unit (alarm system) A fire alarm is output from the alarm means and a fire detection signal is transmitted from a mobile means such as a cleaning robot placed in the mobile work system via an external network server and placed in another dwelling unit. It can be sent to the mobile means of the work system and fire alarms can be output from the mobile means and alarm means of other dwelling units. By linking, it is possible to easily and flexibly expand the entire range of possible linkage, and also to expand the room for each user's response and increase the sense of security.

  In addition, if a fire is detected by any of the alarm systems, the dwelling unit is also generated from the alarm system, such as a mobile phone, which becomes a user terminal via the mobile means of the mobile work system and the server on the external network. By outputting the specified fire alarm, it is possible to know the fire detected in the absence of the user even when the user is out of the office and take a prompt and appropriate action.

  Further, by providing a relay unit that mediates communication between the mobile unit of the mobile work system and the alarm unit of the alarm system, the system can be easily linked and expanded, and the cost can be reduced.

  In addition, in a mobile work 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 mobile work system are enhanced, improving the convenience of service users, and the effect of expanding the subscription of service users.

Explanatory drawing which showed the example of installation of the alarm cooperation system of the present invention for two houses which cooperate with the smart cleaning robot by the radio interlocking of the house police 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 relay adapter Explanatory drawing which showed the other example of installation of the alarm cooperation system of the present invention for two houses which detect the alarm sound of the radio interlocking type house alarm device and cooperate with the smart cleaning robot The block diagram which showed the outline of the functional constitution of the alarm relay adapter of FIG. Explanatory drawing which showed the other example of installation of the alarm cooperation system of the present invention for two houses which detect the alarm sound of a stand-alone type house alarm device and cooperate with a smart cleaning robot The block diagram which showed the outline of the functional structure of the stand-alone type residence guard of FIG. Explanatory drawing which showed the other example of installation of the alarm cooperation system of the present invention for two houses which recognize and cooperate the alarm sound of the house alarm with the smart cleaning robot.

[Configuration of alarm linkage system]
(Outline of system configuration)
FIG. 1 is an example of installation of an alarm cooperation system according to the present invention for two houses. The alarm cooperation system of the present invention includes radio-linked house alarm devices 24-11 to 24-22 arranged in houses 15A and 15B, and relays. Adapters 26-1 and 26-2, smart cleaning robots 10-1 and 10-2, wireless routers 12-1 and 12-2, gateways 14-1 and 14-2, the Internet 16, a server 18, a mobile phone network 20, and It consists of mobile phones 22-1 and 22-2.

  Hereinafter, the smart cleaning robots 10-1 and 10-2 are referred to as smart cleaning robots 10 when they are not distinguished from each other. Similarly, when the house alarm devices 24-11 to 24-22 are not distinguished from each other, they are referred to as house alarm devices 24. In the following description, the relay adapters 26-1 and 26-2, the wireless routers 12-1 and 12-2, the gateways 14-1 and 14-2, the Internet 16, and the network and devices of the mobile phone network 20 are The description may be omitted as necessary.

  Here, the radio interlocking type home alarm devices 24-11, 24-12 and the relay adapter 26-1 constitute a fire alarm system having the house 15A as a monitoring area, and the radio interlocking type home alarm devices 24-21, 24-22 and the relay adapter 26-2 constitute a fire alarm system having the house 15B as a monitoring area.

  On the other hand, the smart cleaning robot 10-1, the wireless router 12-1, and the gateway 14-1 constitute a mobile work system having the house 15A as a work area. The smart cleaning robot 10-2, the wireless router 12-2, and the gateway 14 are included. -2 constitutes a mobile work system that uses the house 15B as a work area. The mobile phone 22-1 held by the user of the house 15A is assigned to the smart cleaning robot 10-1 of the house 15A, and the mobile phone 22-2 held by the user of the house 15B is assigned to the smart cleaning robot 10- of the house 15B. Assigned to 2.

  The home alarm 24 detects an abnormality associated with a fire in the monitoring area, outputs a fire alarm as an abnormality alarm, and detects a fire as an abnormality detection signal according to a predetermined first communication protocol with other alarm means. The relay adapter 26 converts the fire detection signal according to the first communication protocol received from the alarm means into a fire detection signal according to a predetermined second communication protocol, and transmits the signal to the mobile unit. It is a relay means for transmitting.

  Further, the smart cleaning robot 10 receives and notifies the fire detection signal according to the second communication protocol from the relay means, and transmits the fire detection signal to another mobile work system via the server 18 of the external network. Send to mobile means and alarm means of other alarm systems to notify of fire.

  For example, if the residence alarm 24-11 of the house 15A detects an abnormality associated with a fire and outputs a fire alarm indicating the interlocking source, a fire detection signal is transmitted in accordance with the first communication protocol, and the other house 15A The fire alarm indicating the link destination is output from the home alarm device 24-12, and the fire detection signal according to the first communication protocol received from the home alarm device 24-11 by the relay adapter 26-1 is set to the second communication protocol. It converts into the fire detection signal which followed, and transmits to the smart cleaning robot 10-1.

  When the smart cleaning robot 10-1 receives a fire detection signal according to the second communication protocol from the relay adapter 26-1, the smart cleaning robot 10-1 outputs a fire alarm and sends the fire detection signal via the server 18 of the external network. The fire alarm specifying the house 15A is output by transmitting to the smart cleaning robot 10-2 of the house 15B, and further converted into a fire detection signal according to the first communication protocol by the relay adapter 26-2. It transmits to 24-21, 24-22, and the fire alarm which specified the house 15A is output. In addition, the server 18 that has received the fire detection signal from the smart cleaning robot 10-1 transmits the fire detection signal to the mobile phones 22-1 and 22-2 of the users of the homes 15A and 15B to identify the home 15A. A fire alarm is output.

(Introduction environment for smart cleaning robot)
In FIG. 1, the smart cleaning robots 10-1 and 10-2 introduced into the homes 15A and 15B accept a preset time schedule or a user operation based on the cleaning route information of the homes 15A and 15B stored in advance. By the self-supporting traveling according to the cleaning route, the cleaning operation is performed to suck and remove the dust on the floor surface by driving the mounted dust suction unit. 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 15A in which the smart cleaning robot 10-1 is introduced. For example, when a charging station (not shown) is arranged at one corner of the living / dining LD, the smart cleaning is performed. The robot 10-1 moves there and is on standby while charging.

  The cleaning work by the autonomous running of the smart cleaning robot 10-1 is to store the cleaning route starting from the charging station in the memory in units of kitchen, LD, Western-style rooms A to C in advance, for example, to determine the cleaning start time, Move to a room according to the schedule, suck dust while traveling independently from the corner of the room along the reciprocating cleaning route, and if there is an obstacle in the middle of the cleaning route, use an ultrasonic sensor to remove the obstacle. Cleaning by autonomous driving while generating a route to avoid. 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 voltage drop of the battery power source is detected during the cleaning operation, the battery returns to the charging station and is charged. After the charging is completed, the cleaning operation is resumed by returning to the position where the cleaning is interrupted.

  In addition, the smart cleaning robot 10-1 stores a path along the wall that travels along the wall as a path when moving from the charging station to the room to work, and a path to return to the charging station for work completion or charging. Go back and forth between the charging station and each room by running independently along the wall path.

  In addition, the smart cleaning robot 10-1 has a wireless LAN communication function. Correspondingly, a wireless router 12-1 functioning as an access point (fixed station) is arranged in the house 15A to construct a wireless LAN communication environment. doing. The wireless router 12-1 is connected to the gateway 14-1, and communicates with the server 18 that provides various services related to the smart cleaning robot 10-1 through the Internet 16 serving as an external network through the gateway 14-1. Communication connection is possible, and communication connection with a mobile phone 22-1 such as a smartphone owned by a user of the house 15A is enabled via the mobile phone network 20.

  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 22-1 via the server 18 shown in FIG. In addition, the robot operation application installed on the mobile phone 22-1 is used, and the screen operation of the mobile phone 22-1 is used to remotely start and stop the cleaning operation of the smart cleaning robot 10-1, and the imaging operation by the camera. It is possible to do it automatically.

  The server 18 is provided with a predetermined service function corresponding to cleaning control, camera control, and the like by the smart cleaning robot 10-1 introduced into the house 15A. The service function of the server 18 includes, for example, a communication exchange service between the smart cleaning robot 10-1 and the mobile phone 22-1, analysis of sensing data by the smart cleaning robot, and the smart cleaning robot 10-1 from the mobile phone 22-1 There is a transmission of instructions to.

  In this respect, the smart cleaning robot 10-2 introduced into the house 15B is the same as the smart cleaning robot 10-1 introduced into the house 15A.

  Furthermore, in the alarm cooperation system of the present invention, in addition to the mobile phone 22-1 owned by the user of the house 15A assigned to the smart cleaning robot 10-1, the user of the house 15B that performs alarm cooperation is possessed. For the mobile phone 22-2, the fire detection signal transmitted from the home alarm device 24-11, 24-12 of the house 15A is sent to the relay adapter 26-1, the wireless router 12-1, and the smart cleaning robot 10-1. , Transmitted via the wireless router 12-1, the Internet 16, the server 18, the Internet 16, and the mobile phone network 20 to notify the fire alarm.

(Arrangement of home alarm)
In FIG. 1, wireless interlocking type house guards 24-11 to 24-22 are installed in each room of the house 15 </ b> A. FIG. 1 is a part of the house 15A of FIG. 2, and residence guards 24-11 to 24-15 are installed in the house 15A as shown in FIG.

  For example, the residence guard 24-11 observes the temperature or smoke density of the installed room, for example, the living room dining LD, and is based on the temperature or smoke density indicated by the observation result. When a fire is detected, a fire alarm sound indicating the link source is output.

  In addition, a unique interlocking group is formed between the residential alarms 24-11 to 24-15. A communication path 13 according to a predetermined first communication protocol is provided between the home alarm devices 24-11 to 24-15, and communication within the interlocking group is possible by transmitting a signal including a predetermined interlocking group code. And For example, when the mortgage alarm 24-11 detects a fire and outputs a fire alarm indicating the link source, it transmits a fire detection signal according to the first communication protocol to the other mortgage alarms 24-12 to 24-15. Then, the fire alarm indicating the interlocking destination is output to the resident alarm devices 24-12 to 24-15 that have received this.

  The arrangement of the residence guards 24-11 to 24-15 in the house 15A is the same as the arrangement of the residence guards 24-21 and 24-22 in the house 15B.

(Linkage of relay adapter and smart cleaning robot)
In the alarm linkage system of FIG. 1, the relay adapter 26-1 is arranged, for example, in the same room as the residence guard 24-11 in order to link the residence guard 24 of the house 15 A with the smart cleaning robot 10-1. The relay adapter 26-1 converts the fire detection signal according to the first communication protocol received from the home alarm device 24 into a fire detection signal according to the second communication protocol that is the wireless LAN communication protocol, and serves as a wireless access point. It transmits to the smart cleaning robot 10-1 via the router 12-1, and performs predetermined fire cooperation control.

  For example, when a fire is detected by the home alarm device 24-11 and a fire alarm indicating the interlocking source is output and a fire detection signal according to the first communication protocol is transmitted, the fire detection signal is transmitted to the relay adapter 26-1. 2 is converted into a fire detection signal in accordance with a communication protocol (wireless LAN communication protocol), transmitted to the smart cleaning robot 10-1 via the wireless router 12-1, and a fire alarm is output. -1 transmits a fire detection signal to the server 18 via the wireless router 12-1, the gateway 14-1, and the Internet 16.

  This also applies to the relay adapter 26-1 and the smart cleaning robot 10-2 arranged in the house 15B.

  In the server 18, in addition to predetermined service functions corresponding to cleaning control, camera control, and the like of the smart cleaning robots 10-1 and 10-2 introduced into the homes 15A and 15B, a residence guard 24 arranged in the homes 15A and 15B. A predetermined fire linkage function is provided for linking the fire alarm system composed of

  For example, when the server 18 receives a fire detection signal transmitted from the smart cleaning robot 10-1 of the dwelling unit 15A, the server 18 processes the fire detection signal using the fire cooperation function, and processes the fire detection signal on the Internet 16 and the gateway 14-2 of the house 15B, the wireless router. 12-2, transmitted to the smart cleaning robot 10-2 of the house 15B, and outputs a fire alarm specifying the house 15A. In addition, the fire detection signal from the wireless router 12-2 is transmitted to the home alarm device 24-21, 24-22 via the relay adapter 26-2, and outputs a fire alarm specifying the house 15A.

  Moreover, when the server 18 receives the fire detection signal transmitted from the smart cleaning robot 10-1 of the dwelling unit 15A, the server 18 generates a fire detection signal including fire notification information, and the fire detection signal is transmitted to the Internet 16 and the mobile phone network 20. Are transmitted to the mobile phones 22-1 and 22-2 of the users of the homes 15A and 15B, and a fire alarm is output by displaying a fire notification screen specifying the home 15A, outputting sound from a speaker, or the like.

  In addition, after the fire alarm is detected and the fire alarm is output, the home alarm 24-11 transmits a fire recovery detection signal when a fire recovery is detected, and transmits an alarm stop detection signal when an alarm stop operation is detected. Therefore, the fire recovery detection signal or the alarm stop detection signal is also transmitted to the smart cleaning robot 10-1 via the relay adapter 26-1 and the wireless router 12-1, and the fire alarm is stopped. The recovery detection signal or the alarm stop detection signal is sent from the smart cleaning robot 10-1 via the server 18 to the smart cleaning robot 10-2 and the residence police device 24-21, 24-22 in the house 15B, and the mobile phone 22-1. Send to 22-2 to stop fire alarm output.

  In addition, when one of the users performs an alarm stop operation using the fire alarm screen of the mobile phones 22-1 and 22-2, an alarm stop signal is sent to the homes 15A and 15B via the server 18. It is transmitted to the smart cleaning robots 10-1 and 10-2 and the house alarm devices 24-11 to 24-22 to stop the fire alarm output.

[Configuration of smart cleaning robot]
FIG. 3 is a block diagram showing an outline of the functional configuration of the smart cleaning robot 10-1 introduced into the house 15A in FIG. 1, and the same applies to the smart cleaning robot 10-2 introduced into the house 15B.

  In FIG. 3, the smart cleaning robot 10-1 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, a traveling drive. Unit 44, charging unit 46, and dust collecting unit 48, which are 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 / receives a signal to / from the wireless router 12-1 according to a predetermined wireless LAN communication protocol that is a second communication protocol. This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g. The wireless LAN communication unit 32 has an access point function for wireless LAN communication when the user's mobile phone 22-1 is in the house 15A (in a wireless LAN communication area). Then, signals are transmitted to and received from the mobile phone 22-1 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 10-1 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 self-supporting traveling sensor unit 42 detects information necessary for the smart cleaning robot 10-1 to perform self-supporting, 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 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, the control unit 30 receives, via the wireless LAN communication unit 32, a photographing instruction signal by the operation of the mobile phone 22-1 of the user of the home 15A or the mobile phone 22-2 of the user of the home 15B. In such a case, the camera unit 36 is instructed to acquire an image of the room by a photographing operation, and control the image to be transmitted to the user's mobile phone 22-1 or mobile phone 22-2 and displayed.

  When the control unit 30 receives a shooting instruction signal by operating the mobile phone 22-1 of a user in the room via the wireless LAN communication unit 32, the control unit 30 displays an image of the room taken by the camera unit 36. Control is performed to acquire and transmit the image to the user's mobile phone 22 for display. In this case, the travel operation button of the smart cleaning robot 10-1 is displayed on the screen of the mobile phone 22-1 and, based on the instruction from the mobile phone 22, the control unit 30 instructs the travel drive unit 44 to perform smart cleaning. The robot 10-1 is controlled to move straight, turn, or reverse. For example, the robot 10-1 can be used to search for an object or find a pet while viewing a room image taken by the camera unit 36.

(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 is output when a fire is detected, for example, by the residential alarm 24-11 via the wireless LAN communication unit 32 via the relay adapter 26-1 and the wireless router 12-1 shown in FIG. When the fire detection signal is received, the wireless LAN communication unit 32 is instructed to control the transmission of the fire detection signal. The fire detection signal passes through the wireless router 12-1, the gateway 14-1, and the Internet 16. The server 18 receives the fire detection signal via the Internet 16, the gateway 14-2, the wireless router 12-2, and the relay cleaning adapter 10-2. The fire alarm is transmitted to the home alarm device 24-21, 24-22 of the house 15B via the terminal 26-2, and the fire alarm specifying the house 15A is output.

 The server 18 that has received the fire detection signal generates a fire detection signal including fire notification information, and the fire detection signal is transmitted to the user's mobile phones 22-1 and 22 through the Internet 16 and the mobile phone network 20. 2 and display a fire alarm screen specifying the house 15A and output a fire alarm sound.

  In addition, when the control unit 30 receives a fire detection signal transmitted by, for example, the residential alarm 24-11 via the wireless LAN communication unit 32 via the relay adapter 26-1 and the wireless router 12-1, From the fire detection signal, the home alarm device 24-11 that detects the fire is specified, the travel drive unit 44 is instructed, and the camera unit 36 moves to the room where the home alarm device 24-11 that detects the fire is installed. The image of the room in which the fire is detected is captured, transmitted to the user's mobile phones 22-1 and 22-2 via the server 18, and displayed.

  Here, the control of moving the smart cleaning robot 10-1 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, the fire monitoring path sets in advance monitoring points P0 to P4 for photographing the room for each room or place where the house alarm devices 24-11 to 24-15 are installed. . 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 smart cleaning robot 10-1.

  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 smart cleaning robot 10 by 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 part 30 can specify the residence warning device 24 which detected the fire from the transmission origin code | symbol contained in the received fire detection signal, the transmission origin code | symbol and monitoring point of the residence warning devices 24-11-24-15 The correspondence relationship between P0 to P4 is stored in the memory in advance, the monitoring point of the fire occurrence place is acquired based on the transmission source code of the received fire detection signal, and the smart cleaning robot 10-1 is set based on the fire monitoring route information to reach that point. Control to move to the location of the fire.

[Cleaning robot with fire sensor]
FIG. 4 is a block diagram showing another embodiment of the smart cleaning robot 10-1 introduced into the house 15A. In this embodiment, a fire sensor unit 50 is further provided in the embodiment of FIG. It is characterized by that. 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 same applies to the smart cleaning robot 10-2 introduced into the house 15B.

  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 the fire detection signal. Is generated, the wireless LAN communication unit 32 is instructed, and the fire detection signal is transmitted.

  The fire detection signal transmitted from the smart cleaning robot 10-1 by this control is transmitted to the mortgage devices 24-11 to 24-15 via the relay adapter 26-1, and the smart cleaning robot 10-1 is alerted. The specified fire alarm is output. Further, the fire detection signal transmitted from the smart cleaning robot 10-1 is received by the server 18 via the wireless router 12-1, the gateway 14-1, and the Internet 16, and the fire is linked to the fire by the server 18. The detection signal is sent to the smart cleaning robot 10-2 of the house 15B via the Internet 16, the gateway 14-2 and the wireless router 12-2, and further to the mortgage 24-21 of the house 15B via the relay adapter 26-2. It is transmitted to 24-22, and the fire alarm which specified the house 15A is output.

 The server 18 that has received the fire detection signal generates a fire detection signal including fire notification information, and the fire detection signal is transmitted to the user's mobile phones 22-1 and 22 through the Internet 16 and the mobile phone network 20. 2 and display a fire alarm screen specifying the house 15A and output a fire alarm sound.

  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 phones 22-1 and 22-2 via the Internet, and is displayed.

[Cleaning robot with fire extinguishing unit]
FIG. 5 is a block diagram showing another embodiment of the cleaning robot 10-1 introduced into the house 15A. In this embodiment, a fire extinguishing unit 52 is further provided in the embodiment of FIG. Features. Since other configurations and functions are the same as those in FIGS. 3 and 4, the same reference numerals are given and description thereof is omitted. The same applies to the smart cleaning robot 10-2 introduced into the house 15B.

  The fire extinguishing unit 52 is built in the smart cleaning robot 10-1 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 water for fire extinguishing into a tank, introduces air discharged by a dust suction fan of the smart cleaning robot 10-1 into a nozzle using a venturi tube, and sucks out water from the tank by a venturi action. It is atomized and mixed by mixing with exhaust air. 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 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)
The control unit 30 receives a fire detection signal from the relay adapter 26-1 via the wireless LAN communication unit 32, and moves to the monitoring point of the fire occurrence location based on the fire detection route information based on this, or the fire sensor 50. When a fire is detected by the detection signal of the camera and stopped at that location, the camera unit 36 is instructed at the monitoring point or stop location, an image of the room where the fire is detected is taken, and the user's mobile phone is passed through the server 18 It transmits to telephone 22-1 and 22-2, and performs control which displays an image on a screen.

  On the screens displayed on the mobile phones 22-1 and 22-2, there are displayed operation buttons for running operation and fire extinguishing operation of the smart cleaning robot 10. In this case, the operation right of the smart cleaning robot 10-1 is The mobile phone 22-1 of the user of the house 15A detecting the fire is set.

  The user of the house 15A looks at the image displayed on the mobile phone 22-1 and operates the fire extinguishing unit 52 to the fire position. In this state, the user touches the operation button to perform the fire extinguishing start operation. The fire extinguishing start operation instruction signal is transmitted to the smart cleaning robot 10-1 via the server 18, and the control unit 30 detects the reception of the fire extinguishing start operation instruction signal and operates the fire extinguishing unit 52 to fire. Control to spray fire extinguishing agent toward the position.

  Here, the fire position specifying means by the control unit 30 has a control function of accepting a user's 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.

  On the other hand, the user of the house 15A can perform an operation of transferring the operation right of the smart cleaning robot 10-1 by the mobile phone 22-1 to the mobile phone 22-2 of the user of the house 15B. For example, when the resident of the house 15A is an elderly parent household and the resident of the house 15B is a child household, the user of the house 15A operates the mobile phone 22-1 to perform fire extinguishing control remotely. If the mobile phone 22-1 is not likely to be operated, an operation to transfer the operation right of the mobile phone 22-1 to the mobile phone 22-2 is performed, and the server 18 receives the operation instruction from the mobile phone 22-2 to which the operation right has been transferred. An operation instruction signal is transmitted to the smart cleaning robot 10-1, and the fire extinguishing unit 52 is directed toward the fire position to control to spray the fire extinguisher.

(Automatic fire extinguishing control)
The control unit 30 basically performs control to operate the fire extinguishing unit 52 after waiting for the user's fire extinguishing instruction from the mobile phone 22-1 or the mobile phone 22-2. When the person's fire extinguishing instruction cannot be obtained, automatic fire extinguishing control for operating the fire extinguishing unit 52 is performed according to an instruction from the control unit 30.

  When the fire extinguishing control by the control unit 30 does not receive a fire extinguishing instruction signal even after a predetermined time has passed since the image of detecting a fire is transmitted to the mobile phones 22-1 and 22-2, predetermined fire position specifying means The fire position is specified by the above, the fire extinguishing unit 52 is operated 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 10-1 by instructing the traveling drive unit 44, and the detection signal becomes maximum. The position is identified as the fire position, and the fire extinguishing unit 52 is controlled to operate at the identified 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 52 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.

[Configuration of the home alarm 24]
FIG. 6 is a block diagram showing an outline of the functional configuration of the wireless interlocking type house guard 24-11, and the other house guards 24-12 to 24-22 are the same.

  In FIG. 6, the home alarm 24-11 includes an alarm control unit 60, a sensor unit 62, an interlocking communication unit 64 to which an antenna 65 is connected, a notification unit 66, and an operation unit 68, and is operated 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 interlocking communication unit 64 transmits and receives a fire detection signal according to a predetermined first communication protocol with the other mortgages 24-12 to 24-15. In the case of Japan, this first communication protocol is, for example, STD-30 (radio equipment standard for low power security system radio stations) or STD-T67, which is known as a standard for specific low power radio stations in the 400 MHz band. Conforms to the standard for radio equipment for specific low-power radio station telemeters, telecontrols and data transmissions. The fire detection 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.

  Moreover, when the alarm control part 60 outputs the fire alarm from the alerting | reporting part 66, it produces | generates the fire detection signal according to a 1st communication protocol, instruct | indicates to the interlocking communication part 64, and other residence guards 24-12 Control is performed to transmit the fire detection signal to ˜24-15, and the fire alarm indicating the interlocking destination is output by the other resident alarm devices 24-12 to 24-15 that have received the fire detection 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.

  Moreover, the alarm control part 60 detects the effective reception of the fire detection signal according to the 1st communication protocol which one of the other mortgages 24-12 to 24-15 transmitted via the interlocking communication part 64 Then, control is performed to output a fire alarm indicating the interlocking destination from the notification unit 66. 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.

(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 detection signal according to the first communication protocol is generated, the interlocking communication unit 64 is instructed, and the fire recovery detection signal is The control which makes it transmit to the other residence alarm devices 24-12 to 24-15 is performed, and the fire alarm output which shows the interlocking | linkage destination is stopped by the other residence police device which received this.

  When the alarm control unit 60 detects the effective reception of the fire recovery detection signal according to the first communication protocol transmitted by any of the other mortgages 24-12 to 24-15 via the interlocking communication unit 64 In addition, control for stopping the fire alarm output indicating the interlocking destination from the notification unit 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 detection signal in accordance with the first communication protocol, instruct the interlocking communication unit 64, and perform control to transmit the alarm stop detection signal to the other residential alarm devices 24-12 to 24-15. The fire alarm output which shows the interlocking | linkage destination is made to stop the other house alarm devices 24-12 to 24-15 which received.

  When the alarm control unit 60 detects the effective reception of the alarm stop detection signal transmitted by any of the other mortgages 24-12 to 24-15 via the interlocking communication unit 64, the alarm control unit 60 outputs the alarm control unit 60 from the notification unit 66. Control to stop the fire alarm output indicating the interlock destination.

(Fire cooperation control with another house)
The alarm control unit 60 has received the fire detection signal transmitted when a fire is detected in any of the residential alarm devices 24-21, 24-22 provided in another house 15B via the interlocking communication unit 64. In this case, the notification unit 66 is instructed to perform control to output a fire alarm that specifies another house 15B as an alarm source. As a fire alarm in this case, for example, a voice message such as “Please confirm that a fire has occurred in another house B” is repeatedly output from the speaker and the LED is turned on, for example.

  The identification of the home 15B serving as the alarm source is performed by storing in advance the relationship between the transmission source code of the home guards 24-21 and 24-22 installed in the home 15B and the home name B in the memory, and the alarm control unit 60 The house name B is specified by referring to the memory by the transmission source code of the received fire detection signal, and the house name B is included in the voice message and notified.

  In addition, the alarm control unit 60 transmits a fire detection signal transmitted when a fire is detected in any of the residential alarm devices 24-21 and 24-22 provided in another house 15B via the interlocking communication unit 64. If received, generate a fire detection signal in accordance with the first communication protocol, instruct the interlocking communication unit 64 to perform a control to transmit the fire detection signal to the other mortgage alarms 24-11 to 24-15, A fire alarm specifying another house 15B is output by the other residential alarm devices 24-11 to 24-15 that have received the fire detection signal.

[Configuration of Relay Adapter]
FIG. 7 is a block diagram showing an outline of the functional configuration of the relay adapter 26-1 provided in the house 15A of FIG. 1, and the relay adapter 26-2 provided in the house 15B is the same.

  In FIG. 7, the relay adapter 26-1 includes an interlocking communication unit 70 connected to an antenna 72, a relay control unit 74, and a wireless LAN communication unit 76 connected to an antenna 78, and operates with a battery power source (not shown). The relay control unit 74 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 interlocking communication part 70 is the same as that of the interlocking communication part 64 provided in the residence guard 24-11 of FIG. 6, and transmits and receives signals according to the first communication protocol. The wireless LAN communication unit 76 is the same as the wireless LAN communication unit 32 provided in the smart cleaning robot 10-1 in FIG. 3, and the wireless router 12 serving as an access point according to the wireless LAN communication protocol that is the second communication protocol. A signal is transmitted to and from the cleaning robot 10 via.

  The relay control unit 74 converts the signal according to the first communication protocol received from the interlocking communication unit 70, for example, from the resident guard 24-11 into the signal according to the wireless LAN communication protocol which is the second communication protocol. Then, the wireless LAN communication unit 76 is instructed and controlled to transmit to the smart cleaning robot 10-1 via the wireless router 12-1. In this case, signals that are converted from the first communication protocol to the second communication protocol and transmitted include a fire detection signal, a fire recovery detection signal, and an alarm stop detection signal.

  In addition, the relay control unit 74 receives, for example, from the residential alarm 24-21 of the house 15B according to the second communication protocol via the wireless router 12-1 and the relay adapter 26-1 received via the wireless LAN communication unit 76. The transmitted fire detection signal is converted into a signal in accordance with the first communication protocol, and an instruction is given to the interlocking communication unit 70 to perform transmission control to the mortgage alarm devices 24-11 to 24-15. In this case, the signal to be converted from the second communication protocol to the first communication protocol to be transmitted includes, in addition to the fire detection signal, a fire recovery detection signal or alarm stop detection transmitted from, for example, the residential alarm 24-21 of the house 15B. There is a signal.

[Alarm linkage system that detects and cooperates with the alarm sound of the wireless interlocking home alarm]
(Outline of system configuration)
FIG. 8 shows another embodiment of the alarm linkage system for two houses according to the present invention, which is characterized by detecting the alarm sound of a wireless interlocking house alarm device and cooperating with a smart cleaning robot. And

  In FIG. 8, the wireless interlocking residence police devices 24-11 to 24-22, the smart cleaning robots 10-1 and 10-2, the wireless routers 12-1 and 12-2, and the gateway 14-disposed in the homes 15 </ b> A and 15 </ b> B. 1, 14-2, Internet 16, server 18, mobile phone network 20, and mobile phones 22-1 and 22-2 are the same as those in the embodiment of FIG. 1, but the relay adapters 26-1 and 26 in FIG. Instead of 2, the difference is that alarm relay adapters 102-1 and 102-2 are arranged in the vicinity of the residential alarm devices 24-11 and 24-24. The alarm relay adapters 102-1 and 102-2 serve as an alarm relay unit that transmits a fire detection signal when a fire alarm sound output from the alarm unit is detected.

(Configuration of alarm relay adapter)
FIG. 9 is a block diagram showing an outline of the functional configuration of the alarm relay adapter 102-1 provided in the house 15A in FIG. 8, and the same applies to the alarm relay adapter 102-2 provided in the house 15B. In FIG. 9, the alarm relay adapter 102-1 includes a wireless LAN communication unit 84 to which an alarm sound detection unit 80, a relay control unit 82, and an antenna 86 are connected, and operates with a battery power source (not shown). The relay control unit 82 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 84 transmits a fire detection signal via the wireless router 12 to the smart cleaning robot 10-1 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 80 detects the fire alarm sound output from the resident alarm 24-11, and in particular, the sound volume of the fire alarm sound is substantially constant and the frequency changes within a range of about 2 KHz to about 3 KHz, for example. A sweep sound is detected and an alarm sound detection signal is output to the relay control unit 82. For this reason, the alarm sound detection unit 80 includes a microphone that converts 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 of 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 home alarm 24-11 becomes “Peep fire.” The alarm sound detection unit 80 detects the sweep sound of the “Peep” fire alarm sound and detects the alarm. The sound detection signal is output to the relay control unit 82.

  In addition, even if the fire alarm sound output by the wireless interlocking house keeper 24-11 is, for example, “Pew Pew Fire is a fire” or “P Hugh Hue Fire is a fire” due to differences in manufacturers, both are about 2KHz. To about 3 KHz, the alarm sound detection unit 80 detects a sweep sound such as “Pew Pew” or “Pie Hugh Hugh” that changes the frequency, and outputs an alarm sound detection signal to the relay control unit 82. For this reason, when the manufacturer of the home alarm 24-11 is different, or when the version is different even if the manufacturer is the same, the wireless interlocking home alarm 24 outputs without being 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 80 can exclude a failure alarm sound from a detection target without outputting an alarm sound detection signal, for example, for a failure alarm sound other than a fire alarm sound that does not include a sweep sound.

  When the relay control unit 82 reads the alarm sound detection signal output from the alarm sound detection unit 80 and determines the fire alarm sound, the relay control unit 82 generates a fire detection signal according to a predetermined wireless LAN communication protocol, and the wireless LAN communication unit 84. Control to transmit the fire detection signal.

  The fire detection signal transmitted from the alarm relay adapter 102-1 by this control is received by the smart cleaning robot 10-1 via the wireless router 12-1, and the smart cleaning robot 10- shown in FIGS. Fire alarm control similar to that in the first embodiment is performed.

  The fire detection signal transmitted from the alarm relay adapter 102-1 is received by the server 18 via the wireless router 12-1, the gateway 14-1, and the Internet 16, and the fire is linked to the fire by the server 18. The detection signal is sent to the smart cleaning robot 10-2 of the house 15B via the Internet 16, the gateway 14-2 and the wireless router 12-2, and further to the mortgage 24-21 of the house 15B via the relay adapter 26-2. It transmits to 24-22, and the fire alarm which specified the house 15A is output.

  The server 18 that has received the fire detection signal generates a fire detection signal including fire notification information, and the fire detection signal is transmitted to the user's mobile phones 22-1 and 22 through the Internet 16 and the mobile phone network 20. 2 and display a fire alarm screen specifying the house 15A and output a fire alarm sound.

  In addition, since the alarm sound output from the resident alarm 24-1 is a loud alarm sound that does not occur in daily life, the alarm sound detection unit 80 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 80 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 house alarm 24-11 outputs a test fire alarm sound with a slightly reduced volume when a predetermined test operation is performed, but the alarm sound detection unit 80 detects the fire alarm sound for the test. Thus, an alarm sound detection signal is output, and a fire alarm test in cooperation with the smart cleaning robot 10-1 can be performed in accordance with the test operation of the home alarm 24.

[Alarm linkage system that detects and cooperates with the alarm sound of a stand-alone home alarm]
FIG. 10 shows another embodiment of an alarm linkage system for two houses according to the present invention. In this embodiment, stand-alone house alarms 100-11 in each room of the houses 15A and 15B. 100-22 is provided, and alarm relay adapters 102-11 to 102-22 are provided corresponding to the stand-alone dwelling devices 100-11 to 100-22, and the other configurations are shown in FIG. Therefore, the same reference numerals are given and the description thereof is omitted.

  Stand-alone dwelling devices 100-11 to 100-22 are obtained by removing the linked communication function from the radio-linked dwelling device 24-11 shown in FIG. 6, and the stand-alone dwelling device 100-11 is taken as an example. In this case, the temperature or smoke density of the installed 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 result.

  FIG. 11 is an outline of the functional configuration of the stand-alone dwelling device 100-11, which includes an alarm control unit 92, a sensor unit 94, a notification unit 96, and an operation unit 98, and is operated by a battery power source (not shown).

  The sensor unit 94, the notification unit 96, and the operation unit 98 are basically the same as the sensor unit 62, the notification unit 66, and the operation unit 68 provided in the wireless interlocking housekeeper 24-11 in FIG. 6.

  The alarm control unit 92 has the same control function as the alarm control unit 60 provided in the wireless interlocking house alarm 24-11 of FIG.

  Referring to FIG. 10 again, when the fire relay is detected when the fire is detected by, for example, the residential alarm 100-11 disposed in the house 15A, the alarm relay adapter 102-11 detects the fire alarm sound, and the wireless router 12- 1 to send a fire detection signal to the smart cleaning robot 10-1 to perform the same fire cooperation control as described above, and further send the fire detection signal to the other house 15B via the server 18. It transmits to the smart cleaning robot 10-2 and the mobile phones 22-1 and 22-2, and outputs a fire alarm specifying the house 15A.

[Alarm linkage system that recognizes and synchronizes the alarm sound of the home alarm]
(Outline of system configuration)
FIG. 12 shows another embodiment of the alarm linkage system for two houses according to the present invention. In this embodiment, the fire alarm sound of the resident alarm is recognized by the smart cleaning robot and linked. It is characterized by.

  In FIG. 12, a fire alarm system including stand-alone house alarm devices 100-11 to 100-22 is arranged in the homes 15A and 15A, and the smart cleaning robots 10-1 and 10-2 and the wireless router 12-1 are provided. , 12-2, gateways 14-1, 14-2, Internet 16, server 18, mobile phone network 20, and mobile phones 22-1 and 22-2. Hereinafter, the stand-alone house alarm devices 100-11 to 100-22 are referred to as the house alarm device 100 when not distinguished from each other.

  The alarm cooperation system of FIG. 12 uses a voice recognition function provided in the smart cleaning robot 10 in order to link the home alarm 100 with the smart cleaning robot 10. For this reason, by registering the fire alarm sound output from the home alarm device 100 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 resident alarm 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.

  When the smart cleaning robot 10-1 introduced into the house 15A recognizes the fire alarm sound output from the home alarm devices 100-11 and 100-12 as a voice, it transmits a fire detection signal to the wireless router 12-1 and the gateway 14-1. And sent to the server 18 via the Internet 16, and further sent to the smart cleaning robot 10-2 installed in the house 15 B via the Internet 16, the gateway 14-2 and the wireless router 12-2. A fire alarm specifying 15A is output.

  When the smart cleaning robot 10-2 introduced into the house 15B recognizes the fire alarm sound output from the residential alarm devices 100-21 and 100-22, the fire detection signal is transmitted to the wireless router 12-2 and the gateway 14-. 2 to the server 18 via the Internet 16 and further to the smart cleaning robot 10-1 introduced into the house 15A via the Internet 16, the gateway 14-1, and the wireless router 12-1, as an alarm source. A fire alarm specifying the house 15B is output.

  Furthermore, the fire detection signals transmitted by the smart cleaning robots 10-1 and 10-2 by recognizing the alarm sound of the residential alarm 100 are sent from the server 18 via the Internet 16 and the mobile phone network 20 to the houses 15A and 15B. Are transmitted to the mobile phones 22-1 and 22-1 owned by the user, and a fire alarm specifying the house serving as the alarm source is output.

(Configuration of the stand-alone type house alarm 100)
The configuration of the stand-alone house alarm 100 of FIG. 12 is the same as that of the embodiment of FIG. 11, but the alarm source identification sound for identifying the house alarm 100 is included in the alarm sound that is detected and output from the fire. It is different in the point that it did.

  When used in FIG. 12, the alarm control unit 92 of the residential alarm device 100-11 in FIG. 11 performs control to detect a fire and output a fire alarm from the notification unit 96. Repeatedly outputs a voice message such as “Peep Peep Fire is Fire Pip” from the speaker.

  The “Peepy” part of the fire alarm sound is a sweep sound that changes the frequency in a range from about 2 kHz to about 3 KHz, for example, at a substantially constant volume. -1 is added as a warning source identification sound, and for example, if the registration number of the residence warning device 100-1 is No. 1, it is set as one warning source identification sound. Correspondingly, if the registration number of the residence warning device 100-12 is set to No. 2, the alarm source identification sound becomes “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.

(Configuration of smart cleaning robot)
The configuration of the smart cleaning robot 10 of FIG. 12 is the same as that of the embodiment of FIGS. 3 to 5 except that the fire alarm signal output from the home alarm device 100 is recognized and the fire detection signal is transmitted. To do.

(Fire cooperation control based on voice recognition)
When used in FIG. 12, the control unit 30 of the smart cleaning robot 10-1 shown in FIGS. 3 to 5 recognizes the instruction voice for cleaning control and the voice recognition for conversation, in addition to the residential alarm 100. Recognizes the fire alarm sound output from, and performs fire cooperation control (fire countermeasure control) based on this.

  In order to recognize the fire alarm sound output from the home alarm device 100, 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, for example, the fire alarm sound output from the home alarm device 100-11 is, for example, “Pippy is a fire. The phrase “is” and the alarm source identification sound “beep” are selected, and the voice 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 part 30 recognizes the fire alarm sound output from the residence warning device 100-11 by voice recognition, detects a fire, and detects the room which becomes the warning origin which installed the residence warning device 100-11. Make it possible.

  In addition, even if the fire alarm sound output by the Dwelling Unit 100 due to differences in the manufacturer is, for example, “It ’s a Pew Pew Fire” or “The Pue Hugh Fire is a Fire”, By selecting phrases such as “Pew”, “Pee”, and “Pew” and pre-registering the voice feature values calculated based on the respective voice inputs in the memory, Moreover, even if it is the same manufacturer, when the versions are different, it is possible to recognize the fire alarm sound output from the resident alarm 24 and output the alarm sound detection signal without being affected by such a difference. . 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 the voice recognition control during that time, and outputs a fire alarm sound output from the residential alarm 100 during the cleaning. Can be reliably recognized.

  In addition, since the fire alarm sound output from the resident alarm 100 is a large volume, the control unit 30 can recognize the voice even in a state where the noise during the cleaning control is emitted, and can recognize the voice even during the cleaning control. The control may be performed in parallel.

  In addition, during the voice recognition control, for example, when the residential alarm 100-11 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. Control is performed to generate a signal and instruct the wireless LAN communication unit 32 to transmit the signal. The fire detection signal transmitted from the smart cleaning robot 10-1 by this control is received by the server 18 via the wireless router 12-1, the gateway 14-1, and the Internet 16, and the fire cooperation function by the server 18 A fire detection signal is transmitted to the smart cleaning robot 10-2 of the house 15B via the Internet 16, the gateway 14-2, and the wireless router 12-2, and a fire alarm specifying the house 15A is output.

  The server 18 that has received the fire detection signal generates a fire detection signal including fire notification information, and the fire detection signal is transmitted to the user's mobile phones 22-1 and 22 through the Internet 16 and the mobile phone network 20. 2 and display a fire alarm screen specifying the house 15A and output a fire alarm sound.

  The fire cooperation countermeasure control when the other control unit 30 detects a fire by voice recognition of the fire alarm sound is the same as in the embodiment of FIGS.

[Modification of the present invention]
The above embodiment is an example in which the fire alarm system and the mobile work system provided in two dwelling units are linked to each other, but the fire alarm system and the mobile work system provided in three or more houses are mutually connected. You may make it cooperate.

  In addition, the above embodiment is an example of a residential alarm device that detects and alerts a fire, but a gas leak alarm device, an alarm linkage system in which a CO alarm device is arranged, and those alarm devices are mixed. The same applies to the arranged alarm linkage 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.

10-1, 10-2: Smart cleaning robots 12-1, 12-2: Wireless routers 14-1, 14-2: Gateway 16: Internet 18: Server 20: Mobile phone network 22-1, 22-2: Mobile Telephones 24-11 to 24-22, 100-11 to 100-22: House alarm devices 26-1, 26-2: Relay adapter 30: Control units 32, 76, 84: 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 suction unit 50: fire sensor unit 52: fire extinguishing unit 60, 92: alarm control unit 62, 94: sensor unit 64, 70: Interlocking communication unit 66, 96: Notification unit 68, 98: Operation unit 74, 82: Relay control unit 80: Alarm sound detection unit

Claims (9)

For each of the different monitoring areas,
An alarm system comprising an alarm means for outputting an abnormal alarm sound when an abnormality associated with a fire in the monitoring area is detected;
A mobile work system comprising mobile means for performing predetermined work while independently running in a work area including the monitoring area and transmitting / receiving signals to / from user terminals via a server of an external network;
An alarm relay means for transmitting an abnormality detection signal when an abnormality alarm sound output from the alarm means is detected;
With
The mobile means of the mobile work system receives and reports an abnormality detection signal from the alarm relay means, and the mobile means of another mobile work system sends the abnormality detection signal via a server of an external network. An alarm linkage system characterized in that the abnormality is notified by transmitting to the system.
For each of the different monitoring areas,
An alarm system comprising an alarm means for outputting an abnormal alarm sound when an abnormality associated with a fire in the monitoring area is detected;
A mobile work system comprising mobile means for performing predetermined work while independently running in a work area including the monitoring area and transmitting / receiving signals to / from user terminals via a server of an external network;
With
When the mobile unit of the mobile work system recognizes the abnormal alarm sound output from the alarm unit as a voice, the mobile unit of the mobile work system sends the abnormality detection signal to the mobile unit of another mobile work system via the server of the external network. An alarm linkage system that transmits and notifies the abnormality.
In the alarm linkage system according to claim 2,
The alarm means of the alarm system outputs an alarm source identification sound that can identify each alarm means in the abnormal alarm sound,
The mobile means of the mobile work system is pre-registered with the alarm source identification sound for each alarm means and the relationship between the alarm source identification sound and the monitoring area, and the alarm source included in the abnormal alarm sound output by the alarm means An alarm linkage system that recognizes an identification sound and detects an alarm source monitoring area.
3. The alarm linkage system according to claim 1 or 2, wherein the mobile means of the mobile work system further uses the abnormality detection signal assigned to the user terminal assigned to itself and other mobile means. An alarm cooperation system characterized in that the abnormality is transmitted to a person terminal.
3. The alarm linkage system according to claim 1 or 2, wherein the moving body unit includes an imaging unit, the image of the monitoring area is captured by the imaging unit, and the captured image is routed through a server of the external network. Then, the alarm cooperation system is characterized in that the user terminal assigned to itself and the user terminal assigned to another mobile means are transmitted and displayed.
6. The alarm linkage system according to claim 5, wherein the mobile means further includes a fire position specifying means and a fire extinguishing means for specifying a fire position, and a fire extinguishing agent is applied toward the fire position detected by the fire position specifying means. Alarm linkage system characterized by spraying.
3. The alarm linkage 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 is detected by the abnormality detection means, a fire is notified. At the same time, a fire detection signal is transmitted to the mobile means of another mobile work system, the user terminal assigned to itself, and the user terminal assigned to the other mobile means via the external network server. An alarm linkage system characterized by causing an abnormality to be reported.
8. The alarm linkage system according to claim 7, 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, a fire position is detected. An alarm linkage system characterized in that a fire extinguishing agent is sprayed toward a fire position detected by a specific means.
  3. The alarm linkage system according to claim 1, wherein the mobile means receives a control instruction signal from either a user terminal assigned to the mobile means or a user terminal assigned to another mobile means. In such a case, an alarm linkage system that performs control based on the control instruction signal.

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