JP6158517B2 - Alarm system - Google Patents

Description

The present invention relates to an alarm system for coping with an intruder in cooperation with a moving body such as a cleaning robot using a network communication function when an abnormality associated with the intrusion of a suspicious person is detected.

  Conventionally, the security monitoring system is installed in a window of the room facing outside, for example, a magnet type open / close detector, and when going out, if the monitoring device installed in the living room etc. is set in the outing warning mode, the warning state When a suspicious person opens a window and tries to enter inside in a warning state, the open / close detector detects the opening of the window and wirelessly transmits an abnormality detection signal to the monitoring device. The system is designed to prevent intrusion of suspicious people by outputting an alarm sound with a loud sound.

  Furthermore, in recent crime prevention monitoring systems, when an abnormality is detected, an alarm sound is output, and an abnormality notification mail is transmitted to the user's mobile phone via the mobile phone network. It is possible to know and deal appropriately.

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

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

  By the way, such a conventional crime prevention monitoring system and a robot system that is a subject of housework services represented by a cleaning robot have different backgrounds and purposes, and therefore have been developed as separate systems.

  For this reason, in the near future, a crime prevention monitoring system using a wireless network and a robot system using another wireless network will exist and function in the same environment as a home. For this reason, it is conceivable to integrate the crime prevention monitoring system and the robot system, for example, by sharing a short-distance network in the home by wireless. However, the background and purpose of the two differ greatly, and the product standards are also unique.

  For example, in a wireless open / close detector provided in a security monitoring system, for example, an abnormality detection signal is transmitted by a wireless communication function compliant with the standard of a specific low-power radio station in the 400 MHz band. In addition to this, adding a wireless LAN function that enables communication with the cleaning robot involves a significant change in the open / close detector, which increases the cost.

  In addition, the wireless open / close detector provided in the existing security monitoring system cannot be equipped with a wireless LAN communication function, and even if a smart cleaning robot is introduced, it can be used as an alarm system in cooperation with the security monitoring system. There is a risk of not being able to do enough.

  In order to solve such a problem, the applicant of the present application relays a specific low power wireless network of a security monitoring system including an open / close detector and a security monitoring device and a wireless LAN communication network of a smart cleaning robot. By connecting with an adapter, it is possible to cooperate, and an abnormality detection signal detected by an open / close detector when a suspicious person enters is sent from a relay adapter to a server on the Internet via a smart cleaning robot. An alarm that can be sent to the phone to notify the intrusion abnormality, and further, an image of the monitoring area can be captured by the camera mounted on the smart cleaning robot, and sent to the user's mobile phone via the server. A system has been proposed (Japanese Patent Application No. 2012-133423).

  By the way, if the user is informed of an intrusion abnormality via a mobile phone and it is confirmed that a suspicious person has invaded by looking at the image sent from the smart cleaning robot, a staff member will be in charge if contracting with a security company. To the police agency to report that the suspicious person has invaded the police and ask for the response, but before the security company staff and police officers rush to the scene, Since it takes a certain amount of time, it is assumed that money or valuables will be taken during that time and the intruder will escape.

The present invention psychologically compresses an intruder by using an imaging function, a voice input / output function, etc. of a cleaning robot when an abnormal intrusion of a suspicious person is detected, thereby suppressing the action and minimizing theft damage. An object of the present invention is to provide an alarm system that makes it possible.

(Alarm system that performs intruder warning control )
The present invention provides an alarm system,
Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means.
Server means is abnormal when receiving an abnormality detection signal from the detecting means, transmits a movement instruction signal for moving to a user monitoring region co Sending abnormality notification signal to the terminal unit to the mobile unit, the mobile When a movement completion signal is received from the body means and an intruder detection signal is further received , a predetermined warning message signal is transmitted to the mobile means,
Mobile means comprises an intruder detection means and audio output means, performs predetermined operation while autonomous traveling a predetermined work area including a monitoring area, when receiving a movement command signal from the server means, the monitoring area When a movement completion signal is transmitted to the server means and an intruder is detected by the intruder detection means in the monitoring area, an intruder detection signal is transmitted to the server means and a warning message signal is received from the server means. A warning message based on the warning message signal is output from the voice output means ,
It is characterized by that.

(Alarm system for intruder negotiation control)
The present invention provides an alarm system,
Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means.
The server means includes voice input / output means, and when the abnormality detection signal is received from the abnormality detection means, the server means transmits an abnormality notification signal to the user terminal means and transmits a movement instruction signal for moving to the monitoring area. When a movement completion signal is received from the mobile means and an intruder detection signal is further received, a voice communication line is established with the mobile means,
The mobile means includes an intruder detection means, a voice input means, and a voice output means, performs a predetermined work while independently running in a predetermined work area including the monitoring area, and receives a movement instruction signal from the server means When the intruder is detected by the intruder detection means in the monitoring area, the intruder detection signal is transmitted to the server means.
When a voice communication line is established between the server means and the mobile means, the person in charge on the server means side and the mobile object are provided by the voice input / output means of the server means, the voice input means and the voice output means on the mobile means side. Enables conversations with means of intruders,
It is characterized by that.

(Alarm system that performs destruction countermeasure control)
The present invention provides an alarm system,
Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means.
When the server means receives the abnormality detection signal from the abnormality detection means, the server means transmits an abnormality notification signal to the user terminal means and transmits a movement instruction signal for moving to the monitoring area to the mobile means. When a movement completion signal is received from the mobile unit, a countermeasure instruction signal for instructing predetermined intruder countermeasure control is transmitted to the mobile means.
The moving body means includes an intruder detection means, an audio output means, and a staircase detection means for detecting a stairway exit, and performs a predetermined work while independently running in a predetermined work area including the monitoring area and moves from the server means. When an instruction signal is received, it moves to the monitoring area and transmits a movement completion signal to the server means. When a countermeasure instruction signal is received from the server means, an intruder is detected by the intruder detection means in the monitoring area. If a predetermined warning message that psychologically compresses the intruder is output from the voice output means, and the intruder is detected by the intruder detection means and the stairway exit is detected by the stair detection means in the monitoring area, the intruder Judging by the destructive action by, outputting a predetermined repellent sound at a predetermined maximum volume by the voice output means ,
It is characterized by that.

Further, the mobile means is exposed to the outside and distributes and arranges the electrode means, and applies a predetermined high voltage to the electrode means and applies an electric shock to the intruder when judging the destructive action by the intruder.

The warning message in this case includes a message indicating that an intrusion has been detected and reported and / or a message indicating that an intruder has been imaged and transmitted to the outside.

(Evacuation control)
When the intruder detection means detects the approach of the intruder, the moving body means moves to a predetermined retreat location.

After completing the movement to the evacuation site, the moving body means outputs a predetermined warning message for psychologically pressing the intruder from the voice output means.

(Intruder imaging control)
The mobile unit includes an imaging unit, and when an intruder is detected by the intruder detection unit, the mobile unit captures an image by the imaging unit and transmits the image data to the server unit.

(Concealment of intruder imaging by work movement)
The mobile unit includes an imaging unit, and when an intruder is detected by the intruder detection unit while performing a predetermined work operation in the monitoring area, the mobile unit captures an image by the imaging unit and transmits the image data to the server unit.

(Hiding the action of illuminating an intruder during work and capturing images)
The moving body means turns on the illumination means for illuminating the imaging target periodically (intermittently) while performing a predetermined work operation in the monitoring area, and when the intruder is detected by the intruder detection means during the work operation, The means is turned on and an image is picked up by the image pickup means.

(Intruder detection means)
The intruder detection means is an infrared detection means for detecting an intruder based on infrared rays emitted from the intruder.

  According to the alarm system of the present invention, an abnormality associated with the intrusion of a suspicious person into the monitoring area is detected by the abnormality detecting means and transmitted to the user terminal means via the server means to notify the abnormality, and from the server means When a movement instruction signal is transmitted to the mobile unit and moved to the monitoring area, and a movement completion signal is received from the mobile unit, a countermeasure instruction signal is transmitted from the server unit to the mobile unit and mounted on the mobile unit When an intruder is detected by the infrared detection means, the intruder is imaged by the imaging means, the intruder is imaged by the imaging means while illuminating the illumination means, and a warning message is output based on an instruction from the moving body itself or the server means Evacuation action for approaching intruder, warning message output at evacuation location, coping with intruder destructive action, person in charge on server means side and moving hand by establishing communication line If necessary, such as negotiation control by conversation with the intruder on the other side is performed as necessary, for example, to detect the intrusion and report to the outside, or to capture the intruder and send it to the outside The voice output of the warning message indicates that the intruder is strongly psychologically pressed, the action is suppressed, and the person is promptly moved away, thereby making it possible to minimize theft damage.

  In addition, when the intruder is detected by the infrared detecting means, the moving body means can take an image of the intruder reliably by performing predetermined countermeasure control, and can reliably notify the intruder of a warning message.

  In addition, when the moving body means determines the approach of the intruder by the infrared detecting means, this is regarded as a destructive action by the intruder and moves to a predetermined evacuation area that is not reachable under the sofa or furniture. Thus, it is possible to avoid the destruction by the intruder, and further, it is possible to psychologically press the intruder by outputting a warning message from the evacuation place.

Also, when the intruder lifts the mobile means to destroy it, both the infrared detection means and the staircase detection means can be detected to determine the intruder's destructive action, and the evasive sound is output from the voice output means. By outputting at the maximum volume or applying a high voltage to the electrode means distributed on the outside of the moving body means and applying an electric shock to the intruder, it is possible to detach from destruction.

Explanatory drawing which showed embodiment of the alarm system by this invention taking the installation of a house as an example A floor plan showing the floor plan of a house with the alarm system shown in FIG. Block diagram showing outline of functional configuration of smart cleaning robot Explanatory diagram showing an outline of the functional configuration of the open / close detector Explanatory diagram showing an outline of the functional configuration of the security monitoring device Block diagram showing an outline of the functional configuration of the relay adapter Time chart showing the operation of the alarm system of FIG.

[Configuration of alarm system]
(Outline of system configuration)
FIG. 1 is an explanatory view showing an embodiment of an alarm system according to the present invention, taking installation in a house as an example. As shown in FIG. 1, the alarm system of the present embodiment includes a wireless open / close detector 24, a crime prevention monitoring device 26, a relay adapter 28, a smart cleaning robot 10, a wireless router 12, a gateway 14, the Internet 16, a server 18, The mobile phone network 20 and the mobile phone 22 are used.

  Here, the wireless open / close detector 24 and the security monitoring device 26 constitute a security monitoring system. The smart cleaning robot 10, the wireless router 12, the gateway 14, the Internet 16, the server 18, the mobile phone network 20, and the mobile phone 22 The robot system is configured.

  The open / close detector 24 is an anomaly detection means, the smart cleaning robot 10 is a mobile means, the mobile phone 22 is a user terminal means, and the server 18 is a server means, which sends signals to each other via a network. Send and receive. The network is divided into a network for a security monitoring system and a network for a robot system, both of which are connected by a relay adapter 28. The security monitoring device 26 may have the function of the relay adapter 28.

  The network of the security monitoring system transmits and receives signals between the open / close detector 24, the security monitoring device 26, and the relay adapter 28 according to a predetermined first communication protocol.

  The network of the robot system includes an internal network inside the house 15 and an external network outside the house 15. The internal network transmits and receives signals between the smart cleaning robot 10, the wireless router 12, and the relay adapter 28 in accordance with a predetermined second communication protocol. The external network includes the Internet 16 and the mobile phone network 20, and transmits and receives signals between the gateway 14, the server 18, and the mobile phone 22 according to a predetermined communication protocol.

  In the following description, regarding the transmission / reception of signals among the open / close detector 24, the smart cleaning robot 10, the server 18 and the mobile phone 22, the relay adapter 28 serving as a device constituting the network, the smart cleaning robot 10 In some cases, the wireless router 12, the gateway 14, the Internet 16, and the cellular phone network 20 are omitted, and are simply expressed as a network.

  The open / close detector 24 is in a warning release state in the initial state, and when it receives a warning mode setting signal transmitted based on a warning mode setting operation in the crime prevention monitoring device 26, it shifts to a warning state, and each room or the like in the warning state. When an intrusion abnormality associated with the intrusion of a suspicious person into the predetermined monitoring area is detected, an abnormality detection signal according to the first communication protocol is transmitted to the crime prevention monitoring device 26 to output a crime prevention alarm. Further, the abnormality detection signal transmitted from the open / close detector 24 is transmitted to the server 18 via the network of the route serving as the relay adapter 28, the wireless router 12, the gateway 14, and the Internet 16.

  When the server 18 receives the abnormality detection signal transmitted from the open / close detector 24 via the network, the server 18 transmits an abnormality notification signal to the mobile phone 22 carried by the user, and the Internet 16, the gateway 14, and the wireless communication. When a movement instruction signal is transmitted to the smart cleaning robot 10 via the network serving as the router 12, the smart cleaning robot 10 is moved to the monitoring area where the intrusion abnormality is detected, and a movement completion signal is received from the smart cleaning robot 10. The server 18 transmits a countermeasure instruction signal to the smart cleaning robot 10 via the network to perform predetermined intruder countermeasure control.

The smart cleaning robot 10 performs a predetermined cleaning operation while independently running in a predetermined work area including a monitoring area such as each room of the house 15. The smart cleaning robot 10 moves to the instructed monitoring area when receiving the movement instruction signal from the server 18 via the network, and transmits the movement completion signal to the server 18 when the movement is completed. Predetermined intruder countermeasure control is performed when a countermeasure instruction signal is received from the network via the network.

  The intruder countermeasure control by the smart cleaning robot 10 includes intruder imaging control, warning control, evacuation control, destruction countermeasure control, intruder negotiation control, and the like, and details thereof will be clarified in a later description.

  When the mobile phone 22 owned by the user receives an abnormality notification signal from the server 18 via the network, the mobile phone 22 notifies a security alarm indicating an abnormal entry of the suspicious person. In addition, the mobile phone 22 transmits an on-site confirmation signal to the server 18 based on the user's operation, receives the image data and the recording data of the monitoring area acquired by the intruder handling control from the server 18 and reproduces them, and the intrusion abnormality It is possible to confirm the state of the site where the

(Introduction environment for smart cleaning robot)
In FIG. 1, the smart cleaning robot 10 is introduced into the house 15, and the smart cleaning robot 10 accepts a preset time schedule or a user's operation instruction, and performs independent running according to a pre-stored cleaning route, The cleaning work is done to suck and remove the dust on the floor surface by driving the mounted dust suction part. When the cleaning operation is not performed, the vehicle stays at the charging station arranged at a predetermined location in the house, and the charging terminal is connected to the station side at the charging station to charge the mounted battery power source.

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

  Cleaning work by the autonomous running of the smart cleaning robot 10 is stored in advance in a memory for each kitchen, LD, Western-style room A to C, for example, and the cleaning path starting from the charging station. Move to the room and follow the reciprocating cleaning route from the corner of the room to suck the dust while running in the room without any gaps. If there is an obstacle in the cleaning route, avoid the obstacle with an ultrasonic sensor. Clean up by running independently while generating a route.

  In addition, the smart cleaning robot 10 is provided with a stair sensor that functions as a stair detection unit in order to prevent falling from the stair exit when used on the second floor of a house. Stop and return.

  When the self-sustained travel on the cleaning route is finished, it moves to the next room and continues the cleaning work by self-supporting travel along the predetermined cleaning route. If a drop in battery power is detected during the cleaning operation, the battery is returned to the charging station and charged, and after completion of the charging, the cleaning operation is resumed by returning to the position where the cleaning is interrupted.

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

  In addition, the smart cleaning robot 10 has a wireless LAN communication function. Correspondingly, as shown in FIG. 1, a wireless router 12 functioning as an access point (fixed station) is arranged in the house 15, and an internal network is provided. As a wireless LAN communication environment.

  The wireless router 12 is connected to the gateway 14 and enables communication connection with the server 18 that provides various services related to the smart cleaning robot 10 via the Internet 16 from the gateway 14. Further, the server 18 enables communication connection with a mobile phone 22 such as a smartphone owned by the user via the mobile phone network 20.

  Here, the mobile phone 22 equipped with a wireless LAN communication function that functions as an access point (fixed station) is connected between the smart cleaning robot 10 and the mobile phone 22 in the house 15 without going through the wireless router 12. Communication connection by wireless LAN is enabled.

  Further, the mobile phone 22 uses a robot operation application installed in advance on the mobile phone 22, and by using the screen operation of the mobile phone 22, the cleaning operation of the smart cleaning robot 10 can be started and stopped, and the imaging operation by the camera can be remotely performed. It is possible to do it automatically.

  The server 18 is provided with predetermined service functions such as cleaning control by the smart cleaning robot 10 introduced into the house 15 and control corresponding to camera control. 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. Furthermore, in the alarm system of the present embodiment, a function is provided for performing a predetermined intruder handling process when the server 18 receives an abnormality detection signal based on the detection of an intrusion abnormality.

  As described above, the function of the intruder handling process of the server 18 is to notify the user's mobile phone 22 of an abnormality notification signal when the abnormality detection signal transmitted from the open / close detector 24 is received via the network. By transmitting a movement instruction signal to the smart cleaning robot 10 via the network and moving to a monitoring area where an intrusion abnormality has been detected, and when a movement completion signal is received, a countermeasure instruction signal is transmitted. The smart cleaning robot 10 is caused to perform predetermined intruder handling control.

(Arrangement of open / close detector and security monitoring device)
In FIG. 1, an opening / closing detector 24, for example, is installed in an opening / closing section 25 such as a window or a sliding door that faces the outside of each room of a house 15 as an abnormality detection means for detecting an abnormality associated with the intrusion of a suspicious person. . The open / close detector 24 fixes the detector main body to, for example, the door frame of the mating part of the sliding door located inside, and arranges a magnet on the door frame of the other sliding door so as to face this, and opens and closes the sliding door. When the detector main body detects a decrease in magnetism due to the alarm and receives a warning mode setting signal from the security monitoring device 26 and is in a warning state, the security monitoring device wirelessly transmits an abnormality detection signal according to a predetermined first communication protocol. 26. The open / close detector 24 does not transmit an abnormality detection signal in the alert release state.

  The security monitoring device 26 is disposed at a position where it is easy to operate and view, for example, in a living room. For example, when going out, the crime prevention monitoring device 26 enters a warning state by performing a setting operation of the outing warning mode, and transmits a warning mode setting signal indicating the transition to the outing warning mode to the open / close detector 24 to enter the warning state. At the same time, a warning mode setting signal is transmitted to the server 18 via the relay adapter 28, the wireless router 12, the gateway 14 and the Internet 16. When the security monitoring device 26 receives an abnormality detection signal from any of the open / close detectors 24 in the alert state, it outputs a warning sound of a security alarm from the speaker at a high volume.

  In addition, a remote control device (not shown) is provided for the security monitoring device 26. When the user goes out, the user carries the remote control device, leaves the entrance, and shuts the door. If you go home, and if you go home, before you open the entrance door, you can use the remote control to release the outing warning mode.

  The security monitoring device 26 transmits a warning mode release signal to the open / close detector 24 to shift to the warning release state when the outing warning mode is canceled, and transmits the warning mode release signal to the relay adapter 28, the wireless router 12, and the gateway. 14 Transmit to the server 18 via the Internet 16.

  Further, when the security monitoring device 26 is set in the outing warning mode, if the transition to the outing warning mode is made after a predetermined delay time elapses, the entrance to the security monitoring device 26 is operated within the delay time after the operation of the security monitoring device 26. The remote control device is not necessary.

  Moreover, you may make it perform the setting of the home alert mode used as the switch to the alert state at home accompanying the setting operation of the crime prevention monitoring apparatus 26, when going to bed. When the alarm state is switched to the home alarm mode, the crime prevention monitoring device 26 transmits an alarm mode setting signal to the open / close detector 24 and the server 18 as described above, and when the alarm mode is canceled, the alarm mode cancel signal is opened / closed. It transmits to the detector 24 and the server 18.

  A communication path 13 according to a predetermined first communication protocol is provided between the open / close detector 24 and the security monitoring device 26, and the open / close detector 24 includes an abnormality including a group code unique to the security monitoring system via the communication path 13. Send a detection signal.

(Linkage of relay adapter and smart cleaning robot)
In the alarm system of FIG. 1, the relay adapter 28 is arranged corresponding to the opening / closing detector 24, for example, in order to link the opening / closing detector 24 of the security monitoring system with the smart cleaning robot 10. The relay adapter 28 converts the abnormality detection signal in accordance with the first communication protocol received from the open / close detector 24 into an abnormality detection signal in accordance with the second communication protocol that is the wireless LAN communication protocol, and the abnormality detection signal is converted into an access point. The wireless router 12, the gateway 14, and the Internet 16 are transmitted to the server 18 through the route network.

(Server intruder handling function)
The server 18 is provided with a predetermined intruder countermeasure function in conjunction with the opening / closing detector 24 in addition to predetermined service functions corresponding to cleaning control, camera control, and the like by the smart cleaning robot 10 introduced into the house 15. .

When the server 18 receives the abnormality detection signal transmitted from the open / close detector 24 via the network, the server 18 generates an abnormality notification signal including abnormality notification information by the intruder handling function, and the abnormality notification signal is carried by the user's mobile phone. Send to phone 22. The mobile phone 22 that has received this abnormality notification signal outputs a security alarm by displaying an abnormality notification display screen, outputting sound from a speaker, or the like.

  In addition, when the server 18 receives the abnormality detection signal transmitted from the open / close detector 24 via the network, the server 18 monitors the installation of the server 18 by displaying the abnormality notification display screen of the server 18 or outputting sound from the speaker. A security alarm is output to the person in charge of the center, and the person in charge can handle the intruder.

  Further, when the server 18 receives the abnormality detection signal transmitted from the opening / closing detector 24 via the network, the server 18 moves to a predetermined monitoring point in the room serving as a monitoring area in which the opening / closing detector 24 detecting the abnormality is installed. A movement instruction signal is transmitted to move the smart cleaning robot 10.

  Here, the movement instruction signal transmitted from the server 18 is generated on the basis of a floor plan registered in advance in the server 18 by the user using the mobile phone 22.

  First, the user generates a floor plan map corresponding to the floor plan shown in FIG. 2, for example, using a floor plan map creation application installed in advance on the mobile phone 22 and registers it in the server 18.

  The floor plan generated by the mobile phone 22 includes the shape of the room and the furniture that obstructs the movement of the robot placed in the room, for each of the LD, the Western-style rooms A to C, the kitchen, and the washroom as the monitoring area in FIG. The arrangement of the devices is registered, and furthermore, when the intrusion abnormality is detected, the smart cleaning robot 10 determines and registers the monitoring points P1 to P5 that move to control the intruder.

  Here, the monitoring point P0 is a charging station and is the origin. In addition, when the smart cleaning robot 10 is moved to a room serving as a monitoring area based on the movement instruction signal, the monitoring points P1 to P5 are predetermined intrusions based on detection of an intruder by the infrared detection unit 52 mounted on the smart cleaning robot 10. To a position where it is possible to perform person handling control. For example, in the intruder handling control of the smart cleaning robot 10, since the monitoring area is imaged by the camera unit 34, the monitoring points P <b> 1 to P <b> 5 are set to positions where the entire room can be imaged by the camera unit 34.

  For the route information for moving from the origin P0 to the monitoring points P1 to P5, a straight line route and a changing point indicated by dotted lines from the origin P0 to the monitoring points P1 to P5 are set, and the travel distance of the straight line route and the changing point are set. Information that combines the direction of the needle change and the angle of the needle change is generated, transmitted to the server 18 and registered.

  In addition, the generation of the route information that moves from the origin P0 to the monitoring points P1 to P5 is performed by actually moving the smart cleaning robot 10 with the remote controller, and the travel control information of the travel drive unit 44 at this time (travel of the straight route) (A combination of the distance, the direction of change of the needle change point and the needle change angle) may be acquired and transmitted to the server 18 for registration.

  If the server 18 receives an abnormality detection signal from the specific open / close detector 24 that has detected an intrusion abnormality in the state where the floor plan map in which the monitoring points P1 to P5 are set is registered in the server 18, it is included in the abnormality detection signal. The corresponding monitoring point of the floor plan map is identified from the transmitted source ID, a movement instruction signal including route information for moving from the origin P to the identified monitoring point is generated, and transmitted to the smart cleaning robot 10 via the network. .

  When the server 18 receives the movement completion signal from the smart cleaning robot 10 via the network after transmitting the movement instruction signal to the smart cleaning robot 10, the server 18 transmits a countermeasure instruction signal to the smart cleaning robot 10 and performs a predetermined intrusion. Person control.

  The smart cleaning robot 10 that has received the countermeasure instruction signal from the server 18 captures an image by the camera unit 34 and acquires image data in the predetermined intruder countermeasure control, and also moves the monitoring area moved by the microphone unit 36. The sound data is input to acquire the recording data, and the image data and the recording data are transmitted to the server 18. The server 18 stores the image data and the recording data transmitted from the smart cleaning robot 10.

  In addition, when a security alarm is output from the user's mobile phone 22, the server 18 transmits a site confirmation signal by operating the site confirmation button displayed on the abnormality notification screen. In this case, the stored image data and audio data are read out and transferred to the mobile phone 22, and the mobile phone 22 displays the image data on the screen and reproduces and outputs the recorded data. The user can confirm the image and / or sound.

[Configuration of Smart Cleaning Robot 10]
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 33, a camera unit 34, a microphone unit 36, a speaker unit 38, an operation display unit 40, a self-supporting traveling sensor unit 42, a traveling drive. Unit 44, charging unit 46, dust collection unit 48, and infrared detection unit 52 connected to USB port 50, and operates with a battery power supply (not shown).

  The control unit 30 is a function realized by executing a program, for example. As hardware, a computer, a memory, and a computer circuit provided with various input / output ports including the USB port 50 are used.

  The wireless LAN communication unit 32 transmits / receives a signal to / from the wireless router 12 according to a predetermined wireless LAN communication protocol that is a second communication protocol. This wireless LAN communication protocol conforms to, for example, IEEE 802.11b / g. The wireless LAN communication unit 32 is wireless when the user's mobile phone 22 is in the house 15 (when the mobile phone 22 is in a wireless LAN communicable area) and the mobile phone 22 has a wireless LAN communication access point function. Signals are transmitted to and received from the mobile phone 22 according to the wireless LAN communication protocol without going through the router 12.

  The camera unit 34 includes an imaging optical system, an imaging element, and an illumination LED. Based on an instruction from the control unit 30, the camera unit 34 captures, for example, four predetermined images while lighting the illumination LED as necessary. To the server 18.

  The microphone unit 36 includes a microphone and an amplifier circuit thereof, and generates recorded data by storing audio data A / D converted from the audio signal input from the microphone for a predetermined recording time based on a recording instruction of the control unit 30. The generated recording data is transmitted to the server 18, and the generation and transmission of the recording data are repeated until the recording instruction of the control unit 30 is released.

  In addition, the microphone unit 36 performs voice input for performing a voice conversation by recognizing a predetermined voice with the user based on an instruction from the control unit 30. In addition, it is used for conversation with an intruder during voice recording in a room and intruder negotiation control described later.

  The speaker unit 38 includes a speaker and its driving circuit, and performs voice output for performing voice conversation by recognizing a predetermined voice with the user based on an instruction from the control unit 30. Also, a security alarm sound and a warning message are output based on an instruction from the control unit 30.

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

  The autonomous running sensor unit 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 for detecting the optical beacon arranged on the floor surface side of the charging station, for example, for detecting the optical beacon and aligning and connecting the respective charging terminals.

  The self-supporting traveling sensor unit 42 includes a stair sensor that functions as stair detection means for detecting a stair exit. As a stair sensor, a roller switch is placed at the front lower part of the robot body. When the roller switch is in contact with the floor surface, the switch is turned off. When the roller switch reaches the stairway exit and goes down at the stairway exit, the switch is turned on. This detects the exit of the stairs.

  Furthermore, the smart cleaning robot 10 includes a temperature sensor in addition to this, and the room temperature observed by the temperature sensor can be transmitted and displayed on the screen in response to a confirmation request from the mobile phone 22.

  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 left and right auxiliary wheels in addition to the left and right drive wheels.

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

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

  The infrared detection unit 52 can be used by connecting to the USB port 50 of the smart cleaning robot 10, detects infrared rays emitted from the intruder's human body, and outputs an infrared detection signal having a signal level corresponding to the intensity of the infrared rays. Output. The infrared detection unit 52 includes an optical system and an infrared detection element such as a pyroelectric element. The optical system forms a plurality of monitoring beam areas in the monitoring area, and an intruder (human body) passes through the monitoring beam area. Infrared change is received by an infrared detecting element, converted into an electrical signal and output.

 The infrared detection signal output from the infrared detection unit 52 is read into the control unit 30 via the USB port 50, and intruder detection is performed when the level is equal to or higher than a predetermined threshold level. In the present embodiment, the infrared detection signal input to the control unit 30 is the output signal of the infrared detection unit 52 that is input via the USB port 50, but the infrared detection can be directly input to the control unit 30. May be mounted on the smart cleaning robot 10.

  The control unit 30 is a function realized by program execution of the CPU, and performs the following cleaning control, camera control, intruder countermeasure control, and the like.

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

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

(Camera control)
In addition, when receiving an imaging instruction signal from the server 18 via the wireless LAN communication unit 32, the control unit 30 instructs the camera unit 34 to acquire, for example, images of rooms that are predetermined in four directions by the imaging operation. Then, the image data transmitted to the server 18 is controlled, and the image data transmitted by this control is stored in the server 18, and the image data is transmitted from the server 18 in response to the request from the user's mobile phone 22 to display the image. Let

(Intruder response control)
When the movement instruction signal transmitted from the server 18 based on the reception of the abnormality detection signal from the open / close detector 24 is received via the wireless LAN communication unit 32, the control unit 30 instructs the traveling drive unit 44 to Based on the route information included in the movement instruction signal received from, control is performed to move to the monitoring point of the room that becomes the monitoring area where the intrusion abnormality is detected.

  When detecting the arrival of the room where the intrusion abnormality is detected, the control unit 30 generates a movement completion signal, instructs the wireless LAN communication unit 32 to transmit it to the server 18, and performs the movement completion signal. A response instruction signal is transmitted from the server 18 that has received.

When the control unit 30 receives the countermeasure instruction signal transmitted from the server 18 via the wireless LAN communication unit 32, the controller 30 performs predetermined intruder countermeasure control described in detail below.
(1) Intruder imaging control (2) Intrusion warning control (3) Evacuation control (4) Destruction countermeasure control (5) Warning control from server (6) Intruder negotiation control To do.

(Intruder imaging control 1)
When the control unit 30 receives the countermeasure instruction signal transmitted from the server 18 via the wireless LAN communication unit 32, the infrared detection signal acquired from the infrared detection unit 52 via the USB port 50 becomes equal to or higher than a predetermined threshold level. When an intruder is detected, the camera unit 34 is instructed, and image data including, for example, four directions of the room where the intrusion abnormality is detected is generated to generate image data including the intruder, and the wireless LAN communication unit 32 is instructed to generate an image. Control to transmit data to the server 18 is performed, and the image data is stored in the server 18.

  In addition, when detecting an intruder from the infrared detection signal of the infrared detection unit 52, the control unit 30 instructs the microphone unit 36 to input the sound of the room where the intrusion abnormality is detected and generate recording data in a predetermined time unit. Then, the wireless LAN communication unit 32 is instructed to repeatedly transmit the recording data to the server 18, and the recording data is stored in the server 18.

  The image data and recording data stored in the server 18 can be displayed and reproduced from the mobile phone 22 according to a request from a user or a request from a person in charge at a monitoring center.

(Intruder imaging control 2)
When an intruder in the monitoring area is imaged by the camera unit 34 of the smart cleaning robot 10, if the intruder knows the imaging operation by the smart cleaning robot 10, the intruder may take an action of destroying the smart cleaning robot 10. If the smart cleaning robot 10 is expected to be destroyed, the function of the alarm system according to the present embodiment is lost.

  Therefore, when receiving the countermeasure instruction signal transmitted from the server 18 via the wireless LAN communication unit 32, the control unit 30 performs the imaging control and performs the cleaning operation while performing the cleaning control according to the local mode, for example. To hide the imaging operation from the intruder. The cleaning control in the local mode in this case is a cleaning control according to, for example, a spiral cleaning path stored in the memory, and moves while cleaning without leaving the intruder so much, so that a concealing action for capturing an image is performed. It is suitable as.

  When the control unit 30 detects an intruder from the infrared detection signal of the infrared detection unit 52 during the cleaning control, the control unit 30 instructs the camera unit 34 to take an image of, for example, four directions of the room where the intrusion abnormality is detected. The image data including the person is generated, and the wireless LAN communication unit 32 is instructed to transmit the image data to the server 18. This photographing operation is performed a predetermined number of times at predetermined time intervals.

  In addition, when performing an imaging operation, the control unit 30 illuminates the illumination LED periodically or intermittently while performing cleaning control according to the local mode when the illumination LED is lit to illuminate the imaging region. If an intruder is detected from the infrared detection signal of the infrared detection unit 52 during cleaning control involving periodic or intermittent lighting of the illumination LED, the camera unit 34 is instructed to detect an intrusion abnormality. For example, images of four directions in the room are captured while lighting LEDs are turned on to generate image data including an intruder, and control is performed to instruct the wireless LAN communication unit 32 to transmit the image data to the server 18. .

  Thus, by lighting the illumination LED periodically or intermittently during the cleaning operation, even if the illumination LED is turned on during the cleaning operation and the imaging operation is performed, the illumination LED for illumination is turned on. It is not known that the imaging operation performed by turning on the illumination LED can be concealed from an intruder.

(Warning control)
When the control unit 30 detects an intruder from the infrared detection signal of the infrared detection unit 52 while stopped at the monitoring point, the control unit 30 instructs the speaker unit 38 to output a predetermined warning message. The warning message output from the speaker unit 38 is content that psychologically presses the intruder.

  This warning message includes a message indicating that an intrusion has been detected and a message indicating that the intruder has been transmitted and a message indicating that the intruder has been imaged and transmitted to the outside. I took a picture of the intruder and sent it. "

(Evacuation control)
When the above-described imaging control and warning control are performed as the intruder countermeasure control of the smart cleaning robot 10, it is expected that the intruder who notices this will destroy the smart cleaning robot 10.

Therefore, when detecting the approach of an intruder from the infrared detection signal of the infrared detection unit 52 , the control unit 30 instructs the travel drive unit 44 to perform control to move to a predetermined retreat location. The approach detection of the intruder is determined by detecting that the signal level of the infrared detection signal of the infrared detector 52 increases at a predetermined rate. Note that the movement control to the evacuation site may be performed immediately after performing the imaging control or the warning control without detecting the approach of the intruder.

  As the evacuation location of the smart cleaning robot 10, a location that cannot be reached by an intruder, such as under a sofa or under a furniture with a gap between the floor, is selected as an evacuation point and added to the monitoring points P1 to P5. The information is registered in the server 18, and the countermeasure instruction signal transmitted from the server 18 is sent to the smart cleaning robot 10 including the route information of the evacuation point.

  In addition, when the movement to the retreat point is completed, the control unit 30 instructs the speaker unit 38 to perform a control to output a warning message that mentally presses the intruder as in the case of the warning control described above. .

(Destruction control 1)
If the above-described evacuation control is not in time, the smart cleaning robot 10 may be caught by an intruder and destroyed. When the intruder tries to destroy the smart cleaning robot 10, the smart cleaning robot 10 is caught and lifted, and thus, the behavior of the intruder is detected and the destruction countermeasure control is performed.

When the intruder is detected by the infrared detection signal of the infrared detection unit 52 and the stairway exit is detected by the staircase detection sensor of the self-supporting traveling sensor unit 42, the control unit 30 captures the smart cleaning robot 10 and Since the state where it is lifted from the surface is detected, this is determined as a destructive action by an intruder. When the smart cleaning robot 10 is lifted from the floor, the roller switch that functions as a staircase detection sensor is turned down and turned on in the same manner as the stairway exit. At this time, an intruder is detected from the infrared detection signal of the infrared detection unit 52. Thus, it can be determined that the intruder is destructive.

  When determining the destructive action by the intruder, the control unit 30 instructs the speaker unit 38 to output a predetermined repelling sound at a predetermined maximum volume. As the repelling sound output from the speaker unit 38, for example, a high-frequency sound that is uncomfortable due to a person's hearing is output at a maximum volume. If the intruder picks up and destroys the smart cleaning robot 10 in this way, it can be expected that the speaker unit 38 outputs a repelling sound at the maximum volume to surprise the intruder and let the smart cleaning robot 10 go. .

(Destruction control 2)
In another embodiment of the destruction countermeasure control by the smart cleaning robot 10, predetermined electrode patterns are distributed and arranged on the surface of the main body of the smart cleaning robot 10. The electrode pattern is arranged around the place where the hand touches when the smart cleaning robot 10 is lifted.

When the intruder is detected by the infrared detection signal of the infrared detecting unit 52 and the stairway exit is detected by the staircase detection sensor of the self-supporting traveling sensor unit 42, the control unit 30 determines that the intruder is destructive, Control is performed to apply a predetermined high voltage to the electrode pattern for a short time, and an electric shock is applied to the intruder to let the smart cleaning robot 10 go. The voltage at which an electric shock is applied to an intruder is, for example, a predetermined voltage of several tens of volts DC or less that does not pose a danger to the human body.

(Warning control from server)
The warning control by the smart cleaning robot 10 may be performed by sending a warning message signal from the server 18.

  When the control unit 30 moves to the monitoring area and stops and detects an intruder from the infrared detection signal of the infrared detection unit 52, the control unit 30 instructs the wireless LAN communication unit 32 to transmit the intruder detection signal to the server 18. To do.

  When the server 18 receives the intruder detection signal from the smart cleaning robot 10, the server 18 transmits a predetermined warning message signal to the smart cleaning robot 10.

  When the warning message signal is received from the server 18, the control unit 30 of the smart cleaning robot 10 performs control to output a warning message based on the warning message signal from the speaker unit 38.

  The warning message in this case is content that mentally oppresses the intruder as in the case of the warning control by the smart cleaning robot 10. For example, “This is a monitoring center. I confirmed an intruder discovery report. I received a photo of an intruder. I reported to the police and the staff was there.”

(Intruder negotiation control)
When the control unit 30 moves to the monitoring area and stops and detects an intruder from the infrared detection signal of the infrared detection unit 52, the control unit 30 instructs the wireless LAN communication unit 32 to transmit the intruder detection signal to the server 18. To do.

  When the server 18 receives an intruder detection signal from the smart cleaning robot 10 that has moved to the monitoring area, the server 18 establishes a voice communication line with the smart cleaning robot 10, and performs voice input / output including the microphone and speaker of the server 18. And the microphone unit 36 and the speaker unit 38 on the smart cleaning robot 10 side perform negotiation control that enables negotiation by conversation between the person in charge on the server 18 side and the intruder on the smart cleaning robot 10 side.

  For example, the person in charge on the server 18 side uses a voice communication line established with the smart cleaning robot 10, for example, “This is a monitoring center. Your intrusion was reported. Police officers and staff are rushing to you.It is useless to run away.Be prepared and stay there.Talk to the cleaning robot if you have anything to tell your A warning message such as “behavior is always being monitored” is output from the smart cleaning robot 10 and an intruder response message can be received.

  Such negotiation control can be utilized for the person in charge on the server side to persuade the intruder and discourage the crime.

  Since negotiation with the intruder by the person in charge requires experience and knowledge, a client is placed in the security company and a voice call line is established between the client and the smart cleaning robot 10 via the server 18. The person in charge of the security company installing the client may negotiate with the intruder. Further, the mobile phone 22 may be provided with a negotiation control voice input / output function by the server 18.

[Configuration of Open / Close Detector 24]
FIG. 4 is a block diagram showing an outline of the functional configuration of the open / close detector 24. In FIG. 4, the open / close detector 24 includes a control unit 60, a magnetic detection unit 62, and a communication unit 66 connected to an antenna 68, and is operated by a battery power source (not shown).

  The magnetic detection unit 62 includes, for example, a Hall element as a magnetic detection element, and detects the magnetism of the magnet 64 arranged outside. For example, the distance from the magnet 64 increases and the magnetic detection signal by the Hall element falls below a predetermined threshold value. In this case, an open detection signal is output to the control unit 60 as an abnormality detection signal.

  The control unit 60 is a function realized by, for example, a CPU program execution using a CPU, a memory, a computer circuit including various input / output ports and the like as hardware.

  The control unit 60 is in a warning release state in the initial state, and shifts to a warning state when it receives a warning mode setting signal from the crime prevention monitoring device 26 via the communication unit 66, and is detected from the magnetic detection unit 62 in the warning state. When the signal is obtained, the communication unit 66 is instructed to generate an abnormality detection signal according to a predetermined first communication protocol, and perform control to transmit the abnormality detection signal to the crime prevention monitoring device 26.

  In the case of Japan, this first communication protocol is, for example, STD-30 (radio equipment standard for low power security system radio stations) or STD-T67, which is known as a standard for specific low power radio stations in the 400 MHz band. Conforms to the standard for radio equipment for specific low-power radio station telemeters, telecontrols and data transmissions. This abnormality detection signal has a format including a transmission source ID indicating a transmission source, a group ID, an event code, a control command, and the like.

  The control unit 60 shifts to a warning release state when receiving a warning mode release signal from the security monitoring device 26 via the communication unit 66 in a warning state, and obtains an open detection signal from the magnetic detection unit 62 in the warning release state. If detected, the abnormality detection signal is not transmitted.

  As a detector for detecting an intrusion abnormality, in addition to the open / close detector 24, a vibration detector for detecting vibration associated with breakage of the window glass, a theft detector (human sensor) for detecting infrared rays emitted from the human body, and the like are appropriately used. Including detectors.

[Configuration of Security Monitoring Device 26]
FIG. 5 is a block diagram showing an outline of the functional configuration of the crime prevention monitoring device 26. In FIG. 5, the security monitoring device 26 includes a monitoring control unit 70, a communication unit 72 connected to an antenna 74, a notification unit 76, and an operation unit 78, and operates with a battery power source (not shown).

  The monitoring control unit 70 is a function realized by executing a program, for example. As the hardware, a CPU, a memory, a computer circuit having various input / output ports, and the like are used.

  The notification unit 76 includes a speaker, a liquid crystal display, and respective drive circuits, and outputs an alarm sound from the speaker according to an instruction from the monitoring control unit 70 as necessary, and displays an operation state such as an outing warning mode on the liquid crystal display. . The operation unit 78 includes various switches such as an outing switch for setting the outing warning mode, a home switch for setting the home warning mode, and a release switch for each mode.

  The communication unit 72 receives an intrusion detection signal according to the first communication protocol from the open / close detector 24. In addition, the communication unit 72 transmits a warning mode setting signal or a warning mode release signal to the open / close detector 24 and alerts the server 18 via the relay adapter 28 in accordance with the setting or release of the going-out warning mode or the home warning mode. A mode setting signal or a warning mode release signal is transmitted. The first communication protocol is the same as that of the communication unit 66 in FIG.

  The monitoring control unit 70 is a function realized by executing a program of the CPU, and performs the following crime prevention monitoring control.

(Security monitoring control)
When the monitoring control unit 70 detects acceptance of the setting operation of the outing warning mode by the operation unit 78, the surveillance control unit 70 starts the crime prevention monitoring control, and when receiving the abnormality detection signal from the open / close detector 24, instructs the notification unit 76, A predetermined security alarm sound is output at a high volume.

  In addition, when the monitoring control unit 70 detects acceptance of a setting operation of the home security mode by the operation unit 78 performed when the user goes to bed, the monitoring control unit 70 starts crime prevention monitoring control and receives an abnormality detection signal from the open / close detector 24. If so, the notification unit 76 is instructed to output a predetermined security alarm sound at a high volume.

  In addition, when the monitoring control unit 70 detects acceptance of the setting operation of the outing warning mode or the home warning mode by the operation unit 78, the monitoring control unit 70 instructs the communication unit 72 to transmit a warning mode setting signal to the open / close detector 24 to be in a warning state. And a warning mode setting signal is transmitted to the server 18 via the relay adapter 28.

  In addition, the monitoring control unit 70 performs control to cancel the security monitoring control when detecting the acceptance of the release operation by the operation unit 78 during the security monitoring control in the outing warning mode or the home warning mode, and the communication unit 72 The warning mode release signal is transmitted to the open / close detector 24 to shift to the warning release state, and the warning mode release signal is sent to the server 18 via the relay adapter 28.

  In addition, when the monitoring control unit 70 detects the reception of the setting signal or the release signal for the outing warning mode transmitted from the remote control device (not shown) via the communication unit 72, the monitoring control unit 70 starts the security monitoring control correspondingly, Control to cancel is performed, and the communication unit 72 is instructed to transmit a warning mode release signal or a warning mode release signal to the open / close detector 24 and to the server 18 via the relay adapter 28.

[Configuration of Relay Adapter 28]
FIG. 6 is a block diagram showing an outline of the functional configuration of the relay adapter 28. In FIG. 6, the relay adapter 28 includes a communication unit 82 connected to an antenna 84, a relay control unit 80, and a wireless LAN communication unit 86 connected to an antenna 88, and operates with a battery power source (not shown). The relay control unit 80 is a function realized by executing a program, for example. As the hardware, a CPU, a memory, a computer circuit having various input / output ports, and the like are used.

  The communication part 82 is the same as that of the communication part 72 provided in the crime prevention monitoring apparatus 26 of FIG. 5, and receives the abnormality detection signal according to a 1st communication protocol. The wireless LAN communication unit 86 is the same as the wireless LAN communication unit 32 provided in the smart cleaning robot 10 of FIG. 3, and passes through the wireless router 12 serving as an access point according to the wireless LAN communication protocol that is the second communication protocol. Then, a signal is transmitted to the server 18.

  The relay control unit 80 converts the abnormality detection signal according to the first communication protocol received from the open / close detector 24 via the communication unit 82 into the abnormality detection signal according to the wireless LAN communication protocol which is the second communication protocol. Then, the wireless LAN communication unit 86 is instructed to control the wireless router 12, the gateway 14, and the Internet 16 to transmit to the server 18 via the network of the route.

[Operation of alarm system for crime prevention monitoring]
FIG. 7 is a time chart showing the operation of the alarm system for the crime prevention monitoring of FIG. In FIG. 7, the crime prevention monitoring device 26, the relay adapter 28, the Internet 16, and the mobile phone network 20 shown in FIG.

  Prior to the operation of the event monitoring system shown in FIG. 1, a floor plan is created and registered by cooperation between the server 18 and the mobile phone 22. In the floor plan map creation registration, the user accesses the server 18 in step S1 (hereinafter, “step” is omitted) using the mobile phone 22 and selects a floor plan map creation menu from the menu screen. For example, FIG. For each of the LD, Western-style rooms A to C, kitchen, and washroom in the floor plan shown, the shape of the room and the furniture and equipment placed in the room are determined, and if an intrusion abnormality is detected, it is smart The cleaning robot 10 determines the monitoring points P1 to P5 that are moved to acquire the recording data and the image data, and further determines the evacuation points, creates a floor plan, transmits this to the server 18, and sends the floor plan to the server 18 in S2. Register with.

  When the user goes out, when the outing warning mode is set for the crime prevention monitoring device 26 by a remote control operation or the like, the open / close detector 24 enters a warning state and starts an intrusion abnormality detecting operation. In this state, when the open / close detector 24 detects an intrusion abnormality in S3, an abnormality detection signal is transmitted to the security monitoring device 26 in S4 to output a security alarm, and the relay adapter 28, the wireless router 12, the gateway 14, the Internet. An abnormality detection signal is transmitted to the server 18 via the network of the route 16.

  The server 18 that has received the abnormality detection signal from the open / close detection device 24 executes intruder handling processing in S5. The intruder handling process of S5 transmits an abnormality notification signal to the mobile phone 22 via the network, and the mobile phone 22 issues a security alarm notification by screen display and alarm sound output in S6.

  Further, the server 18 sends a movement instruction signal including route information to the monitoring point of the room in which the open / close detector 24 that has detected the abnormality is installed based on the floor plan registered in S2 via the network. 10, the smart cleaning robot 10 moves to the monitoring point of the room where the intrusion abnormality is detected in S8, and transmits a movement completion signal to the server 18 via the network when the monitoring point is reached. .

  Subsequently, the server 18 transmits a predetermined countermeasure instruction signal to the smart cleaning robot 10 via the network in S9, and the smart cleaning robot 10 performs intruder countermeasure control in S10. This intruder handling control includes at least intruder imaging control and intrusion warning control among the intruder imaging control, intrusion warning control, evacuation control, destruction countermeasure control, server warning control, and intruder negotiation control described above. To.

  In FIG. 7, the image data and the recording data acquired by the smart cleaning robot 10 are transmitted to the server 18 via the network by the intruder imaging control in the intruder handling control of S10. The case where image data and recorded data are stored is shown as an example.

In this case, when the user of the mobile phone 22 that has output the theft alarm in S3 performs a predetermined screen operation to check the status of the monitoring area, the mobile phone 22 transmits an on-site confirmation signal to the server 18 in S12. . Receiving this, the server 18 reads the stored image data and recorded data, and transfers them to the mobile phone 22 in S13. When the cellular phone 22 receives the image data and the recording data from the server 18, it reproduces and displays the image data in S 14 and reproduces and outputs the recording data to inform the user of the situation of the room where the intrusion abnormality is detected with the image and sound. Notify and allow the user to deal with it appropriately.

[Modification of the present invention]
(network)
In the above embodiment, the abnormality detection signal from the open / close detector is transmitted to the server via a network that becomes a relay adapter, a wireless router, a gateway, the Internet, a network including a smart cleaning robot, In other words, an abnormality detection signal may be transmitted from the open / close detector to the server via a relay adapter, a wireless router, a smart cleaning robot, a wireless router, a gateway, or a network serving as the Internet. In this case, the relay adapter sets the smart cleaning robot as the transmission destination, and when the smart cleaning robot receives the abnormality detection signal from the open / close detector, the relay adapter transmits the abnormality detection signal with the server as the transmission destination.

  Moreover, in the above embodiment, the crime prevention monitoring in the house is the first communication protocol, the robot system is the second communication protocol of the wireless LAN, and a different communication protocol is used. For example, for the crime prevention monitoring system, By using the same wireless LAN communication protocol as the robot system, the relay adapter 28 of FIG. 1 can be eliminated.

(Target facility)
Moreover, although said embodiment took the crime prevention monitoring of the house as an example, it is not limited to a residence, It can apply to the crime prevention monitoring of appropriate facilities, such as an office building, a hospital, a school, and a nursing care facility. .

(Power supply)
In the above embodiment, an open / close detector, a security monitoring device, a relay adapter, and the like that are operated by a battery power source are taken as an example, but the present invention can also be applied to a device that operates by a power source other than the battery power source.

(Imaging)
In the above-described embodiment, the image pickup means is a still image, but an image pickup means using a moving image can be applied to the present invention in addition to the still image.

(Other)
The present invention is not limited to the above-described embodiment, includes appropriate modifications without impairing the object and advantages thereof, and is not limited by the numerical values shown in the above-described embodiment.

10: Smart cleaning robot 12: Wireless router 14: Gateway 16: Internet 18: Server 20: Mobile phone network 22: Mobile phone 24: Opening / closing detector 26: Security monitoring device 28: Relay adapter 30 , 60 : Control unit 32 , 86 : Wireless LAN communication unit 34: camera unit 36: microphone unit 38: speaker unit 40: operation display unit 42: self-supporting traveling sensor unit 44: traveling drive unit 46: charging unit 48: dust suction unit 50: USB port 52: infrared detection unit 62: Magnetic detection unit 64: Magnets 66, 72, 82: Communication unit 70: Monitoring control unit 76: Notification unit 78: Operation unit 80: Relay control unit

Claims (11)

Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means,
Said server means, when receiving the abnormality detection signal from the abnormality detecting means, a movement instruction signal for moving into the monitoring area sends an abnormality notification signal to said user terminal means to said mobile unit send and receive the movement completion signal from the mobile unit, when further receiving the intruder detection signal, it transmits a predetermined warning message signal to the mobile unit,
Said mobile means comprises an intruder detection means and audio output means, said while the predetermined work area including the monitoring area autonomously traveling performs predetermined work, when receiving the movement command signal from the server means on the move to the monitoring area and sends the movement completion signal to the server unit, transmits the when detecting an intruder by said intruder detection means in the monitored area, the intruder detection signal to said server means and, upon receiving the warning message signal from said server means, for outputting a warning message based on the warning message signal from the audio output means,
An alarm system characterized by that.
Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means,
It said server means comprises a voice output means, when receiving the abnormality detection signal from the abnormality detecting means, for moving the front Ki監 vision area transmits an abnormality notification signal to said user terminal means When a movement instruction signal is transmitted to the mobile means, a movement completion signal is received from the mobile means , and an intruder detection signal is further received, a voice communication line is established with the mobile means. ,
Said mobile unit, intruder detection means, a voice input means and voice output means, said while the predetermined work area including the monitoring area autonomously traveling performs predetermined work, the movement command signal from the server means when receiving, transmitting the movement completion signal to move before Ki監 vision zone to the server means, wherein when it detects an intruder by said intruder detection means in the monitored area, the intruder detection signal To the server means,
When a voice communication line is established between the server means and the mobile means, the voice input / output means of the server means and the voice input means and voice output means of the mobile means side Enable conversation between the person in charge and the intruder on the mobile means side ,
An alarm system characterized by that.
Anomaly detection means, mobile means, user terminal means and server means for transmitting / receiving signals to / from each other via a network,
The abnormality detection means detects a predetermined abnormality accompanying the intrusion of a suspicious person into the monitoring area and transmits an abnormality detection signal to the server means,
It said server means, said abnormality detecting means when receiving the abnormality detection signal, the movable body moving instruction signal to move sends an abnormality notification signal to said user terminal means Previous Ki監 vision area transmitted to means transmits an address instruction signal for instructing the predetermined intruder address control when receiving the movement completion signal from the mobile unit to the mobile unit,
Said mobile unit, intruder detection means and provided with a stepped detecting means for detecting an audio output means and stairs exit gate performs a predetermined operation while autonomous traveling a predetermined work area including the monitoring area, said server If the move before Ki監 vision zone when receiving the movement command signal from the means to transmit the movement completion signal to the server unit, receiving the address instruction signal from said server means, in the monitoring region When an intruder is detected by the intruder detection means, a predetermined warning message that psychologically compresses the intruder is output from the voice output means, and the intruder is detected by the intruder detection means in the monitoring area If the stairway exit is detected by the staircase detection means, it is determined that the intruder is destructive, and the sound output means outputs a predetermined repellent sound at a predetermined maximum volume. ,
An alarm system characterized by that.
In the alarm system according to claim 3, wherein the mobile means, the electrode means distributed disposed exposed to the outside, if it is determined the destruction action by the intruder, a predetermined high voltage to the electrode means An alarm system characterized by applying an electric shock to an intruder when applied.
4. The alarm system according to claim 1 or 3 , wherein the warning message includes a message indicating that an intrusion has been detected and reporting and / or a message indicating that an intruder has been imaged and transmitted to the outside. And alarm system.
4. The alarm system according to claim 1 , wherein when the intruder detection means detects the approach of the intruder, the moving body means moves to a predetermined retreat location. 5. Alarm system to play.
7. The alarm system according to claim 6 , wherein the moving body means outputs a predetermined warning message for psychologically pressing an intruder from the sound output means after completing the movement to the retreat location. Alarm system featuring.
In the alarm system according to any one of claims 1 to 3, wherein the mobile unit, an imaging unit, when detecting an intruder by said intruder detection means, and capturing an image by the image pickup means And transmitting image data to the server means.
In the alarm system according to any one of claims 1 to 3, wherein the mobile unit is provided with an imaging means, and detects an intruder by said intruder detection means while predetermined work operation in the monitoring area In this case, the alarm system is characterized in that an image is taken by the imaging means and the image data is transmitted to the server means.
10. The alarm system according to claim 9 , wherein the moving means turns on lighting means for periodically illuminating an imaging target while performing a predetermined work operation in the monitoring area, and the intruder is operating during the work operation. An alarm system, wherein when an intruder is detected by a detection means , the illumination means is turned on and an image is taken by the imaging means.
4. The alarm system according to claim 1, wherein the intruder detection means is an infrared detection means for detecting an intruder based on infrared rays emitted from the intruder. .

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