JP2018197731A - Disaster prevention cooperation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable reliable disaster prevention support work by always securing a communication connection with a work robot moving in a facility. According to an instruction from a control device 15 of an equipment management system 12, a transfer robot 34 measures a communication state while traveling in a facility and sends it to the control device 15. Upon receiving this measurement result, the control device 15 generates a wireless environment map showing the presence or absence of a communicable area in the facility. When the control device 15 receives the fire information signal from the disaster prevention monitoring panel 14, the control device 15 generates route information toward a predetermined destination passing through the communicable area based on the wireless environment map, and instructs the transport robot 34 to move. The transport robot 34 moves to the destination according to the instructed route information, and performs disaster prevention support work such as transporting equipment such as a fire extinguisher to the fire location. [Selection diagram] Fig. 1

Description

  The present invention relates to a disaster prevention cooperation system that supports fire fighting 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 a working robot and the like.

  Conventionally, in facilities where a large number of people are enrolled, such as hospitals and elderly facilities, the disaster prevention monitoring system of the disaster prevention monitoring system that monitors fires has been installed in the disaster prevention center and management room in the facility. By receiving a fire signal from a fire detector or transmitter connected to the sensor line drawn out from the receiving board to the alert area, a fire representative display is displayed and the main sound is sounded. The district sound device connected to the drawn out control line is sounded, and further, interlocking control of a fire door, a fire shutter, etc. connected to the control line is performed.

  Moreover, as an evacuation guide apparatus installed with a disaster prevention monitoring system, emergency broadcast equipment is provided in addition to the guide light determined by the Fire Service Act that always lights and guides evacuation. The emergency broadcasting equipment is linked to the disaster prevention monitoring system, and in the event of a fire, an emergency broadcast including guidance for evacuation guidance is sent from speakers installed in the hallway of the facility to prompt prompt evacuation.

  On the other hand, in facilities such as hospitals and elderly facilities, cleaning robots that clean the facilities, transport robots that carry equipment necessary for medical and nursing care sites, wheelchair robots that move people with difficulty walking, Work robots such as stretcher robots that carry bedridden 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 facilities, 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 a control device is conceivable.

  The desktop interface has a large-screen LCD display with a touch panel placed horizontally like a table (it can also be placed vertically), and related parties can view the screen display by standing around the table screen. Multiple people can perform screen operations (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 construct a wireless LAN communication area in the facility. By connecting via a wireless line, the operation status of multiple work robots is displayed on the desktop interface, and if necessary, a specific work robot is designated and control of predetermined work or movement is instructed. The robot can be centrally operated and managed.

  Also, when a fire breaks out, fire brigade, disaster prevention center personnel, self-defense fire brigade, etc. respond to fire abnormalities, etc., access the disaster prevention reception panel etc. from the mobile terminal you own and check the status of fire etc. abnormalities We are responding while doing.

JP 2009-087111 A JP 2012-194787 A JP 2008-0905757 A

  By the way, when a fire occurs in a facility such as a hospital or an elderly facility, a fire alarm is automatically output from the disaster prevention reception board of the disaster prevention monitoring system, and disaster prevention managers and personnel in charge of disaster prevention go to the site and fire. If it is confirmed, fire confirmation operation will be performed and the fire department will be notified. In addition, efforts will be made to extinguish the fire as much as possible. In addition, contact should be made with the on-site staff, such as inpatients and elderly people who need human help. It is necessary to move people who have difficulty evacuating to a safe place.

  However, when a fire prevention manager or the like visits the site and confirms a fire, the fire extinguisher installed nearby will be used for the initial fire extinguishing, but the fire extinguisher discharges 20-30 seconds. It is a limited time, and depending on the fire situation, even if the fire extinguisher is used up, it may not be able to extinguish completely.

  In addition, the facility staff who knows the fire will carry the stretcher from the designated storage location to the hospital room or living room close to the fire location and place inpatients and senior citizens in a safe place based on the evacuation drills that are routinely conducted. Although the work to be carried out will be carried out in a hurry, it takes time and effort to move the stretcher between the evacuation source and the evacuation destination, especially at night, with a small number of facility staff There are cases where it is necessary to evacuate safely and quickly.

  In order to solve this problem, the disaster prevention monitoring system and the equipment management system using the work robot are linked, and in the event of a fire, the equipment necessary for dealing with the fire, such as fire extinguishing, is provided at the predetermined transport destination corresponding to the fire location. A disaster prevention cooperation system has been proposed in which a vessel is automatically transported by a transport robot to support fire fighting activities by facility staff or the like (Japanese Patent Application No. 2006-106905).

  In addition, in the control of a mobile robot that moves while performing wireless communication with a management computer, wireless that represents the goodness of the communication environment based on data such as the wireless strength, communication speed, error rate, number of retries, etc. 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 movement area is determined, and movement is performed so that communication is not disconnected during movement (Patent Document 3).

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

  In addition, even if the wireless LAN covers all areas in the facility where the work robot moves normally, in the event of a fire, the fire prevention door and fire shutter closing operation and the sprinkler head water discharge operation are performed by the disaster prevention monitoring system, There is a problem that the radio wave environment in the facility changes due to the operation of such a disaster prevention device, the communication state deteriorates during movement, and the disaster prevention support work by the work robot is not performed normally.

  As for the movement of the work robot, it is possible to automatically move to a specific place if there is no problem in the route, but if an abnormality occurs in the route, it is necessary to reset the route. If communication is not possible at this time, there is a risk of recovery being impossible. Further, when the work robot goes to the place where the abnormality occurs while photographing the surroundings, the photographing data is always transmitted to the disaster prevention center or the like. However, when communication becomes impossible, there is a problem that the video is delayed.

  Moreover, there is a possibility that an abnormal situation cannot be confirmed because the terminal of an abnormal response person such as a fire brigade becomes unable to communicate. In particular, when some areas become inaccessible due to the spread of fire, etc., or when inaccessibility such as cargo collapse due to an earthquake is detected, the location of the fire and the route to the rescuer are considered each time If there is a need for communication and it is impossible to communicate with the old information, it is likely that time will be consumed due to the occurrence of return.

  It is an object of the present invention to provide a disaster prevention cooperation system that creates wireless environment 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 working robot that performs predetermined work while moving in the facility;
A control device for instructing a predetermined operation to the work robot;
A wireless communication facility that constructs a wireless communication area by arranging wireless stations in the facility, connects the control device and the work robot via a line communication line, and transmits and receives signals;
In the disaster prevention cooperation system with
The working robot
Measure the communication state while traveling in the facility, send the measurement result to the control device to generate wireless environment map information indicating the presence or absence of a communicable region in the facility,
When an abnormality occurs in the facility, the wireless environment map information is used to handle the abnormality.

(Robot travel route)
The control device instructs the work robot to move to a predetermined destination based on the predetermined disaster prevention information obtained from the disaster prevention monitoring system,
When the work robot moves from the current position to the destination designated by the control device, the work robot moves to the destination according to predetermined route information passing through the communicable area generated based on the wireless environment map information.

(Correction of driving route)
When the work robot detects communication failure while moving to the destination according to the predetermined route information instructed by the control device, the work robot returns to the immediately preceding communicable area and stops moving to the control device. Notification is performed to update the radio wave environment map information, and the predetermined route information corrected so as to avoid the incommunicable route portion is acquired, and the movement to the destination is resumed.

(Reconstruct communication route)
When the work robot detects that communication is impossible while moving to the destination according to the predetermined route information instructed by the control device, the work robot returns to the previous communicable area and stops moving, and enters the wireless communication facility. After instructing and recovering the communication state of the route portion where communication is impossible, the movement to the destination is resumed.

(Transmission power increase or frequency change)
The work robot instructs the wireless communication equipment to increase the transmission power or change the communication frequency, thereby recovering the communication of the route portion where communication is impossible.

(Update of wireless environment map when disaster prevention equipment is operating)
The work robot moves within the facility in response to an instruction from the control device and measures the communication status corresponding to fluctuations in the radio wave environment due to the operation of the disaster prevention device when a predetermined disaster prevention device is activated by the fire detection of the disaster prevention monitoring system. The measurement result is sent 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 fluctuation of the radio wave environment when the fire door, the fire shutter, and / or the sprinkler head are operated, and sends the measurement result to the control device to update the radio environment map information.

(Improvement of radio field intensity at the fire site)
When a fire is detected by the disaster prevention monitoring system, the control device instructs the wireless communication equipment to transmit the wireless station so that it can communicate at least one of the fire occurrence place, the detour place, and the important place. Adjust the power.

(Screen display of wireless environment map in case of fire)
When the fire prevention reception board of the fire prevention monitoring system detects a fire, it 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 the radio environment map at the time of fire to the abnormal responder terminal)
The disaster prevention cooperation system further includes a portable terminal that is carried by an abnormal responder, and the portable terminal acquires wireless environment map information from the control device and displays it on the screen together with the abnormality occurrence location.

(Radio station control in case of fire)
The wireless communication equipment is provided with a fire sensor that detects a fire in the wireless station installed in the facility, and when the fire is detected by the fire sensor, the transmission power of the wireless station is increased.

(Basic effect)
The present invention constructs a wireless communication area by controlling a work robot that performs a predetermined work while moving in a facility, a control device that instructs the work robot to perform a predetermined operation, and a wireless station in the facility. In a disaster prevention cooperation system equipped with a wireless communication facility that transmits and receives signals by connecting a device and a work robot via a line communication line, the work robot measures the communication state while traveling in the facility, and performs the measurement. The result is sent to the control device to generate wireless environment map information indicating the presence or absence of a communicable area in the facility, and when an abnormality occurs in the facility, the wireless environment map information is used to deal with the abnormality. As a result, when the robot moves to the location where an abnormality has occurred or when the fire brigade responds to an abnormality when an abnormality such as a fire occurs, the response route can be examined while checking the incommunicable area As a result, it becomes possible to determine the route so as to avoid the incommunicable region or to make it as short as possible and maintain the communicable state, so that it is possible to take a strong abnormality response to the progress of the abnormality.

(Robot travel route)
Further, the control device instructs the work robot to move to a predetermined destination based on the predetermined disaster prevention information obtained from the disaster prevention monitoring system, and the work robot moves from the current position to the destination instructed by the control device. In this case, when a fire occurs, a fire occurs from the transport source based on an instruction from the control device because the destination is moved according to predetermined route information passing through the communicable area generated based on the wireless environment map information. When the work robot automatically transports equipment necessary for fire fighting, such as a fire extinguisher, to the designated transport destination close to the location, the work robot moves according to the route passing through the communicable area, so it is in communication during the move. It is possible to reliably prevent a situation where the disaster prevention support work by the work robot is not performed normally due to deterioration of the situation, and to enable a highly reliable disaster prevention support work.

(Effects of correcting the driving route)
In addition, when the work robot detects that communication is impossible while moving to the destination according to the predetermined route information instructed from the control device, the work robot returns to the previous communicable area and stops moving. The radio environment map information is updated by notifying the device and acquiring the predetermined route information modified to avoid the incommunicable route portion, and the movement to the destination is resumed. Although it was a communicable area, if a route part that cannot be communicated occurs while the work robot is traveling, it will not be impossible to control the route part that cannot be communicated, and it will return to the previous communicable route position. It is possible to acquire predetermined route information corrected so as to avoid a route portion where communication is impossible and to move to a destination with certainty. Moreover, the electric field environment map information corresponding to the latest communication state can always be generated by updating the electric field environment map information for the incommunicable region.

(Effects of reconfiguring communicable routes)
In addition, when the work robot detects communication failure while moving to the destination according to the predetermined route information instructed from the control device, the work robot returns to the previous communicable area and stops moving, Since the movement to the destination was resumed after instructing the equipment to restore the communication state of the incommunicable route part, it was a communicable area on the radio environment map, but while the work robot was running When a route part that cannot be communicated occurs, for example, by controlling the radio station close to the route part that cannot be communicated and recovering the communication state, it is possible to move to the destination without changing the route information. And

(Effects of increased transmission power or frequency change)
In addition, the work robot instructs the wireless communication equipment to increase the transmission power or change the communication frequency so as to recover the communication of the route portion where communication is impossible. By increasing the transmission power, the radio wave intensity is increased, the communication state is recovered, and it is possible to reliably move to the destination without changing the route information. In addition, it is possible to move to the destination without changing the route information by instructing to change the communication frequency of the wireless station close to the incommunicable route to the other communication frequency that can be communicated. It is possible to do.

(Effects of updating the wireless environment map when disaster prevention equipment is operating)
In addition, when a specified disaster prevention device is activated by the fire detection of the disaster prevention monitoring system, the work robot moves within the facility according to an instruction from the control device and operates the disaster prevention device such as a fire door, a fire shutter, and / or a sprinkler head. Measures the communication status corresponding to fluctuations in the radio wave environment due to, and updates the radio environment map information by sending the measurement results to the control device, so that accurate wireless response to changes in the radio wave environment when a fire occurs By generating environment map information, you can move to a fire location according to route information that avoids areas where communication status has deteriorated due to operation of fire doors, fire shutters, etc., and communication status deteriorates while moving It is possible to reliably prevent a situation where the disaster prevention support work by the work robot is not normally performed.

(Effects of improved radio field intensity at the fire site)
In addition, because the transmission power of the radio station is adjusted so that one or more of the areas where fires occur, places that cannot be bypassed, and important parts can be communicated, the fire brigade, for example, communicates with the control device side by radio communication. Even in the case of heading to the place where the fire occurred while always in contact, it is possible to reliably prevent a situation in which the communication state deteriorates due to the deterioration of the communication state during movement.

(Effect of screen display of wireless environment map in case of fire)
In addition, the disaster prevention reception board of the disaster prevention monitoring system acquires the radio environment map information from the control device and displays it on the screen together with other disaster prevention information including the place where the fire occurred when a fire is detected. The communication center within the facility can be easily and easily grasped in relation to the location of the fire at the disaster prevention center, and the work robot transports the equipment to the location of the fire and guides the fire team to the location of the fire. Such a response plan can be made appropriately.

(Screen display of the radio environment map at the time of fire to the abnormal responder terminal)
The disaster prevention cooperation system is further equipped with a portable terminal that is carried by the responder of the abnormality, and the portable terminal acquires the radio environment map information from the control device and displays it on the screen together with the abnormality occurrence location. In addition, it is possible for an emergency responder such as a self-defense fire brigade to move away from the incommunicable area or to immediately exit the incommunicable area, and to respond to the abnormality while checking the latest abnormal state. . Even in the case of entering the incommunicable area, since it is known in advance that the incommunicable area, there is no confusion.

(Effects of radio station control in case of fire)
In addition, the wireless communication equipment installed in the facility has a fire sensor that detects fire, and when a fire is detected by the fire sensor, the transmission power of the wireless station is increased. Even if the radio frequency changes, communication with mobile robots that support disaster prevention can be performed reliably, and even if a fire expands and the radio station breaks down or disappears, other radio stations can transmit power. By increasing the number, it is possible to cover the communication area of the wireless station whose function has been lost and to reduce the area where communication is impossible as much as possible.

Explanatory diagram showing an overview of the disaster prevention cooperation system Explanatory drawing showing the appearance of the control device with a table screen Block diagram showing functional configuration of disaster prevention reception board and control device Block diagram showing the functional configuration of the transfer robot Explanatory drawing showing transfer of fire extinguisher by transfer robot Explanatory drawing showing a map of the facility to be monitored displayed on the table screen together with the transfer route of the transfer robot and the area where communication is impossible Explanatory drawing showing a map of the monitored facility displayed on the table screen in the event of a fire, along with the transport route by the transport robot Explanatory drawing showing the control of the transfer robot when communication is disabled during equipment transfer to the fire place, with a map of the monitored facility displayed on the table screen Explanatory drawing showing a map of monitored facilities displayed on the table screen in the event of a fire, along with an evacuation route by a stretcher robot Time chart showing embodiment of generation of wireless environment map by control device and transfer robot and movement control based on wireless environment map Time chart showing another embodiment of generation of wireless environment map by control device and transfer robot and movement control based on wireless environment map Time chart showing generation of wireless environment map by control device and transfer robot and movement control based on wireless environment map when fire door is activated in case of fire

(Differences from 2006-010 are shown in bold.)
[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 includes a disaster prevention monitoring system 10 and a device management system 12.

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

  The fire detector 18 and the transmitter 20 connected to the transmission line 16a are provided with a relay function and have a unique address. The fire sensor 18 detects the smoke concentration or temperature associated with the fire, and when the smoke concentration or temperature reaches a predetermined threshold value indicating the fire level, it determines that a fire has occurred and issues a fire signal. 14 to send. The transmitter 20 transmits a fire notification signal to the disaster prevention receiving board 14 when the push button switch is turned on by a fire notification operation.

  When receiving the fire signal from the fire detector 18 or the fire report signal from the transmitter 20, the disaster prevention receiving board 14 displays a fire and outputs an acoustic alarm. In response to the fire confirmation operation, the district acoustic device 22 connected to the control transmission line 16b drawn from the disaster prevention receiving board 14 is operated to output the district acoustic alarm, and the fire location The interlocking control for controlling the fire door 24 and the fire shutter 26 corresponding to the above to form a fire prevention section is performed.

  In addition, when the emergency broadcast equipment is provided, the disaster prevention receiving board 14 performs emergency broadcast by the interlock control of the emergency broadcast equipment. It also controls other equipment such as a flasher control for guide lights and light alarms.

(Equipment management system)
As shown in FIG. 1, the device management system 12 includes 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 view showing the appearance of the control device. A table screen 46 is horizontally arranged on a table base 44, and the table screen 46 is constituted by 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 work robots that are normally used in the facility, and received fire information from the disaster prevention reception 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 path 28 by a LAN cable or the like is drawn out from the control device 15 into the facility, and a wireless LAN access point 30 functioning as a wireless communication facility is connected to the transmission path 28. A wireless communication area by wireless LAN is formed in the facility.

  In addition, 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. Increasing the radio field strength in the communication area within the facility. Further, it may be adjusted to facilitate communication in the area of the access point 30 by reducing the transmission output level of the access points 30 around the access point 30 or changing the frequency. 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.

  For this reason, when a fire occurs, it is possible to reliably communicate with a work robot that performs disaster prevention support, and even if the access point 30 breaks down or disappears due to the fire spreading, other access points 30 Since the transmission power is increased, the communication area of the access point 30 whose function has been lost can be covered, and the area in which communication is disabled can be reduced as much as possible. Note that the fire sensor 31 is not necessarily provided in the access point 30.

  A staff member or the like working in the facility carries a portable terminal 32, and, for example, a transfer robot 34, a stretcher robot 36, a wheelchair robot 38, and the like are arranged as work robots, via an access point 30. Are connected to the control device 15 to transmit and receive signals.

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

  The stretcher robot 36 and the wheelchair robot 38 carry an inpatient or an elderly person who is difficult to walk, and, as a rule, perform a support operation to move to the destination in the facility set by the staff with the attendance of the staff.

  In addition, when the transfer robot 34 receives a measurement instruction of the communication state from the control device 15, the transfer robot 34 moves the entire area in the movable facility while using the wireless LAN access point 30 to establish a wireless link with the control device 15. The communication state, for example, the radio wave intensity (received electric field intensity), the communication speed, the error rate, the number of retries, etc. is measured, the measurement result is transmitted to the control device 15, and the control device 15 determines whether there is a communicable area in the facility. A wireless environment map is generated. The generation of the wireless environment map based on the measurement of the communication state in the facility by the transport robot 34 is repeatedly performed at the time of starting the system and thereafter every predetermined period.

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

  In a normal state, the control device 15 displays a facility map 48 including a moving route and a wireless environment map on the table screen 46 when the work robot used in the facility is controlled to move.

  Moreover, the control apparatus 15 displays the facility map 48 which showed the fire place 50, the movement route of a working robot, and the wireless environment map on the table screen 46 at the time of the fire which received the fire information signal from the disaster prevention receiving board 14 of the disaster prevention monitoring system 10. It can be used for control processing for fire extinguishing support and evacuation support using a working robot.

  In such a case, the facility map 48 showing the fire location 50, the moving route of the work robot, and the wireless environment map is displayed on the table screen 46 of the control device 15 so that the person concerned such as the disaster prevention manager can The relationship between the communicable area and the location of the fire can be easily and easily grasped, and it is possible to appropriately formulate a response plan such as a transportation plan of equipment to the fire location by the work robot and a guidance to the fire location of the fire brigade. .

  Further, when the control device 15 moves the work robot 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 moves the work robot according to the route passing through the communicable area. Control to move to.

(Cooperation between disaster prevention monitoring system and equipment management system)
The disaster prevention receiving board 14 of the disaster prevention monitoring system 10 transmits a fire information signal including a fire place to the control device 15 of the equipment management system 12 when receiving a fire signal or a fire notification signal and outputting a fire alarm.

  When the fire information signal is received from the disaster prevention receiving board 14, the control device 15 of the equipment management system 12 displays a map 48 of the facility showing the fire place 50 and the wireless environment map as shown in FIG. 46, 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 a transport instruction signal including this route information is generated by the transport robot. By transmitting to 34 and instructing, the equipment controls the transport of fire fighting equipment such as fire extinguishers and lifesaving equipment such as air breathers from the equipment storage location that is the transport source to the predetermined transport destination corresponding to the fire location. Support fire extinguishing work by staff.

  The transport robot 34 moves to the destination fire place according to the route information passing through the communicable area received from the control device 15, but if it detects communication failure during the movement, it returns to the previous communicable area and stops moving. In such a state, the control device 15 is notified to update to write the incommunicable route portion in the radio wave environment map, and new route information modified to avoid the incommunicable route portion is generated and corrected. It takes control of resuming movement to the destination fire place by acquiring the ludo information.

  Further, as another control when the communication robot 34 detects that communication is not possible while moving, the transmission of the access point 30 is performed in a state where the movement is stopped after returning to the previous communicable area when communication is detected. Control to increase the power is instructed, thereby increasing the radio wave intensity of the incommunicable route portion and recovering to the communicable state, then performing control to resume the movement to the destination fire place.

  Moreover, when the control apparatus 15 receives a fire information signal from the disaster prevention receiving board 14, the stretcher robot 36 and the wheelchair robot 38 are changed from a predetermined evacuation source such as a hospital room or a living room near the fire place to a safe evacuation destination. Based on the wireless environment map, route information that passes through the communicable area from the evacuation source to the destination evacuation destination is generated and a evacuation instruction signal including this route information is sent to the person who has difficulty in evacuation. 36 and the wheelchair robot 38 are transmitted and instructed to control the movement of people who have difficulty evacuating from a designated evacuation source such as a hospital room or living room close to the fire location to a safe evacuation destination, making it difficult for the 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 that communication is not possible while moving, the robot returns to the previous communicable area as in the case of the transfer robot 34. While the movement is stopped, the control device 15 is notified to update the writing of the incommunicable route portion in the radio wave environment map, and new route information corrected to avoid the incommunicable route portion is acquired. Control to resume movement to the destination evacuation destination.

  As another control when the communication failure is detected while the stretcher robot 36 or the wheelchair robot 38 is moving, when the communication failure is detected, the access point is returned to the previous communication available area and stopped moving. The control to increase the transmission power of 30 is instructed, and thereby the radio wave intensity of the incommunicable route portion is increased to recover the communicable state, and the control to resume the movement to the destination evacuation destination is performed.

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

(Functional configuration of disaster prevention reception board)
As shown in FIG. 3, the disaster prevention receiving board 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 configured by a computer circuit having a CPU, a memory, and various input / output ports, and realizes a predetermined reception control function by executing a program. A transmission path 16a is drawn out from the disaster prevention receiving board 14 toward a facility warning area, and a fire detector 18 and a transmitter 20 are connected.

  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 unique addresses including the disaster prevention receiving board 14 are assigned in advance. For example, when the maximum number of addresses is 256 addresses, the number of fire detectors 18 and transmitters 20 that can be connected to one transmission path 16a is 255. In addition, when using the transmitter used in the P-type disaster prevention monitoring system, it has a function of bidirectionally transmitting information to and from the disaster prevention reception board 14 and transmits via a repeater with an address set. The machine is connected.

  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 the fire doors 24 and fire shutters 26 are set with addresses. Etc. are connected.

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

  In contrast, upstream signals from the fire detector 18 and the transmitter 20 are transmitted in a 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 the upstream signal is transmitted to the disaster prevention receiver as a so-called current pulse train. The transmission of downstream signals and upstream signals from the disaster prevention receiving panel 14 to terminal devices such as the fire door 24 and the fire shutter 26 is the same.

  Taking the fire detector 18 as an example, the reception control by the reception control unit 52 is as follows. During normal monitoring, the disaster prevention receiver 14 transmits a polling command for normal monitoring in which terminal addresses are sequentially specified, and the fire detector 18 is normal when receiving a polling command that matches its own set address. Perform monitoring response. For this reason, in the disaster prevention receiving board 14, it is possible to detect a failure by using the fire detector 18 that has not responded to the polling command as a failure.

  The disaster prevention receiving board 14 repeatedly transmits a batch AD conversion command every polling command transmission period for all terminal addresses. When the fire detector 18 receives the batch AD conversion command from the disaster prevention reception board 14, it samples analog detection data such as smoke density and temperature detected and compares them 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 reception board 14 at a 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 ones.

  When receiving the interrupt signal from the fire detector 18, the disaster prevention reception board 14 issues a group search command, receives an interrupt response from the group including the fire detector 18 that detects the fire, and determines the group. .

  Subsequently, the individual fire detectors 18 included in the determined group are polled in sequence with addresses, and by receiving the analog data fire response, the sensor address of the fire detector 18 that detected the fire is obtained. Recognize and fire alarm action.

  Control of terminal devices such as the fire door 24 and fire shutter 26 by the disaster prevention reception board 14 transmits a normal monitoring polling command in which the terminal addresses of the terminal devices are sequentially specified during normal monitoring. When the terminal device is operated, a predetermined control command is transmitted at the timing of the polling command specifying the address, and when the terminal device receives the control command that matches the set address of the terminal device, it is designated by the control command. Perform control action.

  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 lamp, a fault representative lamp, a liquid crystal display equipped 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 temporary stop 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 it.

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

(Functional configuration of control device)
As shown in FIG. 3, the device management system control device 15 includes 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 constituted by a computer circuit having a CPU, a memory, and various input / output ports, and realizes a predetermined control function by executing a program. A transmission path 28 using a LAN cable is drawn 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 path 28 according to, for example, Ethernet (registered trademark).

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

  The apparatus controller 66 normally displays information related to the operation of work robots such as the transfer robot 34, stretcher robot 36, and wheelchair robot 38 used in the facility shown in FIG. Operations such as confirmation of work status and instruction of necessary control are made possible.

  In addition, the device control unit 66 can also display information on the resident of the facility based on an information signal from an entrance / exit management system provided in the facility at a normal time. It is also possible to send various notification items and notifications necessary for the execution of business by sending.

  Further, the apparatus control unit 66 instructs the communication unit 68 to transmit a communication state measurement instruction signal to the transfer robot 34 at predetermined intervals such as one month after the system is started up. The communication state of the wireless line with the control device 15 by the wireless LAN access point 30 measured while moving in the entire area of the facility, for example, radio wave intensity (received electric field intensity), communication speed, error rate, number of retries, etc. And generating a wireless environment map indicating the presence or absence of a communicable area in the facility based on the measurement result. The radio environment map generated by the control device 15 may be, for example, a map indicating an incommunicable area, and in this case, areas other than the incommunicable area indicate communicable areas.

  Further, the apparatus control unit 66 performs an operation input for moving the transport robot 34, the stretcher robot 36, or the wheelchair robot 38 from a predetermined movement source to a predetermined movement destination by operating a touch panel on the liquid crystal display 72 in a normal state. When detected, based on the wireless environment map, avoid the incommunicable region, generate route information passing through the communicable region, and send an instruction signal including this route information to the transport robot 34, the stretcher robot 36, or the wheelchair robot 38. To move it.

  In addition, when receiving a fire information signal from the disaster prevention receiving board 14 via the transmission unit 70, the device control unit 66 drives the liquid crystal display 72 together with the wireless environment map to display a map of the facility where the fire location is indicated. 46, and based on the wireless environment map, avoid the incommunicable area, generate route information from the transportation source such as the equipment storage place to the fire place through the communicable area, and carry instructions including this route information A signal is transmitted to the transport robot 34, and control is performed to transport fire fighting equipment such as a fire extinguisher and lifesaving equipment such as an air breather from a transport source such as an equipment storage place to a transport destination corresponding to the fire place.

  In addition, when receiving a fire information signal from the disaster prevention receiving board 14 via the transmission unit 70, the device control unit 66 avoids the incommunicable area based on the wireless environment map and passes through the communicable area to the table screen 46. The route information from the designated evacuation source to the predetermined evacuation destination set in advance is generated, and the evacuation instruction signal including this route information is transmitted to the stretcher robot 36 and the wheelchair robot 38, and the designated evacuation Control is performed to move people who are difficult to evacuate from the beginning to a predetermined evacuation destination.

  In addition, the apparatus control unit 66 is notified when the notification signal of the incommunicable area is received from the transfer robot 34 that is moving by the transfer instruction signal or the stretcher robot 36 and the wheelchair robot 38 that is moving by the evacuation instruction signal. Update the area where communication was disabled as a new communication disabled area in the wireless environment map, and generate new route information that passes through the communication enabled area avoiding the communication disabled area. An instruction signal including new route information is transmitted to 36 or the wheelchair robot 38 so as to resume movement.

  Further, the device control unit 66 can perform control processing in the training mode, and transports fire fighting equipment and lifesaving equipment using the transport robot 34 in a state where an arbitrary section in the facility is set as a pseudo fire place. Control for fire fighting training and evacuation training for carrying a person with difficulty in evacuation from the evacuation source to the evacuation destination is performed using the stretcher robot 36 and the wheelchair robot 38.

  The control of the device control unit 66 in this training mode is desirably performed 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 carry it. For the work robots such as the terminal 32, the transfer robot 34, the stretcher robot 36, and the wheelchair robot 38, a response process for a pseudo-fire is performed.

(Functional configuration of transfer robot)
FIG. 4 is a block diagram showing a 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 travel distance 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 via a wireless line with the access point 30 of the wireless LAN installed in the facility, transmits and receives signals, and transmits signals to and from the control device 15 via the access point 30. Send and receive.

  The travel distance sensor 86 detects and outputs the travel distance based on the number of rotations of the traveling wheels provided in the transport robot 34.

  The voice notification unit 88 includes a speaker, and outputs a predetermined caution sound such as a chime sound to call attention during the conveyance work. In addition, the voice notification unit 88 can 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 performs various displays necessary for the transfer operation of the transfer robot 34. The operation unit 92 is provided with operation switches, operation knobs, and the like for performing various setting operations and operations such as starting and stopping necessary for transfer control of the transfer robot 34. In the present embodiment, the operation unit 92 includes a route setting switch for performing a setting operation of a transfer source and a transfer destination in order to obtain a transfer route necessary for transfer control of the transfer robot 34, and route information instructed from the control device 15. An automatic conveyance start switch that automatically conveys along the conveyance route based thereon, an automatic conveyance release switch that cancels traveling by the traveling drive unit 94 and enables manual movement by a staff member, and the like are provided.

  The travel drive unit 94 drives the travel wheels of the transport robot 34. The transfer robot 34 according to the present embodiment includes drive wheels that can be independently driven to travel, and both the wheels are driven to rotate at the same speed so that the vehicle travels straight and rotates either one of the drive wheels. Rotation is performed at. Further, a contact sensor or the like is provided in the travel drive unit 94, and a safety function is provided to stop travel when an obstacle such as a wall is touched.

  FIG. 5 is an explanatory view showing the transfer of the fire extinguisher by the transfer robot. As shown in FIG. 5, the transport robot 34 is provided with driving wheels 96 on both sides of a chassis 95 and auxiliary wheels 96 a on the front and rear sides. A support portion 95a is erected at the rear portion of the chassis 95, and a display portion and an operation portion are provided at the upper end of the support portion 95a.

  For example, two fire extinguishers 98 housed in a bucket 97 are mounted on the chassis 95 as fire fighting equipment. Further, the chassis 95 can be transported with fire fighting equipment other than the fire extinguisher, and lifesaving equipment such as an air respirator or a gas mask, if necessary.

  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 and transported. In addition to this, fire fighting equipment and lifesaving equipment are mounted on a separately prepared cart, and this cart is transported by the transport robot 34. It is good also as towed conveyance of pushing and moving from back, or pulling and moving from the front.

(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 the functional configurations of the transfer robot 34 shown in FIG.

[Disaster prevention cooperation process by control device]
FIG. 6 is an explanatory view showing a map of the facility to be monitored displayed on the table screen together with the transfer route of the transfer robot and the incommunicable area.

  As shown in FIG. 6, in the normal state, a facility map 48 showing the facilities in plan view is displayed on the table screen 46 of the control device 15. The facility map 48 shown in FIG. 6 is an example of an inpatient ward of a hospital. Hospital rooms shown on both upper and lower sides are arranged around a staff station, and a lounge is arranged near the center of the hospital room. In addition, an elevator (EL) room and a staircase are arranged on the left and right sides of the staff station.

  A transportable route 100 of the transport robot 34 indicated by an arrow is set in advance for the inside of the facility indicated by such a facility map 48. The transportable route 100 is set by combining the travel distance and the turning angle obtained by actually traveling the transport robot 34 using the transport route setting switch provided in the operation unit 92 shown in FIG. To generate transport route information and store it in the memory. Information on the transportable route 100 generated by the transport robot 34 is sent to the control device 15 and stored for generating route information for automatic transport control. Note that the information on the transportable route 100 generated by the transport robot 34 can also be used to generate 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 setting a transport source as a transport start position and a transport destination as a transport target position on the transportable route 100 by operating a route setting switch of the transport robot 34. The set transfer source and transfer destination are notified to the control device 15, and the control device 15 transfers, for example, the shortest route passing through the communicable area connecting the transfer source and the transfer destination based on the transferable route 100 and the radio wave environment map. And transmitted to the transfer robot 34. When the automatic transfer start switch of the transfer robot is operated in this state, the robot moves automatically from the transfer source to the transfer destination according to the transfer route instructed by the control device 15 and transfers necessary equipment.

  In addition, at the time of starting the system and thereafter, the control device 15 periodically instructs the transfer robot 34 to measure the communication state. Based on this, the transfer robot 34 moves throughout the facility according to the transferable route 100. The communication state is measured and the measurement result is transmitted to the control device 15. Based on the measurement result, the control device 15 generates a wireless environment map indicating the communication state in the facility and stores it in the memory.

  For this reason, in the facility map 48 displayed on the table screen 46 of FIG. 6, the incommunicable area 102 is displayed based on the generated wireless environment map. The facility map 48 displays an access point 30 that performs wireless communication with the transport robot 34.

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

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

  The control device 15 transmits a fire information signal to the portable terminal 32 carried by the staff working in the facility along with the display of the facility map 48 showing the fire place 104 based on the fire information signal. The same facility map 48 as the table screen 46 of No. 7 is displayed, and the coping action is started according to the procedure acquired in the daily evacuation drill.

  Further, the control device 15 causes the transport robot 34 to transport equipment necessary for fire fighting such as fire fighting equipment and lifesaving equipment to the transport destination P2 that is a destination close to the fire place 104 based on the operation instruction of the staff. Route information indicating a transport route 108 that does not pass through the incommunicable area 102 from the equipment room 106 in which the equipment serving as the original P1 is stored to the transport destination P2 that is the destination close to the fire place 104 is generated. The transfer instruction signal including the transfer instruction signal is transmitted to the transfer robot 34.

  The transfer robot 34 that has received the transfer instruction signal from the control device 15 moves to the equipment room 106 set as the transfer source by automatic running and stands by. The staff in the equipment room 106 receives an instruction signal by the operation of the staff of the control device 15 by the portable terminal 32 and displays the instruction content. Therefore, the staff such as a fire extinguisher such as a fire extinguisher or an air respirator is displayed. The lifesaving equipment is mounted on the transport robot 34 waiting, and then the automatic transport start switch of the transport robot 34 is operated.

  When the transfer robot 34 detects the operation of the automatic transfer start switch by the staff, the transfer robot 34 starts moving along the transfer route 108 at the time of a fire instructed by the control device 15, toward the transfer destination P2 near the fire place 104, For example, the fire extinguisher 98 is conveyed as shown in FIG. The transfer robot 34 travels while giving a warning warning by sound and light during the transfer according to the transfer route 108 at the time of a fire in order to call attention to surrounding people.

  The transport robot 34 stops when it reaches the transport destination P2, and the staff who is extinguishing the fire place 104 lowers the fire extinguisher 98 from the transport robot 34 that has arrived, and continues the fire fighting operation. The staff who has 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 a staff member, the transfer robot 34 starts traveling to return to the equipment room 106 as the transfer source P1 along the transfer route 108 at the time of a fire, and returns to the equipment room 106 to the next. We will wait for the equipment to be transported.

  In the example of FIG. 7, the fire handling equipment is transported by one transport robot 34. However, a transport route in which the same transport source P1 and transport destination P2 are set is set in a plurality of transport robots 34 and fire is caused. You may make it convey coping equipment. In this case, a plurality of transfer robots are prevented from colliding by setting a transfer route so that the forward path toward the transfer destination and the return path returning from the transfer destination do not overlap.

(Control when communication is disabled during transport)
FIG. 8 is an explanatory diagram showing the control of the transfer robot when communication becomes impossible during the transfer of the equipment to the fire place, with a map of the monitored facility displayed on the table screen.

  In the event of a fire, as shown in FIG. 7, the transfer robot 34 is moving to the transfer destination P2 near the fire place 104 according to the transfer route 108 in accordance with an instruction from the control device 15. Assuming that the incommunicable area 110 exists, the transfer robot 34 entering the incommunicable area 110 cannot communicate with the control device 15 via the access point 30.

  As described above, when the transfer robot 14 detects that communication is not possible during the movement to the transfer destination P2, the communication robot 14 returns to the position P3 that is the immediately preceding communication enable area and stops moving, and the control device 15 is in a communication disable area. The presence of 110 is notified.

  Receiving the notification of the incommunicable area from the transfer robot 34, the control device 15 updates the newly detected incommunicable area in the radio wave environment map stored in the memory and avoids the incommunicable route portion. For example, the route information of the transport route 112 corrected as described above is generated, and a transport instruction signal including the corrected route information is transmitted to the transport robot 34.

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

  Further, as another control when the transfer robot 14 detects that communication is impossible while moving to the transfer destination P2, the access point 30 is set in the state where the movement is stopped after returning to the position P3 that is the immediately preceding communication enable area. On the other hand, after transmitting a control signal for increasing the transmission power, the movement to the transport destination P2 by the same transport route 108 is resumed.

  When the transmission power of the access point 30 is increased by the control signal from the transfer robot 34, the radio wave intensity of the reception-incapable area 110 is increased and the communication robot 34 recovers to the communicable state. Can be moved to.

  Here, in order to increase 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. In response to this instruction, the access point 30 may increase the transmission power.

  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, the communication is performed by switching to another communication frequency. It becomes possible to recover to a possible state.

(Evacuation support by stretcher robot)
FIG. 9 is an explanatory diagram showing a map of the facility to be monitored displayed on the table screen in the event of a fire, together with the escape route by the stretcher robot.

  As shown in FIG. 9, when receiving the fire information signal from the disaster prevention receiving board 14, the control device 15 displays a facility map 48 indicating the fire place 104 and the communication incapable areas 102 and 110 on the table screen 46.

  The control device 15 supports the evacuation work of the inpatients who are bedridden or the elderly who are difficult to evacuate to the stretcher robots 36-1 and 36-2 disposed in the facility where the fire has occurred. Then, an evacuation instruction signal including route information passing through the communicable area generated based on the wireless environment map is transmitted.

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

  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 places a person who has difficulty in evacuation on the arrived stretcher robot 36-1, and then operates an 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, the stretcher robot 36-1 starts moving along the evacuation route 110-1 and moves to the elevator room serving as the evacuation destination Q1.

  When the stretcher robot 36-1 arrives, the staff waiting in the elevator room lowers the evacuation difficult person, uses the elevator to evacuate to a safe floor, and starts the automatic transfer 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, the stretcher robot 36-1 returns to the evacuation source P1 along the evacuation route 110-1 and prepares for the next evacuation work for those who are difficult to evacuate.

  In FIG. 9, the stretcher robot 36-2 also sets the evacuation route 110-2 between the evacuation source and the evacuation destination Q2 (for example, the staircase room) based on the evacuation instruction signal from the control device 15, and the hospital room. Provides evacuation assistance 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 a configuration in which the incommunicable area and the fire occurrence location are displayed on the table screen together with the map information. However, the incommunicable area and the fire occurrence location are displayed together with the map information on the portable terminal owned by the abnormal responder. .

  The portable terminal acquires fire information including map information from the access point 30 from the control device. The anomaly responder examines the route while checking the map information and responds to the anomaly. Further, the location information of the owner of the mobile terminal may be acquired from the location information of the access point 30 that communicates with the mobile terminal, and the location 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 the control device and the transfer robot and movement control based on the wireless environment map.

  As shown in FIG. 10, the control device 15 transmits a measurement instruction signal in a communication state to the transfer robot 34 at step S <b> 1 periodically after the system is started up. The transport robot 34 that has received the measurement instruction signal measures the communication state while traveling on all the transportable routes 100 in the facility as shown in FIG. 6 in step S 2, 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 indicating the communicable area and the incommunicable 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 board 14, and if it is determined that a fire information signal including a fire place is received, the process proceeds to step S5, and the equipment room storing the fire extinguisher and the like. The route information of the shortest transport route that passes through the communicable area based on the wireless environment map, that is, the shortest transport route that does not pass through the incommunicable area, is generated based on the wireless environment map. A transfer instruction signal including information is transmitted to the transfer robot 34, and movement from the transfer source to the transfer destination is instructed according to the specified transfer route.

  The transfer robot 34 that has received the transfer instruction signal from the control device 15 starts movement control along the transfer route supported in step S6. During the movement, the transfer robot 34 determines whether or not communication is possible in step S7, and if there is no determination of communication failure, the process proceeds to step S13 to determine whether or not the destination that is the transfer destination has been reached, and to the destination. If it is determined that the vehicle has reached, the process proceeds to step 14 to stop the movement.

  On the other hand, if it is determined in step S7 that communication is not possible while the transfer robot 34 is moving, the flow proceeds to step S8, the movement is stopped by returning to the previous communicable position, and in step S9 the presence of a communication disabled area is indicated in the control device 15. A route correction request signal is transmitted.

  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 presence of a new incommunicable area, and then updates it in step S11. Based on the radio environment map thus generated, corrected route information that does not pass through the incommunicable area toward the transfer destination is generated, and a transfer instruction signal including the corrected route information is transmitted to the transfer robot 34.

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

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

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

  In FIG. 11, if it is determined in step S27 that communication is not possible while the transfer robot 34 is moving, the process proceeds to step S28, the movement returns to the previous communicable position, the movement is stopped, and the transmission power is increased 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 in step S26.

  For this reason, the route portion determined to be incapable of communication in step S27 is passed again. However, since control for increasing the transmission power of the access point 30 is performed in step S29, the radio wave intensity increases and communication is disabled. Is eliminated, and the transfer robot 34 resumes moving without changing the route. When it is determined that the destination has been reached in step S13, the process proceeds to step 14 and stops moving.

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

  When the fire detection of the fire detector 18 or the operation of the transmitter 20 is performed by the disaster prevention reception board 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 alert area. And the fire shutter 26 is closed.

  Thus, when the fire door 24 and the fire shutter 26 are closed due to the occurrence of a fire, the radio wave intensity at the closed place and its vicinity fluctuates and fluctuates, and an incommunicable 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. The transfer robot 34 moves through the facility and measures the communication state, and the control device 15 generates a wireless environment map based on the measurement result. And stored in memory.

  In this state, when the control device 15 receives the fire information signal from the disaster prevention receiving board 14 in step S44, the process proceeds to step 44. 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. To the transfer robot 24.

  Upon receiving the measurement instruction from the control device 15, the transfer robot 34 moves through the fire door operating area in step S 47, 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 communication disabled 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 transfer source to the transfer destination without passing through the incommunicable region based on the updated wireless environment map, and instructs the transfer robot 34 to transfer the transfer robot 34. Movement control is performed according to the conveyance 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.

  Note that the control in FIGS. 10 to 12 uses the transfer robot 34 as an example, but the same applies to the stretcher robot 36 and the wheelchair robot 38.

  In addition, the operation of the disaster prevention equipment that affects the radio wave environment in the event of a fire includes water discharge by the operation of the sprinkler head in addition to the operation of the fire door and fire shutter. In response to the instruction, the work robot is moved to the sprinkler operating area, 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 updated to the wireless environment map stored in the memory. An update is performed to write the incommunicable area detected in (1).

[Modification of the present invention]
(Disaster prevention monitoring system)
The above embodiment uses an R-type disaster prevention monitoring system that can identify a fire place and a control place by setting a terminal address on a fire detector or the like, but detects a fire or controls terminal equipment on a line-by-line basis. It is good also as a P-type disaster prevention monitoring system.

(Target facility)
In the above embodiment, a hospital or an elderly facility where a person with difficulty in evacuation is expected is taken as an example, but the present invention is not limited to this. For example, an appropriate facility such as an office building or a commercial facility where many people come and go may be used.

(Other)
Further, although the transport robot transports the equipment through the transport route at the time of a fire, when the route is used as an evacuation route, another transport route may be used. In this case, the control device side may monitor the evacuation situation of the person and set the transport route.

  In addition, the transport robot is equipped with a fire sensor that detects at least one of smoke concentration, temperature, and gas concentration due to fire, and the surrounding environment is monitored during transport work, and the danger information based on sensor data and sensor data is controlled. You may make it transmit to an apparatus.

  The present invention includes appropriate modifications that do not impair the objects and advantages thereof, and is not limited by the numerical values shown in the above embodiments.

10: Disaster prevention monitoring system 12: Equipment management system 14: Disaster prevention receiving board 15: Control devices 16a, 16b, 28: Transmission path 18: Fire detector 20: Transmitter 22: District acoustic device 24: Fire door 26: Fire shutter 30 : Access point 31: Fire sensor 32: Mobile terminals 34, 34-1 and 34-2: Transport robots 36 and 36-1 to 36-3: Stretcher robot 38: Wheelchair robot 46: Table screen 48: Facility map 50: Fire place 52: Reception control unit 54, 64, 70: Transmission unit 66: Device control unit 68, 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: carriage 95a: support unit 96: drive wheel 96a: auxiliary wheel 97 Bucket 98: Fire Extinguisher 100: transport possible route,
102, 110: Incommunicable area 104: Fire place 106: Equipment room 108, 112: Transport route 112-1, 112-2: Evacuation route

Claims (11)

A working robot that performs predetermined work while moving in the facility;
A control device for instructing the work robot to perform a predetermined operation;
A wireless communication facility for constructing a wireless communication area by arranging a wireless station in the facility, and transmitting and receiving signals by connecting the control device and the work robot through a line communication line;
In the disaster prevention cooperation system with
The working robot is
Measure the communication state while traveling in the facility, send the measurement result to the control device to generate wireless environment map information indicating the presence or absence of a communicable region in the facility,
A disaster prevention cooperation system for responding to an abnormality using the wireless environment map information when an abnormality occurs in the facility.
In the disaster prevention cooperation system according to claim 1,
The control device is a control device that instructs the work robot to move to a predetermined destination based on predetermined disaster prevention information obtained from a disaster prevention monitoring system,
When the work robot moves from the current position to the destination designated by the control device, the work robot moves to the destination according to predetermined route information passing through the communicable area generated based on the wireless environment map information. Disaster prevention cooperation system characterized by that.
In the disaster prevention cooperation system according to claim 2,
When the work robot detects communication failure during movement to the destination according to the predetermined route information instructed from the control device, the work robot returns to the previous communication available area and stops moving. Updating the radio wave environment map information by notifying the control device and acquiring the predetermined route information modified so as to avoid an incommunicable route portion and resuming movement to the destination. Disaster prevention cooperation system to do.
In the disaster prevention cooperation system according to claim 2,
When the work robot detects that communication is impossible while moving to a destination according to predetermined route information instructed by the control device, the work robot returns to the previous communicable area and stops moving. A disaster prevention cooperation system characterized by resuming movement to the destination after instructing the communication facility to recover the communication state of the incommunicable route portion.
In the disaster prevention cooperation system according to claim 4,
The work robot restores the communication of the incommunicable route portion by instructing the wireless communication facility to increase transmission power or change the communication frequency.
In the disaster prevention cooperation system according to claim 2,
The work robot responded to fluctuations in the radio wave environment due to the operation of the disaster prevention equipment by moving within the facility by an instruction from the control device when a predetermined disaster prevention equipment was activated by the fire detection of the disaster prevention monitoring system A disaster prevention cooperation system characterized by measuring a communication state, sending the measurement result to the control device, and updating the wireless environment map information.
In the disaster prevention cooperation system according to claim 6,
The work robot measures a communication state corresponding to a change in a radio wave environment when a fire door, a fire shutter, and / or a sprinkler head is activated, and sends the measurement result to the control device to update the wireless environment map information. Disaster prevention cooperation system characterized by that.
In the disaster prevention cooperation system according to claim 1,
When a fire is detected by the disaster prevention monitoring system, the control device instructs the wireless communication facility to wirelessly communicate at least one of a fire occurrence place, a non-routable place, and an important place. Disaster prevention cooperation system characterized by adjusting the transmission power of the station.
2. The disaster prevention cooperation system according to claim 1, wherein the disaster prevention receiving board of the disaster prevention monitoring system acquires the wireless environment map information from the control device and displays the screen together with the location of the fire when a fire is detected. A disaster prevention cooperation system characterized by
In the disaster prevention cooperation system according to claim 1,
Furthermore, a portable terminal that is carried by the person handling the abnormality is provided,
The mobile terminal acquires the wireless environment map information from the control device and displays the information together with an abnormality occurrence screen on a screen.
The disaster prevention cooperation system according to claim 1, wherein a fire sensor for detecting a fire is provided in a wireless station installed in the facility by the wireless communication equipment, and when the fire sensor detects a fire, the transmission power of the wireless station Disaster prevention cooperation system characterized by increasing

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