JP7054323B2 - Disaster prevention cooperation system - Google Patents

Description

The present invention relates to a disaster prevention cooperation system that supports fire extinguishing activities and evacuation activities in the event of a fire by linking a disaster prevention monitoring system and a device management system that operates and manages work robots and the like.

Conventionally, in facilities where a large number of people are enrolled, such as hospitals and facilities for the elderly, disaster prevention receivers for fire prevention monitoring systems have been installed in the disaster prevention centers and managers' rooms in the facilities. By receiving the fire signal from the fire detector or transmitter connected to the detector line drawn from the receiver to the caution area, the fire representative is displayed and the main sound is sounded, and the disaster prevention receiver is used. The district acoustic device connected to the drawn control line is sounded, and the fire doors and fire shutters connected to the control line are controlled in conjunction with each other.

In addition, as an evacuation guidance device installed together with a disaster prevention monitoring system, emergency broadcasting equipment is provided in addition to the guidance lights specified by the Fire Service Act, which are constantly lit to guide evacuation. The emergency broadcasting equipment works in conjunction with the disaster prevention monitoring system, and in the event of a fire, an emergency broadcast including evacuation guidance guidance is broadcast from speakers installed in the corridors of the facility to encourage prompt evacuation.

On the other hand, in facilities such as hospitals and facilities for the elderly, cleaning robots that perform cleaning work inside the facilities, transport robots that carry equipment necessary for medical and nursing care sites, wheelchair robots that move people with walking difficulties, and more. Work robots such as stretcher robots that carry bedless elderly people and hospitalized patients have been put into practical use.

In order to appropriately manage the operation of various work robots used in such a facility, a device management system in which a desktop interface that can be used as a man-machine interface by a plurality of people is provided in the control device can be considered.

As for the desktop interface, a large-screen liquid crystal display equipped with a touch panel is arranged horizontally like a table (vertical arrangement is also possible), and related parties can see the screen display by standing so as to surround the table screen. , Multiple people can operate the screen (multi-operation) at the same time.

A control device equipped with a desktop interface connects a wireless LAN access point to a transmission line drawn out in the facility to build a wireless LAN communication area in the facility, and is a terminal device mounted on a work robot. Work by connecting via a wireless line, displaying the operational status of multiple work robots on the desktop interface, and designating a specific work robot as necessary to instruct control of predetermined work or movement. It enables centralized operation management of robots.

In addition, when a fire brigade, disaster prevention center personnel, self-defense fire brigade, etc. respond to an abnormality such as a fire in the event of a fire, access the disaster prevention receiving panel, etc. from the mobile terminal owned by the fire brigade to check the status of the abnormality such as a fire. We are responding while doing it.

Japanese Unexamined Patent Publication No. 2009-087111 Japanese Unexamined Patent Publication No. 2012-194787 Japanese Unexamined Patent Publication No. 2008-090757

By the way, when a fire breaks out in a facility such as a hospital or a facility for the elderly, a fire alarm is automatically output from the disaster prevention receiver of the disaster prevention monitoring system, and disaster prevention managers and disaster prevention personnel go to the site to start a fire. If confirmed, perform a fire confirmation operation and notify the fire department, try to extinguish the fire as early as possible, contact the on-site staff, and inpatients and elderly people who need human help. It is necessary to move people who have difficulty evacuating to a safe place.

However, when the disaster prevention manager goes to the site and confirms the fire, the fire extinguisher installed nearby will be used for the initial fire extinguishing, but the fire extinguisher will release the fire extinguisher in 20 to 30 seconds. It is a limited time, and depending on the situation of the fire, it may not be possible to completely extinguish the fire even if the fire extinguisher is used up.

In addition, the facility staff who learned of the fire carried the stretcher from the designated storage place to the hospital room or living room near the fire place based on the evacuation drill that is carried out on a daily basis, and put the inpatients and elderly people in a safe place. Although it is necessary to carry out the work in a hurry, it takes time and effort to move the stretcher between the evacuation source and the evacuation destination, and especially at night, the evacuation work is carried out by a small number of facility staff. In some cases, it may be necessary to make safe and prompt evacuation work difficult.

In order to solve this problem, a disaster prevention monitoring system and a device management system using a work robot are linked, and in the event of a fire, equipment necessary for fire response, such as fire extinguishing, is sent to a predetermined transport destination corresponding to the fire location. A disaster prevention cooperation system has been proposed in which the vessel is automatically transported by a transport robot to support fire extinguishing activities by facility staff and the like (Japanese Patent Application No. 2016-106905).

In addition, in the control of a mobile robot that moves while performing wireless communication with a management computer, wireless that indicates the degree of goodness of the communication environment based on data such as wireless strength, communication speed, error rate, and number of retries with the access point of the wireless LAN. A technique has been proposed in which an environment map is generated, the state of a wireless environment in a moving area is determined, and the communication is prevented from being disconnected during the movement (Patent Document 3).

However, in a disaster prevention cooperation system that controls a work robot by such a wireless LAN to perform disaster prevention support work such as transporting a fire extinguisher, the wireless LAN covers all areas in the facility where the work robot moves. However, the radio strength in the facility where the work robot moves varies depending on the location, and the communication quality deteriorates due to the influence of the radio waves coming from the upper and lower floors and adjacent facilities. In some cases, there is a problem that the communication status deteriorates while moving and the disaster prevention support work by the work robot cannot be performed normally.

In addition, even if the wireless LAN covers the entire area of the facility where the work robot normally moves, in the event of a fire, the fire door and fire shutter are closed and the sprinkler head is discharged by the disaster prevention monitoring system. There is a problem that the radio environment in the facility changes due to the operation of such disaster prevention equipment, the communication state deteriorates while moving, and the disaster prevention support work by the work robot cannot be performed normally.

Regarding the movement of the work robot, it is possible to automatically move to a specific place if there is no problem in the course, but if there is an abnormality in the course, it is necessary to reset the route. At this time, if communication is not possible, recovery may not be possible. Further, when the working robot heads for the place where the abnormality occurs while photographing the surroundings, the photographed data is always transmitted to the disaster prevention center or the like, but when communication becomes impossible, there is a problem that the image is delayed.

In addition, there is a risk that the status of the abnormality cannot be confirmed because the terminal possessed by the person who responded to the abnormality such as the fire brigade cannot communicate. In particular, if some areas become impassable due to the spread of a fire, or if impassability such as a collapse of cargo due to an earthquake is discovered, the location of the fire and the route to the person requiring rescue will be considered each time. It is necessary, and if the response to the abnormality is continued with the old information in the state where communication is not possible, there is a risk of consuming time due to the occurrence of backtracking.

An object of the present invention is to provide a disaster prevention cooperation system that creates disaster prevention map information in a facility by a work robot that moves in the facility and enables disaster prevention support by the wireless environment map information.

(Disaster prevention cooperation system)
The present invention
A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device .
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results , and
A wireless communication area is constructed by arranging a wireless station in the facility, and a wireless communication facility that connects a control device and a work robot via a wireless communication line to send and receive signals.
In the disaster prevention cooperation system provided by
When an abnormality occurs in the facility
The control device instructs the work robot to respond to the abnormality within the communicable area based on the wireless environment map information.
The working robot is characterized in that it responds to an abnormality based on an instruction from a control device .

(Robot movement route)
When an abnormality occurs in the facility
The control device moves the work robot to a predetermined destination according to the predetermined route information passing through the communicable area based on the wireless environment map information and the predetermined disaster prevention information obtained from the disaster prevention monitoring system that detects the abnormality. Instruct and
The working robot moves to the destination according to the route information.

(Correction of movement route)
When the work robot detects communication failure while responding to an abnormality,
The work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled, and the control device has a communicable area where communication is disabled. Notify that,
The control device updates the radio wave environment map information with the communicable area as the non-communicable area, and works to deal with abnormalities within the new communicable area based on the updated wireless environment map information. Instruct the robot to resume the response to the abnormality.

(Reconstruction of communicable route)
When the work robot detects communication failure while responding to an abnormality,
The work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled, and communicates with the wireless communication equipment in the communicable area where communication is disabled. Instruct to recover the status, and restart the error response after the communication status of the communicable area where communication is disabled is restored.

(Increased transmission power or changed frequency)
The working robot recovers the communication state of the communicable area in which communication is disabled by instructing the wireless communication equipment to increase the transmission power or change the communication frequency.

(Update of wireless environment map when disaster prevention equipment is activated)
When the disaster prevention monitoring system that detects an abnormality activates the specified disaster prevention equipment , the work robot moves inside the facility according to the instructions from the control device and changes the communication status in response to changes in the radio wave environment due to the operation of the disaster prevention equipment. The measurement is performed, and the measurement result is transmitted to the control device to update the radio environment map information.

(Changes in the radio wave environment due to the operation of fire doors, etc.)
The work robot measures the communication state corresponding to the change in the radio wave environment when the fire door, fire shutter, or sprinkler head is activated, and sends the measurement result to the control device to update the wireless environment map information . ..

(Improvement of radio field strength at fire site)
When a fire breaks out in the facility, the control device can instruct the wireless communication equipment to communicate in one or more areas including the area where the fire occurred , the area including the non-detourable area , and the area including the important area. The transmission power of the radio station is adjusted so as to be .

(Screen display of wireless environment map in case of fire)
When a fire is detected, the disaster prevention receiver of the disaster prevention monitoring system that detects abnormalities in the facility acquires wireless environment map information from the control device and displays it on the screen together with the location of the fire.

(Screen display of wireless environment map in case of fire on the mobile terminal of the person who responded to the abnormality)
The disaster prevention cooperation system is equipped with a mobile terminal that is carried by the person who responds to the abnormality.
The mobile terminal acquires wireless environment map information from the control device and displays it on the screen together with the location where the abnormality occurs.

(Control of radio station in case of fire)
A fire sensor for detecting a fire is provided in a radio station installed in a facility of wireless communication equipment, and the transmission power of the radio station is increased when a fire is detected by the fire sensor.

(Basic effect)
The present invention measures a communication state while moving in a facility, and generates a work robot that transmits the measurement result to a control device and wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement result. Disaster prevention cooperation with a control device and a wireless communication facility that constructs a wireless communication area by arranging a wireless station in the facility and connects the control device and a work robot via a wireless communication line to transmit and receive signals. In the system, when an abnormality occurs in the facility, the control device instructs the work robot to respond to the abnormality within the range of the communicable area based on the wireless environment map information, and the work robot is instructed from the control device. Since the abnormality response is performed based on the instruction of, when the robot moves to the location where the abnormality occurs when an abnormality such as a fire occurs, or when the fire brigade etc. responds to the abnormality, the response route while checking the communication impossible area It is possible to avoid the incommunicable area or determine the route so that it is as short as possible, and it is possible to maintain a communicable state, so it is possible to take a strong anomaly response to the progress of the anomaly. And.

( Effect of robot movement route)
In addition, when an abnormality occurs in the facility, the control device takes a predetermined route through the communicable area to the work robot based on the wireless environment map information and the predetermined disaster prevention information obtained from the disaster prevention monitoring system that detected the abnormality. Instructed to move to a predetermined destination according to the information, and the work robot moves to the destination according to the route information. Therefore, for example , in the event of a fire, from the transport source based on the instruction from the control device. When the work robot automatically transports equipment necessary for fire countermeasures, for example, a fire extinguisher, to a predetermined transport destination near the fire location, the work robot moves according to the route through the communicable area, so communication during movement. It surely prevents the situation where the condition deteriorates and the disaster prevention support work by the work robot is not performed normally, and enables highly reliable disaster prevention support work.

(Effect of modifying the movement route)
Further, when the work robot detects that communication is not possible while responding to an abnormality, the work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled . After moving and notifying the control device that there is a communicable area that has become incommunicable, the control device updates and updates the radio wave environment map information with the communicable area that has become incommunicable as the incommunicable area. Based on the radio environment map information provided, the work robot was instructed to respond to the abnormality within the range of the new communicable area, and the response to the abnormality was restarted. If a communicable area occurs while dealing with an abnormality in the work robot, it will not become uncontrollable in the non-communicable area. You can move to your destination. Further, by updating the wireless environment map information for the area where communication is not possible, the wireless environment map information corresponding to the latest communication state can always be generated.

(Effect of rebuilding communicable routes)
Further, when the work robot detects that communication is not possible while responding to an abnormality, the work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled . Move and instruct the wireless communication equipment to restore the communication status of the communicable area where communication is disabled, and resume the error response after the communication status of the communicable area where communication is disabled is restored. Therefore, it was a communicable area on the wireless environment map, but if a communicable area occurs while the work robot is running, for example, by controlling a wireless station near the non-communicable area to restore the communication state, It makes it possible to reliably move to the destination without changing the route.

(Effect of increasing transmission power or changing frequency)
Further, since the work robot is instructed to instruct the wireless communication equipment to increase the transmission power or change the communication frequency , the communication state of the communicable area where the communication is disabled is restored. By increasing the transmission power of a nearby radio station, the radio field strength is increased, the communication state is restored, and it is possible to reliably move to the destination without changing the route. In addition, by instructing to change the communication frequency of a radio station near the communication impossible area to another communication frequency that can communicate, it is possible to reliably move to the destination without changing the route. Make it possible.

(Effect of updating the wireless environment map when the disaster prevention equipment is activated)
In addition, when the disaster prevention monitoring system that detects an abnormality activates a predetermined disaster prevention device , the work robot moves in the facility according to the instruction from the control device and communicates in response to changes in the radio wave environment due to the operation of the disaster prevention device. Since the state is measured and the measurement result is sent to the control device to update the wireless environment map information, accurate wireless environment map information corresponding to changes in the radio environment in the event of a fire, for example , is generated . By doing so, it is possible to move to the fire place according to the route information avoiding the area where the communication condition is deteriorated due to the operation of the fire door, the fire shutter, etc., and the communication condition deteriorates during the movement, and the disaster prevention support by the work robot It is possible to surely prevent the situation where the work is not performed normally.

(Effect of improving radio field strength at fire site)
In addition, when a fire breaks out in the facility, the control device instructs the wireless communication equipment to cover one or more areas including the area where the fire occurred , the area including the non-detourable area , and the area including the important area. Since the transmission power of the radio station is adjusted so that communication is possible, for example, even if the fire brigade is heading to the place where the fire broke out while always in contact with the control device side by wireless communication, it communicates while moving. It is possible to surely prevent the situation where the condition deteriorates and the communication is interrupted.

(Effect of displaying the wireless environment map on the screen in the event of a fire)
In addition, the disaster prevention receiver of the disaster prevention monitoring system that detects abnormalities in the facility acquires wireless environment map information from the control device and displays it on the screen together with the location of the fire when a fire is detected. At the disaster prevention center where is installed, the communicable area in the facility can be easily and easily grasped in relation to the place where the fire broke out. It is possible to appropriately make a response plan such as guidance.

( Effect of displaying the wireless environment map on the screen of the person who responded to the abnormality in the event of a fire on the mobile terminal)
The disaster prevention cooperation system is further equipped with a mobile terminal that is carried by the person who responded to the abnormality, and the mobile terminal acquires the wireless environment map information from the control device and displays it on the screen together with the location where the abnormality occurred, so the fire brigade and disaster prevention center personnel , Self-defense fire brigade and other abnormal responders can move while avoiding the incommunicable area or immediately exit the incommunicable area, and can respond to the abnormality while checking the latest abnormal condition. .. Further, even in the case of entering the communication impossible area, since it is known in advance that the communication is impossible area, no confusion occurs.

(Effect of controlling the radio station in the event of a fire)
In addition, a fire sensor is installed in the wireless station installed in the facility of the wireless communication equipment to detect a fire, and when a fire is detected by the fire sensor, the transmission power of the wireless station is increased. Even if it changes, it is possible to reliably communicate with mobile robots that support disaster prevention, and even if the fire spreads and the radio station breaks down or disappears, other radio stations will transmit. By increasing the power, it is possible to cover the communication area of the radio station that has lost its function and reduce the area where communication becomes impossible as much as possible.

Explanatory diagram showing the outline of the disaster prevention cooperation system Explanatory drawing showing the appearance of the control device equipped with a table screen. Block diagram showing the functional configuration of the disaster prevention receiver and control device Block diagram showing the functional configuration of the transfer robot Explanatory drawing showing the transfer of a fire extinguisher by a transfer robot Explanatory diagram showing the map of the monitored facility displayed on the table screen together with the transport route of the transport robot and the non-communication area. An explanatory diagram showing a map of the monitored facility displayed on the table screen when a fire breaks out, along with a transport route by a transport robot. Explanatory drawing showing the control of the transport robot when communication becomes impossible while transporting the equipment to the fire location by the map of the monitored facility displayed on the table screen. An explanatory diagram showing a map of the monitored facility displayed on the table screen when a fire breaks out, along with an evacuation route by a stretcher robot. A time chart showing an embodiment of wireless environment map generation by a control device and a transfer robot and movement control based on the wireless environment map. A time chart showing the generation of a radio environment map by a control device and a transfer robot and other embodiments of movement control based on the radio environment map. A time chart showing the generation of a wireless environment map by the control device and the transport robot when the fire door is activated in the event of a fire and the movement control based on the wireless environment map.

[ Outline of disaster prevention cooperation system]
FIG. 1 is an explanatory diagram showing an outline of the disaster prevention cooperation system. As shown in FIG. 1, the disaster prevention cooperation system is composed of a disaster prevention monitoring system 10 and a device management system 12.

(Disaster prevention monitoring system)
As shown in FIG. 1, the disaster prevention monitoring system 10 including a function as a fire alarm system is provided with a disaster prevention receiving board 14, and the disaster prevention receiving board 14 is used in a disaster prevention center, a manager's room, etc. in a target facility such as a hospital or a facility for the elderly. is set up. The disaster prevention receiver 14 functions as an R-type receiver whose terminal address can be identified, for example, and the fire detector 18 and the transmitter 20 are connected to the monitoring transmission line 16a drawn out to the monitoring area in the facility. , Terminal devices such as a district sound device 22, a fire door 24, and a fire shutter 26 are connected to a control transmission line 16b drawn from the disaster prevention receiver panel 14.

The fire detector 18 and the transmitter 20 connected to the transmission line 16a are provided with a relay function and a unique address is set. The fire detector 18 detects the smoke concentration or temperature associated with the fire, and when the smoke concentration or temperature reaches a predetermined threshold indicating the fire level, the fire detector 18 determines that the fire is a fire and issues a fire signal to the disaster prevention receiver. Send to 14. The transmitter 20 transmits a fire report signal to the disaster prevention receiver 14 by turning on the push button switch by the fire report operation.

When the disaster prevention receiver 14 receives a fire signal from the fire detector 18 or a fire report signal from the transmitter 20, it displays a fire and outputs an acoustic alarm, and a person in charge of disaster prevention or the like goes to the site to fire. In response to the fire confirmation operation when the above is confirmed, the district acoustic device 22 connected to the control transmission path 16b drawn from the disaster prevention receiving panel 14 is operated to output the district acoustic alarm, and the fire location is also set. Interlocking control is performed to form a fire prevention section by controlling the fire door 24 and the fire shutter 26 corresponding to the above.

If the emergency broadcasting equipment is provided, the disaster prevention receiving board 14 will perform emergency broadcasting by interlocking control of the emergency broadcasting equipment. It also controls flasher control of other guide lights and equipment such as optical alarms.

(Equipment management system)
As shown in FIG. 1, the equipment management system 12 is provided with a control device 15 having a table screen, and centrally performs management control for daily operation of various work robots used in the facility. ..

FIG. 2 is an explanatory diagram showing the appearance of the control device, in which the table screen 46 is horizontally arranged on the table table 44, and the table screen 46 is composed of a liquid crystal display with a touch panel.

The table screen 46 of the control device 15 displays images necessary for management and control of the work robot normally used in the facility, and receives a fire information signal from the disaster prevention receiving panel 14 of the disaster prevention monitoring system 10. In the event of a fire, a facility map 48 showing the fire location 50 is displayed on the table screen 46, and is used for control processing for fire extinguishing support and evacuation support using a work robot.

Referring to FIG. 1 again, a transmission line 28 by a LAN cable or the like is pulled out from the control device 15 in the facility, and a wireless LAN access point 30 functioning as a wireless communication facility is connected to the transmission line 28. A wireless communication area by wireless LAN is formed in the facility.

Further, the access point 30 of the present embodiment is provided with a fire sensor 31 such as a temperature sensor in order to detect a situation that can be regarded as a fire, and when the fire sensor 31 detects a situation that can be regarded as a fire, the transmission power is transmitted. The number is increased to increase the signal strength of the communication area in the facility. Further, the transmission output level of the access points 30 around the access point 30 may be lowered, the frequency may be changed, or the like, so that communication in the area of the access point 30 may be facilitated. Further, when the signal from the access point 30 to the control device 15 is interrupted, the transmission output level of the access point near the access point 30 may be increased.

Therefore, in the event of a fire, it is possible to reliably communicate with a work robot that provides disaster prevention support, and even if the fire spreads and the access point 30 breaks down or disappears, another access point 30 can be used. By increasing the transmission power, the communication area of the access point 30 that has lost its function can be covered, and the area where communication becomes impossible can be reduced as much as possible. The access point 30 does not necessarily have to be provided with the fire sensor 31.

Persons concerned such as staff working in the facility carry a mobile terminal 32, and for example, a transfer robot 34, a stretcher robot 36, a wheelchair robot 38, etc. are arranged as work robots via the access point 30. Is connected to the control device 15 for communication to transmit and receive signals.

The transport robot 34 performs work of automatically transporting necessary equipment from an equipment storage location or the like based on the designation of a transport destination such as a medical site or a nursing care site in the facility by the staff.

The stretcher robot 36 and the wheelchair robot 38 carry inpatients and elderly people who have difficulty walking, and in principle perform support work to move to a destination in the facility set by the staff with the attendance of the staff.

Further, when the transfer robot 34 receives a communication state measurement instruction from the control device 15, the transfer robot 34 moves in the entire area of the movable facility and connects to the control device 15 by the wireless LAN access point 30. The communication state, for example, the radio wave strength (received electric field strength), the communication speed, the error rate, the number of retries, etc. are measured, and the measurement result is transmitted to the control device 15, and the control device 15 determines whether or not there is a communicable area in the facility. Generate the shown wireless environment map. The generation of the wireless environment map based on the measurement of the communication state in the facility by the transfer robot 34 is repeated at the time of starting the system and thereafter at predetermined intervals.

The communication state in the facility can also be measured by the stretcher robot 36 or the wheelchair robot 38.

In the normal state, the control device 15 displays the facility map 48 including the movement route and the wireless environment map on the table screen 46 when the working robot used in the facility is moved and controlled.

Further, in the event of a fire that receives a fire information signal from the disaster prevention receiving panel 14 of the disaster prevention monitoring system 10, the control device 15 displays a facility map 48 showing the fire location 50, the movement route of the work robot, and the wireless environment map on the table screen 46. It is displayed and can be used for control processing for fire extinguishing support and evacuation support using work robots.

In the event of such a fire, the fire location 50, the movement route of the work robot, and the facility map 48 showing the wireless environment map are displayed on the table screen 46 of the control device 15, so that the person concerned such as the disaster prevention manager can be in the facility. The relationship between the communicable area and the place where the fire broke out can be easily and easily grasped, and a response plan such as a work robot to transport the equipment to the place where the fire broke out and a fire brigade to guide the place where the fire broke out can be made appropriately. ..

Further, when the work robot is moved to a predetermined destination in the facility, the control device 15 generates route information passing through the communicable area based on the wireless environment map, and sets the work robot as the destination according to the route passing through the communicable area. Control to move to.

(Cooperation between disaster prevention monitoring system and equipment management system)
When the disaster prevention receiving panel 14 of the disaster prevention monitoring system 10 receives a fire signal or a fire alarm signal and outputs a fire alarm, the disaster prevention receiving panel 14 transmits a fire information signal including the fire location to the control device 15 of the device management system 12.

When the control device 15 of the device management system 12 receives the fire information signal from the disaster prevention receiving panel 14, the table screen 46 displays the facility map 48 showing the fire location 50 and the wireless environment map as shown in FIG. The route information passing through the communicable area from the equipment storage location as the transport source to the fire location as the destination is generated based on the wireless environment map, and the transport instruction signal including this route information is generated by the transport robot 34. By sending and instructing to, the facility staff will control the transportation of fire-fighting equipment such as fire extinguishers and life-saving equipment such as air respirators from the equipment storage location that is the transportation source to the specified transportation destination corresponding to the fire location. Support fire extinguishing work by.

The transport robot 34 moves to the destination fire location according to the route information passing through the communicable area received from the control device 15, but if communication failure is detected during the movement, the transfer robot 34 returns to the immediately preceding communicable area and stops moving. In this state, the control device 15 is notified to update the wireless environment map to write the non-communication route part, and new route information modified to avoid the non-communication route part is generated and corrected. Controls to acquire route information and resume movement to the destination fire location.

Further, as another control when the transfer robot 34 detects the communication failure during movement, when the communication failure is detected, the access point 30 is transmitted in a state of returning to the immediately preceding communicable area and stopping the movement. It instructs the control to increase the electric power, thereby increasing the radio field strength of the route part where communication is impossible, recovering to the communicable state, and then controlling to restart the movement to the destination fire place.

Further, when the control device 15 receives a fire information signal from the disaster prevention receiving panel 14, the stretcher robot 36 and the wheelchair robot 38 move from a predetermined evacuation source such as a hospital room or a living room near the fire place to a safe evacuation destination. In order to carry people who have difficulty evacuating and move them, route information that passes through the communicable area from the evacuation source to the evacuation destination that is the destination is generated based on the wireless environment map, and the evacuation instruction signal including this route information is generated by the stretcher robot. By sending instructions to 36 and the wheelchair robot 38, it is possible to control the movement of people who have difficulty evacuating from a predetermined evacuation source such as a hospital room or living room near the fire location to a safe evacuation destination, making it difficult for facility staff to evacuate. Support evacuation work to evacuate people.

When the stretcher robot 36 or the wheelchair robot 38 moving according to the route information passing through the communicable area detects the communication failure while moving, the stretcher robot 36 or the wheelchair robot 38 returns to the immediately preceding communicable area as in the case of the transport robot 34. With the movement stopped, the control device 15 is notified to update the wireless environment map to write the non-communication route part, and new route information modified to avoid the non-communication route part is acquired. It controls to resume the movement to the evacuation destination that is the destination.

Further, as another control when the stretcher robot 36 or the wheelchair robot 38 detects the communication failure while moving, the access point is in a state where the movement is stopped by returning to the immediately preceding communicable area when the communication failure is detected. 30 is instructed to control to increase the transmission power, thereby increasing the radio wave strength of the route portion where communication is impossible to restore the communicable state, and then controlling to resume the movement to the evacuation destination to be the destination.

[Functional configuration of disaster prevention cooperation system]
FIG. 3 is a block diagram showing the functional configuration of the disaster prevention receiver and the control device.

(Functional configuration of disaster prevention receiver)
As shown in FIG. 3, the disaster prevention receiving panel 14 is provided with a reception control unit 52, a transmission unit 54, an alarm unit 56, a display unit 58, an operation unit 60, a transfer unit 62, and a transmission unit 64.

The reception control unit 52 is composed of a computer circuit including a CPU, a memory, and various input / output ports, and realizes a predetermined reception control function by executing a program. A transmission line 16a is pulled out from the disaster prevention receiver 14 toward the warning area of the facility, and a fire detector 18 and a transmitter 20 are connected to the transmission line 16a.

The fire detector 18 and the transmitter 20 have a transmission function for bidirectionally transmitting information to and from the disaster prevention receiving board 14, and a unique address including the disaster prevention receiving board 14 is assigned in advance. As for the number of fire detectors 18 and transmitters 20 that can be connected to one transmission line 16a, for example, when the maximum number of addresses is 256 addresses, 255 or less can be connected because the disaster prevention receiver address is excluded. When using the transmitter used in the P-type disaster prevention monitoring system, it has a function to transmit information in both directions to and from the disaster prevention receiver 14, and transmits via a repeater to which an address is set. The machine is connected.

Further, the control transmission line 16b drawn from the disaster prevention receiving board 14 has a transmission function for bidirectionally transmitting information to and from the disaster prevention receiving board 14, and has a fire door 24 and a fire shutter 26 having an address set. Terminal devices such as are connected.

The downlink signal from the disaster prevention receiver 14 to the fire detector 18 and the transmitter 20 is transmitted in the voltage mode. The signal in this voltage mode is transmitted as a voltage pulse that changes the voltage of the transmission line 16a between, for example, 18 volts and 30 volts.

On the other hand, the uplink signal from the fire detector 18 and the transmitter 20 is transmitted in the current mode. In this current mode, a signal current is passed through the transmission line 16a at the timing of bit 1 of the transmission data, and an uplink signal is transmitted to the disaster prevention receiving panel 14 as a so-called current pulse train. The same applies to the transmission of the downlink signal and the uplink signal from the disaster prevention receiving panel 14 to the terminal devices such as the fire door 24 and the fire shutter 26.

The reception control by the reception control unit 52 is as follows, taking the fire detector 18 as an example. The disaster prevention receiver 14 sends a polling command for normal monitoring in which terminal addresses are sequentially specified during normal monitoring, and the fire detector 18 is normal when it receives a polling command that matches its own set address. Make a monitoring response. Therefore, in the disaster prevention receiving panel 14, the failure can be detected by using the fire detector 18 that did not respond to the polling command as a failure.

Further, the disaster prevention receiving panel 14 repeatedly transmits the batch AD conversion command every transmission cycle of the polling command for all the terminal addresses. When the fire detector 18 receives the batch AD conversion command from the disaster prevention receiving panel 14, it samples the detected analog detection data such as smoke concentration and temperature and compares it with a predetermined fire level.

When the analog detection data sampled by the fire detector 18 exceeds the fire level, an interrupt signal is transmitted to the disaster prevention receiver 14 at the response timing to the polling command. This interrupt signal sends a signal that is not normally used, such that the response bit string is all 1.

When the disaster prevention receiving panel 14 receives the interrupt signal from the fire detector 18, it issues a group search command, receives an interrupt response from the group including the fire detector 18 that has detected a fire, and determines the group. ..

Subsequently, the individual fire detectors 18 included in the determined group are sequentially polled by designating the address, and the fire response of the analog data is received to obtain the detector address of the fire detector 18 that has detected the fire. It will recognize and perform a fire alarm operation.

The control of terminal devices such as the fire door 24 and the fire shutter 26 by the disaster prevention receiver 14 sends a poll command for normal monitoring that sequentially specifies the terminal address of the terminal device during normal monitoring, and is specified. When operating the terminal device of, the specified control command is sent at the timing of the poll command that specifies the address, and when the terminal device receives the control command that matches its own set address, it is specified by the control command. Perform control operation.

The alarm unit 56 includes a speaker and outputs various alarm sounds and voice messages. The display unit 58 is provided with a fire representative light, a failure representative light, a liquid crystal display provided with a touch panel, and the like. The operation unit 60 is provided with a fire determination switch, an acoustic stop switch, a district acoustic pause switch, and the like. The transfer unit 62 outputs a fire transfer signal to an external device such as an emergency broadcasting facility and interlocks the signal.

When the reception control unit 52 receives the fire signal or the fire notification signal and outputs a fire alarm, the transmission unit 64 transmits a fire information signal including the fire location to the control device 15.

(Functional configuration of control device)
As shown in FIG. 3, the control device 15 of the device management system is provided with a device control unit 66, a communication unit 68, a transmission unit 70, a liquid crystal display 72, a touch panel 74, a display unit 76, an operation unit 78, and a database 80. ing. The liquid crystal display 72 and the touch panel 74 constitute a table screen 46.

The device control unit 66 is composed of a computer circuit including a CPU, a memory, and various input / output ports, and realizes a predetermined control function by executing a program. A transmission line 28 using a LAN cable is pulled out from the communication unit 68 toward the inside of the facility, and signals are transmitted / received to / from the access point 30 connected to the transmission line 28 according to, for example, Ethernet (registered trademark).

The database 80 stores map information of facilities displayed on the screen in the event of a fire and various information displayed on the screen in daily management.

The device control unit 66 normally displays information on the operation of work robots such as the transfer robot 34, the stretcher robot 36, and the wheelchair robot 38 used in the facility shown in FIG. 1 by menu selection or the like. It enables operations such as checking the work status and instructing necessary control.

Further, the device control unit 66 can display the information of the registered persons of the facility based on the information signal from the entry / exit management system provided in the facility at normal times, and further, the signal to the mobile terminal 32 of the staff. By sending, it is also possible to notify various communication matters and notifications necessary for the execution of business.

Further, the device control unit 66 instructs the communication unit 68 to transmit a communication state measurement instruction signal to the transfer robot 34 at the time of starting the system and thereafter at predetermined cycles such as one month, and the transfer robot 34 sends the communication state measurement instruction signal. Communication status of the wireless line with the control device 15 by the access point 30 of the wireless LAN measured while moving in the entire area in the facility, for example, radio wave strength (received electric field strength), communication speed, error rate, number of retries, etc. Is received, and based on this measurement result, control is performed to generate a wireless environment map showing the presence or absence of a communicable area in the facility. The wireless environment map generated by the control device 15 may be, for example, a map indicating a communicable area, and in this case, an area other than the non-communicable area indicates a communicable area.

Further, the device control unit 66 moves the transfer robot 34, the stretcher robot 36, or the wheelchair robot 38 from a predetermined movement source to a predetermined movement destination by operating the touch panel 74 on the liquid crystal display 72 in a normal state. When is detected, the communication impossible area is avoided, the route information passing through the communicable area is generated, and the instruction signal including this route information is transmitted to the transport robot 34, the stretcher robot 36, or the wheelchair robot 38 based on the wireless environment map. Controls transmission and movement.

Further, when the device control unit 66 receives the fire information signal from the disaster prevention receiving panel 14 via the transmission unit 70, the device control unit 66 displays a map of the facility showing the fire location on the table screen by driving the liquid crystal display 72 together with the wireless environment map. In addition to displaying on 46, based on the wireless environment map, route information from the transport source such as the equipment storage location to the fire location is generated through the communicable area, and the transport instruction including this route information is generated. A signal is transmitted to the transport robot 34 to control the transport of fire-fighting equipment such as a fire extinguisher and life-saving equipment such as an air respirator from the transport source such as the equipment storage location to the transport destination corresponding to the fire location.

Further, when the device control unit 66 receives the fire information signal from the disaster prevention receiving panel 14 via the transmission unit 70, the device control unit 66 avoids the communicable area based on the wireless environment map, and passes through the communicable area to the table screen 46. Generates route information from the designated evacuation source to the preset evacuation destination by the operation of, and sends an evacuation instruction signal including this route information to the stretcher robot 36 and the wheelchair robot 38 to evacuate the designated evacuation. Controls the movement of people who have difficulty evacuating to the designated evacuation destination from the beginning.

Further, when the device control unit 66 receives the notification signal of the non-communication area from the transport robot 34 moving by the transport instruction signal, or the stretcher robot 36 and the wheelchair robot 38 moving by the evacuation instruction signal, the device control unit 66 is notified. The area where communication is disabled is updated to be written in the wireless environment map as a new communication disabled area, and new route information passing through the communicable area avoiding the communication disabled area is generated, and the transport robot 34 and the evacuation stretcher robot are used. Control is performed to transmit an instruction signal including new route information to the 36 or the stretcher robot 38 to restart the movement.

Further, the device control unit 66 can perform control processing in the training mode, and can transport fire-fighting equipment and life-saving equipment using the transport robot 34 in a state where an arbitrary section in the facility is set as a pseudo fire place. Control is performed for fire extinguishing training and evacuation drills in which people with difficulty in evacuation are carried from the evacuation source to the evacuation destination by using the stretcher robot 36 and the wheelchair robot 38.

It is desirable to control the device control unit 66 in this training mode by using, for example, a time zone such as nighttime or a holiday, and the cooperation with the disaster prevention monitoring system is canceled, and the control device 15 and the training staff are carried. For working robots such as the terminal 32, the transport robot 34, the stretcher robot 36, and the wheelchair robot 38, response processing is performed for a pseudo-fire.

(Functional configuration of transfer robot)
FIG. 4 is a block diagram showing the functional configuration of the transfer robot. As shown in FIG. 4, the transfer robot 34 includes a robot control unit 82, a communication unit 84 to which an antenna 85 is connected, a mileage sensor 86, a voice notification unit 88, a display unit 90, an operation unit 92, and a travel drive unit 94. Is provided.

The communication unit 84 establishes a communication connection by a wireless line with the access point 30 of the wireless LAN installed in the facility, transmits / receives a signal, and transmits / receives a signal to / from the control device 15 via the access point 30. To send and receive.

The mileage sensor 86 detects and outputs the mileage based on the rotation speed of the traveling wheel provided in the transfer robot 34.

The voice notification unit 88 is provided with a speaker, and outputs a predetermined caution sound such as a chime sound to call attention during the transport work. Further, the voice notification unit 88 can also be used as an alarm notification unit that outputs a fire alarm by a voice message or the like in the event of a fire.

The display unit 90 displays various displays necessary for the transfer work of the transfer robot 34. The operation unit 92 is provided with an operation switch, an operation knob, and the like for performing various setting operations and operations such as start / stop necessary for the transfer control of the transfer robot 34. In the present embodiment, the operation unit 92 has a route setting switch for setting a transport source and a transport destination in order to obtain a transport route necessary for transport control of the transport robot 34, and route information instructed by the control device 15. An automatic transport start switch that automatically transports the vehicle along the transport route based on the vehicle, an automatic transport release switch that cancels the travel by the traveling drive unit 94 and enables the staff or the like to manually move the vehicle, and the like are provided.

The traveling drive unit 94 drives the traveling wheels of the transfer robot 34. The transfer robot 34 of the present embodiment is provided with drive wheels that can be independently driven to travel on the left and right, and the two wheels are rotationally driven at the same speed to perform straight-ahead travel, and one of the drive wheels is rotated. The turning run is performed at. Further, the traveling drive unit 94 is provided with a contact sensor or the like, and is provided with a safety function for stopping the traveling when the vehicle comes into contact with an obstacle such as a wall.

FIG. 5 is an explanatory diagram showing the transfer of the fire extinguisher by the transfer robot. As shown in FIG. 5, the transfer robot 34 is provided with drive wheels 96 on both sides of the carriage 95, and auxiliary wheels 96a are provided on the front and rear. Further, a support portion 95a is erected at the rear portion of the bogie 95, and a display unit and an operation unit are provided at the upper end of the support portion 95a.

The dolly 95 is equipped with two fire extinguishers 98 housed in a bucket 97 as firefighting equipment, for example. Further, the trolley 95 can be carried by mounting fire-fighting equipment other than a fire extinguisher and life-saving equipment such as an air respirator and a gas mask as needed.

The transfer robot 34 transmits and receives signals to and from the control device 15 via the access point 30 installed on the ceiling side of the facility by the communication unit 84 shown in FIG.

In FIG. 5, a fire extinguisher 98 is mounted on the transport robot 34 for transport, but in addition to this, fire-fighting equipment and life-saving equipment are mounted on a separately prepared trolley, and the trolley is transported by the transport robot 34. It may be towed and transported by pushing it from the back to move it or pulling it from the front to move it.

(Functional configuration of stretcher robot and wheelchair robot)
The functional configurations of the stretcher robot 36 and the wheelchair robot 38 shown in FIG. 1 are basically the same as those of the transfer robot 34 shown in FIG.

[Disaster prevention cooperation processing by control device]
FIG. 6 is an explanatory diagram showing a map of the monitored facility displayed on the table screen together with the transport route of the transport robot and the communication impossible area.

As shown in FIG. 6, in a normal state, for example, a facility map 48 showing a facility in a plane is displayed on the table screen 46 of the control device 15. The facility map 48 of FIG. 6 takes an inpatient ward of a hospital as an example, and has sickrooms shown on both upper and lower sides centered on a staff station, and a lounge is arranged near the center of the sickrooms. Elevator (EL) rooms and staircases are located on the left and right sides of the staff station.

A transportable route 100 of the transport robot 34 indicated by an arrow is preset in the facility shown by the facility map 48. To set the transportable route 100, the transport robot 34 is actually driven by using the transport route setting switch provided in the operation unit 92 shown in FIG. 4, and the combination of the travel distance and the turning angle obtained in the actual travel is performed. Generates transport route information and stores it in the memory. Further, the information of the transferable route 100 generated by the transfer robot 34 is sent to the control device 15, and is stored for generating the route information of the automatic transfer control. The information of the transportable route 100 generated by the transport robot 34 can also be used to generate the route information of the stretcher robot 36 and the wheelchair robot 38.

After the setting of the transportable route 100 is completed, the transport control is performed by operating the route setting switch of the transport robot 34 to set the transport source that is the transport start position and the transport destination that is the transport target position on the transportable route 100. The set transport source and transport destination are notified to the control device 15, and the control device 15 takes, for example, the shortest route that passes through the communicable area connecting the transport source and the transport destination based on the transportable route 100 and the wireless environment map. Is generated and transmitted to the transfer robot 34. When the automatic transfer start switch of the transfer robot is operated in this state, the transfer robot automatically travels from the transfer source to the transfer destination according to the transfer route instructed by the control device 15, and transfers the necessary equipment.

Further, when the system is started up and thereafter, the control device 15 periodically gives an instruction to measure the communication state to the transfer robot 34, and based on this, the transfer robot 34 moves in the entire area of the facility according to the transferable route 100. The communication state is measured and the measurement result is transmitted to the control device 15, and the control device 15 generates a wireless environment map showing the communication state in the facility based on the measurement result and stores it in the memory.

Therefore, in the facility map 48 displayed on the table screen 46 of FIG. 6, the communication impossible area 102 is displayed based on the generated wireless environment map. Further, the facility map 48 displays an access point 30 that wirelessly communicates with the transport robot 34.

(Fire extinguishing support by transport robot)
FIG. 7 is an explanatory diagram showing a map of the monitored facility displayed on the table screen when a fire breaks out, together with a transport route by the transport robot.

As shown in FIG. 7, when the control device 15 receives the fire information signal from the disaster prevention receiving panel 14, the table screen 46 displays the facility map 48 showing the fire target area, and in this example, it is shown in the lower left corner of the facility map 48. The hospital room is displayed as a fire place 104, and the fire detector 18 installed in the hospital room of the fire place 104 is activated to output a fire alarm from the disaster prevention receiving panel 14. If necessary, the table screen 46 displays a map of the floor directly above the fire floor or the floor selected and operated.

The control device 15 transmits a fire information signal to the mobile terminal 32 carried by the staff working in the facility along with the display of the facility map 48 showing the fire location 104 based on the fire information signal, for example, FIG. The same facility map 48 as the table screen 46 of 7 is displayed, and the coping action is started according to the procedure learned in the daily evacuation drill.

Further, the control device 15 transports the transport robot 34 to the transport destination P2, which is a destination near the fire location 104, based on the operation instructions of the staff, to transport the equipment necessary for fire handling such as fire fighting equipment and lifesaving equipment to the destination P2 near the fire location 104. Route information indicating a transport route 108 that does not pass through the non-communication area 102 toward the destination P2 near the fire location 104 from the equipment room 106 in which the equipment to be the original P1 is stored is generated, and this route information is generated. The including transfer instruction signal is transmitted to the transfer robot 34.

The transfer robot 34, which has received the transfer instruction signal from the control device 15, automatically travels to the equipment room 106 set as the transfer source and stands by. Since the staff in the equipment room 106 receives the instruction signal operated by the staff of the control device 15 on the mobile terminal 32 and displays the instruction content, the instructed fire extinguisher and other firefighting equipment and the air respirator can be used. The life-saving equipment is mounted on the waiting transfer robot 34, and then the automatic transfer start switch of the transfer robot 34 is operated.

When the transfer robot 34 detects the operation of the automatic transfer start switch by the staff, it starts moving along the transfer route 108 in the event of a fire instructed by the control device 15, and moves toward the transfer destination P2 near the fire location 104. For example, as shown in FIG. 5, the fire extinguisher 98 is transported. During transportation along the transportation route 108 in the event of a fire, the transfer robot 34 draws attention to surrounding people, so that the transfer robot 34 travels while issuing a caution alarm by sound and light.

The transfer robot 34 stops when it reaches the transfer destination P2, and the staff who is extinguishing the fire at the fire place 104 lowers the fire extinguisher 98 from the arrived transfer robot 34 and continues the fire extinguishing work. Further, the staff who lowered the fire extinguisher 98 from the transfer robot 34 operates the automatic transfer start switch of the transfer robot 34. When the transfer robot 34 detects the operation of the automatic transfer start switch by the staff, it starts traveling along the transfer route 108 in the event of a fire to return to the equipment room 106, which is the transfer source P1, and returns to the equipment room 106 to perform the next operation. You will have to wait for the equipment to be transported.

In the example of FIG. 7, the fire countermeasure equipment is transported by one transport robot 34, but a fire is set by setting a transport route in which the same transport source P1 and transport destination P2 are set in the plurality of transport robots 34. Coping equipment may be transported. In this case, by setting the transport route so that the outward route to the transport destination and the return route returning from the transport destination do not overlap, a plurality of transport robots are prevented from colliding.

(Control when communication becomes impossible during transportation)
FIG. 8 is an explanatory diagram showing the control of the transport robot when communication becomes impossible while transporting the equipment to the fire location by a map of the monitored facility displayed on the table screen.

When a fire occurs, as shown in FIG. 7, while the transfer robot 34 is moving to the transfer destination P2 near the fire location 104 according to the transfer route 108 according to the instruction from the control device 15, for some reason in the middle of the transfer route 108. Assuming that the non-communication area 110 exists, the transfer robot 34 that has entered the non-communication area 110 cannot communicate with the control device 15 via the access point 30.

When the transfer robot 14 detects communication failure while moving to the transfer destination P2 in this way, it returns to the position P3 which is the immediately preceding communicable area and stops moving, and then the control device 15 has a communication impossible area. Notify the existence of 110.

Upon receiving the notification of the non-communication area from the transport robot 34, the control device 15 updates the newly detected non-communication area in the wireless environment map stored in the memory, and avoids the non-communication route portion. For example, the route information of the transport route 112 modified as described above is generated, and the transport instruction signal including the modified route information is transmitted to the transport robot 34.

When the transfer robot 34 receives the transfer instruction signal including the modified route information from the control device 12, the transfer robot 34 resumes the movement to the transfer destination P2 according to the modified transfer route 112.

Further, as another control when the transfer robot 14 detects the inability to communicate while moving to the transfer destination P2, the access point 30 is in a state of returning to the position P3 which is the immediately preceding communicable area and stopping the movement. After transmitting the control signal for increasing the transmission power, the movement to the transfer destination P2 by the same transfer route 108 is restarted.

When the transmission power of the access point 30 is increased by the control signal from the transfer robot 34, the radio wave strength of the unreceivable area 110 increases and the communication is restored to the communicable state, and the transfer robot 34 does not cause communication failure and the transfer destination P2. You can move to.

Here, in the control for increasing the transmission power of the access point 30, in addition to directly controlling the access point 30 from the transfer robot 34, the control device 15 is notified of the increase control of the transmission power of the access point 30, and the control device 15 notifies the control device 15. The access point 30 may increase the transmission power according to the instruction of.

Further, the control for recovering the communication state by the transfer robot 34 may change the communication frequency of the access point 30 in addition to increasing the transmission power of the access point 30. That is, when the access point 30 has a function of switching a plurality of communication frequencies, the communication state differs depending on the communication frequency. Therefore, when communication becomes impossible at a certain communication frequency, communication is performed by switching to another communication frequency. It will be possible to recover to the possible state.

(Evacuation support by stretcher robot)
FIG. 9 is an explanatory diagram showing a map of the monitored facility displayed on the table screen when a fire breaks out, together with an evacuation route by a stretcher robot.

As shown in FIG. 9, when the control device 15 receives the fire information signal from the disaster prevention receiving panel 14, the control device 15 displays the facility map 48 showing the fire location 104 and the incommunicable areas 102 and 110 on the table screen 46.

The control device 15 supports the stretcher robots 36-1 and 36-2 located in the facility where the fire broke out to support the evacuation work of inpatients who are bedridden and those who have difficulty evacuating such as elderly people. , Sends an evacuation instruction signal containing route information through the communicable area generated based on the wireless environment map.

For the evacuation instruction signal transmitted from the control device 15 to, for example, the stretcher robot 36-1, an evacuation route in which the hospital room adjacent to the fire place 104 is the evacuation source P1 and the elevator room that can be used even in the event of a fire is the evacuation destination Q1. The route information of 110-1 and the stretcher robot ID are included.

Upon receiving the evacuation instruction signal from the control device 15, the stretcher robot 36-1 stores the evacuation route 110-1 in the memory, moves to the instructed evacuation source P1, and stands by.

The staff in charge in the hospital room of the evacuation source P1 puts a person who has difficulty evacuating on the arriving stretcher robot 36-1, and then operates the automatic transfer start switch provided in the operation unit of the stretcher robot 36-1. When the stretcher robot 36-1 detects the operation of the automatic transfer start switch by the staff, it starts moving along the evacuation route 110-1 and moves to the elevator room which is the evacuation destination Q1.

When the stretcher robot 36-1 arrives, the staff waiting in the elevator room will evacuate the difficult-to-evacuate person, use the elevator to evacuate to a safe floor, and start automatic transportation of the stretcher robot 36-1. Operate the switch. When the stretcher robot 36-1 detects the operation of the automatic transfer start switch by the staff, it returns to the evacuation source P1 along the evacuation route 110-1 to prepare for the next evacuation work of the person who has difficulty in evacuation.

In FIG. 9, the stretcher robot 36-2 also sets an evacuation route 110-2 between the evacuation source and the evacuation destination Q2 (for example, a staircase) based on the evacuation instruction signal from the control device 15, and sets the evacuation route 110-2 in the hospital room. We provide evacuation support to bring people who have difficulty evacuating to the staircase.

The evacuation support by the stretcher robots 36-1 and 36-2 by setting the evacuation route is the same as the evacuation support by the wheelchair robot 38.

The above describes the configuration to display the incommunicable area and the fire occurrence location together with the map information on the table screen, but the incommunicable area and the fire occurrence location are also displayed together with the map information on the mobile terminal owned by the person who responded to the abnormality. ..

The mobile terminal acquires fire information including map information from the control device from the access point 30. The person who responds to the anomaly examines the route while checking the map information and responds to the anomaly. Further, the position information of the owner of the mobile terminal may be acquired from the position information of the access point 30 communicating with the mobile terminal, and the position information of the mobile terminal may be included in the map information and displayed.

[Generation of wireless environment map and robot movement control in case of fire]
FIG. 10 is a time chart showing an embodiment of generation of a wireless environment map by a control device and a transfer robot and movement control based on the wireless environment map.

As shown in FIG. 10, the control device 15 periodically transmits a measurement instruction signal of the communication state to the transfer robot 34 at the time of system startup and thereafter in step S1. Upon receiving the measurement instruction signal, the transfer robot 34 measures the communication state while traveling on all of the transferable routes 100 in the facility as shown in FIG. 6 in step S2, and transmits the measurement result to the control device 15.

The control device 15 that has received the measurement result from the transfer robot 34 generates a wireless environment map showing the communicable area and the non-communicable area in the facility map based on the measurement result of the communication state in step S3 and stores it in the memory.

Subsequently, the control device 15 determines whether or not a fire information signal is received from the disaster prevention receiving panel 14, and when it is determined that the fire information signal including the fire location is received, the process proceeds to step S5, and the equipment room containing the fire extinguisher and the like is stored. Etc. as the transport source, the vicinity of the fire occurrence location as the transport destination, and based on the wireless environment map, the route information of the transport route that passes through the communicable area, in other words, the shortest transport route that does not pass through the non-communicable area is generated, and this route is generated. A transport instruction signal including information is transmitted to the transport robot 34, and instructions are given to move from the transport source to the transport destination according to the instructed transport route.

Upon receiving the transfer instruction signal from the control device 15, the transfer robot 34 starts the movement control along the transfer route instructed in step S6. The transfer robot 34 determines whether or not communication is not possible in step S7 while moving, and if there is no determination of communication failure, the transfer robot 34 proceeds to step S13 to determine whether or not the destination to be transferred has been reached, and then to the destination. When it is determined that the item has arrived, the process proceeds to step 14 to stop the movement.

On the other hand, if the transfer robot 34 determines that communication is not possible in step S7 while moving, the process proceeds to step S8, the movement is stopped by returning to the immediately preceding communicable position, and the control device 15 is informed of the existence of the communication impossible area in step S9. Sends a request signal for route modification including.

Upon receiving the route correction request signal from the transfer robot 34, the control device 15 updates the wireless environment map stored in the memory in step S10 to write the existence of a new non-communication area, and then updates in step S11. Based on the wireless environment map, the corrected route information that does not pass through the non-communication area toward the transport destination is generated, and the transport instruction signal including the corrected route information is transmitted to the transport robot 34.

The transport robot 34, which has received the transport instruction signal including the correction route information from the control device 15, resumes the movement according to the correction route in step S12, and when it is determined in step S13 that the vehicle has reached the destination, it proceeds to step 14 and stops the movement. ..

[Generation of wireless environment map and control of movement of other robots in case of fire]
FIG. 11 is a time chart showing another embodiment of the generation of the radio environment map by the control device and the transfer robot and the movement control based on the radio environment map.

The control of steps S21 to S26 of FIG. 11 is the same as the control of steps S1 to S6 shown in FIG. 10, and the control when communication becomes impossible during the movement of steps S27 to S32 is different.

In FIG. 11, if the transfer robot 34 determines that communication is not possible in step S27 while moving, the process proceeds to step S28, returns to the immediately preceding communicable position, stops moving, and increases transmission power to the access point 30 in step S29. Then, the process proceeds to step S30, and the movement is resumed according to the same route as step S26.

Therefore, the route portion where the communication failure is determined in step S27 will be passed again, but since the control for increasing the transmission power of the access point 30 is performed in step S29, the radio wave strength is increased and the communication is impossible. The transfer robot 34 resumes the movement without changing the route, and when it is determined in step S13 that the destination has been reached, the transfer robot 34 proceeds to step 14 and stops the movement.

[Control corresponding to changes in the wireless environment due to the operation of disaster prevention equipment]
FIG. 12 is a time chart showing the generation of a wireless environment map by the control device and the transport robot when the fire door is activated in the event of a fire, and the movement control based on the wireless environment map.

When the fire detection of the fire detector 18 or the operation of the transmitter 20 is performed by the disaster prevention receiving panel 14 of the disaster prevention monitoring system 10 shown in FIG. 1 and a fire alarm is output, the fire door 24 installed in the caution area is installed. And the fire shutter 26 is closed.

When the fire door 24 and the fire shutter 26 are closed due to the occurrence of a fire in this way, the radio wave strength in the closed place and its vicinity may be affected and fluctuate, and a communication impossible area may occur. The control shown is performed.

Steps S41 to S43 in FIG. 12 are the same as steps S1 to S3 in FIG. 10, and the transfer robot 34 moves in the facility to measure the communication state, and the control device 15 generates a wireless environment map based on the measurement result. And store it in memory.

In this state, when the control device 15 receives the fire information signal from the disaster prevention receiving panel 14 in step S44, it proceeds to step S45 . For example, when the operation of the fire door 24 is determined, the communication state of the area where the fire door 24 is operated is measured in step S46. Is instructed to the transfer robot 34 .

Upon receiving the measurement instruction from the control device 15, the transfer robot 34 moves in the fire door operating area in step S47, measures the communication state, and transmits the measurement result to the control device 15. In step S48, the control device 15 updates the newly detected non-communicable area in the wireless environment map stored in the memory from the measurement result of the communication state of the fire door operating area.

Subsequently, the control device 15 generates route information from the transport source to the transport destination without passing through the non-communicable area based on the updated wireless environment map, and instructs the transport robot 34 to transport, and the transport robot 34 steps. Movement control is performed according to the transport route instructed in S50. The details of the movement control of the transfer robot 34 in step S50 are the control in steps S6 to S14 in FIG. 10 or the control in steps S26 to S32 in FIG.

The control of FIGS. 10 to 12 takes the transfer robot 34 as an example, but the same applies to the stretcher robot 36 and the wheelchair robot 38.

In addition to the operation of fire doors and fire shutters, the operation of disaster prevention equipment that affects the radio environment in the event of a fire includes the operation of sprinkler heads to discharge water. The work robot is moved to the sprinkler operating area according to the instruction of, the communication state is measured, the measurement result is transmitted to the control device 15, and the measurement result of the communication state of the sprinkler operating area is newly added to the wireless environment map stored in the memory. Update to write the detected non-communication area in.

[Modified example of the present invention]
(Disaster prevention monitoring system)
The above embodiment takes as an example an R-type disaster prevention monitoring system that can identify a fire location or a control location by setting a terminal address on a fire detector or the like, but detects a fire on a line-by-line basis or controls a terminal device. It may be a P-type disaster prevention monitoring system.

(Target facility)
The above embodiment is, but is not limited to, a hospital or a facility for the elderly who is expected to have difficulty evacuating. For example, an appropriate facility such as an office building or a commercial facility where a large number of people enter and exit may be targeted.

(others)
Further, although the transport robot transports the equipment through the transport route in the event of a fire, if the route is used as an evacuation route, another transport route may be used. In this case, the control device may monitor the evacuation status of a person and set a transport route.

In addition, the transport robot is equipped with a fire sensor that detects at least one of the smoke concentration, temperature, and gas concentration due to the fire, monitors the surrounding environment during the transport work, and controls the sensor data and danger information based on the sensor data. It may be sent to the device.

Further, the present invention includes appropriate modifications that do not impair its purpose and advantages, and is not further limited by the numerical values shown in the above embodiments.

10: Disaster prevention monitoring system 12: Equipment management system 14: Disaster prevention receiver 15: Control devices 16a, 16b, 28: Transmission path 18: Fire detector 20: Transmitter 22: District sound device 24: Fire door 26: Fire shutter 30 : Access point 31: Fire sensor 32: Mobile terminal
34: Transfer robot 36, 36-1 to 36-2 : Stretcher robot 38: Wheelchair robot 46: Table screen 48: Facility map 50: Fire location 52: Reception control unit 54, 64, 70: Transmission unit 66: Device control Units 68 and 84: Communication unit 72: Liquid crystal display 74: Touch panel 80: Database 82: Robot control unit 86: Travel distance sensor 88: Voice notification unit 90: Display unit 92: Operation unit 94: Travel drive unit 95: Wheelchair 95a: Support part 96: Drive wheel 96a: Auxiliary wheel 97: Bucket 98: Fire extinguisher 100: Transportable route
102, 110: Communication impossible area 104: Fire location 106: Equipment room 108, 112: Transport route
110 -1, 110 -2: Evacuation route

Claims (10)

A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device.
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results, and
A wireless communication facility in which a wireless communication area is constructed by arranging a wireless station in the facility, and the control device and the work robot are connected by a wireless communication line to transmit and receive signals.
In the disaster prevention cooperation system provided by
When an abnormality occurs in the facility,
The control device instructs the work robot to deal with an abnormality within the range of the communicable area based on the wireless environment map information.
The work robot responds to an abnormality based on an instruction from the control device, and responds to an abnormality.
When the work robot detects that communication is not possible while responding to an abnormality,
The work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled, and the communicable area where communication is disabled to the control device. Notify that there is
The control device updates the wireless environment map information with the communicable area as the non-communicable area, and responds abnormally within the range of the new communicable area based on the updated wireless environment map information. A disaster prevention cooperation system characterized by instructing the work robot to resume response to an abnormality.
A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device.
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results, and
A wireless communication facility in which a wireless communication area is constructed by arranging a wireless station in the facility, and the control device and the work robot are connected by a wireless communication line to transmit and receive signals.
In the disaster prevention cooperation system provided by
When an abnormality occurs in the facility,
The control device instructs the work robot to deal with an abnormality within the range of the communicable area based on the wireless environment map information.
The work robot responds to an abnormality based on an instruction from the control device, and responds to an abnormality.
When the work robot detects that communication is not possible while responding to an abnormality,
The work robot moves from the communicable area where communication is disabled to the communicable area immediately before the communicable area where communication is disabled, and can communicate with the wireless communication equipment. A disaster prevention cooperation system characterized by instructing to restore the communication status of an area and restarting anomalous response after the communication status of the communicable area where communication is disabled is restored.
In the disaster prevention cooperation system according to claim 2 ,
The work robot is a disaster prevention cooperation system characterized in that the communication state of the communicable area where communication is disabled is restored by instructing the wireless communication equipment to increase the transmission power or change the communication frequency. ..
In the disaster prevention cooperation system according to any one of claims 1 to 3 ,
When an abnormality occurs in the facility,
The control device is based on the wireless environment map information and the predetermined disaster prevention information obtained from the disaster prevention monitoring system that has detected the abnormality, and the predetermined destination according to the predetermined route information passing through the communicable area to the work robot. Instructed to move to
The work robot is a disaster prevention cooperation system characterized in that it moves to the destination according to route information.
A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device.
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results, and
A wireless communication facility in which a wireless communication area is constructed by arranging a wireless station in the facility, and the control device and the work robot are connected by a wireless communication line to transmit and receive signals.
In the disaster prevention cooperation system provided by
When the disaster prevention monitoring system that detects an abnormality activates a predetermined disaster prevention device, the work robot moves in the facility according to an instruction from the control device and responds to changes in the radio wave environment due to the operation of the disaster prevention device. A disaster prevention cooperation system characterized in that the communication state is measured and the measurement result is transmitted to the control device to update the wireless environment map information.
In the disaster prevention cooperation system according to claim 5 ,
The work robot measures the communication state corresponding to the change in the radio wave environment when the fire door, the fire shutter, or the sprinkler head is operated, and transmits the measurement result to the control device to transmit the radio environment map information. A disaster prevention cooperation system characterized by updating.
A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device.
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results, and
A wireless communication facility in which a wireless communication area is constructed by arranging a wireless station in the facility, and the control device and the work robot are connected by a wireless communication line to transmit and receive signals.
In the disaster prevention cooperation system provided by
When a fire breaks out in the facility, the control device instructs the wireless communication equipment to use one or more of an area including a fire occurrence location, an area including a non-detourable location, and an area including an important location. A disaster prevention cooperation system characterized by adjusting the transmission power of a wireless station so that communication is possible.
In the disaster prevention cooperation system according to any one of claims 1 to 7 .
When a fire is detected, the disaster prevention receiver of the disaster prevention monitoring system that detects an abnormality in the facility acquires the wireless environment map information from the control device and displays it on the screen together with the location of the fire. system.
In the disaster prevention cooperation system according to any one of claims 1 to 8 ,
Furthermore, it is equipped with a mobile terminal that is carried by the person who responds to the abnormality.
The mobile terminal is a disaster prevention cooperation system characterized in that the wireless environment map information is acquired from the control device and displayed on a screen together with an abnormality occurrence location.
A work robot that measures the communication status while moving in the facility and sends the measurement result to the control device.
A control device that generates wireless environment map information indicating the presence or absence of a communicable area in the facility from the measurement results, and
A wireless communication facility in which a wireless communication area is constructed by arranging a wireless station in the facility, and the control device and the work robot are connected by a wireless communication line to transmit and receive signals.
In the disaster prevention cooperation system provided by
A disaster prevention cooperation system characterized in that a fire sensor for detecting a fire is provided in a wireless station installed in the facility of the wireless communication facility, and the transmission power of the wireless station is increased when a fire is detected by the fire sensor. ..

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