JP3250105B2 - Security method using mobile security robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects an abnormal situation such as the intrusion of a suspicious person, the occurrence of a fire or gas leak, etc., within a security object while autonomously traveling the security object along a predetermined route, and outputs an alarm. The present invention relates to a security method using a mobile security robot.

[0002]

2. Description of the Related Art Conventionally, a sensor for detecting the occurrence of an emergency such as the intrusion of a suspicious person or the occurrence of a fire in a security object is fixedly installed in a part of the security object (security area). The sensor output that changes due to the occurrence is compared with a predetermined threshold value (alarm level) to determine whether or not an alarm is required. If the sensor output exceeds the threshold value, an abnormal condition is detected and an alarm is issued. A process (fire extinguishing by a sprinkler, etc.) according to the type of the fired or abnormal condition has been performed.

[0003]

However, since the fixed installation type security sensor detects a change in the output of the sensor due to the occurrence of an abnormal situation in a certain detection area, its threshold value is fixed on the circuit. Often. For this reason, when a conventional security sensor is mounted on a mobile robot and a traveling route that changes variously in space and time is moved, phenomena other than abnormal situations, such as the evacuation guidance light for infrared heat detectors Inconveniences such as erroneous alarm being issued due to heat generation, or not being issued even though an abnormal state has occurred, have occurred.

Further, when setting a threshold value in accordance with the state of a traveling route, it is necessary for a specialized person to empirically and theoretically determine the threshold value from a large amount of environmental data, and it takes an extremely long time for the initial setting. And labor costs. For this reason, security by security robots has become expensive, which has been an obstacle to the spread of security robots.

Further, since the conditions are set on a limited route, if the surrounding conditions change, the accuracy of the alarm decreases,
In addition, the accuracy is lowered due to the variation in the characteristics of the sensor element, and the reliability is lowered.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and has high reliability regardless of the environmental conditions of the traveling route, and is inexpensive without requiring time and labor. The purpose is to obtain a security method using a robot.

[0007]

The invention according to claim 1 of the present application has a security sensor unit for detecting a state of a security object,
The following (A) and (B), which patrol the security target along a predetermined route
(C) A security method using a mobile security robot, comprising the steps of (d). (A) performing a preliminary patrol for initialization of the mobile security robot on a predetermined route before a regular patrol for security; (B) In the step of preliminarily patroling the mobile security robot, the environmental temperature measured by the security sensor unit is captured as a temperature detection signal, and the highest-level signal data among the captured temperature detection signals is the maximum value and the maximum level. And storing the signal data with the lowest value as the minimum value. (C) In the step of preliminarily patroling the mobile security robot, when calculating an alarm level serving as an alarm reference based on the stored maximum value and minimum value, of the alarm levels, the surface temperature is higher than the ambient temperature. The threshold for detecting objects is the upper limit alarm level, and the threshold for detecting those whose surface temperature is lower than the ambient temperature is the upper limit alarm level. Upper limit alarm level = maximum value + ｛gain × (maximum value− Minimum value) + Offset 下限 Lower limit alarm level = Minimum value-{Gain x (Maximum value-Minimum value) + Offset} Calculate upper limit alarm level and lower limit alarm level, and determine alarm level by upper limit alarm level and lower limit alarm level Step. (D) signal data of a temperature detection signal based on the environmental temperature detected in the regular patrol by the mobile security robot performed after the preliminary patrol, the upper limit alarm level obtained in the step in which the mobile security robot preliminary patrols, Comparison with the lower alarm level is performed, and if the signal data of the temperature detection signal detected during the regular patrol exceeds the upper alarm level or falls below the lower alarm level, it is determined that the security target is abnormal and an alarm is issued to the monitoring center. Output.

The invention according to claim 2 of the present application has a security sensor unit for detecting the state of a security target, and circulates the security target along a predetermined route. A security method using a mobile security robot, comprising the steps of: (A) performing a preliminary patrol for initialization of the mobile security robot on a predetermined route before a regular patrol for security; (B) In the step of preliminarily patroling the mobile security robot, the environmental temperature measured by the security sensor unit is captured as a temperature detection signal, and the highest-level signal data among the captured temperature detection signals is the maximum value and the maximum level. And storing the signal data having a low value as the minimum value together with the position data of the security robot for each predetermined section of the traveling route. (C) In the step of preliminarily patroling the mobile security robot, an alarm level serving as an alarm reference for each section based on the maximum value and the minimum value stored together with the position data of the security robot for each predetermined section of the patrol route. In calculating,
Of the alarm levels, the threshold for detecting the surface temperature higher than the ambient temperature is the upper alarm level, and the threshold for detecting the surface temperature lower than the ambient temperature is the upper alarm level. Level = maximum value + {gain x (maximum value-minimum value) + offset} Lower limit alarm level = minimum value-{gain x (maximum value-minimum value) + offset} Determining an alarm level from the alarm level and the lower alarm level. (D) Signal data of a temperature detection signal for each section based on the environmental temperature detected in the regular patrol by the mobile security robot performed after the preliminary patrol, and obtained in the step of preparatory patrol of the mobile security robot. The upper limit alarm level and the lower limit alarm level of the corresponding section are compared, and if the signal data of the temperature detection signal detected during the regular tour exceeds the upper limit alarm level or falls below the lower limit alarm level, it is determined that the security target is abnormal. Determining and outputting an alarm to the monitoring center.

[0009]

According to the present invention, the mobile security robot performs a preliminary patrol before the regular patrol, captures the environmental temperature measured by the security sensor unit as a temperature detection signal, and determines the maximum value of the captured temperature detection signals. An alarm level serving as an alarm criterion is determined based on the minimum value, and the alarm criterion is automatically determined in accordance with the environmental conditions of the traveling route.

Further, in the present invention, the position of the security robot in each section of the preparatory patrol route of the mobile security robot and the environmental temperature measured by the security sensor unit are captured and captured as temperature detection signals. An alarm level serving as an alarm criterion is determined based on the maximum value and the minimum value of each section of the temperature detection signal, and the alarm criterion is automatically determined in accordance with the environmental conditions of each section of the tour route.

[0011]

【Example】

Embodiment 1 Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG.
1 shows a configuration of a mobile security robot according to this embodiment, and 1 is a main control unit that performs control of the mobile security robot, execution of a tour plan, output of an alarm, and the like. A storage unit 1b for storing a data group (route map) necessary for movement, such as information on a route to be circulated and distances from each point on the route to a surrounding wall, and a processing unit (CPU) 1a for processing data at high speed Consists of

Reference numeral 2 denotes a security sensor unit, which outputs an abnormality detection signal to the main control unit 1 when detecting an abnormal situation of a security object. Reference numeral 3 denotes a moving mechanism control unit, which includes a movement control unit 3a, a mechanism driving unit 3b, a moving unit (for example, wheels) 3c, and a moving unit 3
A moving distance detecting sensor (for example, an inner field sensor such as a rotation measuring encoder) 3d attached to the controller 3c moves and stops in response to a command from the main controller 1. Reference numeral 4 denotes an environment recognition sensor, which is an external environment recognition sensor such as an ultrasonic distance sensor, a photoelectric distance sensor, or an image sensor that measures the distance between the robot and a surrounding wall. The main control unit 1 recognizes the position of the robot in real time by comparing information from the environment recognition sensor unit 4 and the movement distance detection sensor 3d with the route map stored in the storage unit 1b.

FIG. 2 is a detailed block diagram of the security sensor unit 2. The security sensor unit 2 includes a detection element 2a composed of a far-infrared detection element (thermopile), and an amplification unit 2b that amplifies the output of the detection element 2a. Receiving the signals from the A / D converter 2c for A / D converting the output of the amplifier 2b and the A / D converter 2c, determining the presence / absence of an alarm output by calculation and comparing with a threshold value, and issuing an alarm. It comprises a signal processing control unit 2d that outputs to the processing unit 1a, detects far infrared rays, detects an abnormal situation such as an intruder or a fire in the security area, and outputs an alarm.

The signal processing control section 2d comprises a processing section 2e and a storage section 2f for storing a signal from the A / D conversion section 2c via the processing section 2e. The signal processing control section 2d includes an amplifying section 2b. Connected by control lines C _a and C _b ,
The amplification factor and the offset voltage can be freely changed. The offset voltage is an output value of the security sensor unit 2 during normal times when no abnormal state occurs in the detection area, and is a background value when determining an alarm.

FIG. 3 is a simple example of a traveling route of a mobile security robot. The security robot having the configuration shown in FIG. 1 starts from a standby location A and travels along a route A along each of the rooms 5a to 5f.
To H in an arbitrary combination to search for a heat source (e.g., a human body, a fire, abnormal overheating of a switchboard, etc.) that emits an abnormal amount of radiated infrared rays, and issue an alarm when the abnormal heat source is detected. 4 (a) and 4 (b) show examples of the temperature distribution by radiant infrared measurement in each of the traveling routes A to H, and the security robot measures the surrounding temperature distribution by the detection element 2a during the traveling. In FIGS. 4A and 4B, two upper and lower measured values are shown, which represent an envelope of the measured values as shown in an enlarged view in a circle.

Next, the operation of the mobile security robot having the above configuration will be described. The security robot circulates at a predetermined time interval on the patrol route in the security object shown in FIG. First, the user departs from the standby location A and compares the route map required for traveling around the security target stored in the storage unit 1b with the robot position obtained from the environment recognition sensor unit 4 and the movement distance detection sensor 3d. In addition, while accurately judging and recognizing one's own position on the patrol route, the user travels along each of the routes A to H within the security target in accordance with a predetermined patrol plan. After completing the patrol movement and returning to the standby location A, and after waiting for a certain period of time, when patroling an arbitrary route, a new patrol plan is created and patrol is started.

Next, the operation of the mobile security robot is shown in FIG.
This will be described with reference to the flowchart of FIG. First, the security robot performs a preliminary tour for initialization before performing an actual tour. That is, starting with step 1, step 2
Then, a tour plan is made to tour all the tour routes A to H, and a preliminary tour is started. In step 3, the security sensor unit 2 captures the temperature detection signal from the detection element 2a via the amplification unit 2b and the A / D conversion unit 2c at the same time as the start of the preliminary patrol, and
The normal environmental temperature of the route is measured in real time. An example of the measurement at this time is shown in FIG.

After the completion of the initialization is measured in step 4, if the measurement is not completed, in step 11, all the round paths A to H
Are processed and compared by the processing unit 2e, and the signal data with the highest level (maximum value) (a) and the signal data with the lowest level (minimum value) (b) are stored in the storage unit 2
Store it in f. When the security robot returns to the standby location A after entering the standby state after patroling the entire patrol path, the initialization is completed and the capture of the output data from the detection element 2a is stopped. In step 5, the security data is stored in the storage unit 2f. The maximum value (a) and the minimum value (b) are output to the processing unit 2e, and the alarm level is calculated.

The processor 2e calculates the alarm level (threshold value) according to the equations (1) and (2), and determines the upper alarm level (c) and the lower alarm level (d) of all the routes A to H. calculate. Upper limit alarm level = maximum value + {gain x (maximum value-minimum value) + offset} (1) Lower limit alarm level = minimum value-{gain x (maximum value-minimum value) + offset} (2) Gain and offset The value is variable, so that the sensitivity of the security sensor unit 2 can be changed. The upper-limit alarm level is a threshold value for detecting a surface temperature higher than the ambient temperature, and the lower-limit alarm level is a threshold value lower than the ambient temperature (for example, a human when the temperature is high). Is a threshold value for detecting.

In order to issue an alarm, the upper limit alarm level (c) must be between the theoretical maximum value of the sensor output obtained from the circuit system and the actual maximum value (a). Similarly, the lower alarm level (d) must be between the theoretical minimum of the sensor output and the actual minimum (b).
Further, the processing unit 2e determines whether the offset and the amplification factor (gain) are appropriate from the difference between the maximum value and the minimum value and the average level by the following formula. First, the offset is determined by the following formula: lower limit of offset <average temperature in circuit route <upper limit of upper limit (3), and the determination of amplification factor is performed based on maximum value−minimum value <threshold value of amplification factor (4). However, the amplification rate threshold value, the offset upper limit value, and the lower limit value are values derived from the output range of the amplifier 2b and the like.

If the above equations (3) and (4) hold, the upper alarm level and the lower alarm level are determined. If this is not the case, the adjustment is made via the control lines C _a and C _b . When the adjustment is made, the maximum value (a) and the minimum value (b) in the tour route are corrected based on the adjusted value, and the upper limit alarm level and the lower limit alarm level are again calculated by the equations (1) and (2). Is calculated and stored in the storage unit 2f. The above processing is performed within the standby time of the security robot.

When the initialization is completed, the actual patrol is started in step 6, and in step 7, temperature detection data is fetched from the sensing element 2a of the security sensor unit 2 in the same procedure as in the initial processing. In step 8, it is determined whether or not the tour has been completed. If the tour has not been completed, in step 9, the data captured by the processing unit 2e is compared with the upper limit alarm level (c) and the lower limit alarm level (d). If the captured data exceeds the upper alarm level (c) or falls below the lower alarm level (d), it is determined that an alarm has occurred, and in step 10, the signal processing control unit 2d sends the signal to the processing unit of the main control unit 1. 1
The main control unit 1 outputs an alarm to an external monitoring center.

When the patrol is completed, the security robot enters the standby state again at step 12 to charge the mounted storage battery, and returns to step 6 to execute the practical patrol again.

Embodiment 2 As shown in FIG. 4 (a), the width of the temperature distribution in all the traveling routes A to H is large, the upper limit alarm level (c) is high, and the lower limit alarm level (d) tends to be low. There is. For this reason, in the first embodiment, when there is an object having a temperature distribution as indicated by a two-dot chain line (e) described in the circuit route E of FIG. Cannot be determined. Therefore, when there is room in the storage capacity of the security sensor unit 2 and the storage unit 1b, as a second embodiment, the maximum value and the minimum value are determined for each tour route, and the alarm level is also determined for each tour route. I do.

For example, as shown in FIG. 4B, maximum values B _{1 to} H ₁ and minimum values B _{2 to} H ₂ are determined for each of the traveling routes B to H in the initialization process, and these values are determined. (1),
(2) the assignment and calculates storing high alarm level B ₃ to H ₃ and low alarm level B ₄ to H ₄ per patrol route B~H in, at the time of actual circulation of these for each patrol route warning level Is used to determine the presence or absence of an alarm. As described above, in the second embodiment, the alarm level is set for each circuit route.
It is possible to accurately determine whether or not to output an alarm. For example, an alarm can be output even in the case shown in FIG.

In the second embodiment, the alarm level is set for each tour route. However, the alarm level is further subdivided, and the maximum value and the minimum value are obtained for each predetermined moving distance of the robot. If the alarm level is calculated by substituting into equation (3), the accuracy of the alarm output can be further improved. In this case, when the capacity of the storage unit 2f of the security sensor unit 2 becomes insufficient, it can be dealt with by storing data on the route map stored in the storage unit 1b of the main control unit 1, and It is possible to prevent the correspondence between the tour route and the alarm level. Further, in each of the above embodiments, the far-infrared detecting element is used as the detecting element 2a, but another type of detecting element may be used. Further, by causing the processing unit 1a to perform the processing of the processing unit 2e, it is possible to quickly respond to the movement of the robot.

[0027]

As described above, according to the present invention, the mobile security robot is preliminarily patroled, and the alarm standard is automatically determined according to the environmental conditions of the patrol route. Appropriate alarm criteria can be determined, and a highly accurate and reliable alarm output can be generated.
In addition, since the alarm standard can be automatically determined by performing a preliminary tour, the empirical know-how of a skilled person is not required for initial setting, so that time and labor can be reduced, and for mobile security, It is also useful for spreading robots.

Further, according to the present invention, since the alarm criterion is determined for each section of the circuit route, the alarm criterion is determined according to the environmental conditions of each section, and a more accurate alarm output can be obtained. Can be.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a mobile security robot according to the present invention.

FIG. 2 is a configuration diagram of a security sensor unit of the mobile security robot according to the present invention.

FIG. 3 is a traveling route diagram of the mobile security robot according to the present invention.

FIG. 4 is a diagram showing measured values and alarm criteria when the mobile security robot according to the first and second embodiments of the present invention is made to patrol on a patrol route.

FIG. 5 is a flowchart showing the operation of the mobile security robot according to the present invention.

[Explanation of symbols]

 Reference Signs List 1 Main control unit 2 Security sensor unit 3 Moving mechanism control unit 4 Environment recognition sensor unit

──────────────────────────────────────────────────続 き Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G08B 25/00-29/00

Claims (2)

(57) [Claims] 1. A security sensor unit for detecting a state of a security target.
The following (a), which has a security object and goes around the security object on a predetermined route
(B) (c) (d).
Security method using mobile security robots. (B) The mobile security robot must be used for regular patrols for security.
Before performing a preliminary tour for initialization on a predetermined route.
H. (B) Preliminary patrol of the mobile security robot
The environmental temperature measured by the security sensor
Out of the temperature detection signal
The signal data with the highest level is the maximum value, and the signal level is the lowest.
Storing the signal data as the minimum value are. (C) Preliminary patrol of the mobile security robot
In, based on the alarm reference stored maximum value and the minimum value
When calculating the alarm level,
In order to detect objects whose surface temperature is higher than the ambient temperature
High alarm level thresholds for the surface temperature than the ambient temperature
The upper limit alarm level is set to the threshold for detecting low
And then, the upper limit warning level = maximum + {Gain × (maximum value - minimum value) + offset} low alarm level = minimum - {Gain × (maximum value - minimum value) + offset} as high alarm level, low alarm level Ask for the upper-limit police
The alarm level based on the alarm level and the lower alarm level
Step. (D) Mobile security robots to perform after the preliminary patrol
Temperature detection based on environmental temperature detected during normal tour
Preliminary patrol of signal security data and mobile security robots
Upper and lower alarm levels obtained in the step performed
Performs a comparison between the alarm level, detected in normal patrol
Signal data of the temperature detection signal exceeds the upper alarm level
If the security target is below the lower alarm level ,
Determining that there is, and outputting an alarm to the monitoring center. 2. A security sensor unit for detecting a state of a security target.
The following (a), which has a security object and goes around the security object on a predetermined route
(B) (c) (d).
Security method using mobile security robots. (B) The mobile security robot must be used for regular patrols for security.
Before performing a preliminary tour for initialization on a predetermined route.
H. (B) Preliminary patrol of the mobile security robot
The environmental temperature measured by the security sensor
Out of the temperature detection signal
The highest level signal data is the maximum value, the lowest level is
Warning signal data for each predetermined interval of patrol route as the minimum value have
The step of also storing the position data of Bei robot. (C) Preliminary patrol of the mobile security robot
In the position of the security robots for each constant interval at the patrol route
Based on the maximum and minimum values stored with the data,
In calculating the alarm level that is the alarm standard for each interval,
Of alarm level, those surface temperature is higher than the ambient temperature
Threshold value for detecting the upper alarm level, ambient temperature
The threshold value for detecting what the surface temperature is lower degrees
An upper limit alarm level, high alarm level = maximum + {Gain × (maximum value - minimum value) + offset} low alarm level = minimum - {Gain × (maximum value - minimum value) + offset} as high alarm level, Find the lower alarm level, and set the upper alarm
The alarm level based on the alarm level and the lower alarm level
Step. (D) Mobile security robots to perform after the preliminary patrol
For each section based on the environmental temperature detected in the regular tour
Temperature detection signal data and mobile security robot
Of the corresponding section obtained in the step where
Compare with the upper alarm level and lower alarm level,
The signal data of the temperature detection signal detected during normal
Above or limited warning level, when that falls below the lower limit warning level
Determines that the security target is abnormal and alerts the monitoring center
Step to output a.