JP6046928B2

JP6046928B2 - Alarm system

Info

Publication number: JP6046928B2
Application number: JP2012140284A
Authority: JP
Inventors: 悟史中島; 博茨木; 久義景山; 克也岡安; 知也山本
Original assignee: Hochiki Corp
Current assignee: Hochiki Corp
Priority date: 2012-06-22
Filing date: 2012-06-22
Publication date: 2016-12-21
Anticipated expiration: 2032-06-22
Also published as: JP2014006603A

Description

本発明は、掃除ロボット等の移動体により監視領域の温度異常を検知して報知する警報システムに関する。
The present invention relates to an alarm system for detecting and notifying a temperature abnormality in a monitoring area by a moving body such as a cleaning robot.

従来、住宅等における掃除を自立走行により行う掃除ロボットが実用化され、その普及が始まっている。このような掃除ロボットにあっては、自立走行による掃除機能に加え、カメラやマイク、スピーカ、温度センサといった入出力デバイスを備え、無線ＬＡＮ通信機能により、各入出力デバイスを、無線ＬＡＮ通信機能を介してインターネット等の外部ネットワーク上のサーバと連携可能とし、利用者の保有するスマートフォン等の携帯端末を利用し、掃除ロボットとの間で様々なコミュニケーションを行うことを可能とし、所謂スマート掃除ロボットを実現可能としている。例えば、利用者の携帯電話により、掃除ロボットのカメラで撮影した画像や温度センサで測定した温度を確認することができる。
Conventionally, a cleaning robot that performs cleaning in a house or the like by independent running has been put into practical use, and its 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. It is possible to cooperate with a server on an external network such as the Internet via a mobile terminal such as a smartphone owned by a user, and to perform various communications with a cleaning robot. It is feasible. For example, the user's mobile phone can check the image taken with the camera of the cleaning robot and the temperature measured with the temperature sensor.

特許第３３８７８１６号公報Japanese Patent No. 3387816 特開２００７−１５６８８４号公報JP2007-156684A 特開２００７−０９４７１９号公報JP 2007-094719 A 実用新案登録第３１４３１３９号公報Utility Model Registration No. 3143139 特開２００９−１４０２３６号公報JP 2009-140236 A

ところで、掃除ロボットは温度センサを備えていることから、温度センサにより測定している室内温度を所定の閾値温度と比較し、閾値温度以上となった場合に異常を検知して警報する火災監視機能を設けるようにすれば、掃除ロボットを導入した住戸での火災監視を行うことが可能である。 By the way, because the cleaning robot has a temperature sensor, the fire monitoring function that compares the room temperature measured by the temperature sensor with a predetermined threshold temperature and detects an alarm when the temperature exceeds the threshold temperature. If it is provided, it is possible to perform fire monitoring in a dwelling unit where a cleaning robot is introduced.

しかしながら、掃除ロボットに設けた温度センサは室内の環境温度を測定するものであり、火災による温度（熱）を検知するようにはなっていない。火災が発生した場合、火災に伴う熱気流は、火災発生場所から天井へ向かい、天井面に当たって横に広がることから、火災による熱を検知する火災感知器、例えば住宅に設置することが義務付けられている住宅用火災警報器として知られた住警器は、天井面又は壁面の天井面に近い位置に配置する必要がある。しかし、掃除ロボットは床面に近い低い位置を移動しており、火災による熱気流を受けにくく、掃除ロボットに温度センサを設けていても、そのままでは火災監視に利用することはできない。 However, the temperature sensor provided in the cleaning robot measures the environmental temperature in the room, and does not detect the temperature (heat) due to a fire. When a fire breaks out, the thermal airflow accompanying the fire goes from the location of the fire to the ceiling and spreads sideways against the ceiling surface, so it is obliged to install it in a fire detector that detects heat from the fire, for example, a house. A residential alarm known as a residential fire alarm needs to be placed at a position close to the ceiling surface or the ceiling surface of the wall surface. However, the cleaning robot moves at a low position close to the floor surface, and is not easily affected by the thermal airflow caused by the fire. Even if the cleaning robot is provided with a temperature sensor, it cannot be used as it is for fire monitoring.

一方、住警器などによる従来の火災を監視して警報する火災警報システムは、監視領域となる部屋に例えば住警器を設置して監視する固定的な設備であり、これに対し、掃除ロボットに設けた温度センサは火災監視には適さないが、監視領域を移動しながら温度を測定することができる。このため掃除ロボットにより移動しながら温度を測定する機能を火災監視に利用できれば、従来の固定設置を前提とした火災警報システムとは異なる新たな機能を生み出す可能性がある。 On the other hand, a conventional fire alarm system for monitoring and alarming a fire caused by a house alarm is a fixed facility for monitoring by installing, for example, a house alarm in a room serving as a monitoring area. Although the temperature sensor provided in is not suitable for fire monitoring, the temperature can be measured while moving the monitoring area. For this reason, if the function of measuring the temperature while moving by a cleaning robot can be used for fire monitoring, there is a possibility that a new function different from the conventional fire alarm system based on the fixed installation may be created.

本発明は、家事サービスを行う掃除ロボット等の移動体に、火災につながる可能性のある温度異常を監視する機能を連携して機能を拡張可能とする警報システムを提供することを目的とする。
An object of the present invention is to provide an alarm system that can expand a function by linking a function of monitoring a temperature abnormality that may lead to a fire to a moving body such as a cleaning robot that performs housework services.

（警報システム）
本発明は、所定の作業領域を自立走行しながら所定の作業を行う移動体手段を備えた警報システムに於いて、
移動体手段は、
物体からの熱放射をとらえて温度を測定する放射温度測定手段と、
前記作業領域内の所定の経路を移動しながら前記所定の作業の制御を行うと共に、前記作業領域に予め設定された測定点を巡回移動しながら、放射温度測定手段の測定温度が所定の閾値温度以上となる高温異常（温度異常）を検知する高温異常監視制御を行い、当該高温異常を検知した場合に、所定の高温異常対処制御を行う制御手段と、
を備え、高温異常監視制御は、
作業領域に予め設定された測定点として、監視領域毎の略中央の所定位置を巡回移動し、各測定点に移動する毎に、当該測定点が設定された監視領域の温度を放射温度測定手段により測定する第１高温異常監視制御と、
作業領域に予め設定された測定点として、火災の発生につながる高温異常を起こす可能性のある場所や機器等の所定局所を巡回移動し、各測定点に移動する毎に、当該測定点が設定された所定局所の温度を放射温度測定手段により測定する第２高温異常監視制御と、
を有し、制御手段は、第１高温異常監視制御及び第２高温異常監視制御の何れか一方又は両方を組み合わせて実行可能であることを特徴とする。
( Alarm system )
The present invention provides an alarm system including a mobile unit that performs a predetermined work while running independently in a predetermined work area.
The mobile means is
Radiation temperature measuring means for measuring the temperature by capturing thermal radiation from an object;
While controlling the predetermined work while moving along a predetermined path in the work area, and cyclically moving the measurement points set in advance in the work area, the measurement temperature of the radiation temperature measuring means is a predetermined threshold temperature. Control means for performing high temperature abnormality monitoring control for detecting a high temperature abnormality (temperature abnormality) as described above, and performing predetermined high temperature abnormality countermeasure control when the high temperature abnormality is detected ,
The high temperature abnormality monitoring control is
As a measurement point set in advance in the work area, a predetermined position at the center of each monitoring area is cyclically moved, and each time the measurement point is moved, the temperature of the monitoring area where the measurement point is set is measured as a radiation temperature measuring means. First high temperature abnormality monitoring control measured by
As a measurement point set in advance in the work area, the measurement point is set each time it moves to a predetermined location such as a place or equipment that may cause a high temperature abnormality leading to the occurrence of a fire. A second high temperature abnormality monitoring control for measuring the predetermined local temperature by the radiation temperature measuring means;
And the control means can execute either one or both of the first high temperature abnormality monitoring control and the second high temperature abnormality monitoring control .

（放射温度測定手段の距離係数）
放射温度測定手段は、測定距離を測定対象物の大きさで除した値を距離係数とし、当該距離係数が２０〜３０の範囲にある。
( Distance coefficient of radiation temperature measuring means )
The radiation temperature measurement means uses a value obtained by dividing the measurement distance by the size of the measurement object as a distance coefficient, and the distance coefficient is in the range of 20 to 30.

（放射温度測定手段の走査）
制御手段は、測定点に移動した場合に、放射温度測定手段を当該測定点で２次元又は３次元に走査して温度を測定する。 (Scanning of radiation temperature measuring means)
When the control unit moves to the measurement point, the control unit measures the temperature by scanning the radiation temperature measurement unit two-dimensionally or three-dimensionally at the measurement point.

（上下角固定で旋回走査）
放射温度測定手段は、移動体手段の本体に所定の垂直回りの指向角に固定され、
制御手段は、測定点に移動した場合に、移動体手段を当該測定点を中心に旋回走行させることにより、放射温度測定手段を旋回走査して温度を測定する。
(Swivel scan with fixed vertical angle)
The radiation temperature measuring means is fixed at a predetermined vertical directivity angle on the body of the moving body means,
Control means, when moved to the measurement point, the Rukoto allowed mobile unit is turning around a corresponding measuring point, measure the temperature by turning scanning a radiation temperature measuring means.

（上下角可変で旋回走査）
放射温度測定手段は、移動体手段に垂直回りの指向角を可変制御可能に設けられ、
制御手段は、測定点に移動した場合に、放射温度測定手段を当該垂直回りの指向角を所定の角度範囲で変化させながら移動体手段を当該測定点を中心に旋回走行させることにより、放射温度測定手段を旋回走査して温度を測定する。
(Swivel scanning with variable vertical angle)
The radiation temperature measuring means is provided so as to be capable of variably controlling the directivity angle around the moving body means,
Control means, when moved to the measurement point, the Rukoto radiation temperature measuring means is turning the mobile unit while changing the directivity angle of the vertical around a predetermined angular range about a corresponding measurement point, the radiation The temperature is measured by swiveling the temperature measuring means.

（利用者端末による異常報知）
制御手段は、高温異常を検知した場合に、高温異常対処制御として、高温異常を報知すると共に、高温異常検知信号を外部ネットワークのサーバを経由して利用者端末へ送信して測定点の高温異常を報知させる。
(Abnormality notification by user terminal)
When the high temperature abnormality is detected, the control means notifies the high temperature abnormality as a high temperature abnormality countermeasure control, and transmits a high temperature abnormality detection signal to the user terminal via the server of the external network to detect the high temperature abnormality at the measurement point. To let you know.

（異常発生場所に移動して画像撮影）
移動体手段は、撮像手段を備え、
制御手段は、高温異常を検知した場合に、高温異常対処制御として、撮像手段により測定点の画像を撮像し、当該撮像した画像を、外部ネットワークのサーバを経由して利用者端末へ送信して表示させる。
(Move to the place where the abnormality occurred and take a picture)
The moving body means includes an imaging means,
When the high temperature abnormality is detected, the control means captures an image of the measurement point by the imaging means as high temperature abnormality countermeasure control, and transmits the captured image to the user terminal via the external network server. Display.

（機器の動作停止）
制御手段は、第２高温異常監視制御を実行中、測定点となる機器の高温異常を検知した場合に、当該機器の動作を停止させる制御を行う。
(Device operation stopped)
The control means performs control to stop the operation of the device when the high temperature abnormality of the device that is the measurement point is detected during the second high temperature abnormality monitoring control .

（警報手段による火災検知と消火）
移動体手段は、消火手段を備え、
制御手段は、放射温度測定手段の測定温度から火災を検知した場合に、高温異常対処制御として、放射温度測定手段により検出した火災位置に向けて消火手段から消火剤を散布させる。
(Fire detection and extinguishing by alarm means)
The moving body means includes fire extinguishing means,
When a fire is detected from the measurement temperature of the radiation temperature measurement means, the control means sprays a fire extinguishing agent from the fire extinguishing means toward the fire position detected by the radiation temperature measurement means as high temperature abnormality countermeasure control .

（基本的な効果）
本発明によれば、本警報システムは、所定の作業領域を自立走行しながら所定の作業を行う移動体手段に、物体からの熱放射をとらえて温度を測定する放射温度測定手段を設け、放射温度測定手段の測定温度が所定の閾値温度以上となる高温異常（温度異常）を検知した場合に、所定の高温異常対処制御、例えば移動体手段自身で高温異常を報知すると共に、高温異常検知信号を外部ネットワークのサーバを経由して利用者端末へ送信して高温異常を報知させるようにしたため、掃除ロボット等の移動体手段により放射温度測定手段（放射温度計）を移動しながら、作業領域で火災に至る可能性の高い高温となっている機器や場所を検知して高温異常を利用者に報知し、利用者は過熱して発火に至る前の段階で、機器の動作を停止するなどの適切な対処が可能となり、掃除ロボット等の移動手段の導入に伴って火災を監視する警報システムの機能が創生され、このような機能創生によりロボットシステムとして提供できるサービスが充実し、サービス利用者の利便性を向上すると共に、サービス利用者の加入拡大効果が期待できる。 (Basic effect)
According to the present invention, the alarm system is provided with radiation temperature measuring means for measuring the temperature by capturing thermal radiation from an object in the moving body means for performing a predetermined work while running independently in a predetermined work area, When a high temperature abnormality (temperature abnormality) in which the measurement temperature of the temperature measuring means is equal to or higher than a predetermined threshold temperature is detected, predetermined high temperature abnormality countermeasure control, for example, the high temperature abnormality is notified by the mobile body itself and a high temperature abnormality detection signal Is transmitted to the user terminal via the server of the external network to notify the high temperature abnormality, so that the radiation temperature measuring means (radiation thermometer) is moved by the moving body means such as a cleaning robot in the work area. Detect high temperature devices and places that are likely to cause a fire, notify the user of high temperature abnormality, and stop the operation of the device before the user overheats and ignites. Along with the introduction of mobile means such as cleaning robots, an alarm system function that monitors fires has been created, and the creation of such functions has enhanced the services that can be provided as a robot system. In addition to improving the convenience of the service, it is possible to expect the effect of expanding the service user subscription.

（巡回移動による高温異常監視制御の効果）
移動体手段の制御手段は、作業領域に予め設定した巡回経路の測定点を巡回移動しながら、放射温度測定手段による測定温度の高温異常を検知するようにしたため、例えば部屋毎に住警器を固定設置する場合に比べ、単一の放射温度測定手段により作業領域に含まれる複数の部屋の高温異常を検知することができ、放射温度測定手段により火災監視をカバーする領域を拡大し、且つコストを低減できる。 (Effect of high temperature abnormality monitoring control by patrol movement)
The control means of the mobile means detects the high temperature abnormality of the temperature measured by the radiation temperature measuring means while moving the measurement points of the patrol route set in advance in the work area. Compared to a fixed installation, it is possible to detect high temperature abnormalities in multiple rooms included in the work area with a single radiation temperature measurement means, expand the area covering fire monitoring with the radiation temperature measurement means, and cost Can be reduced.

（所定局所の巡回移動による高温異常監視制御の効果）
移動体手段の制御手段は、作業領域に予め設定した所定局所（火災につながる可能性のある場所や機器）の温度を測定する所定の測定点を巡回しながら、放射温度測定手段により所定局所の温度を測定して高温異常を検知するようにしたため、火災が発生する場所や機器の多くは各種ストーブ、ガスコンロ等の火気を使用している場所、喫煙などで火気を使用する場所、くず入れ等であることから、このような場所や機器を含む所定局所の温度を測定する測定点を予め設定しておき、これら火災につながる可能性の高い所定局所の温度を測定して高温異常の有無を検知することで、火災に至る可能性のある高温異常を早い段階で捕らえて利用者に報知し、機器の動作を停止するなどの適切な対処を可能とする。 (Effects of high-temperature abnormality monitoring and control by predetermined local traveling)
The control means of the moving body means circulates at a predetermined measurement point for measuring the temperature of a predetermined local area (place or equipment that may cause a fire) preset in the work area, Measured temperature to detect high temperature abnormalities, so many fires and equipment are used in various stoves, places that use fire such as gas stoves, places where fire is used for smoking, litter etc. Therefore, it is necessary to set in advance measurement points that measure the temperature of a predetermined local area including such places and devices, and measure the temperature of the predetermined local area that is likely to cause a fire to determine whether there is a high temperature abnormality. By detecting, high-temperature abnormalities that can lead to a fire are caught at an early stage and notified to the user, and appropriate measures such as stopping the operation of the device are made possible.

（放射温度測定手段の走査）
移動体手段の制御手段は、測定点に移動した場合に、放射温度測定手段を当該測定点で２次元又は３次元に走査して温度を測定するため、移動体手段が例えば掃除ロボットのように、火災による熱気流を受けにくい床面近くを移動する場合であっても、放射温度測定手段の走査により、作業領域全体の高温異常を監視することができる。 (Scanning of radiation temperature measuring means)
When the control means of the moving body means moves to the measurement point and measures the temperature by scanning the radiation temperature measuring means two-dimensionally or three-dimensionally at the measurement point, the moving body means is like a cleaning robot, for example. Even when moving near the floor surface where it is difficult to receive a hot air current due to a fire, the high temperature abnormality of the entire work area can be monitored by scanning the radiation temperature measuring means.

（上下角固定で旋回走査する効果）
移動体手段の制御手段は、放射温度測定手段を移動体手段の本体に所定の垂直回りの指向角に固定し、測定点に移動した場合に、当該測定点を中心に旋回走行することにより放射温度測定手段を旋回走査（２次元走査）して温度を測定するようにしたため、移動体手段の自立走行機能による旋回走行を活用して放射温度測定手段の走査を簡単に行うことができる。 (Effect of turning scanning with fixed vertical angle)
The control means of the moving body means fixes the radiation temperature measuring means to the main body of the moving body means at a predetermined vertical directivity angle, and when moving to the measurement point, it radiates by turning around the measurement point. Since the temperature measuring means is swiveled (two-dimensionally scanned) to measure the temperature, the radiation temperature measuring means can be easily scanned by utilizing the swiveling by the self-running function of the moving body means.

（上下角可変で旋回走査する効果）
移動体手段の制御手段は、放射温度測定手段を移動体手段に垂直回りの指向角を可変制御可能に設け、測定点に移動した場合に、当該垂直回りの指向角を所定の角度範囲で変化しながら当該測定点を中心に旋回走行することにより、放射温度測定手段を走査して温度を測定するようにしたため、放射温度測定手段に設けた垂直周りの指向角を可変制御する機能と、移動体手段が備えた一箇所に止まった上体で旋回走行する自立走行機能を活用して、放射温度測定手段の３次元的な走査を簡単に行うことができ、放射温度測定手段を床面に近い低い位置を移動する掃除ロボット等の移動体手段に設けていても、床面、壁面、及び天井面を含む作業領域全域の高温異常を監視することを可能とする。 (Effect of turning scanning with variable vertical angle)
The control means of the moving body means is provided so that the radiation temperature measuring means can be variably controlled on the moving body means so that the vertical directivity angle changes within a predetermined angle range when moved to the measurement point. However, since the temperature is measured by scanning the radiation temperature measurement means by turning around the measurement point, the function of moving the vertical directivity angle provided in the radiation temperature measurement means and the movement By utilizing the self-supporting traveling function that turns with the upper body that is stopped at one place provided by the body means, the radiation temperature measuring means can be easily scanned in three dimensions, and the radiation temperature measuring means is placed on the floor surface. Even if it is provided in a moving body means such as a cleaning robot that moves in a nearby low position, it is possible to monitor high-temperature abnormalities in the entire work area including the floor, wall, and ceiling.

（警報手段による火災検知と消火による効果）
移動体手段は、更に消火手段を備え、放射温度測定手段の測定温度から火災を検知した場合、放射温度測定手段により検出した火災位置に向けて消火剤を散布するようにしたため、初期火災を確実に消火することを可能とする。
(Effects of fire detection and extinguishing by alarm means)
The moving body means is further equipped with a fire extinguishing means, and when a fire is detected from the measured temperature of the radiation temperature measuring means, a fire extinguishing agent is sprayed toward the fire position detected by the radiation temperature measuring means, so that an initial fire can be reliably ensured. It is possible to extinguish the fire.

スマート掃除ロボットを利用した本発明による警報システムの設置例を示した説明図Explanatory drawing showing an installation example of an alarm system according to the present invention using a smart cleaning robot スマート掃除ロボットの巡回移動による高温監視を示した住宅の見取り図Residential floor plan showing high temperature monitoring by patrol movement of smart cleaning robot スマート掃除ロボットの機能構成の概略を示したブロック図Block diagram showing outline of functional configuration of smart cleaning robot スマート掃除ロボットの巡回移動による所定局所の高温監視を示した住宅の見取り図A sketch of a house showing high-temperature monitoring of a specific local area by a smart cleaning robot 消火ユニットを備えたスマート掃除ロボットの機能構成の概略を示したブロック図Block diagram showing outline of functional configuration of smart cleaning robot with fire extinguishing unit

［警報システムの構成］
（システム構成の概略）
図１は本発明による警報システムの住宅に対する設置例であり、本発明の警報システムは、放射温度測定部２４を設けたスマート掃除ロボット１０、無線ルータ１２、ゲートウェイ１４、インターネット１６、サーバ１８、携帯電話ネットワーク２０及び携帯電話２２で構成する。 [Configuration of alarm system]
(Outline of system configuration)
FIG. 1 shows an installation example of an alarm system according to the present invention for a house. The alarm system according to the present invention includes a smart cleaning robot 10 provided with a radiation temperature measuring unit 24, a wireless router 12, a gateway 14, the Internet 16, a server 18, a mobile phone. The telephone network 20 and the mobile phone 22 are used.

スマート掃除ロボット１０は、所定の作業領域を自立走行しながら所定の作業を行う移動体手段であり、本発明にあっては、移動体手段としてのスマート掃除ロボット１０に、物体からの熱放射をとらえて温度を測定する放射温度測定手段としての放射温度測定部２４と、放射温度測定手段の測定温度が所定の閾値温度以上となる高温異常を検知した場合に、所定の高温異常対処制御を行う制御手段とを設けている。 The smart cleaning robot 10 is a moving body means that performs a predetermined work while running independently in a predetermined work area. In the present invention, the smart cleaning robot 10 as a moving body means emits heat radiation from an object. Radiation temperature measurement unit 24 serving as a radiation temperature measuring means for measuring temperature and a high temperature abnormality countermeasure for detecting a high temperature abnormality where the measured temperature of the radiation temperature measuring means is equal to or higher than a predetermined threshold temperature is performed. Control means.

（スマート掃除ロボットの導入環境）
図１において、住宅１５にはスマート掃除ロボット１０を導入しており、スマート掃除ロボット１０は、予め記憶した所定の掃除経路情報に基づき、予め設定した所定の時間スケジュール又は利用者の操作（音声指示操作を含む）を受け付け、掃除経路情報に従った自立走行により、搭載した吸塵部の駆動で床面のダストを吸引除去する掃除作業を行う。また掃除作業を行わない場合は、住宅の所定箇所に配置した充電ステーションに戻っており、充電ステーションで充電端子をステーション側に接続し、搭載した電池電源の充電を行っている。 (Introduction environment for smart cleaning robot)
In FIG. 1, a smart cleaning robot 10 is introduced into a house 15. The smart cleaning robot 10 is based on predetermined cleaning route information stored in advance, or a predetermined time schedule set in advance or user operation (voice instruction). Cleaning operation to suck and remove the dust on the floor surface by driving the mounted dust suction part by self-supporting traveling according to the cleaning route information. Moreover, when not performing cleaning work, it returns to the charging station arrange | positioned in the predetermined location of a house, the charging terminal is connected to the station side in the charging station, and the battery power source mounted is charged.

図２はスマート掃除ロボット１０を導入した住宅１５の部屋割りの一例を示した見取り図であり、例えば、部屋Ａの片隅に、充電ステーション２８を配置した場合、スマート掃除ロボット１０は、そこに移動して充電しながら待機している。 FIG. 2 is a sketch showing an example of the room layout of the house 15 in which the smart cleaning robot 10 is introduced. For example, when the charging station 28 is arranged at one corner of the room A, the smart cleaning robot 10 moves to the corner. Waiting while charging.

スマート掃除ロボット１０の自立走行による掃除作業は、充電ステーション２８を起点とした掃除経路を部屋Ａ〜Ｄ単位にメモリに予め記憶しておき、例えば掃除開始時刻を判別すると、スケジュールに従った部屋に移動し、部屋の隅から往復掃除経路に従って室内を隙間なく自立走行しながら塵埃を吸引し、もし掃除経路の途中に障害物があれば、超音波センサなどにより障害物を回避する経路を生成しながら自立走行による掃除を行う。掃除経路の自立走行が終了すると、次の部屋に移動し、所定の掃除経路に沿った自立走行により掃除作業を続ける。掃除作業の途中で電池電源の低下を検知した場合には、充電ステーション２８に戻って充電を行い、充電完了後に、掃除を中断した位置に戻って自立走行による掃除作業を続ける。 Cleaning work by the autonomous running of the smart cleaning robot 10 is performed by storing the cleaning route starting from the charging station 28 in the memory in units of rooms A to D in advance, for example, by determining the cleaning start time, Moves and sucks dust while traveling independently from the corner of the room according to the reciprocating cleaning route, and if there is an obstacle in the middle of the cleaning route, a route to avoid the obstacle is generated by an ultrasonic sensor etc. While cleaning by self-supporting. When the self-sustained travel on the cleaning route is finished, it moves to the next room and continues the cleaning work by self-supporting travel along the predetermined cleaning route. When a decrease in battery power is detected in the middle of the cleaning operation, the charging station 28 is returned to perform charging, and after the charging is completed, the cleaning operation is resumed by returning to the position where the cleaning is interrupted.

スマート掃除ロボット１０は、充電ステーション２８から作業対象とする部屋へ移動する場合の経路、作業終了や充電のため充電ステーション２８に戻る経路は、壁際に沿って走行する壁際経路を記憶しており、この壁際経路に従った自立走行により充電ステーション２８と各部屋Ａ〜Ｄの間を行き来する。
The smart cleaning robot 10 stores a path when moving from the charging station 28 to the room to be worked, a path returning to the charging station 28 for work completion or charging, and a wall-side path traveling along the wall, It goes back and forth between the charging station 28 and each of the rooms A to D by independent running along the wall path.

再び図１を参照するに、スマート掃除ロボット１０は無線ＬＡＮ通信機能を備えており、これに対応して住宅１５にアクセスポイント（固定局）として機能する無線ルータ１２を配置し、無線ＬＡＮ通信プロトコルに従った通信経路１１による無線ＬＡＮの通信環境を構築している。無線ルータ１２はゲートウェイ１４に接続し、ゲートウェイ１４から外部ネットワークとなるインターネット１６を介して、スマート掃除ロボット１０に関連した各種のサービスを提供するサーバ１８との通信接続を可能とし、また携帯電話ネットワーク２０を経由して利用者の保有するスマートフォン等の携帯電話２２との通信接続を可能としている。
Referring to FIG. 1 again, the smart cleaning robot 10 has a wireless LAN communication function. Correspondingly, a wireless router 12 functioning as an access point (fixed station) is disposed in a house 15, and a wireless LAN communication protocol is provided. The communication environment of the wireless LAN by the communication path 11 according to the above is constructed. The wireless router 12 is connected to a gateway 14 and enables communication connection with a server 18 that provides various services related to the smart cleaning robot 10 via the Internet 16 serving as an external network from the gateway 14. Communication connection with a mobile phone 22 such as a smartphone owned by the user via the user 20 is possible.

ここで、アクセスポイント（固定局）として機能する無線ＬＡＮ通信機能を備えたスマートフォンでは、住宅１５内において、無線ルータ１２を経由することなく、スマート掃除ロボット１０と携帯電話２２との間で無線ＬＡＮによる通信接続を可能とする。 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.

また、スマート掃除ロボット１０は撮像手段としてカメラを搭載しており、カメラにより撮影した画像を、サーバ１８を経由して携帯電話２２へ送信して表示することができる。また携帯電話２２にインストールしたロボット操作用のアプリケーションを使用し、携帯電話２２の画面操作により、スマート掃除ロボット１０の掃除作業の開始や停止操作、カメラによる撮像操作などを遠隔的に行うことを可能としている。 Further, the smart cleaning robot 10 is equipped with a camera as an imaging means, and an image captured by the camera can be transmitted to the mobile phone 22 via the server 18 and displayed. In addition, using a robot operation application installed on the mobile phone 22, it is possible to remotely start and stop the cleaning operation of the smart cleaning robot 10, perform an imaging operation with a camera, and the like by operating the screen of the mobile phone 22. It is said.

サーバ１８には、住宅１５に導入したスマート掃除ロボット１０による掃除制御、カメラ制御等に対応した所定のサービス機能を設けている。サーバ１８のサービス機能としては、例えばスマート掃除ロボット１０と携帯電話２２との間の通信交換サービス、スマート掃除ロボット１０によるセンシングデータの解析、携帯電話２２からスマート掃除ロボット１０への指示の伝達などがある。 The server 18 is provided with predetermined service functions corresponding to cleaning control, camera control, and the like by the smart cleaning robot 10 introduced into the house 15. The service function of the server 18 includes, for example, a communication exchange service between the smart cleaning robot 10 and the mobile phone 22, analysis of sensing data by the smart cleaning robot 10, and transmission of instructions from the mobile phone 22 to the smart cleaning robot 10. is there.

また、スマート掃除ロボット１０は、マイクとスピーカを備え、マイクにより検知した音声を認識する音声認識機能を備えている。スマート掃除ロボット１０の音声認識機能は、マイクに入力した音を音声信号に変換し、増幅してＡＤ変換して音声データとし入力し、所定の音声認識アルゴリズムに従って予め登録した音声とのマッチングを行い、所定閾値以上の認識率が得られた登録音声の入力と判断し、判断した音声に対応した制御として、例えば、音声命令による操作、簡単な日常会話を可能とする。 The smart cleaning robot 10 includes a microphone and a speaker, and has a voice recognition function for recognizing voice detected by the microphone. The voice recognition function of the smart cleaning robot 10 converts the sound input to the microphone into a voice signal, amplifies it, converts it to AD and inputs it as voice data, and performs matching with the voice registered in advance according to a predetermined voice recognition algorithm. Then, it is determined that the input is a registered voice with a recognition rate equal to or higher than a predetermined threshold value, and as a control corresponding to the determined voice, for example, an operation based on a voice command and a simple daily conversation are enabled.

［スマート掃除ロボットの構成］
図３はスマート掃除ロボットの機能構成の概略を示したブロック図である。図３において、スマート掃除ロボット１０は、制御部３０、アンテナ３４を接続した無線ＬＡＮ通信部３２、カメラ部３６、音声入出力部３８、操作表示部４０、自立走行センサ部４２、走行駆動部４４、充電部４６、吸塵部４８、放射温度測定部２４及び走査駆動部５０を備え、図示しない電池電源により動作する。
[Configuration of smart cleaning robot]
FIG. 3 is a block diagram showing an outline of a functional configuration of the smart cleaning robot. In FIG. 3, the smart cleaning robot 10 includes a control unit 30, a wireless LAN communication unit 32 connected with an antenna 34, a camera unit 36, a voice input / output unit 38, an operation display unit 40, a self-supporting traveling sensor unit 42, and a traveling drive unit 44. The charging unit 46, the dust suction unit 48, the radiation temperature measurement unit 24, and the scanning drive unit 50 are operated by a battery power source (not shown).

制御部３０は、例えばプログラムの実行により実現される機能である。ハードウェアとしてはＣＰＵ、メモリ、ＵＳＢポートを含む各種の入出力ポート等を備えたコンピュータ回路又はワイヤードロジック回路等を使用する。 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.

無線ＬＡＮ通信部３２は、無線ルータ１２との間で所定の無線ＬＡＮ通信プロトコルに従って信号を送受信する。この無線ＬＡＮ通信プロトコルは例えばＩＥＥＥ８０２．１１ｂ／ｇに準拠する。また無線ＬＡＮ通信部３２は、住宅１５内に利用者の携帯電話２２がある場合（無線ＬＡＮ通信可能エリアに携帯電話２２がある場合）、携帯電話２２が無線ＬＡＮ通信のアクセスポイント機能を備えていれば、携帯電話２２との間で、無線ルータ１２を経由することなく、無線ＬＡＮ通信プロトコルに従って信号を送受信する。 The wireless LAN communication unit 32 transmits and receives signals to and from the wireless router 12 according to a predetermined wireless LAN communication protocol. This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g. The wireless LAN communication unit 32 has an access point function for wireless LAN communication when the user's mobile phone 22 is in the house 15 (when the mobile phone 22 is in a wireless LAN communication area). Then, signals are transmitted to and received from the mobile phone 22 according to the wireless LAN communication protocol without going through the wireless router 12.

音声入出力部３８は、マイク、その増幅回路、スピーカ、その駆動回路を備え、制御部３０の指示に基づき、利用者との間で予め定めたフレーズの音声を認識して音声会話や掃除制御を行うための音声入出力を行う。また制御部３０の指示に基づき火災警報音の出力も可能である。 The voice input / output unit 38 includes a microphone, an amplifier circuit thereof, a speaker, and a drive circuit thereof. Based on an instruction from the control unit 30, the voice input / output unit 38 recognizes a voice of a predetermined phrase with the user and performs voice conversation and cleaning control. Audio input / output to perform Also, a fire alarm sound can be output based on an instruction from the control unit 30.

操作表示部４０は、スマート掃除ロボット１０の動作に必要な各種の設定操作、動作に伴う各種表示を行う。また操作表示部４０はリモコン受信部を備え、遠隔操作を受け付ける。 The operation display unit 40 performs various setting operations necessary for the operation of the smart cleaning robot 10 and various displays associated with the operation. Further, the operation display unit 40 includes a remote control receiving unit, and accepts a remote operation.

自立走行センサ部４２は、スマート掃除ロボット１０の自立走行に必要な情報を検知するもので、例えば超音波センサ、接触センサ、光学センサなどを使用する。超音波センサは自立走行中の障害物を検知して回避する制御に使用する。接触センサは自立走行中の障害物との接触を検知して反対方向に折り返す制御等に使用する。光学センサは検知方向を床面に向けて配置し、例えば充電ステーション２８の床面側にＬＥＤ等の発光部の配列した光ビーコンを検知してそれぞれの充電端子を位置合せして接続する制御に使用する。
The autonomous running sensor unit 42 detects information necessary for autonomous running of the smart cleaning robot 10 and uses, for example, an ultrasonic sensor, a contact sensor, an optical sensor, or the like. The ultrasonic sensor is used for control for detecting and avoiding obstacles during independent running. The contact sensor is used for control that detects contact with an obstacle that is running independently and turns it back in the opposite direction. The optical sensor is arranged so that the detection direction is directed toward the floor surface. For example, an optical beacon in which light emitting units such as LEDs are arranged on the floor surface side of the charging station 28 is detected, and the respective charging terminals are aligned and connected. use.

走行駆動部４４は、ロボット本体に設けた左右の駆動輪を個別に回転駆動するモータを備え、直進走行は左右の車輪を同一速度で回転駆動し、旋回走行は左右の車輪の一方の回転を早くし、他方の回転を遅くすることで行う。なお、ロボット本体には左右の駆動輪に加え、補助輪を設けている。 The travel drive unit 44 includes a motor that individually rotates and drives the left and right drive wheels provided in the robot body. In straight traveling, the left and right wheels are rotationally driven at the same speed, and in turning traveling, one of the left and right wheels is rotated. This is done by speeding up and slowing down the other. The robot body is provided with auxiliary wheels in addition to the left and right drive wheels.

充電部４６は充電ステーション２８に移動して充電端子を相互に接続した状態で、充電ステーション２８から充電電力を受け、図示しない電池電源を充電する。
Charging unit 46 while connected to each other charging terminal moves to the charging station 28, receives a charging electric power from charging station 28 to charge the battery power source (not shown).

吸塵部４８は、ロボット本体の下面両側に配置したサイドブラシによりゴミを集め、下面中央に配置した回転ブラシによりサイドブラシで集めたゴミを取り込み、内蔵したファンの回転により吸引し、フィルタを通してダストを除去してロボット本体の上方へ排気すると共にフィルタで除去したダストをダストボックスに収納する。 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.

放射温度測定部２４は、物体からの熱放射をとらえて温度を測定するものであり、放射温度計に相当する機能を備える。即ち、放射温度測定部２４は、物体から放射される赤外線や可視光線の強度を測定し、当該測定強度に基づき物体の温度を算出するものであり、熱伝導を利用する接触式の温度測定部に比べ、非接触且つ高速に温度を測定することができる。 The radiation temperature measurement unit 24 measures the temperature by capturing thermal radiation from an object, and has a function corresponding to a radiation thermometer. That is, the radiation temperature measurement unit 24 measures the intensity of infrared rays and visible light emitted from an object, calculates the temperature of the object based on the measurement intensity, and is a contact-type temperature measurement unit that uses heat conduction. Compared to the above, the temperature can be measured in a non-contact and high-speed manner.

放射温度測定部２４は、熱放射をとらえる集光系と検出素子を備える。検出素子には、物体からの熱放射による光エネルギを受光して電気信号に変換する光電型検出素子と、物体からの熱放射による光エネルギを熱変化としてとらえて電気信号に変換する熱電型検出素子がある。光電型検出素子としてはＰｂＳｅ検出素子やＰｂＳ検出素子などがあり、また熱電型検出素子としては焦電素子やサーモパイル（熱電堆）などがある。 The radiation temperature measurement unit 24 includes a condensing system that detects thermal radiation and a detection element. The detection element is a photoelectric detection element that receives light energy from heat radiation from an object and converts it into an electrical signal, and a thermoelectric detection that detects light energy from heat radiation from the object as a heat change and converts it into an electrical signal. There are elements. Photoelectric detection elements include PbSe detection elements and PbS detection elements, and thermoelectric detection elements include pyroelectric elements and thermopile (thermopile).

本実施形態の温度測定範囲は室温以上であれば良いことから、比較的低温領域でも放射される赤外線をとらえる例えば焦電素子、サーモパイル、ＰｂＳｅ検出素子を用いる。 Since the temperature measurement range of the present embodiment only needs to be room temperature or higher, for example, a pyroelectric element, a thermopile, or a PbSe detection element that captures infrared rays emitted even in a relatively low temperature region is used.

また放射温度測定部２４の測定対象物（標的）の大きさと測定距離の関係は、距離係数により特定できる。距離係数は
（距離係数）＝（測定距離）／（標的サイズ）
となる。本実施形態にあっては、距離係数が例えば２０〜３０の範囲にある放射温度測定部２４を使用する。例えば距離係数が２０の場合、１０ｃｍの大きさの標的を２メートルの距離で測定することになる。 Further, the relationship between the size of the measurement object (target) of the radiation temperature measurement unit 24 and the measurement distance can be specified by a distance coefficient. The distance coefficient is (distance coefficient) = (measurement distance) / (target size)
It becomes. In the present embodiment, the radiation temperature measurement unit 24 having a distance coefficient in the range of 20 to 30, for example, is used. For example, when the distance coefficient is 20, a target having a size of 10 cm is measured at a distance of 2 meters.

なお、一般的に使用している放射温度計は、距離係数が例えば１００〜３００と大きく、距離係数が２００の場合、１ｃｍの大きさの標的を２メートルの距離で測定することになるが、このような温度測定ではピンポイント的な温度測定となることから、本実施形態では距離係数を小さくし、標的を大きくして、測定エリアを広げている。勿論、距離係数を既存の放射温度計並みとしたピンポイント測定としても良い。また集光系は、固定焦点でよいが、必要に応じて可変焦点とすることも可能である。 In addition, the radiation thermometer generally used has a large distance coefficient of, for example, 100 to 300, and when the distance coefficient is 200, a target having a size of 1 cm is measured at a distance of 2 meters. Since such temperature measurement is pinpoint temperature measurement, in this embodiment, the distance coefficient is reduced, the target is enlarged, and the measurement area is expanded. Of course, it is good also as the pinpoint measurement which made the distance coefficient the same as the existing radiation thermometer. The condensing system may be a fixed focus, but it can also be a variable focus if necessary.

また放射温度測定部２４は、スマート掃除ロボット１０の本体外部に装着可能な構造とし、更に、走査駆動部５０により、放射温度測定部２４を例えば図１に示したように、水平方向の指向線２５ａから所定の垂直回りの走査角θとなる指向線２５ｂの範囲で測定エリア２６を走査可能としている。
Further, the radiation temperature measuring unit 24 is structured to be mounted outside the main body of the smart cleaning robot 10, and further, the scanning drive unit 50 causes the radiation temperature measuring unit 24 to be horizontally oriented as shown in FIG. The measurement area 26 can be scanned within the range of the directional line 25b having a predetermined vertical scanning angle θ from 25a.

また放射温度測定部２４に対してはスマート掃除ロボット１０の本体からの電源供給を受け、例えばロボット本体に設けたＵＳＢポートに対するコネクタ接続で信号送受信して走査制御及び測定温度の伝送を可能とする。
The radiation temperature measurement unit 24 is supplied with power from the main body of the smart cleaning robot 10, and transmits and receives scanning control and measurement temperature by transmitting and receiving signals through a connector connection to a USB port provided on the robot main body, for example. .

制御部３０は、ＣＰＵのプログラム実行などにより実現する機能であり、次の掃除制御、カメラ制御、音声認識制御及び高温異常監視制御を行う。

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 high temperature abnormality monitoring control.

（掃除制御）
制御部３０による掃除制御には、例えば自動モード、壁際モード、局所モードがある。自動モードはメモリに予め記憶した掃除経路に従って部屋の床を自動で掃除する。壁際モードは、メモリに予め記憶した壁際経路に従って部屋の壁際を集中的に掃除する。局所モードは、メモリに予め記憶した所定半径の床面を例えばスパイラル経路に従って集中的に掃除する。 (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.

また、制御部３０は、操作表示部４０のリモコン受信部で受信した利用者が操作したリモコンからの操作信号に基づき、自動モード、壁際モード又は局所モードに従った掃除制御を行う。 Further, the control unit 30 performs cleaning control according to the automatic mode, the wall-side mode, or the local mode based on the operation signal from the remote controller operated by the user received by the remote control receiving unit of the operation display unit 40.

（カメラ制御）
また、制御部３０は、無線ＬＡＮ通信部３２を介して、外出先の利用者の携帯電話２２の操作による撮影指示信号を受信した場合、カメラ部３６に指示し、撮影動作により部屋の画像を取得し、利用者の携帯電話２２へ送信して画像表示させる制御を行う。 (Camera control)
In addition, when receiving a shooting instruction signal by operating the mobile phone 22 of the user who is away from the destination via the wireless LAN communication unit 32, the control unit 30 instructs the camera unit 36 to display an image of the room by the shooting operation. Acquisition and transmission to the user's mobile phone 22 to perform image control are performed.

また、制御部３０は、無線ＬＡＮ通信部３２を介して、室内にいる利用者の携帯電話２２の操作による撮影指示信号を受信した場合、カメラ部３６により部屋の様子を撮影した画像を取得し、当該画像を利用者の携帯電話２２へ送信して表示させる制御行う。この場合、携帯電話２２の画面には、スマート掃除ロボット１０の走行操作釦が表示され、携帯電話２２からの指示に基づき、制御部３０は走行駆動部４４に指示し、スマート掃除ロボット１０を直進、旋回又は後進させる制御を行い、例えばカメラ部３６で撮影した部屋の画像を見ながら、物を捜したり、ペットを見つけたりするといった利用を可能とする。 In addition, when the control unit 30 receives a shooting instruction signal by operating the mobile phone 22 of a user in the room via the wireless LAN communication unit 32, the control unit 30 acquires an image of the room taken by the camera unit 36. The image is transmitted to the user's mobile phone 22 and displayed. In this case, the travel operation button of the smart cleaning robot 10 is displayed on the screen of the mobile phone 22, and the control unit 30 instructs the travel drive unit 44 based on an instruction from the mobile phone 22 to advance the smart cleaning robot 10 straight. For example, it is possible to search for an object or find a pet while looking at the room image taken by the camera unit 36 by turning or moving backward.

（音声認識制御）
制御部３０は、所定の音声認識アルゴリズムに従った音声認識制御を行う。制御部３０による音声認識制御は、例えば孤立単語単位に認識を行うフレーズ認識方式に従って動作する音声認識エンジン（音声認識ＬＳＩ）により音声を認識する制御を行う。フレーズ認識方式は、予めメモリに登録したフレーズの中から１つのフレーズを選んで利用者が音声入力すると、音声認識エンジンは、入力した音声のフレーズごとの音声特徴量を算出し、算出したフレーズごとの音声特徴量とメモリに登録している複数のフレーズの音声パターン系列情報とを比較して、フレーズごとの尤度値を算出し、所定の閾値を超える尤度値のフレーズを示す識別子（インデックス）を認識結果として出力する。 (Voice recognition control)
The control unit 30 performs voice recognition control according to a predetermined voice recognition algorithm. The speech recognition control by the control unit 30 performs control for recognizing speech by a speech recognition engine (speech recognition LSI) that operates according to a phrase recognition method that performs recognition in units of isolated words, for example. In the phrase recognition method, when a user selects one phrase from phrases registered in the memory in advance and inputs a voice, the voice recognition engine calculates a voice feature amount for each phrase of the input voice, and for each calculated phrase. An identifier (index) indicating a phrase having a likelihood value exceeding a predetermined threshold by calculating a likelihood value for each phrase by comparing the speech feature quantity of the phrase and the speech pattern series information of a plurality of phrases registered in the memory ) Is output as a recognition result.

制御部３０で音声認識するためにメモリに登録するフレーズとしては、掃除操作制御については例えば「スタート」や「ストップ」といったフレーズを事前に音声入力して登録し、また会話制御については「おはよう」、「こんにちは」といった簡単な挨拶のフレーズを事前に音声入力して登録している。 As a phrase to be registered in the memory for voice recognition by the control unit 30, for example, a phrase such as “start” or “stop” is registered by voice input in advance for cleaning operation control, and “good morning” for conversation control. , it is registered with voice input to advance the phrase simple greeting such as "Hello".

制御部３０は、掃除制御を行っていない状態で、音声入出力部３８のマイクを介して利用者からの例えば「スタート」といった音声入力を認識し、認識結果に基づき操作指示を判断して対応する制御を行う。また、制御部３０は、音声入出力部３８のマイクを介して利用者からの例えば「おはよう」といった音声入力を認識し、予め定めた所定の会話入力を判断し、対応する応答音声を音声入出力部３８のスピーカから出力する制御を行う。 The control unit 30 recognizes a voice input such as “start” from the user via the microphone of the voice input / output unit 38 in a state where the cleaning control is not performed, and determines an operation instruction based on the recognition result. Control. The control unit 30 also recognizes a voice input such as “good morning” from the user via the microphone of the voice input / output unit 38, determines a predetermined conversation input, and inputs a corresponding response voice into the voice input. Control to output from the speaker of the output unit 38 is performed.

なお、音声認識制御は、フレーズ認識方式に限定されず、適宜の音声認識方式を含む。 Note that the speech recognition control is not limited to the phrase recognition method, and includes an appropriate speech recognition method.

（放射温度測定に基づく高温異常監視制御）
制御部３０は、放射温度測定部２４の測定温度が所定の閾値温度Ｔｔｈ以上、例えば室温最高温度より高いＴｔｈ＝５０℃以上となる高温異常を検知した場合に、所定の高温異常対処制御を行う。 (High temperature abnormality monitoring control based on radiation temperature measurement)
The control unit 30 performs predetermined high temperature abnormality countermeasure control when detecting a high temperature abnormality in which the measurement temperature of the radiation temperature measurement unit 24 is equal to or higher than a predetermined threshold temperature Tth, for example, Tth = 50 ° C. higher than the room temperature maximum temperature. .

制御部３０は、作業領域に予め設定した巡回経路の測定点を巡回移動しながら、放射温度測定部２４による測定温度の高温異常を検知する高温異常監視制御を繰り返す。この高温異常監視制御には、各部屋に測定点を設定して巡回移動する第１高温異常監視制御と、各部屋の火災の発生に繋がる可能性のある場所や機器等の所定局所の温度を測定するための測定点を設定して巡回移動する第２高温異常監視制御がある。 The control unit 30 repeats the high temperature abnormality monitoring control for detecting the high temperature abnormality of the measurement temperature by the radiation temperature measurement unit 24 while cyclically moving the measurement points of the cyclic route set in advance in the work area. This high temperature abnormality monitoring control includes the first high temperature abnormality monitoring control in which a measurement point is set in each room and moving around, and a predetermined local temperature such as a place or a device that may cause a fire in each room. There is a second high temperature abnormality monitoring control in which a measurement point for measurement is set and moved cyclically.

なお、「測定点を設定する」とは、「測定点を設定してメモリに記憶する」ことを意味する。以下、測定点の設定以外も、同様に、設定とは、ある情報を設定してメモリに記憶することを意味する。 Note that “setting the measurement point” means “setting the measurement point and storing it in the memory”. Hereinafter, other than the setting of the measurement point, similarly, the setting means that certain information is set and stored in the memory.

（第１高温異常監視制御）
制御部３０は、例えば図２に示すように、住宅１５におけるＰ０を起点に部屋Ａ〜Ｄに設定した測定点Ｐ１〜Ｐ４を通る巡回経路Ｌを予め設定し、巡回経路Ｌの測定点Ｐ１〜Ｐ４を巡回移動しながら、放射温度測定部２４により温度を測定して高温異常を検知する第１高温異常監視制御を行う。ここで起点Ｐ０は充電ステーション２８に接続する待機ポイントであり、原点となる。また観測Ｐ１〜Ｐ４は、スマート掃除ロボット１０の放射温度測定部２４により部屋全体を走査可能な部屋Ａ〜Ｄの略中央等の所定の位置に設定する。 (First high temperature abnormality monitoring control)
For example, as illustrated in FIG. 2, the control unit 30 sets in advance a traveling route L that passes through the measurement points P1 to P4 set in the rooms A to D starting from P0 in the house 15, and the measurement points P1 to P1 of the traveling route L are set. The first high temperature abnormality monitoring control is performed to detect a high temperature abnormality by measuring the temperature by the radiation temperature measurement unit 24 while moving around P4. Here, the starting point P0 is a standby point to be connected to the charging station 28 and is the origin. The observations P1 to P4 are set at predetermined positions such as approximately the center of the rooms A to D where the entire room can be scanned by the radiation temperature measurement unit 24 of the smart cleaning robot 10.

巡回経路情報は、原点Ｐ０を起点に測定点Ｐ１〜Ｐ４を通る直線経路と変針点を設定し、これに基づき走行制御情報を生成してメモリに記憶する。また、原点Ｐ０から監視ポイントＰ１〜Ｐ４への巡回経路Ｌの生成は、リモコンによりスマート掃除ロボット１０を実際に移動させる操作を行い、このときの走行駆動部４４の走行制御情報をメモリに記憶しても良い。 As the traveling route information, a straight route passing through the measurement points P1 to P4 and a turning point are set starting from the origin P0, and based on this, traveling control information is generated and stored in the memory. Further, the generation of the patrol route L 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 travel control information of the travel drive unit 44 at this time is stored in the memory. May be.

制御部３０は、所定の時間スケジュールに従って高温異常監視のための巡回移動を開始し、例えば図２に示すように、巡回経路Ｌに沿って最初の部屋Ａの測定点Ｐ１へ移動すると、測定点Ｐ１に停止して放射温度測定部２４により温度を測定して高温異常の有無を検知する。 The control unit 30 starts the cyclic movement for high temperature abnormality monitoring according to a predetermined time schedule, and moves to the measurement point P1 of the first room A along the cyclic path L as shown in FIG. Stopping at P1, the temperature is measured by the radiation temperature measuring unit 24 to detect the presence or absence of a high temperature abnormality.

放射温度測定部２４による温度測定として、制御部３０は、例えば図１に示すように、まず放射温度測定部２４の指向方向を指向線２５ａのように水平方向に設定した状態で、走行駆動部４４に指示し、測定点Ｐ１でスマート掃除ロボット１０自身を少なくとも１回転、旋回走行する制御を行い、部屋Ａの床面側の壁面を放射温度測定部２４で走査し、温度を測定する。
As the temperature measurement by the radiation temperature measurement unit 24, the control unit 30 first sets the directivity direction of the radiation temperature measurement unit 24 in the horizontal direction like the directivity line 25a as shown in FIG. 1, for example. 44, the smart cleaning robot 10 itself is controlled to turn at least one rotation at the measurement point P1, and the wall surface on the floor side of the room A is scanned by the radiation temperature measuring unit 24 to measure the temperature.

制御部３０は、旋回走行が済んだら、走行駆動部４４に指示し、放射温度測定部２４の指向方向を所定角度だけ上向きに回転走査し、この状態で再び旋回走行する制御を行って温度を測定し、上向き角度が設定角度θに達するまで同様に繰り返す制御を行う。 After the cornering is completed, the control unit 30 instructs the traveling driving unit 44 to rotate and scan the pointing direction of the radiation temperature measuring unit 24 upward by a predetermined angle, and in this state, performs control to perform the cornering again to control the temperature. The control is repeated until the upward angle reaches the set angle θ.

制御部３０は、旋回走行に伴い放射温度測定部２４から出力される測定温度をＡＤ変換により読み込み、所定の閾値温度Ｔｔｈ以上となる高温異常を検知した場合、旋回走行をその位置で停止し、高温異常を検知した対象物の温度を連続して測定し、例えば所定時間継続して高温異常を検知した場合、高温異常を確定し、高温異常対処制御を行う。 When the control unit 30 reads the measured temperature output from the radiation temperature measuring unit 24 along with the turning by AD conversion and detects a high temperature abnormality that is equal to or higher than a predetermined threshold temperature Tth, the control unit 30 stops the turning at that position, The temperature of the object in which the high temperature abnormality is detected is continuously measured. For example, when the high temperature abnormality is detected for a predetermined time, the high temperature abnormality is determined and high temperature abnormality countermeasure control is performed.

制御部３０による高温異常対処制御は、音声入出力部３８に指示し、高温異常を示す音声メッセージとして例えば「ピーピーピー高温異常を検知しました確認してください」をスピーカから出力する制御を行い、人が在宅している場合には、音声メッセージを聞いた利用者が、高温となっている原因を調べ、例えば電気機器の加熱であれば、電源を切るといった対処を行うことを可能とする。 The high temperature abnormality countermeasure control by the control unit 30 is instructed to the voice input / output unit 38 to output, for example, “Please confirm that a high temperature abnormality has been detected” from the speaker as a voice message indicating a high temperature abnormality. When a person is at home, a user who has heard a voice message investigates the cause of the high temperature, and can take measures such as turning off the power if the appliance is heated. .

また制御部３０は、高温異常を検知した場合、高温異常検知信号を生成し、無線ＬＡＮ通信部３２に指示し、当該高温異常検知信号を無線ルータ１２、ゲートウェイ１４、インターネット１６を経由してサーバ１８へ送信し、当該高温異常検知信号を受信したサーバ１８の機能により高温異常報知情報を含む高温異常検知信号を生成し、当該高温異常検知信号をインターネット１６及び携帯電話ネットワーク２０を経由して利用者の携帯電話２２へ送信し、高温異常の警報画面を表示すると共に警報音を出力させる制御を行う。 In addition, when detecting a high temperature abnormality, the control unit 30 generates a high temperature abnormality detection signal and instructs the wireless LAN communication unit 32 to send the high temperature abnormality detection signal to the server via the wireless router 12, the gateway 14, and the Internet 16. 18, the high-temperature abnormality detection signal including the high-temperature abnormality notification information is generated by the function of the server 18 that has received the high-temperature abnormality detection signal, and the high-temperature abnormality detection signal is used via the Internet 16 and the mobile phone network 20. To the mobile phone 22 of the person, and a control is performed to display a warning screen of a high temperature abnormality and output a warning sound.

また、制御部３０は、高温異常を検知した場合、カメラ部３６に指示し、高温異常を検知した場所の画像を撮像し、サーバ１８を経由して利用者の携帯電話２２へ送信して表示させる制御を行う。 In addition, when detecting a high temperature abnormality, the control unit 30 instructs the camera unit 36 to take an image of a place where the high temperature abnormality is detected, and transmits the image to the user's mobile phone 22 via the server 18 for display. To control.

これにより利用者が外出中であっても、外出先で高温異常を知り、また高温異常となっている場所の画像を見ることで、その原因を判断することを可能とし、適切な対処行動を可能とする。 This makes it possible to determine the cause of a high-temperature abnormality when the user is out and see the image of the place where the high-temperature abnormality has occurred, and to take appropriate coping actions. Make it possible.

また、制御部３０は、高温異常を検知した場合に、高温異常を起こしている機器の動作を停止させる制御を行うことも可能である。例えば、火災に繋がる可能性の高い電気ストーブなどの機器については、無線ＬＡＮ通信により電源をオンオフ制御可能なコンセント装置を準備し、制御部３０は、高温異常を検知した場合、電源オフ信号を生成し、無線ＬＡＮ通信部３２に指示し、当該電源オフ信号を無線ルータ１２を経由してコンセント装置へ送信して電源をオフする制御を行う。 Moreover, the control part 30 can also perform control which stops operation | movement of the apparatus which has raise | generates the high temperature abnormality, when high temperature abnormality is detected. For example, for equipment such as an electric heater that is likely to cause a fire, an outlet device that can control power on / off by wireless LAN communication is prepared, and the control unit 30 generates a power off signal when a high temperature abnormality is detected. Then, the wireless LAN communication unit 32 is instructed to transmit the power-off signal to the outlet device via the wireless router 12 to perform control to turn off the power.

また、制御部３０は、スマート掃除ロボット１０に消火ユニットを内蔵又は別ユニットとして搭載した場合には、高温異常を検知した後に、放射温度測定部２４により測定している温度が、火災と判断する所定の閾値温度、例えば７５℃以上となることを検知した場合、消火ユニットを作動して消火剤をノズルから散布する制御を行うことも可能である。なお、消火ユニットの作動は、高温異常を検知して利用者の携帯電話２２にカメラ部３６で撮像した画像を送っていることから、この画像を見ている利用者の消火指示を待って消火ユニットを作動させる制御を行っても良い。 In addition, when the smart cleaning robot 10 includes a fire extinguishing unit or as a separate unit, the control unit 30 determines that the temperature measured by the radiation temperature measuring unit 24 is a fire after detecting a high temperature abnormality. When it is detected that the temperature becomes a predetermined threshold temperature, for example, 75 ° C. or higher, it is possible to operate the fire extinguishing unit and control to spray the fire extinguishing agent from the nozzle. The operation of the fire extinguishing unit detects a high temperature abnormality and sends an image captured by the camera unit 36 to the user's mobile phone 22. Therefore, the fire extinguishing unit waits for a fire extinguishing instruction from the user viewing the image. Control for operating the unit may be performed.

（第２高温異常監視制御）
制御部３０は、例えば図４に示すように、住宅１５における部屋Ａ〜Ｄに配置している火災の発生につながる高温異常を起こす可能性のある場所や機器等の所定局所を監視対象として予め設定し、これらの監視対象の温度を観測する測定点Ｐ１〜Ｐ７を通る巡回経路Ｌを予め設定し、巡回経路Ｌの測定点Ｐ１〜Ｐ７を巡回移動しながら、放射温度測定部２４により各監視対象の温度を測定して高温異常を検知する第２高温異常監視制御を行う。 (Second high temperature abnormality monitoring control)
For example, as illustrated in FIG. 4, the control unit 30 preliminarily monitors a predetermined local area such as a place or a device that may cause a high temperature abnormality that leads to the occurrence of a fire arranged in the rooms A to D in the house 15. The cyclic temperature L that passes through the measurement points P1 to P7 for setting and observing the temperatures to be monitored is set in advance, and each monitoring is performed by the radiation temperature measurement unit 24 while cyclically moving the measurement points P1 to P7 of the cyclic route L. The second high temperature abnormality monitoring control is performed to detect the high temperature abnormality by measuring the temperature of the object.

図４にあっては、高温異常を起こす可能性のある場所や機器等の監視対象として、例えばストーブ等の暖房機器５４、くず入れ５６、ガスレンジ５８を設定しており、制御部３０は、各監視対象をスマート掃除ロボット１０の放射温度測定部２４により測定可能な位置として測定点Ｐ１〜Ｐ７を設定し、原点Ｐ０から測定点Ｐ１〜Ｐ７を順番に通過する巡回経路Ｌを設定している。 In FIG. 4, for example, a heating device 54 such as a stove, a waste bin 56, and a gas range 58 are set as monitoring targets of a place or device that may cause a high temperature abnormality. Measurement points P1 to P7 are set as positions where each monitoring target can be measured by the radiation temperature measurement unit 24 of the smart cleaning robot 10, and a circulation path L that passes through the measurement points P1 to P7 in order from the origin P0 is set. .

また制御部３０は、各測定点Ｐ１〜Ｐ７に対応して放射温度測定部２４の指向方向の関係を設定しており、各測定点Ｐ１〜Ｐ７に移動して停止する毎に、記憶した指向方向となるように、走行駆動部４４及び走査駆動部５０に指示し、監視対象物に放射温度測定部２４を向ける制御を行う。それ以外の制御は、第１高温異常監視制御の場合と同様であることから、説明は省略する。 Moreover, the control part 30 has set the directivity direction relationship of the radiation temperature measurement part 24 corresponding to each measurement point P1-P7, and whenever it moved to each measurement point P1-P7 and stopped, it memorize | stored the directivity. The travel drive unit 44 and the scan drive unit 50 are instructed so as to be in the direction, and control is performed to direct the radiation temperature measurement unit 24 toward the monitoring target. Since the other control is the same as that in the case of the first high temperature abnormality monitoring control, the description is omitted.

このように火災の発生につながる高温異常を起こす可能性のある場所や機器等の所定局所を監視対象として予め設定し、スマート掃除ロボット１０の巡回移動により、放射温度測定部２４で温度を測定して高温異常を検知することで、火災の発生につながる可能性のある場所や機器等の所定局所を重点的に監視し、火災の兆候を事前に捕らえて、火災の発生を未然に防止する対処を行うことを可能とする。 In this way, a predetermined location such as a place or equipment that may cause a high temperature abnormality leading to the occurrence of a fire is set as a monitoring target in advance, and the temperature is measured by the radiation temperature measurement unit 24 by the cyclic movement of the smart cleaning robot 10. By detecting high-temperature abnormalities, it is possible to focus on specific areas such as places and equipment that may lead to the occurrence of a fire, and to catch fire signs in advance to prevent the occurrence of a fire. It is possible to perform.

なお、制御部３０は、第１高温異常監視制御と第２高温異常監視制御を別々に行う以外に、両方を組み合わせた制御を行うようにしても良い。 The control unit 30 may perform control combining both the first high temperature abnormality monitoring control and the second high temperature abnormality monitoring control separately.

［消火ユニットを備えた掃除ロボット］
図５は掃除ロボットの他の実施形態を示したブロック図であり、この実施形態にあっては、図３の実施形態に、更に消火ユニット５２を設けたことを特徴とする。それ以外の構成及び機能は、図３の場合と同様であることから、同じ符号を付して、その説明は省略する。 [Cleaning robot with fire extinguishing unit]
FIG. 5 is a block diagram showing another embodiment of the cleaning robot. In this embodiment, a fire extinguishing unit 52 is further provided in the embodiment of FIG. Since other configurations and functions are the same as those in FIG. 3, the same reference numerals are given and description thereof is omitted.

消火ユニット５２は、スマート掃除ロボット１０に内蔵又は別ユニットとして搭載しており、制御部３０の指示を受け、消火剤をノズルから散布するようにしている。例えば消火ユニット５２は、消火用水をタンクに入れ、スマート掃除ロボット１０の吸塵用のファンにより排出される空気を、ベンチュリー管を用いたノズルに導入し、ベンチュリー作用によりタンクの水を吸い出して排出空気に混合することで噴霧化して散布する。また消火ユニット５２は、消火ガスまたは消火粉末剤を加圧充填したボンベに開閉弁を介してノズルを設け、開閉弁を開いて消火ガス又は消火粉末剤を散布するようにしても良い。
The fire extinguishing unit 52 is built in the smart cleaning robot 10 or mounted as a separate unit, and receives an instruction from the control unit 30 to spray a fire extinguishing agent from the nozzle. For example, the fire-extinguishing unit 52 puts fire-extinguishing water into a tank, introduces air discharged by a dust-absorbing fan of the smart cleaning robot 10 into a nozzle using a venturi tube, sucks out water from the tank by venturi, and discharges air. It is atomized and mixed by mixing. 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.

消火ユニット５２を設けた場合の制御部３０による消火制御は、次の遠隔消火制御と自動消火制御がある。 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.

（遠隔消火制御）
制御部３０は、巡回中に放射温度測定部２４の測定温度から高温異常を検知した場合、カメラ部３６に指示し、高温異常を検知した部屋の画像を撮像し、サーバ１８を経由して利用者の携帯電話２２へ送信し、画像を画面表示させる制御を行う。 (Remote fire extinguishing control)
When a high temperature abnormality is detected from the measured temperature of the radiation temperature measurement unit 24 during the tour, the control unit 30 instructs the camera unit 36 to take an image of the room where the high temperature abnormality is detected and uses it via the server 18. Control to display the image on the screen.

この携帯電話２２に表示する画面には、スマート掃除ロボット１０の走行操作と消火開始操作用の操作釦の表示があり、利用者は画面表示された高温異常を検知している機器や場所を確認し、火災の兆候又は火災による煙や炎を見た場合、操作釦にタッチするなどして消火開始操作を行うと、当該消火開始操作の指示信号がサーバ１８を経由してスマート掃除ロボット１０へ送信され、制御部３０は消火開始操作の指示信号の受信を検知して消火ユニット５２を作動させ、火災位置へ向けて消火剤を散布する制御を行う。
The screen displayed on the mobile phone 22 includes operation buttons for running operation and fire extinguishing start operation of the smart cleaning robot 10, and the user confirms the device or place where the high temperature abnormality is detected on the screen. However, when a fire sign or a smoke or flame due to a fire is seen, if an operation start operation is performed by touching an operation button or the like, an instruction signal for the operation to start the fire is sent to the smart cleaning robot 10 via the server 18. The control unit 30 detects the reception of the instruction signal of the fire extinguishing start operation, operates the fire extinguishing unit 52, and performs control to spray the fire extinguishing agent toward the fire position.

また、制御部３０は、の測定温度から高温異常を検知した場合、当該測定温度が所定の火災を判断する火災閾値温度、例えば７５℃以上となることを監視しており、火災閾値温度以上となった場合に火災を検知し、火災検知信号をサーバ１８を経由して利用者の携帯電話２２へ送信し、火災警報を報知させる制御を行う。このため利用者は携帯電話２２の画像から火災の兆候を判断することなく、火災警報の報知に基づき、操作釦にタッチするなどして消火開始操作を行うことで、消火ユニット５２を作動させ、火災位置へ向けて消火剤を散布することを可能とする。 In addition, when detecting a high temperature abnormality from the measured temperature, the control unit 30 monitors that the measured temperature becomes a fire threshold temperature for judging a predetermined fire, for example, 75 ° C. or more, In such a case, a fire is detected, and a fire detection signal is transmitted to the user's mobile phone 22 via the server 18 so that a fire alarm is notified. For this reason, the user activates the fire extinguishing unit 52 by performing a fire extinguishing start operation by touching an operation button or the like based on a fire alarm notification without judging a fire sign from the image of the mobile phone 22, It is possible to spray a fire extinguisher toward the fire location.

この場合、制御部３０による火災位置特定手段は、放射温度測定部２４を、高温異常を検知する位置に指向して停止させる走行駆動部４４を制御する機能となる。

In this case, the fire position specifying means by the control unit 30 is a function of controlling a radiation temperature measuring unit 24, the traveling drive unit 44 to stop directed to a position to detect the high temperature abnormality.

（自動消火制御）
制御部３０は、携帯電話２２からの利用者の消火指示を待って消火ユニット５０を作動させる制御を行うことを基本とするが、放射温度測定部２４の測定温度が火災閾値温度以上となって火災を検知してから所定時間を経過しても携帯電話２２からの消火開始操作の指示信号を受信しなかった場合、制御部３０の指示で消火ユニット５２を作動させる自動消火制御を行う。 (Automatic fire extinguishing control)
The control unit 30 basically performs control to operate the fire extinguishing unit 50 after waiting for a user's fire extinguishing instruction from the mobile phone 22, but the measured temperature of the radiation temperature measuring unit 24 becomes equal to or higher than the fire threshold temperature. If a fire extinguishing start operation instruction signal is not received from the mobile phone 22 even after a predetermined time has elapsed since the detection of the fire, automatic fire extinguishing control is performed to activate the fire extinguishing unit 52 in accordance with an instruction from the control unit 30.

［本発明の変形例］
なお、上記の実施形態は、スマート掃除ロボットに設けた放射温度測定部を垂直回りに走査する場合を例にとっているが、放射温度測定部の測定距離における標的サイズを大きくし、スマート掃除ロボットに指向方向を固定して放射温度測定部を設け、測定点に移動した場合には、スマート掃除ロボットの旋回走行による回転走査のみで対象領域の温度を測定して高温異常を検知するようにしても良い。このように放射温度測定部を固定配置することで、構造を簡単にし、コストを低減できる。 [Modification of the present invention]
In the above embodiment, the radiation temperature measurement unit provided in the smart cleaning robot is scanned in the vertical direction. However, the target size at the measurement distance of the radiation temperature measurement unit is increased to be directed to the smart cleaning robot. When the radiation temperature measurement unit is provided with the direction fixed and moved to the measurement point, the temperature of the target region may be measured only by rotational scanning by turning of the smart cleaning robot to detect a high temperature abnormality. . Thus, by fixedly arranging the radiation temperature measuring unit, the structure can be simplified and the cost can be reduced.

また、上記の実施形態にあっては、測定温度が所定の閾値温度以上の場合に高温異常を検知して報知しているが、更に、監視対象の過熱や発火の危険性をそれぞれに対応した閾値温度の設定により検知し、過熱を検知した場合は火災の予兆と判断して火災予報警報を報知し、発火の危険性を検知した場合には火災警報を報知するようにしても良い。 Further, in the above embodiment, when the measured temperature is equal to or higher than a predetermined threshold temperature, a high temperature abnormality is detected and notified, but further, the overheating and ignition risks of the monitoring target are dealt with respectively. It may be detected by setting the threshold temperature, and if an overheat is detected, it may be judged as a sign of fire and a fire forecast warning may be notified, and if a risk of ignition is detected, a fire alarm may be notified.

また、上記の実施形態にあっては、放射温度測定部をスマート掃除ロボットに外付けするようにしているが、ロボット本体に内蔵するようにしても良い。 In the above embodiment, the radiation temperature measuring unit is externally attached to the smart cleaning robot, but may be incorporated in the robot body.

また、上記の実施形態は掃除ロボットを例にとるものであったが、自立走行機能と外部ネットワークを経由した通信機能を備えるものであれば、これに限定されず、適宜の移動体につき、本発明の警報システムを同様にして適用することができる。 In addition, the above embodiment is an example of a cleaning robot, but is not limited to this as long as it has a self-supporting traveling function and a communication function via an external network. The alarm system of the invention can be applied in the same way.

また、上記の実施形態は住宅に掃除ロボットを導入した場合を例にとるが、これに限らずビルやオフィス用など各種施設に掃除ロボットを導入した場合にも適用できる。 Moreover, although said embodiment takes the case where the cleaning robot is introduce | transduced into a house as an example, it is applicable not only to this but also when a cleaning robot is introduced into various facilities, such as for buildings and offices.

また本発明は上記の実施形態に限定されず、その目的と利点を損なうことのない適宜の変形を含み、更に上記の実施形態に示した数値による限定は受けない。
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：スマート掃除ロボット
１２：無線ルータ
１４：ゲートウェイ
１６：インターネット
１８：サーバ
２０：携帯電話ネットワーク
２２：携帯電話
２４：放射温度測定部
３０：制御部
３２：無線ＬＡＮ通信部
３６：カメラ部
３８：音声入出力部
４０：操作表示部
４２：自立走行センサ部
４４：走行駆動部
４６：充電部
４８：吸塵部
５０：走査駆動部 10: Smart cleaning robot 12: Wireless router 14: Gateway 16: Internet 18: Server 20: Mobile phone network 22: Mobile phone 24: Radiation temperature measurement unit 30: Control unit 32: 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: scanning drive unit

Claims

In an alarm system comprising mobile means for performing a predetermined work while running independently in a predetermined work area,
The mobile means is
Radiation temperature measuring means for measuring the temperature by capturing thermal radiation from an object;
While controlling the predetermined work while moving a predetermined path in the work area, and moving the measurement point preset in the work area, the measurement temperature of the radiation temperature measuring means is a predetermined threshold Control means for performing high temperature abnormality monitoring control for detecting a high temperature abnormality that is equal to or higher than the temperature, and when detecting the high temperature abnormality, control means for performing predetermined high temperature abnormality countermeasure control,
The high temperature abnormality monitoring control comprises
As a measurement point set in advance in the work area, a predetermined position at the center of each monitoring area is cyclically moved, and each time the measurement point is moved, the temperature of the monitoring area where the measurement point is set is the radiation temperature. First high temperature abnormality monitoring control measured by the measuring means ;
As the measurement point set in advance in the work area, the measurement point is moved every time it moves to a predetermined local area such as a place or equipment that may cause a high temperature abnormality leading to the occurrence of a fire. A second high temperature abnormality monitoring control for measuring the set predetermined local temperature by the radiation temperature measuring means;
And the control means is capable of executing either one or both of the first high temperature abnormality monitoring control and the second high temperature abnormality monitoring control .

2. The alarm system according to claim 1 , wherein the radiation temperature measurement means uses a value obtained by dividing the measurement distance by the size of the measurement object as a distance coefficient, and the distance coefficient is in the range of 20-30. And alarm system.

2. The alarm system according to claim 1 , wherein when the control unit moves to the measurement point, the control unit measures the temperature by scanning the radiation temperature measurement unit two-dimensionally or three-dimensionally at the measurement point. Alarm system featuring.

In the alarm system according to claim 3 ,
The radiation temperature measuring means is fixed to a main body of the moving body means at a predetermined vertical directivity angle,
When the control means moves to the measurement point, the control means measures the temperature by turning and scanning the radiation temperature measurement means by turning the moving body means around the measurement point. Alarm system.

In the alarm system according to claim 3 ,
The radiation temperature measuring means is provided so that the vertical directivity angle can be variably controlled in the main body of the moving body means,
When the control means moves to the measurement point, the control means turns the mobile body means around the measurement point while gradually changing the vertical directivity angle within a predetermined angle range. An alarm system, wherein the temperature is measured by swiveling and scanning the radiation temperature measuring means by running.

2. The alarm system according to claim 1 , wherein, when the high temperature abnormality is detected, the control means notifies the high temperature abnormality as the high temperature abnormality countermeasure control and sends a high temperature abnormality detection signal via a server of an external network. Then, the alarm system is characterized in that it is transmitted to a user terminal to notify of a high temperature abnormality at the measurement point.

The alarm system according to claim 1 , wherein
The moving body means includes an imaging means,
When the high temperature abnormality is detected, the control means captures an image of the measurement point by the imaging means as the high temperature abnormality countermeasure control, and the captured image is transmitted to a user via a server of an external network. An alarm system characterized by being sent to a terminal for display.

2. The alarm system according to claim 1 , wherein when the second high temperature abnormality monitoring control is executed , the control unit stops the operation of the device when detecting a high temperature abnormality of the device serving as the measurement point. 3. An alarm system characterized by performing.

The alarm system according to claim 1 , wherein
The moving body means includes fire extinguishing means,
When the fire is detected from the measured temperature of the radiation temperature measuring means, the control means sprays a fire extinguishing agent from the fire extinguishing means toward the fire position detected by the radiation temperature measuring means as the high temperature abnormality countermeasure control . An alarm system characterized by that.