1. Take the SD down
2. Take the battery out
3. Hold down the test button on the front of the SD. It should beep one or two times and kind of sound like it's "dying".
This "resets" it.
4. Put a new battery in it.
5. Re-install SD at the ceiling.
If the random beeping continues, it might not be that SD that needs to be reset. In newer houses, all the SDs are wired together. Often times they have an LED that is green on the front (indicating AC power) but will flash red once every minute or so. This is normal. If it flashes red more than once (usually 3-4 times), that is the SD that needs to be reset. The one beeping isn't always the one with the problem.
This is more common than you would think. Especially with Firex brand SDs.
It could also just be dirty. Take the SD down. Get a can of air (computer stores have it) and blow any dust out. This should be done as regularly as you would change out the battery (about once a year). I suppose a vacuum would work too.
Source(s):
I am an Electrical Contractor