200828185 P53950051TW 21929twf.doc/n 九、發明說明： 【發明所屬之技術領域】 本發明是有關於-種保全系統，尤其係有關於 散式保全系統，以擴大環境異常監視範圍及同時監控之二 【先前技術】 隨著科技的進步與生活品質的提升，生活 • 性已成為人們重視的課題，而其範圍涵蓋家庭、辦公大王、 實驗室、工廠、金融機構以及其他公眾場所等，^此斤车 來諸多產業界’投注更多心力研發各種不同的保^ 、、先使得保全服務業成為了 一個快速發展的領域。然而^見 有商品化的保全系統缺乏足夠的機動性及智慧力以^斷各 種狀況，且系統誤觸發率/誤報率高，除造成客戶端困擾 亦降低整體保全系統的可靠度。況且，維安全巡邏更 疋保全人員最不願意做的事，雖有完善制度規範，但”人” 總有許多不可控之因素（生理及心理），使保全勤務無法徹 攀 底執行。但近來機器人之快速研發，使得以移動機器人(以 下皆以機器人稱之)代替保全人員巡邏之可行性增高。 習知技術如日本發明公開2003051082號即揭露一單 一巡邏機器人，其本身至少包括一控制主系統及數個感測 裝置，如影像、音源、熱源、溫度及氣體等感測裝置，以逹 到辅助環境監測之功效。該數個感測裝置將環境資訊通報給 機器人，透過機器人的該主控制系統根據該等環境資訊來判 斷是否異常狀況發生。若有，則該機器人前往異常發生處做相 5 200828185 削鳩 1TW 21929tw£d〇c/n Γ為單—機器人移動監控，對於偵 人可能因觀中的障礙物影響通訊， 呆可在最快時間内收集到異常資訊。若機器人在 t if?發生異常狀況甚至故障，將使整侧呆全系統嚴重 失效。而大#真正的異常狀況發生時，例如移動人侵 =霧’異常狀況通常會蔓延至不特定的_ H 虽有減個感測裝置所侧環境資贿異f發生時，單 人是無法同時前往監視並加以處理。 因此’軸習知單-機!！人本身 且可及時行動力彌補保全系 足’仁1知早-機器人將多種制系統集於—身 雜度尚價格昂貴，且單—系朗即時移動監測朗有限广 例如侷限在—樓層，以致無法完全掌握監測環境所有狀 =早有保全系統的防害漏洞仍無法有效的填補。故 對^業界而言，有必要研發—種分散式保全系統， 層魏環龄誠及啊進行數個 【發明内容】 本發明之目的係供一種分散式保全系統，苴包 個感測裝置，-主系統以及複數個機器人。其中該= 裝置係安裝於環境+，並將賴得的環境資訊傳送至= 系統。該主系統根據該環境資訊判斷異常發生時， = 指派最短時_可職異f發生位置之齡人，前往進ς 200828185 P53950051TW 21929twf.doc/n 監視。且該最短時間係依據機器人與感測攸置的相對位矛夕 距離與該機器人之最高移動速度來計算出。藉由該分散^ 保全系統，則當環境中出現多個異常發生之感測裝置時二 該主系統命令多個機器人同時前往處理，以逹提供更快 速、更安全之保全服務及進而少降低危害發生之功效。 、 本發明之更一目的係提供一種分散式保全系統。 其中該主系統係安裝在該複數個機器人之特定一者上。任 一或數個偵感測裝置係設置在環境中並將所測得環境資訊 傳輸至該特定機器人。接著，該特定機器人上之主系統根 據該環境資訊判斷異常發生時，可根據異常發生之感測^ ，、該特定機器人與普通機器人之位置，指派最短時間内 I到達異常發生位置之機器人，前往進行監視異常並將異 二吊^況回報給遠端監控中心。且該最短時間係依據以下面所 計算最小者：該特定機器人之位置與該等感測裝置之位置 的相對位移距離，與該特定機器人之最高移動速度而 5异求出；及該普通機器人之位置與該等感測裝置之位置 的相對位移距離，與該普通機器人之最高移動速度而 叶鼻求出。 懂，為讓本發明之上述和其他目的、特徵和優點能更明顯易 &下文特舉較佳實施例，並配合所附圖式，作詳細說明如 【實施方式】 之一二先明參考圖1，其揭示根據本發明第一較佳實施例 裝置刀散式保全系、统。該分散式保全系、统主要包括複數個感測 衣1、主系統3及複數個機器人(如前所述以下移動機器人 200828185 P53950051TW 2I929twf.doc/n Γ二ΐ人)5(R1_R6)。其中複數個_裝置1可為功能不同 例如影像、火災、煙霧、紅外線、移動、振動、 二又、人體等—般常用於系統保全之感測裝置或趣 δ，感測裝置1可安裝在環境中 ^ 機器人5身上，用以_斤“ 1讨衣於複數個 括一第一二„ :貞，境中之環境資訊’感測裝置1並包 二弟觀早兀附未示_將該環·訊傳送至主系 ^元3aU絲在魏中崎#位置，且包括-第二通 Ϊ制單元f及記憶單元％，如圖2所示。其令， 二、、、之第—通訊單元3a主要可接收圖1所_ 二 ^感H Γ的該第—通訊單元所傳送之環境:IS 达要求回報位置訊號，，給環境中的複數 f ===感測裝置1(1，)與_ = 二定位單元5f，如圖3所示。弟—通訊早及-第 測哭建方式有以下幾種：Κ以距離感 么訊，常用的距離感測器為雷射距 =個;=測器等。2.利用至少三個距離感 tC兩個在每境中，—個在機器人 法做機器人定位。3.利用至少一 以二角疋位 可直接做機器人线。4.直接^ = 為記錄影像資訊。該s 衫像感測器以作 且右-πΠ，早a係提供機器人5至少 度，：一： = = 其-是巡邏用的較低移動速 另疋月"主異吊資訊發生處之最高移動速度〇 200828185 iTW 21929twf.doc/n 該主系統3的記憶單元3c具有環境的地圖資 訊，其紀錄環境中各感測裝置1之位置，以及複數個 機器人5定時透過其内的第三通訊單元“將其内的 第二定位單元5f所偵得位置資訊傳送給主系統3之 第二通訊單το 3a並隨時更新該記憶單元孔中該等機器 人之位置。其中若有任一個機器人5因距離主系統^ 太遠或被遮蔽物遮蔽訊號而影響與主系統3之通200828185 P53950051TW 21929twf.doc/n Nine, invention description: [Technical field of invention] The present invention relates to a security system, in particular to a bulk security system, to expand the scope of environmental anomaly monitoring and simultaneous monitoring [ Prior Art] With the advancement of technology and the improvement of the quality of life, life and sex have become a topic of great concern, and its scope covers families, office kings, laboratories, factories, financial institutions and other public places. Come to many industries to 'bet more efforts to develop a variety of different guarantees, and make the security service industry a fast-growing field. However, the commercial security system lacks sufficient maneuverability and intelligence to break various conditions, and the system has a high false trigger rate/false positive rate. In addition to causing client problems, it also reduces the reliability of the overall security system. Moreover, the security patrols are more important to protect the most unwillingness of the personnel. Although there are perfect systems and regulations, there are always many uncontrollable factors (physical and psychological), so that the maintenance service cannot be fully implemented. However, the recent rapid development of robots has made it more feasible to replace the patrols of security personnel with mobile robots (hereinafter referred to as robots). A conventional patrol robot disclosed in Japanese Patent Publication No. 2003051082, which itself includes at least a control main system and a plurality of sensing devices, such as image, sound source, heat source, temperature and gas, etc. The effectiveness of environmental monitoring. The plurality of sensing devices notify the robot of the environmental information, and the main control system of the robot determines whether an abnormal condition occurs based on the environmental information. If so, the robot goes to the abnormal place to do the phase 5 200828185 鸠 1TW 21929 tw £ d〇c/n Γ as a single - robot mobile monitoring, for the detective may affect the communication due to the obstacles in the view, stay the fastest Abnormal information was collected during the time. If the robot has an abnormal condition or even a fault in t if?, the whole system will be seriously disabled. When the real # abnormal situation occurs, for example, the mobile person's intrusion=fog' abnormal condition usually spreads to the unspecified _H. Although there is a decrease in the environmental impact of the sensing device, the single person cannot simultaneously Go to the surveillance and handle it. So 'axis learning single-machine!! The person himself can act in time to make up for the security system. 'Ren 1 knows early - the robot integrates the multi-system system - the body complexity is still expensive, and the single-system Lang mobile monitoring is limited, such as limited to - floor, so that It is impossible to fully grasp the monitoring environment. The anti-virus vulnerability of the early security system cannot be effectively filled. Therefore, for the industry, it is necessary to develop a kind of decentralized security system, and the layers of Wei Huan Lingcheng and ah carry out several [inventions] The purpose of the present invention is to provide a decentralized security system, including a sensing device. - The main system and a plurality of robots. The = device is installed in the environment +, and the environmental information of the system is transmitted to the = system. When the main system judges the abnormality according to the environmental information, = assigns the shortest time to the position of the person who is in the position of the job, and proceeds to the monitoring of 200828185 P53950051TW 21929twf.doc/n. And the shortest time is calculated according to the relative distance between the robot and the sensing device and the highest moving speed of the robot. By means of the dispersion system, when a plurality of abnormally occurring sensing devices appear in the environment, the main system commands a plurality of robots to simultaneously process to provide a faster and safer security service and thus less harm. The effect of the occurrence. A further object of the present invention is to provide a decentralized security system. The main system is installed on a specific one of the plurality of robots. Any one or more of the sensing devices are placed in the environment and the measured environmental information is transmitted to the particular robot. Then, when the main system on the specific robot determines that the abnormality occurs according to the environmental information, the robot that has reached the abnormal position in the shortest time can be assigned according to the sense of the abnormality, the position of the specific robot and the ordinary robot, and the robot is sent to the robot in the shortest time. Monitor abnormalities and report the difference to the remote monitoring center. And the minimum time is determined according to the minimum calculated by: the relative displacement distance of the position of the specific robot and the position of the sensing devices, and the maximum moving speed of the specific robot; and the ordinary robot The relative displacement distance between the position and the position of the sensing devices is determined by the highest moving speed of the ordinary robot. The above and other objects, features and advantages of the present invention will become more apparent <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; </ RTI> <RTIgt; BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a device for securing a system according to a first preferred embodiment of the present invention. The decentralized security system mainly includes a plurality of sensing garments 1, a main system 3, and a plurality of robots (the mobile robots 200828185 P53950051TW 2I929twf.doc/n Γ 2ΐ) 5 (R1_R6). The plurality of devices 1 can be different in function, such as image, fire, smoke, infrared, mobile, vibration, two, human body, etc., which are commonly used for system preservation sensing devices or interesting δ, and the sensing device 1 can be installed in the environment.中^ Robot 5 body, used for _ jin "1 to discuss clothes in a number of first one and two first „ : 贞, environmental information in the environment 'sensing device 1 and two brothers view early 兀 未 未 _ 将该The message is transmitted to the main unit 3aU wire at the Wei Zhongqi # position, and includes - the second communication unit f and the memory unit %, as shown in FIG. The second communication unit 3a can receive the environment transmitted by the first communication unit of the first embodiment of the present invention: the IS reaches the required return position signal, and gives the complex number f in the environment. === Sensing device 1 (1,) and _ = two positioning unit 5f, as shown in FIG. Brother-Communication Early--The first method of measuring crying is as follows: Κ 距离 距离 么 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , 2. Use at least three senses of distance tC two in each context, one robot positioning in the robot method. 3. Use at least one of the two corners to directly make the robot line. 4. Direct ^ = for recording image information. The s-shirt is like a sensor and right-πΠ, the early a system provides the robot 5 at least, 1: one: = = it is the lower moving speed for patrol and the other month. Maximum moving speed 〇200828185 iTW 21929twf.doc/n The memory unit 3c of the main system 3 has environment map information, the position of each sensing device 1 in the recording environment, and the third communication through which the plurality of robots 5 are periodically passed. The unit "transmits the position information detected by the second positioning unit 5f therein to the second communication unit το 3a of the main system 3 and updates the position of the robots in the memory unit hole at any time. Far from the main system ^ or being shielded by the shield to affect the connection with the main system 3
時（訊號較微弱），此機器人5可先透過其他較為^ 近或可接收到訊號之其他機器人5,將訊號轉傳送至 主系統，使主系統3可以完全掌握複數個機哭 的動態位置。 ^ 該主系統根據該環境資訊判斷異常發生 主系統3之控制單元3b可依據記憶單元沘中地图= 訊，計算機器人5與異常發生之感測裝置i，二二 位移距以及機器人5到達發現異常之感測裝置、， 之所需時間。且該所需時間係依據機器人與異常^生 感測裝置1 ’的相對位移距離與機器人5之最高移動来2 計算出。接著，控制單元3b指派最短時間可到 ，生之感測骏置丨，的機器人前往處理。且複數j固二 益人5可於偵測環境中依設定路徑移動或自夕 動。每一機器人皆可透過第三通訊單元5e接收來移 主系統3的訊號，並與其他機器人5傳輸訊黎2二自 溝通。 & ^相互 根據本發明之第一較佳實施例之分散式保入/ 統之運作方式如圖4所示，複數個感測裝置(Sl_s& = 9 200828185 P53950051TW 21929twf.doc/n 其第一通訊單元即將其所在位置及環境資訊傳送至 主$統3，其傳輪方式可為有線傳輸或無線傳輸。其 中若^任一個機器人5因距離主系統3太遠或被遮^ 物遮蔽訊號而影響其與主系統3之通訊時（訊號較微 弱），此機器人5可先透過其他較為鄰近或可接收到 訊號之其他機器人5，將訊號轉傳送至主系統，使主 ^統^可以完全掌握複數個機器人5的動態位置。當 環，資訊被主系統判斷異常發生時，該主系統3之控 制單元3b可依據記憶單元3c中地圖資訊，計算每一 機器人5 (Rl-Rn)與任一異常發生之感測裝置工， 的相對位移距離，以及機器人5到達任一異 感測裝置Γ的所需時間，並指派最短時間内^ $常發生位置，機器Λ 5,前往進行監視。且該最短 %間係依據機器A 5與任-發現異f之感相 對位移距離與該機器人5之最高移動速度置^目 機器人5系統中的戍測單元$ r ^ a次 ^ 則早兀5c，可將所偵測到的異 :貝訊儲存於機器A 5系統中，以及經即時π 6 傳达至監控中心7或遠端終端機9 可為常用的行動通訊裝置，例如行動電話 置=中數個發現異常發生的感測累 置1犄，主糸統3可依上达之方法，該 時間内可到達各個異常發生位置之各個機器人 行監視’且該最辦間係依據各個機器人5與】= 生的感測裝置」’ <相對位移距離與各個機器人/之最^ 移動速度來計算出，如圖5所示。又機器人5依不^ 200828185 P53950051TW 21929twf.doc/n 境可同枯於不同樓層進行監控，請參考圖6，每一樓 層皆安裝有複數個感測裝置1及複數個機器人5。因此依 據圖6之群體保全系統可形成全區環境網路監控系 統，並適用於一般居家或商業辦公大樓的安全監控。 故本發明可逹擴大監控範圍之功效。 本發明之第二雛實蝴如圖7麻，此分散式保全系 統主要包括感測裝置卜主系統3以及複數個機器人5，其中 ，測裝置卜m 3以及概個機狀5(R1_R6)，其如同前 第-實施例所述，在此不再贅述。為防範主系統固定裝置於環 境中容易遭受入侵者的蓄意破壞，例如切斷訊號傳輸功能或破 壞整個系統等，本實施例將主系統3安裝於複數個機器人5 中之4寸疋-者，使主系統3不易遭受入侵者破壞，其中該 者稱特定機ϋ人，*其餘機ϋ人稱f通機狀。換言之 實施例所述之衫統3中㈣二通訊單元3a、控鮮元此及 記憶單元H及麵人巾的第三馳單元5e及第二定位單 ^整合成林實補所述之轉定麵人巾的第二通 ΐ^；：ί Γ之分散式保全系統的運作方式如圖8所 、甬 紀錄該感測裝置、該特定機器人與該普 t勤人之位置。該普通機器人根據其第β位單元5f所 料透過特定鋪人㈣通訊單元更新 lit 憶單元中該普通機器人之位置，並接收 據其本身第—定位單 I d寸疋機益人根 身节捧蕈所制疋位貧料’定時更新其本 身u己L、早70中該特定機器人之位置。 11 200828185 F53950051TW 21929twf.doc/n 、观2置1中之—者(此實施例為S2)所偵 工丁邊封疋機态人R1 管一 tTs2^ 9 ΐ機哭人最辦㈣可顺異常發生位置 機时人5 (#寸疋機态人或普通機哭 ❿ 下所計算“者；機= 置之間的相對位移距離，與該特定 機》。人之取同私動速度而計算求出； 置之間的相對位移二^ =所偵測異常發生位置之異常資訊 =$^=^=：=編經由瞻 綜上所述，本發明具有下列之優點· ====彻―㈣ =當環境μ料轉常發生的❹懷科，可 内可到達異常發生位置彻 ttn可將主祕整合在—特定機狀上，以避免主夺 、、先固疋裝置於環境巾容易遭受人侵者崎意破壞之ί 12 200828185 P53950051TW 21929twf.doc/n 效。 4·若有機器人因距離主系統太遠或遮蔽物而影響主系統 接收訊號時（訊ϊ虎較微弱），機器人可先透過其他較為鄰 近或可接收到訊號機器人，將訊號轉傳送至主系統，使主 系統可以完全掌握複機器人的動態位置並進行監控。 雖然本發明已以較佳實施例揭露如上，然其並非 用以限定本發明，任何熟習此技藝者，在不脫離本發 _ 明之精神和範圍内，當可作些許之更動與潤飾，因此 本發明之保護範圍當視後附之申請專利範圍所界定者 為準。 【圖式簡單說明】 圖1揭示根據本發明第一較佳實施例之一分散式保全 系統。 圖2揭示根據本發明第一較佳實施例之一主系統架構 方塊圖。 圖3揭不根據本發明第_較佳實施例之機器人架構方 塊圖。 圖4揭示根據本發明之第一較佳實施例之分散式保全 糸統之運作方式。 圖5+為根據本發明第_她實麵之分散雜全系統的 同¥處理夕個感測裝置偵測異常發生時的示意圖。 I6為將本發Β月第一較佳實施例之分散式保全系統安裝 在不同樓層之示意圖。 圖7揭不根據本發明第二較佳實施例之一分散式保全 200828185 P53950051TW 21929twf.doc/n 系統。 圖8揭示根據本發明之第二較佳實施例之分散式保全系 統之運作方式。 【主要元件符號說明】 l(Sl-Sx):感測裝置; Γ :異常發生之感測裝置； 3 ·主糸統， ® 3a:第二通訊單元 3b:控制單元 3c:記憶單元 5(R1-R6):機器人； 5a:驅動單元 5b:控制單元 5c:感測單元 5d:電源單元 • 5e:第三通訊單元 5f:第二定位單元 6:即時監控 7:監控中心 9:遠端終端機 14At the time (the signal is weak), the robot 5 can first transmit the signal to the main system through other robots 5 that are relatively close or can receive the signal, so that the main system 3 can completely grasp the dynamic position of the plurality of machines crying. ^ The main system judges the abnormality according to the environmental information. The control unit 3b of the main system 3 can calculate the sensing device i of the robot 5 and the abnormality according to the map=in the memory unit, the second displacement distance, and the arrival of the robot 5 to find the abnormality. The time required for the sensing device. And the required time is calculated based on the relative displacement distance of the robot and the abnormal sensing device 1' and the highest movement of the robot 5. Next, the control unit 3b assigns the shortest time to arrive, and the robot that senses the test is sent to the processing. And the plurality of people can move or follow the set path in the detection environment. Each robot can receive the signal of the main system 3 through the third communication unit 5e, and communicate with other robots 5 to transmit the communication. & ^ The operation mode of the decentralized security/integration according to the first preferred embodiment of the present invention is as shown in FIG. 4, and a plurality of sensing devices (S1_s& = 9 200828185 P53950051TW 21929twf.doc/n The communication unit transmits the location and environment information to the main system 3, and the transmission mode can be wired transmission or wireless transmission. If any of the robots 5 are too far away from the main system 3 or are obscured by the shielding system, When the communication with the main system 3 is affected (the signal is weak), the robot 5 can first transmit the signal to the main system through other robots 5 that are relatively close to or can receive the signal, so that the main system can be completely grasped. The dynamic position of the plurality of robots 5. When the ring is detected by the main system, the control unit 3b of the main system 3 can calculate each robot 5 (Rl-Rn) according to the map information in the memory unit 3c. The relative displacement distance of the sensing device, which occurs abnormally, and the time required for the robot 5 to reach any of the different sensing devices, and assign the shortest time ^ $ often occurs, the machine Λ 5, go to the monitoring And the shortest % is based on the relative displacement distance between the machine A 5 and the arbitrary-discovery f and the highest moving speed of the robot 5, and the detection unit in the robot 5 system is $ r ^ a times ^ is earlier than 5c The detected difference: the bee is stored in the machine A 5 system, and is transmitted to the monitoring center 7 or the remote terminal 9 via the instant π 6 , which can be a commonly used mobile communication device, such as a mobile phone. The sensing of the number of occurrences of the abnormality is 1犄, and the main system 3 can be monitored according to the method of the above, and the robots can reach the position of each abnormality in the time period, and the most intervening system is based on each robot 5 And [==================================================================================================================== Drying on different floors for monitoring, please refer to Figure 6. Each floor is equipped with a plurality of sensing devices 1 and a plurality of robots 5. Therefore, the community security system according to Figure 6 can form a regional environmental network monitoring system and is applicable. General home or business office The safety monitoring of the building. Therefore, the invention can expand the scope of the monitoring effect. The second embodiment of the present invention is shown in Fig. 7. The distributed security system mainly comprises a sensing device main system 3 and a plurality of robots 5, wherein The measuring device m 3 and the general machine 5 (R1_R6) are as described in the previous embodiment, and are not described here again. To prevent the main system fixing device from being vulnerable to vandalism in the environment, for example, In the embodiment, the main system 3 is installed in a plurality of robots 5, and the main system 3 is not easily damaged by an intruder, and the person is called a specific machine. , * The rest of the machine called the f-machine. In other words, in the embodiment 3, the (four) two communication unit 3a, the control unit, the memory unit H, and the third unit 5e and the second positioning unit of the face towel are integrated into the finalization of Lin Shibu. The second pass of the face towel ^;: ί Γ 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散 分散The ordinary robot updates the position of the ordinary robot in the lit memory unit through the specific paving (4) communication unit according to the fifth beta unit 5f, and receives the first robot according to its own position-positioning single I d inch疋 疋 贫 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' 11 200828185 F53950051TW 21929twf.doc/n, view 2 set 1 - (this embodiment is S2) the detective Ding side seals the state of the person R1 tube a tTs2^ 9 ΐ machine crying people most (four) can be abnormal When the position machine occurs, the person 5 (# inch 疋 态 或 or ordinary machine ❿ 所 所 计算 ; ; 机 机 机 机 机 机 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对 相对The relative displacement between the two sets = the abnormal information of the detected abnormality occurrence position = $^=^=:= As described above, the present invention has the following advantages: ==== 彻 - (4) = When the environment μ material often occurs, the 异常 ❹ 可 可 可 可 异常 tt tt tt tt tt tt 可 可 可 tt 可 可 可 tt tt 可 可 可 可 tt tt tt tt tt tt tt tt tt tt tt tt tt tt tt tt tt tt tt Invaders are ruined by 2008 12 200828185 P53950051TW 21929twf.doc/n Effect. 4. If a robot is too far away from the main system or obscured to affect the main system receiving signals (the signal is weak), the robot can first pass Other nearby robots that can receive signals, transmit signals to the main system, and make the main system In order to fully grasp the dynamic position of the complex robot and to monitor it. Although the present invention has been disclosed in the above preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can, without departing from the spirit and scope of the present invention. The scope of protection of the present invention is defined by the scope of the appended claims. [FIG. 1 discloses one of the first preferred embodiments of the present invention. Figure 2 illustrates a block diagram of a main system architecture in accordance with a first preferred embodiment of the present invention. Figure 3 is a block diagram of a robot architecture in accordance with a preferred embodiment of the present invention. Figure 4 illustrates a block diagram of a robot architecture in accordance with the present invention. The operation mode of the decentralized security system of the first preferred embodiment. FIG. 5+ is a schematic diagram of the detection of an abnormality when the same sensing device of the first embodiment of the dispersing system according to the present invention is used. I6 is a schematic diagram of installing the decentralized security system of the first preferred embodiment of the present invention on different floors. FIG. 7 is not a decentralized preservation according to the second preferred embodiment of the present invention. 00828185 P53950051TW 21929twf.doc/n system Fig. 8 discloses the operation mode of the distributed security system according to the second preferred embodiment of the present invention. [Key element symbol description] l (Sl-Sx): sensing device; Abnormally occurring sensing device; 3 · Main system, ® 3a: Second communication unit 3b: Control unit 3c: Memory unit 5 (R1-R6): Robot; 5a: Drive unit 5b: Control unit 5c: Sensing unit 5d: power supply unit • 5e: third communication unit 5f: second positioning unit 6: instant monitoring 7: monitoring center 9: remote terminal unit 14