JPH06223282A - Smoke sensor for mobile object - Google Patents

Abstract

PURPOSE:To detect smoke at the initial stage of a fire without exerting influence upon the movement of a mobile object and to quickly generate an alarm by contactlessly detecting smoke generated in the vicinity of a ceiling. CONSTITUTION:A smoke sensor system 3b consists of a projection part 7, a photodetecting part 8 and a judging part 9 and loaded on the upper surface of a robot body. In the non-generation state of a fire, light projected from the projection part 7 arrives at the ceiling and is reflected by the ceiling. Since the reflection angle of reflected light reflected on the ceiling is different from the detection angle of the photodetecting part 8, the reflected light is not detected by the photodetecting part 8. Thereby an alarm signal is not outputted from the judging part 9. If fire is generated, smoke is stayed in the vicinity of the ceiling together with heated air. Thereby light projected from the projection part 7 is not reached to the ceiling and reflected by the smoke. When the smoke reaches a smoke detection setting position P0, the reflected light is made incident upon the photodetecting part 8 and detected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a smoke detecting device for a mobile body, and more particularly to a smoke detecting device for a mobile body which autonomously travels inside a guarded object and is mounted on a guarded mobile body to detect smoke.

[0002]

2. Description of the Related Art In recent years, while autonomously traveling within a security target such as a building along a predetermined route and moving, a suspicious person intrudes into the security target, detects an abnormal situation such as a fire, and issues an abnormal alarm to intrude. A security robot is being developed for shooting people's images and extinguishing fires. Such a security robot is required to reliably detect an abnormal situation.

Smoke detectors are commonly used to detect fires. The smoke detectors are roughly classified into the following two types. One is to install a light source in the sensor and a photodetector at a position facing or not facing the light source, and when smoke particles enter the sensor, diffuse reflection of light due to the presence of smoke inside the sensor or A photoelectric sensor that issues an alarm by utilizing the change in the output level of the photodetector due to light blocking, dimming, etc. The other is to ionize smoke particles in the sensor and detect the potential change. Is an ionization formula.

Since the smoke detection output of the above two types of smoke detectors is proportional to the smoke concentration, it has been necessary to install the smoke detector at a high smoke concentration position in order to obtain high sensitivity.

Since smoke generated by a fire or the like generally convects with hot air, it stays at a high position in the early stage of the fire. Therefore, the fixed smoke detector is installed at a high position such as the ceiling. FIG. 6 shows a diagram for explaining the installation position of the fixed smoke detector. In the figure, 21 is a floor, 22 is a ceiling, and 23 is a smoke detector. As shown in FIG. 6, when a fire occurs, the smoke is thick near the ceiling 22 and thin near the floor 21, but the smoke sensor 23 is fixed to the ceiling 22 so that the fire can be detected early.

[0006]

However, since the security robot moves in the corridor or passage in the security target to perform security, the size of the security robot cannot exceed the size of a human in many cases. Therefore, as shown in FIG. 7, if the smoke detector 24 is attached to the robot body 25 as it is, the smoke around the ceiling 22 cannot be detected, and the smoke detector 24
No matter how high the robot body 25 is installed, it does not reach the ceiling, so it is only possible to contact the air containing very thin smoke at the beginning of a fire, which delays the discovery of disasters such as a fire. Then, there was a problem that the damage of the security target might spread.

The present invention has been made in view of the above points, and it is an object of the present invention to provide a smoke detecting device for a moving object, which is capable of detecting smoke with high sensitivity.

[0008]

SUMMARY OF THE INVENTION The present invention is a smoke detector for a moving body, which is mounted on a moving body which moves inside a guarded object and detects an abnormality in the guarded object, and which is provided in a surrounding space. The light detecting surface that emits light at an angle and the light detecting surface that detects the light reflected at a predetermined height position of the light emitted from the light projecting portion is set at the predetermined height position. It is provided with a light detection unit that detects the smoke that has accumulated up to and outputs a detection signal, and a notification unit that detects the smoke by the detection signal of the light detection unit and notifies the abnormality.

[0009]

The presence of smoke is detected by detecting the reflection of the light emitted from the light projecting section by the light detecting section. Therefore, smoke can be detected without contact, and the moving body can be smoothly moved.

Further, since smoke near the ceiling can be easily detected, a fire can be found quickly.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 2 is a block diagram of a security robot equipped with a smoke sensing device according to an embodiment of the present invention. In the figure, reference numeral 1 denotes a security robot body. The security robot 1 mainly includes a main control unit 2, a security sensor unit 3, a moving mechanism unit 4, and an environment recognition sensor unit 5.

The main control unit 2 includes a processing unit 2a including a microprocessor and the like, and a storage unit 2 including a read only memory (ROM), a random access memory, an external storage device and the like.
b, it performs operation control of the security robot 1, a patrol plan, and outputs an alarm to the security center 6.

The storage unit 2b stores data such as a route along which the security robot 1 travels, data required to move from each point on the route to a surrounding wall or ceiling, and the like. Processing unit 2
The a processes the data stored in the storage unit 2b and generates various control signals. The environment recognition sensor unit 3 is the robot 1
The surrounding environment (the distance of the robot moving from the wall, etc.) is detected and supplied to the main controller 2. The main control unit 2 controls the moving mechanism unit 4 based on the detection data from the environment recognition sensor unit 5 and the storage data from the storage unit 2b, and the robot 1
Operate unmanned within the scope of security.

The security sensor section 3 is an intrusion sensor system 3
a, a smoke sensor system 3b, which detects an intruder, fire smoke, or the like, and supplies an alarm signal to the main control unit 2 when an abnormality is detected.

The intrusion sensor system 3a detects an infrared image of the surroundings by, for example, an infrared sensor, a CCD (Charge Coupled Device) or the like, discriminates a suspicious person, and supplies an alarm signal to the main controller 2.

FIG. 1 shows a schematic configuration diagram of the smoke sensor system 3b. The smoke sensor system 3b includes a light projecting unit 7, a light detecting unit 8, and a determining unit 9, and is mounted on the upper surface of the robot body 1a. The light projecting section 7 is composed of a semiconductor element, a light bulb, or the like that emits light having a wavelength that is difficult to be absorbed by smoke or the like, for example, near infrared light.

The light detecting section 8 is composed of a light receiving element such as a photodiode or a phototransistor for detecting the wavelength of the light emitted from the light projecting section 7.

The judging section 9 is composed of a comparator, a logic circuit, etc., and is connected to the light projecting section 7 and the light detecting section 8. Judgment unit 9
Supplies a lighting signal to the light projecting section 7 to control the lighting of the light projecting section 7, and a light detecting signal is supplied from the light detecting section 8.
Whether or not light is incident is determined according to the input signal level, and when it is determined that light is incident, an alarm signal is output to the main controller 2.

The angles θ ₀ and θ ₁ of the light projecting section 7 and the light detecting section 8 with respect to the horizontal direction are set to the angles which are incident on the light detecting section 8 when the light of the light projecting section 7 is irregularly reflected at the set position P _0. To be done. At this time, the detection setting position P ₀ is set to a position slightly lower than the ceiling. This is because when a fire occurs, the smoke convects with the heated air and stays in a high position at the beginning of the fire, so the light emitted from the light projecting unit 7 is diffusely reflected by the smoke at a position P ₀ slightly lower than the ceiling. This is because the light is incident on the light detection unit 8.

FIG. 3 shows an operation explanatory diagram of an embodiment of the present invention. FIG. 3 (A) shows a state in which no fire has occurred, FIG.
(B) shows a state where a fire has occurred. In the figure, 9 indicates a ceiling and 10 indicates a floor.

In a state where no fire has occurred, the light L ₁ emitted from the light projecting section 7 reaches the ceiling 9 and is reflected by the ceiling 9. At this time, the reflected light L ₂ reflected by the ceiling 9 is different from the detection angle of the light detection unit 8 and thus is not detected by the light detection unit 8. Therefore, the judgment unit 9 does not output an alarm signal.

When a fire occurs, the smoke 11 stays near the ceiling 9 together with the heated air. Therefore, the light L ₁ emitted from the light projecting unit 7 does not reach the ceiling 9 and smoke 11
Reflect on. At this time, if the smoke 11 reaches the smoke detection setting position P ₀ , the reflected light L ₃ enters the light detection unit 8 and is detected. When the light detection unit 8 detects the reflected light L ₃ , the determination unit 9
Supplies an alarm signal to the main controller 2. The main control unit 2 wirelessly reports this to the security center 6.

As described above, according to this embodiment, smoke near the ceiling 9 can be detected in a non-contact manner, so that a fire can be generated early, the spread of the fire can be prevented, and the robot 1 can smoothly run. obtain.

FIG. 4 is a block diagram of a smoke sensor system according to another embodiment of the present invention. In the figure, the same components as those in FIGS. 1 and 2 are designated by the same reference numerals, and their description will be omitted.

Generally, the ceiling to be guarded is not flat,
The smoke barriers, lighting, or ceiling heights are usually different. Therefore, if the smoke detection setting position P ₀ is fixed, the light from the light projecting unit 7 may be reflected by a graze or the like, detected by the light detecting unit 8, and an alarm may be issued. In the present embodiment, it is configured such that it can be used without malfunction even within the security targets having different ceiling heights.

In the present embodiment, the light detection portion 8 is configured to be rotatable in the arrow X direction by an actuator or the like, and the smoke detection setting position P ₀ can be varied.

As a method of changing the position P ₀ , here, the light is emitted from the light projecting unit 7 at a light emission angle θ ₀ , and the light detecting unit 8 is used.
The smoke detection position is changed by changing the angle of.

First, when the sensing surface of the light detecting portion 8 is oriented in the direction of the angle θ ₁ , the light detecting area A ₀ faces upward, so that the intersection with the light L ₁ emitted from the light projecting portion 7 is located at the upper part. However, the smoke detection setting position becomes the position P ₁ .

Detecting surface angle θ of the light detecting section 8₂(<Θ₁) To
When facing, the light detection area A₀Goes down and goes out from the light projecting unit 7.
Light L₁Smoke detection setting position because the intersection with
Is P ₁Lower P₂Is set to.

Further, the detection surface of the light detection section 8 is set to the angle θ ₃ (<
When it is directed to θ ₂ <θ ₁ ), the light detection area A ₀ further lowers and the intersection with the light L ₁ emitted from the light projecting unit 7 lowers, so that the smoke detection setting position is lower than the position P _2.
Set to ₃ .

FIG. 5 shows an explanatory diagram of the operation of this embodiment. In the figure, 9a is a barley, and the height of this portion is slightly lower than the ceiling 9.

It is assumed that the storage unit 2b of the main control unit 2 also stores ceiling height data at each point in addition to data such as routes.

At the point S ₁ , the robot 1 moves the actuator so that the height of the ceiling 9 is h ₁ and the height position P ₁ at which the sensitivity to smoke is the best is the smoke detection setting position. It drives and sets the angle of the light detection part 8.

When the robot 1 advances and reaches the point S ₂ , the height data of the ceiling 9 in the storage unit 2b is changed by the tray 10 to reach the height h ₂ . The main controller 2 generates a control signal according to the height h ₂ and supplies it to the actuator 12. The actuator 12 is driven according to the control signal, changing the angle of the optical detection unit 8, with respect to smoke when ceiling height h _2, the most sensitive is improved height position P ₂ smoke detection setting position It is said that

According to this embodiment, since the smoke detection setting position can be changed according to the height of the ceiling 9, the smoke 9 can be moved without any malfunction even for a security target whose ceiling 9 changes in height. It becomes possible.

In this embodiment, the configuration is such that the angle of the light detecting portion 8 is changed, but the present invention is not limited to this, and the emitting direction of the emitted light L _{1 from} the light emitting portion 7 or the light emitting portion 7 and the light detecting portion 7 are detected. A configuration may be used in which both angles of the portion 8 are changed.

In the above embodiment, the light L ₁ emitted from the light projecting section 7 is made to blink, and the light based on the blinking pattern is detected as the detection light. Since the noise can be removed and the light can be detected, more accurate operation can be performed.

[0038]

As described above, according to the present invention, smoke in the vicinity of the ceiling can be detected in a non-contact manner. Therefore, smoke in the early stage of a fire can be detected without affecting the movement of the moving body, and the smoke can be detected at an early stage. It has a feature that it can issue an alarm and thus can prevent the spread of fire.

[Brief description of drawings]

FIG. 1 is a block diagram of an embodiment of the present invention.

FIG. 2 is a configuration diagram of a security robot equipped with a smoke detection device according to an embodiment of the present invention.

FIG. 3 is an operation explanatory diagram of the embodiment of the present invention.

FIG. 4 is a configuration diagram of another embodiment of the present invention.

FIG. 5 is an operation explanatory diagram of another embodiment of the present invention.

FIG. 6 is an explanatory view of a fixed smoke detector.

FIG. 7 is an explanatory diagram of a conventional security robot.

[Explanation of symbols]

 1 Security Robot 2 Main Control Unit 3 Security Sensor System 3a Intruder Sensor System 3b Smoke Sensor System 7 Light Projection Unit 8 Light Detection Unit 9 Judgment Unit

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] February 9, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0016

[Correction method] Change

[Correction content]

FIG. 1 shows a schematic configuration diagram of the smoke sensor system 3b. The smoke sensor system 3b includes a light projecting unit 7, a light detecting unit 8, and a determining unit 9, and is mounted on the upper surface of the robot body 1 . The light projecting section 7 is composed of a semiconductor element, a light bulb, or the like that emits light having a wavelength that is difficult to be absorbed by smoke or the like, for example, near infrared light.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0019

[Correction method] Change

[Correction content]

The angles θ ₀ and θ ₁ of the light projecting section 7 and the light detecting section 8 with respect to the horizontal direction are such that the light of the light projecting section 7 is at the smoke detection setting position P.
_The angle at which the light is incident on the light detection unit 8 when the light is diffusely reflected at ₀ is set. At this time, the detection setting position P ₀ is set to a position slightly lower than the ceiling. This is because when a fire occurs, the smoke convects with the heated air and stays at a high position at the beginning of the fire, so the light emitted from the light projecting unit 7 due to the smoke is slightly lower than the ceiling at the smoke detection setting position P ₀ . This is because the light is diffusely reflected by and is incident on the light detection unit 8.

[Procedure 3]

[Document name to be amended] Statement

[Name of item to be corrected] 0027

[Correction method] Change

[Correction content]

[0027]Smoke detection settingsPosition P₀As a way to change
Here, the emission angle θ of the light of the light projecting unit 7 ₀Fixed with
Changing the smoke detection position by changing the angle of the light detection unit 8
ing. ─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] February 9, 1993

[Procedure Amendment 1]

[Document name to be corrected] Drawing

[Name of item to be corrected] Fig. 4

[Correction method] Change

[Correction content]

[Figure 4]

Claims (2)

[Claims] 1. A smoke detector for a mobile object, which is mounted on a mobile object that moves inside a security target and detects an abnormality in the security target, and emits light into a surrounding space at a predetermined angle. The detection surface is set to an angle for detecting the light reflected from the light projecting portion and the light emitted from the light projecting portion at a predetermined height position, and smoke that has accumulated to the predetermined height position is detected. A smoke detector for a mobile object, comprising: a light detection unit that outputs a detection signal; and a notification unit that detects the smoke based on the detection signal of the light detection unit and notifies an abnormality. 2. Depending on the height of the ceiling in the security target,
2. The smoke detection device for a moving object according to claim 1, further comprising a changing unit that changes an angle of the light detection unit.