Security system, server, security device and working robot

Abstract

To provide a security system, a server, a security device and a working robot capable of more appropriately controlling a working robot.SOLUTION: A security system 1 includes: a working robot 30 which is autonomously movable and performs predetermined operation; a security device 20 having setting means 231 for monitoring a monitoring object and switching and setting a plurality of security modes according to the operation of an operator; determination means for determining whether or not a time condition relating to the execution of work of the working robot 30 is satisfied; and control means 132 for controlling the execution of work of the working robot 30 according to the determination result of the time condition and the kind of the set security mode.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a security system, a server, a security device, and a work robot.

Background Art

[0002] Conventionally, a system has been developed that causes a work robot to execute a predetermined operation based on the operation schedule of the work robot.

[0003] For example, Patent Document 1 discloses generating operation schedule information for a robot vacuum cleaner that cleans a room based on schedule information indicating the contents of the actions of a plurality of users, and controlling the operation of the robot vacuum cleaner based on the generated operation schedule information.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, when a work robot is used in a facility that introduces a security system, it is required to more appropriately control the work robot based on information obtained from the security system.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot capable of more appropriately controlling a work robot.

Means for Solving the Problems

[0007] According to one aspect of the present invention for solving such problems, there is provided a security system including an autonomous mobile work robot that can perform a predetermined work, and a security device having setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operator's operation. The security system further includes determination means for determining whether or not time conditions regarding the work execution of the work robot are satisfied, and control means for controlling the work execution of the work robot according to the determination result of the time conditions and the type of the set security mode.

[0008] In this security system, the plurality of security modes include a security set mode for monitoring a monitoring target by a crime prevention sensor and a security release mode for not performing monitoring by the crime prevention sensor. The control means preferably controls the work robot to start a predetermined work when the time conditions are satisfied and the security mode is the security set mode.

[0009] In this security system, the setting means sets a security mode for each security section corresponding to the work area of the work robot, the determination means determines the time conditions for each work area, and the control means refers to the security mode for the security section corresponding to the work area determined to satisfy the time conditions and controls to start the work when the security set mode is set. This is preferable.

[0010] In this security system, it is preferable that the time condition is that the current time is within a time zone allowing the work of the work robot.

[0011] In this security system, the time condition is that the current time is within a time zone allowing the work of the work robot, and the time zone allowing the work of the work robot is within a security release prohibition time zone for prohibiting switching from the security set mode to the security release mode. This is preferable.

[0012] This security system further has a storage means for storing the working time required for the scheduled work, and when the remaining time in the time zone allowing the work of the work robot becomes less than or equal to the working time required for the unperformed work, the control means controls the work robot to start the work regardless of the type of the set security mode, which is preferable.

[0013] In this security system, the determination means determines whether or not the end condition of the work of the work robot is satisfied, and when it is determined that the end condition is satisfied, the control means controls the work robot performing the predetermined work to end the work. The end condition is preferably the case where the security mode is set to the disarmed mode by the setting means while the work robot is performing the predetermined work.

[0014] This security system further has an acquisition means for acquiring the attribute of the operator who makes the setting by the setting means, and when the attribute is a predetermined attribute, the control means determines that the end condition is not satisfied even if the security mode is set to the disarmed mode by the setting means, which is preferable.

[0015] In this security system, when the security mode is set to the disarmed mode by the setting means and the time when the disarmed mode is set is within a predetermined time zone, the control means preferably determines that the end condition is not satisfied.

[0016] According to another aspect of the present invention, there is provided a server communicably connected to a work robot capable of autonomous movement and performing a predetermined work, and a security device having a setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operation of an operator, the server having a determination means for determining whether or not a time condition regarding the execution of the work of the work robot is satisfied, and a control means for controlling the execution of the work of the work robot according to the determination result of the time condition and the type of the set security mode.

[0017] According to another aspect of the present invention, there is provided a security device that is capable of autonomous movement and is communicably connected to a work robot that performs a predetermined task, the security device including: setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operation of an operator; determination means for determining whether or not time conditions related to the performance of the work by the work robot are satisfied; and control means for controlling the performance of the work by the work robot according to the determination result of the time conditions and the type of the set security mode.

[0018] According to another aspect of the present invention, there is provided a work robot that is capable of autonomous movement and is communicably connected to a security device having setting means for monitoring a monitoring target and switching and setting a plurality of security modes according to an operation of an operator, the work robot including: determination means for determining whether or not time conditions related to the performance of the work by the work robot are satisfied; and control means for controlling the performance of the work by the work robot according to the determination result of the time conditions and the type of the set security mode.

Advantages of the Invention

[0019] The security system, server, security device, and work robot according to the present invention can control the work robot at a more appropriate timing.

Brief Description of the Drawings

[0020]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Mode for Carrying Out the Invention

[0021] Hereinafter, a security system according to an embodiment of the present invention will be described with reference to the drawings. However, it should be understood that the present invention is not limited to the drawings or the embodiments described below.

[0022] FIG. 1 is a diagram showing a schematic configuration of a security system according to an embodiment of the present invention. As shown in FIG. 1, the security system 1 includes a server 10, a security device 20, and a work robot 30. The server 10 is installed in a security center or the like and is communicably connected to the security device 20 and the work robot 30 to manage the entire security system 1. The security device 20 is communicably connected to the server 10 and secures security targets such as offices, stores, and factories. Here, the security target is composed of one or a plurality of security sections. The work robot 30 is communicably connected to the server 10 via an access point 40 and performs work within the security target where the security device 20 is installed. Further, the security device 20 is connected to various devices and sensors such as a security operation unit 251, an intrusion sensor 252, and a fire sensor 253 via wired / wireless communication. In FIG. 1, only one security device 20 and one work robot 30 are shown, but the security system 1 may include a plurality of security devices 20 and / or work robots 30.

[0023] The server 10 is a cloud server or the like in a wide area communication network such as the Internet. The server 10 includes a communication unit 11, a storage unit 12, and a control unit 13.

[0024] The communication unit 11 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE 802.11, and communicates with the security device 20 and the work robot 30 via a wide area communication network such as a LAN and the Internet to transmit and receive various signals.

[0025] The storage unit 12 includes semiconductor memories such as ROM, RAM, and EPROM, magnetic storage media such as magnetic disks (HDD), and / or optical storage media such as DVD-RAM. The storage unit 12 stores the code of the computer program executed by the control unit 13 and various data for controlling the operation of the server 10. The computer program can be installed in the storage unit 12 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 12 stores the work area table 120. The storage unit 12 is an example of storage means.

[0026] FIG. 2 is an example of the work area table 120. In the work area table 120, work time information, a security map, the latest state of the work area, etc. are stored in association with each other for each of a plurality of work areas. The work area indicates the area where the work robot 30 performs work. The work time information includes an operable time zone, a security release prohibited time zone, an assumed arrival time, a required work time, etc. The operable time zone indicates the time zone during which the work robot 30 is permitted to perform work. The security release prohibited time zone indicates the time zone during which the transition from the security set mode to the security release mode is prohibited in the work area to be secured, such as a time zone when the entry of users is not expected, such as the late night zone. Details of the security set mode and the security release mode will be described later. The assumed arrival time indicates the time when the first employee is assumed to arrive at the work area. The required work time indicates the required time for the work that the work robot 30 performs in the work area. That is, the required work time is the time required for the scheduled work. The security map is a map representing the area that is the security target of the security device 20 and the work area of the work robot 30. The latest status of the work area includes the security mode, set time, operator attributes, work status, etc. The security mode is set for each security zone and indicates the security mode set in the security zone corresponding to the work area. Here, regarding the relationship between the work area and the security zone, the work area and the security zone may be the same, or a plurality of work areas may be configured as one security zone. In this embodiment, the work area and the security zone are described as the same area. The set time indicates the latest time when the security mode is set in each work area. The operator attributes indicate the attributes of the operator of the security device 20 that set the security mode in each work area. The attributes include attributes related to the work of the work robot 30 such as a cleaner, and attributes not related to the work of the work robot 30 such as a security guard and a general user. The work status indicates the work status of the work robot 30 in each work area. The work status includes not yet implemented, in progress, and completed. The initial value of the work status is not yet implemented.

[0027] The control unit 13 has a processor such as a CPU and its peripheral circuits, and the processor controls the operation of the server 10 by executing a computer program stored in the storage unit 12. As the control unit 13, a multi-processor, a multi-core processor, etc. may be used. Also, as the control unit 13, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 13 has an acquisition means 131 and a control means 132 as functional modules of a program operating on the processor.

[0028] The security device 20 is an information processing device that performs security by monitoring for abnormalities such as intrusion and fire using equipment such as an intrusion sensor 252 installed in the security target according to a security mode instructed by a user or the server 10. The security device 20 has a communication unit 21, a storage unit 22, a control unit 23, and an interface unit 24. The security device 20 further has an entry / exit operation terminal 250, a security operation unit 251, an intrusion sensor 252, and a fire sensor 253. The entry / exit operation terminal 250, the security operation unit 251, the intrusion sensor 252, and the fire sensor 253 are arranged for each work area that is the security target. The number of security operation units 251, intrusion sensors 252, and / or fire sensors 253 in one security target is not limited to one, and may be multiple.

[0029] In the security system 1, the security mode includes at least two types of modes, a security set mode and a security release mode. The security set mode is a mode in which the security sensor (intrusion sensor 252) monitors the security target (monitoring target). The security release mode is a mode in which the security sensor does not monitor the security target. Usually, the security release mode is used during the day when the user is active at the security target, and the security set mode is used at night or on holidays when all users leave the security target. The types of security modes are not limited to the above two types, and other security modes such as a partial security set mode may be included. The partial security set mode is a mode used when the security target is partially guarded, for example, when the user is present in a specific room of a building that is the security target and wishes to monitor only another room. In this mode, monitoring by the intrusion sensor 252 is performed only by the intrusion sensor 252 present in the part of the security target specified by the user.

[0030] The communication unit 21 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to a server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information.

[0031] The storage unit 22 includes a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 22 stores the code of the computer program executed by the control unit 23 to control the operation of the security device 20 and various data. The computer program can be installed in the storage unit 22 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line.

[0032] The control unit 23 includes a processor such as a CPU or a multiprocessor and its peripheral circuits, and the processor controls the operation of the security device 20 by executing the computer program stored in the storage unit 22. As the control unit 23, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 23 has a setting means 231 as a functional module of the program operating on the processor.

[0033] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, etc., and communicates with the entry / exit operation terminal 250, the security operation unit 251, the intrusion sensor 252, and the fire sensor 253 to transmit and receive various signals. Note that the interface unit 24 may have an interface circuit conforming to a wired / wireless communication standard such as Ethernet (registered trademark), IEEE802.11, Bluetooth (registered trademark), etc. instead of the interface circuit conforming to the serial bus standard.

[0034] The entry / exit operation terminal 250 is an operation terminal installed at the entrance / exit of the area to be guarded, and is used by the user to request entry into or exit from the area to be guarded. The entry / exit operation terminal 250 has an input unit (not shown) such as a card reader, a camera, a microphone, and a touch panel for inputting authentication information such as the user's ID, authentication code, and biometric information such as fingerprint / face / voice. Further, the entry / exit operation terminal 250 has an entry / exit restriction unit (not shown) and a door opening / closing unit (not shown). The entry / exit restriction unit is installed on the door at the entrance / exit to restrict entry into or exit from the area to be guarded, and is an electric lock or the like that is unlocked / locked according to the unlock / lock signal transmitted from the security device 20. The door opening / closing unit is an automatic opening / closing device or the like that opens and closes the door at the entrance / exit of the area to be guarded according to the door opening / closing signal transmitted from the security device 20.

[0035] The security operation unit 251 has a user input / output interface such as a touch panel and buttons, and the operator of the security device performs operations such as switching the security mode on the security device 20. The security operation unit 251 is provided for the area to be guarded, but may be configured as a mobile terminal held by the operator. Further, the security operation unit 251 has an input unit (not shown) for the operator's identification information. The input unit is, for example, a card reader that reads the identification information stored in the IC (Integrated Circuit) card held by the operator and inputs it to the security device 20. The identification information has a user ID for identifying the operator and the operator's attributes.

[0036] The intrusion sensor 252 is a sensor for detecting an intruder who has entered the area to be guarded, such as a sensor that detects the opening and closing of the door or window of the area to be guarded by a reed switch and a magnet, or a sensor that detects the heat emitted by a human body as a heat source. When the intrusion sensor 252 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred. The fire sensor 253 is a sensor that detects heat and smoke associated with a fire, and when it detects a fire, it generates an abnormality detection signal indicating that a fire has occurred.

[0037] The intrusion sensor 252 and the fire sensor 253 output the generated abnormality detection signals to the control unit 23 via the interface unit 24. Note that the monitoring areas of the intrusion sensor 252 and the fire sensor 253 are preset by the server 10 based on the security map 123.

[0038] The work robot 30 is an autonomously movable robot that performs predetermined tasks such as cleaning, transportation, and inspection within the security target area. The work robot 30 includes a communication unit 31, a position detection unit 32, a traveling unit 33, a work unit 34, a power supply unit 35, a storage unit 36, and a control unit 37. Here, the case where the work robot 30 is a cleaning robot will be described.

[0039] The communication unit 31 has a communication interface circuit conforming to a wireless communication standard such as IEEE802.11, and communicates with the server 10 via a wide area communication network such as an access point 40 and the Internet to transmit and receive various information.

[0040] The position detection unit 32 has at least one input device such as a Lidar, a camera, an ultrasonic sensor, or an infrared sensor. The position detection unit 32 uses the input laser light, image, etc. to detect the current position and the position of obstacles by a method such as SLAM (Simultaneous Localization and Mapping), and generates an environmental map 361.

[0041] The traveling unit 33 has drive wheels and a traveling motor, and by changing the rotational speed of the traveling motor, the work robot 30 can be freely moved back and forth, left and right at various speeds. The traveling unit 33 may further have auxiliary wheels or the like to stabilize the traveling and make it smooth. The work unit 34 performs tasks such as cleaning, transportation, and inspection. When the work robot 30 is a cleaning robot, the work unit 34 has a suction unit for sucking dust, a wiping unit for wiping the floor surface, etc., and performs a cleaning operation on the floor surface. The traveling unit 33 and the work unit 34 are operating mechanisms for the work robot 30 to perform tasks while moving autonomously.

[0042] The power supply unit 35 is a storage battery or the like for supplying power to each part of the work robot 30.

[0043] The storage unit 36 includes a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 36 stores the code of the computer program executed by the control unit 37 to control the operation of the work robot 30 and various data. The computer program may be installed in the storage unit 36 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 36 stores an environmental map 361 having the positions of obstacles including fixed obstacles such as walls and facilities in the work area and movable obstacles such as carts and boxes. The environmental map 361 further stores the positions of each work area in association with the identification information of the work area.

[0044] The control unit 37 includes a processor such as a CPU or MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing the computer program stored in the storage unit 36. As the control unit 37, a DSP, LSI, ASIC, FPGA, etc. may be used. The control unit 37 has an operation control means 371 as a functional module of a program operating on the processor.

[0045] FIG. 3 is a plan view of an office which is an example of a work area. As shown in FIG. 3, the floor 101 of the office 100 is the work area of the work robot 30. The floor 101 is divided into a first work area 111, a second work area 112, a third work area 113, and a shared work area 114. The first work area 111, the second work area 112, and the third work area 113 are also targets for security by the security system 1. At the entrances and exits between the first work area 111, the second work area 112, the third work area 113 and the shared work area 114, a first door 431, a second door 432, and a third door 433 are provided respectively. The first door 431, the second door 432, and the third door 433 are unlocked / locked by the entrance / exit regulation unit of the entrance / exit operation terminal 250 and opened / closed by the door opening / closing unit. On floor 101, there are further provided an access point (AP) 40, a home position (HP) 460, and an elevator (EV) 480 that can move to work areas on other floors. At the home position 460, a charger (not shown) for charging the power supply unit 35 of the work robot 30 is arranged, and the work robot 30 waits at the home position 460 when not performing work.

[0046] FIG. 4 is a plan view of the first work area 111. As shown in FIG. 4, the first work area 111 is provided with a partition 440 and a window 470. Also, various devices for detecting abnormalities such as a security operation unit 251, an intrusion sensor 252, and a fire sensor 253 are installed one or more at various locations in the first work area 111.

[0047] The partition 440 is a screen arranged around the seats of the users in the first work area 111. The window 470 is arranged between the first work area 111 and the outdoors, and the intrusion sensor 252 monitors the presence or absence of intruders from the window 470 into the first work area 111.

[0048] The security map 123 includes a first security map, a second security map, and a third security map representing the first work area 111, the second work area 112, and the third work area 113, respectively. The security map 123 shows the shapes of each security target, the positions detected by sensors such as the intrusion sensor 252 and the fire sensor 253, etc. The general map 124 includes a first general map representing the shared work area 114. The general map 124 shows the shapes of work areas other than the security targets. The security map 123 and the general map 124 further show the position of the home position 460, the positions of fixed obstacles such as the partition 440, etc. The security map 123 and the general map 124 have coordinates common with the environmental map 361, and the above-described shapes and each position are shown in two-dimensional coordinates with a certain point in the environmental map 361 as the origin. The coordinates may be latitude and longitude, etc.

[0049] FIG. 5 is a flowchart showing an example of start determination processing by the server 10. This operation flow is mainly executed by the control unit 13 of the server 10 in cooperation with each element of the server 10 based on a program stored in advance in the storage unit 12 of the server 10. Also, this operation flow is started when a predetermined time has come.

[0050] In parallel with the start determination processing and the end determination processing described later, the setting means 231 of the security device 20 switches a plurality of security modes according to the operation of the operator and sets them in the work area to be secured. Also, the setting means 231 outputs a security status signal indicating the work area in which the security mode has been switched, the security mode after switching, and the identification information of the operator input when switching the security mode to the server 10 via the communication unit 21. When the acquisition means 131 of the server 10 receives a security status signal from the security device 20 via the communication unit 11, it acquires the work area and the security mode indicated by the security status signal, and in the work area table 120, sets the acquired security mode and the reception time of the security status signal at the security mode and the set time associated with that work area. Also, the acquisition means 131 acquires the attribute of the operator from the identification information indicated by the security status signal, and in the work area table 120, sets the acquired attribute of the operator in the operator attribute associated with that work area.

[0051] Also, in parallel with the start determination processing and the end determination processing described later, the operation control means 371 of the work robot 30 outputs the current position signal and the work status signal to the server 10 via the communication unit 31, respectively. The current position signal is a signal indicating the current position of the work robot 30. The operation control means 371 generates a current position signal based on the current position detected by the position detection unit 32, and outputs the generated current position signal to the server 10 via the communication unit 31 at a predetermined interval (for example, at one-minute intervals). When the acquisition means 131 of the server 10 receives a current position signal from the work robot 30 via the communication unit 11, it acquires the current position of the work robot 30 indicated by the current position signal and stores it in the storage unit 12. The initial value of the current position of the work robot 30 stored in the storage unit 12 is the position of the home position 460. The work status signal includes the work area where the work robot 30 performs work and the status of the work in that work area. The operation control means 371 outputs a work status signal indicating that the status is in progress at the start of work and a work status signal indicating that the status is completed at the end of work to the server 10 via the communication unit 31, respectively. When the acquisition means 131 of the server 10 receives a work status signal from the work robot 30 via the communication unit 11, it updates the work status associated with the work area included in the work status signal in the work area table 120. When the status included in the work status signal indicates in progress, the acquisition means 131 sets the work status associated with that work area to in progress, and when the status included in the work status signal indicates completed, the acquisition means 131 sets the status associated with that work area to completed.

[0052] First, the control means 132 determines whether the work robot 30 is performing work (step S11). The process of step S11 is executed at a predetermined interval, for example, every minute. The control means 132 determines that the work robot 30 is performing work in that work area when any work status associated with each work area is set to in progress in the work area table 120. The control means 132 determines that the work robot 30 is not performing work when all work statuses are not set to in progress in the work area table 120. When the work robot 30 is performing work (step S11 - Y), the control means 132 waits. When the work robot 30 is not performing work (step S11 - N), the acquisition means 131 acquires the current time (step S12). The current time is an example of information for determining whether the time condition for the work execution of the work robot 30 is satisfied.

[0053] Next, the control means 132 executes a work area extraction process for each work area set in the work area table 120, and extracts a work area where work can be started at the current time (step S13). Details of the work area extraction process will be described later. The control means 132 that performs the process of step S13 is an example of a determination means. Next, the control means 132 determines whether a work area where work can be started has been extracted in the work area extraction process (step S14).

[0054] If a work area where work can be started is extracted in the work area extraction process (step S14 - Y), the control means 132 determines a work area to start work from among the extracted work areas (step S15). When there is one extracted work area, the control means 132 determines to start work in that work area. When there are two or more extracted work areas, based on the current position of the work robot 30 and the work map 122, for example, the control means 132 selects the work area closest to the current position of the work robot 30, or considers the workable time zone and the required work time of each work area, and selects a work area to work first so that the work can be completed within the workable time zone in any work area, and determines to start work in the selected work area. Next, the control means 132 executes start control so as to start work in the determined work area (step S16). As start control, the control means 132 outputs an instruction signal for unlocking and opening the door of the work area to the security device 20 via the communication unit 11. When the setting means 231 of the security device 20 receives an instruction signal from the server 10 via the communication unit 21, it causes the entrance / exit regulation unit and the door opening / closing unit to unlock and open the door via the entrance / exit operation terminal 250. This enables the work robot 30 to move from the current position into the work area. Further, as start control, the control means 132 generates a control signal including the identification information of the determined work area for the work robot 30 to start work, and outputs it to the work robot 30 via the communication unit 11. Note that, instead of automatically unlocking and opening the door of the work area, the control means 132 may unlock and open the door of the work area in response to a request output from the work robot 30 that has received a control signal and moved near the work door. When the operation control means 371 of the work robot 30 receives a control signal for starting work from the server 10 via the communication unit 31, the operation control means 371 moves the work robot 30 to the work area corresponding to the identification information according to the received control signal. The operation control means 371 controls the traveling unit 33 to move the work robot 30 while avoiding obstacles based on the environmental map 361, and controls the work unit 34 to cause the work robot 30 to perform a predetermined work. When the work robot 30 completes a predetermined work, the operation control means 371 outputs a work status signal indicating the end of work to the server 10 via the communication unit 31, and causes the work robot 30 to standby at the position where the work status signal is output. When there is no other work area where work can be started, after outputting the work status signal, the operation control means 371 controls the traveling unit 33 to return the work robot 30 to the home position 460, and moves it into the work area where work can be started if there is such an area.

[0055] When no work area where work can be started is extracted in the work area extraction process (step S14-N), the control means 132 skips the processes of steps S15 and S16 and proceeds to step S17.

[0056] Next, the control means 132 determines whether there is any work area with an unexecuted work status remaining in the work area table 120 (step S17). If there is a work area with an unexecuted work status remaining (step S17-Y), the control means 132 returns the process to step S11. On the other hand, if there is no work area with an unexecuted work status remaining (step S17-N), the control means 132 ends the series of processes. Thus, the description of the series of processes ends.

[0057] FIG. 6 is a flowchart showing an example of the work area extraction process by the server 10. The work area extraction process is executed for each work area in step S13 of FIG. 5. First, the control means 132 determines whether or not the work state associated with the target work area is set to unexecuted in the work area table 120 (step S21). If the work state is not set to unexecuted (step S21 - Y), the control means 132 does not extract the target work area as a work - start - able work area (step S27) and ends the series of processes. If the work state is set to unexecuted (step S21 - N), the control means 132 determines whether the current time is within the work - available time zone shown in the work time information 121 (step S22). The current time being within the work - available time zone is an example of a time condition. Here, the time zone during which security release is prohibited may be set as the work - available time zone.

[0058] If the current time is not within the work - available time zone (step S22 - N), the control means 132 does not extract the target work area as a work - start - able work area (step S27) and ends the series of processes. If the current time is within the work - available time zone (step S22 - Y), the control means 132 determines whether the security mode set in association with the target work area in the work area table 120 is the security - set mode (step S23).

[0059] If the security mode is the security - set mode (step S23 - Y), the control means 132 determines whether or not a predetermined time has elapsed since the security device 20 was set to the security - set mode (step S24). The control means 132 executes this determination using the set time set in association with the target work area in the work area table 120 as the time when the security device 20 was set to the security - set mode. The predetermined time is set, for example, to the time (e.g., 30 minutes) when the security - set mode is temporarily set when the user goes out for a meal, etc.

[0060] When a predetermined time has elapsed since the security set mode was set (step S24 - Y), the control means 132 extracts the target work area as a work - start - enabled work area (step S26) and ends the series of processes. When the security mode is not the security set mode (step S23 - N), or when a predetermined time has not elapsed since the security set mode was set (step S24 - N), the control means 132 determines whether the time from the current time to the assumed arrival time shown in the work time information 121 is less than the required time shown in the work time information 121 (step S25). The time from the current time to the assumed arrival time shown in the work time information 121 is an example of the remaining time in the time zone allowing the operation of the work robot 30.

[0061] When the time to the assumed arrival time is less than the required time (step S25 - Y), the control means 132 extracts the target work area as a work - start - enabled work area (step S26) and ends the series of processes. When the time to the assumed arrival time is greater than or equal to the required time (step S25 - N), the control means 132 does not extract the target work area as a work - start - enabled work area (step S27) and ends the series of processes. Thus, the description of the series of processes ends.

[0062] In this way, the control means 132 determines the time conditions related to the operation of the work robot 30 and controls the operation of the work robot 30 according to the time conditions and the type of the set security mode. Since it is possible to estimate whether there is a user within the security target from the type of the security mode, the security system 1 can control the operation of the work robot 30 according to the presence / absence status of the user. In particular, when the security device 20 is in the security setting mode, the control means 132 controls the work robot 30 to start a predetermined work. When the security device 20 is set to the security setting mode, it is assumed that there is no user within the security target. For this reason, the security system 1 can cause the work robot 30 to perform work in a state where it is less likely that the work robot 30 cannot perform work at the location where the user is present or the operation of the work robot 30 interferes with the user.

[0063] Further, the control means 132 controls the execution of the work of the work robot 30 on the condition that the current time is within the time zone in which the work robot 30 can work. Thereby, the security system 1 can prevent the work robot 30 from starting work in a time zone in which work is not permitted. Further, the control means 132 controls the work robot 30 on the condition that the current time is within the workable time zone and the time is within the security release prohibited time zone. Since the security release prohibited time zone is a time zone in which the transition from the security setting mode to the security release mode is prohibited in the security target, it is assumed that the user is not present in the security target during this time zone. Thereby, the security system 1 can cause the work robot 30 to perform work in a state where it is less likely that the work robot 30 cannot perform work at the location where the user is present or the operation of the work robot 30 interferes with the user.

[0064] Further, even when the security device 20 is not in the security setting mode, if the time until the assumed attendance time is less than the required time for the work, the control means 132 causes the work robot 30 to start the work. If the condition for starting the work of the work robot 30 is that the security device 20 enters the security setting mode, the work robot 30 may not be able to perform the work when the user of the security target works overnight or the like. By causing the work robot 30 to start work if the time until the assumed attendance time is less than the required time, the security system 1 can surely cause the work robot 30 to perform the work.

[0065] Further, the control means 132 controls the execution of the work of the work robot 30 on the condition that a predetermined time has elapsed since the security device 20 was set to the security set mode. In this case, the security system 1 does not start the work of the work robot 30 until a predetermined time has elapsed since the security device 20 was set to the security set mode. Thereby, the security system 1 can reduce the possibility that when the user temporarily leaves the security target and returns to the security target in a short time, the work robot 30 cannot perform the work at the location where the user is, or the operation of the work robot 30 may interfere with the user.

[0066] Note that the control means 132 may extract the target work area as a work area where work can be started without determining whether or not a predetermined time has elapsed since the security device 20 was set to the security set mode when the security device 20 is in the security set mode (step S23-Y) (step S26). Further, when the security device 20 is not in the security set mode (step S23-N), the control means 132 may not extract the target work area as a work area where work can be started without determining the time until the assumed attendance time (step S27). Further, in the process of step S25, the control means 132 may use the time until the end of the workable time zone indicated in the work time information 121 instead of the time until the assumed attendance time indicated in the work time information 121.

[0067] Further, when the work area exists on a plurality of floors, when determining the work area in step S15 of FIG. 5, the control means 132 may preferentially select the work floor existing on the same floor as the floor where the work robot 30 exists over the work floors existing on other floors.

[0068] FIG. 7 is a flowchart showing an example of the end determination process by the server 10. This operation flow is mainly executed by the control unit 13 of the server 10 in cooperation with each element of the server 10 based on a program stored in advance in the storage unit 12 of the server 10. This operation flow is executed for the work area where the work robot 30 is controlled to start work in the start determination process, and is started when the control means 132 outputs a control signal for the work robot 30 to start work.

[0069] First, the control means 132 determines whether the work status associated with the target work area is set to completed in the work area table 120 (step S31). If the work status associated with the target work area is set to completed (step S31 - Y), the control means 132 determines that the work robot 30 has executed all the predetermined work in the work area of the work target and has spontaneously completed the work, and ends a series of processes. If the work status associated with the target work area is not set to completed (step S31 - N), the control means 132 determines whether the obtained security mode is the security release mode (step S32). The setting of the security mode to the security release mode by the setting means 231 of the security device 20 while the work robot 30 is performing a predetermined work is an example of an end condition.

[0070] If the security mode is not the security release mode (step S32 - N), the control means 132 decides that the work of the work robot 30 has not yet ended (step S37), and advances the process to step S31. If the security mode is the security release mode (step S32 - Y), the control means 132 determines whether the attribute of the operator set in association with the target work area in the work area table 120 is a predetermined attribute (step S33). The predetermined attribute is an attribute related to the work of the work robot 30. When the work robot is a cleaning robot, the predetermined attribute is a cleaner or the like.

[0071] When the operator's attribute is a predetermined attribute (step S33 - Y), the control means 132 determines that the end condition is not satisfied and decides that the operation of the work robot 30 has not yet ended (step S37), and returns the process to step S31. When the operator's attribute is not a predetermined attribute (step S33 - N), the control means 132 determines whether the time set in the security release mode is within a predetermined time zone (step S34). The predetermined time zone is a time zone in which it is assumed that there are few users to be guarded. For example, it is a time zone from late at night to early morning, a time zone that is more than a predetermined time away from the work attendance time zone, a time zone that is normally assumed when the security set mode is set, and the like. The control means 132 executes this determination using the set time associated with the target work area in the work area table 120 as the time when the security device 20 is set in the security release mode.

[0072] When the time set in the security release mode is within a predetermined time zone (step S34 - Y), the control means 132 determines that the end condition is not satisfied and decides that the operation of the work robot 30 has not yet ended (step S37), and returns the process to step S31. When the time set in the security release mode is not within a predetermined time zone (step S37 - N), the control means 132 decides to end the operation of the work robot 30 (step S35). Next, the control means 132 executes the end control of the work robot 30 (step S36) and ends the series of processes. As the end control of the work robot 30, the control means 132 generates a control signal for ending the operation of the work robot 30 and outputs it to the work robot 30 via the communication unit 11. When the operation control means 371 of the work robot 30 receives a control signal for ending the work from the server 10 via the communication unit 31, it ends the work of the work robot 30 according to the received control signal. Next, the operation control means 371 outputs a work status signal indicating the end of the work to the server 10 via the communication unit 31, and makes the work robot 30 standby at the position where the work status signal is output. After outputting the work status signal, the operation control means 371 may control the traveling unit 33 to return the work robot 30 to the home position 460. Thus, the description of the series of processes is completed.

[0073] In this way, the control means 132 acquires information for determining the end condition of the work of the work robot 30, and controls the work robot 30 to end a predetermined work according to the end condition. Thereby, when the security system 1 is in a state where the work of the work robot 30 should be ended before the work robot 30 completes a predetermined work, the work of the work robot 30 can be forcibly ended.

[0074] Further, the control means 132 ends the work of the work robot 30 on the condition that the security mode is set to the security release mode by the setting means 231 while the work robot 30 is performing a predetermined work. When the security device 20 is set to the security release mode, it is assumed that a user will enter the security target. Therefore, the security system 1 can prevent the operation of the work robot 30 from interfering with the user by ending the work of the work robot 30. Further, when the attribute of the operator set to the security release mode is a predetermined attribute, the control means 132 does not end the work of the work robot 30 even if the security mode is set to the security release mode by the setting means 231. In this case, since the work robot 30 continues the work, the security system 1 enables an operator such as a cleaner set to the security release mode to cooperate with the work robot 30 to perform the work. Further, even when the security mode is set to the security release mode by the setting means 231, the control means 132 does not end the operation of the work robot 30 when the time when the security release mode is set is within a predetermined time zone. Since the predetermined time zone is a time zone in which it is assumed that there are few users to be secured, even if the work robot 30 continues to work during this time zone, there is a high possibility that there are few users to be secured. For this reason, the security system 1 can continue the operation of the work robot 30 in a state where it is less likely that the work robot 30 cannot work at the location where the user is present or the operation of the work robot 30 interferes with the user.

[0075] Note that when the security mode is the security release mode (step S32 - Y), the control means 132 may determine whether the time set to the security release mode is within a predetermined time zone without determining whether the attribute of the operator is a predetermined attribute (step S34). Further, when the attribute of the operator is not a predetermined attribute (step S33 - N), the control means 132 may determine to end the operation of the work robot 30 without determining whether the time set to the security release mode is within a predetermined time zone (step S35). Further, when the security mode is the security release mode (step S32 - Y), the control means 132 may determine to end the operation of the work robot 30 without executing the processes of steps S33 and S34 (step S35).

[0076] As described above, the server 10 according to the present invention acquires information for determining time conditions related to the execution of the operation of the work robot 30, and controls the execution of the operation of the work robot according to the time conditions and the type of the set security mode. Since the in - room status of the user to be secured can be estimated from the security mode, the security system 1 can control the operation of the work robot 30 according to the in - room status of the user, and can perform more appropriate control of the work robot 30. For example, when operating the work robot 30 in the workplace, the user in the workplace may stay at the workplace to work due to unexpected overtime or the like. At this time, if the work robot 30 performs work based on the initially generated operation schedule, since there is a user at the work location, there is a possibility that the work robot 30 cannot perform work at the location where the user is, or the operation of the work robot 30 may interfere with the user. Since the security system 1 can control the operation of the work robot 30 according to the presence / absence status of the user, the work robot 30 can be made to perform work in a state where these possibilities are low.

[0077] Note that the security system 1 may distribute and arrange a plurality of servers 10 on the network so as to be able to provide services in the form of cloud computing, and each server 10 may cooperate to share each process shown in FIG. 5. In particular, the security system 1 may separately provide a server 10 for managing the security device 20 and a server 10 for controlling the work robot 30, and each server 10 may cooperate with each other to manage the security device 20 and the work robot 30.

[0078] In the above embodiment, the security system 1 includes a server 10, a security device 20, and a work robot 30. Further, a server 10 communicatively connected between the security device 20 and the work robot 30 generates a control signal based on a security status signal or the like received from the security device 20, and outputs the generated control signal to the work robot 30 to control the work robot 30. However, the security device 20 and the work robot 30 may be directly communicatively connected to transmit and receive a security status signal, a control signal, etc. without going through the server 10. In this case, all of the functions related to the generation of the control signal and the like in the server 10 of the above embodiment may be realized by the security device 20 or the work robot 30, or some functions may be realized by the security device 20 and other functions may be realized by the work robot 30.

[0079] FIG. 8 is a diagram showing the configuration of a security system 2 according to another embodiment of the present invention. The same names are used for the components corresponding to the security system 1 of the above embodiment, and hereinafter, the description will focus on the differences from the security system 1 of the above embodiment. In this embodiment, the security system 2 includes a security device 20-2 and a work robot 30-2 that are wirelessly communication-connected to each other, and the security device 20-2 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0080] The communication unit 21-2 of the security device 20-2 and the communication unit 31-2 of the work robot 30-2 have communication interface circuits conforming to mutually corresponding short-range wireless communication standards such as IEEE802.11, Bluetooth (registered trademark), and specific low-power wireless. The communication unit 21-2 and the communication unit 31-2 communicate and connect between the security device 20-2 and the work robot 30-2 to transmit and receive various signals. The storage unit 22-2 of the security device 20-2 stores a work area table 220-2. The control unit 23-2 of the security device 20-2 includes an acquisition means 232-2 and a control means 233-2 in addition to a setting means 231-2.

[0081] In the security system 2, instead of outputting a security status signal to the server 10, the setting means 231-2 of the security device 20-2 notifies the acquisition means 232-2 of the input identification information and the switched security mode. Also, instead of receiving a security status signal, the acquisition means 232-2 acquires the operator's attributes and the security mode using the notified identification information and security mode. That is, in the security system 2, the security device 20-2 monitors the operation of switching the security mode, and generates and outputs a control signal for controlling the work execution of the work robot 30-2 according to the time condition and the type of the set security mode, thereby controlling the work robot 30-2.

[0082] Similar to the security system 1, the security system 2 can estimate the occupancy status of the user to be protected from the security mode, and thus can control the operation of the work robot 30-2 according to the user's occupancy status.

[0083] FIG. 9 is a diagram showing the configuration of a security system 3 according to still another embodiment of the present invention. In the present embodiment, the security system 3 has a security device 20-3 and a work robot 30-3 that are wirelessly communicatively connected to each other, similar to the security system 2. In the present embodiment, the work robot 30-3 realizes all the functions related to the control signal of the server 10 in the above embodiment.

[0084] The communication unit 21-3 of the security device 20-3 and the communication unit 31-3 of the work robot 30-3 have communication interface circuits conforming to corresponding short-range wireless communication standards. The communication unit 21-3 and the communication unit 31-3 communicatively connect between the security device 20-3 and the work robot 30-3 to transmit and receive various signals. The storage unit 36-3 of the work robot 30-3 stores a work area table 362-3 in addition to the environmental map 361-3. The control unit 37-3 of the work robot 30 has an acquisition means 372-3 and a control means 373-3 in addition to the operation control means 371-3.

[0085] In the security system 3, the operation control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the working state of the work robot 30-3 instead of outputting a working state signal to the server 10. Further, the acquisition means 372-3 receives the notified working state and acquires the working state of the notified work area instead of receiving a working state signal and acquiring the working state of the work area indicated by the working state signal. Also, the operation control means 371-3 of the work robot 30-3 notifies the acquisition means 372-3 of the current position of the work robot 30-3 instead of outputting a current position signal to the server 10. Further, the acquisition means 372-3 receives the notified current position and acquires the notified current position of the work robot 30-3 instead of receiving a current position signal and acquiring the current position of the work robot 30-3 indicated by the current position signal. Also, in the operation flow shown in FIG. 5, the control means 373-3 of the work robot 30-3 instructs the operation control means 371-3 to start the work of the work robot 30-3 as the start control (step S16) of the work robot 30-3. The operation control means 371-3 starts the work of the work robot 30-3 in response to the instruction from the control means 373-3. Also, in the operation flow shown in FIG. 7, the control means 373-3 instructs the operation control means 371-3 to end the work of the work robot 30 as the end control (step S36) of the work robot 30-3. The operation control means 371-3 ends the work of the work robot 30-3 in response to the instruction from the control means 373-3.

[0086] Similar to the security system 1, the security system 3 can estimate the occupancy status of the user to be secured from the security mode, and thus can control the operation of the work robot 30-3 according to the occupancy status of the user.

[0087] As described above, within the scope of the present invention, various changes can be made according to the implemented forms.

Explanation of Reference Numerals

[0088] 1, 2, 3 Security systems, 10 Servers, 12, 22-2, 36-3 Storage units (storage means), 20, 20-2, 20-3 Security devices, 30, 30-2, 30-3 Work robots, 131, 232-2, 372-3 Acquisition means, 132, 233-2, 373-3 Control means (judgment means), 231, 231-2, 231-3 Setting means

Claims

1. A work robot capable of autonomous movement and performing predetermined tasks other than security within a monitored area; A security system comprising: a security device that monitors a target to be monitored, and has a setting means for switching between a plurality of security modes, including a security set mode that is set when the target to be monitored is unoccupied and monitors the target to be monitored by a security sensor in response to an operation by an operator, and a security release mode that is set when the target to be monitored is occupied and does not monitor the target to be monitored by the security sensor, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A security system comprising:

2. The predetermined work other than security includes at least one of cleaning, transportation, and inspection, The security system according to claim 1 .

3. the setting means sets a security mode for each security zone corresponding to a work area of ​​the work robot, The determination means determines the time condition for each of the work areas, the control means refers to the security mode for the security section corresponding to the work area determined to satisfy the time condition, and controls so as to start the work when the security set mode is set.

3. A security system according to claim 1 or 2.

4. 4. The security system according to claim 1, wherein the time condition is that the current time is within a time period during which work by the work robot is permitted.

5. the time condition is that the current time is within a time period in which work by the work robot is permitted; A security system as described in any one of claims 1 to 3, wherein the time period during which the work robot is permitted to work is a security disarm prohibition time period during which switching from the security set mode to the security disarm mode is prohibited.

6. Further, a storage means for storing a work required time for a scheduled work is provided, The security system according to any one of claims 1 to 5, wherein the control means controls the work robot to start the work regardless of the type of security mode set when the remaining time of a time period during which the work robot is allowed to work becomes equal to or less than the time required for an unperformed task.

7. the determination means determines whether or not a completion condition for the work of the working robot is satisfied; when it is determined that the termination condition is satisfied, the control means controls the working robot performing the predetermined task to terminate the task; the termination condition is that the security mode is set to the security release mode by the setting means while the work robot is performing the predetermined task, A security system according to any one of claims 1 to 3.

8. The apparatus further includes an acquisition unit for acquiring an attribute of an operator who performs setting by the setting unit, the control means determines that the termination condition is not satisfied when the attribute is a predetermined attribute, even if the security mode is set to the security off mode by the setting means; The security system according to claim 7.

9. The control means determines that the termination condition is not satisfied when the security mode is set to the security disabling mode by the setting means, but the time when the security disabling mode is set is within a predetermined time period.

9. A security system according to claim 7 or 8.

10. A server communicably connected to a security device having a setting means for switching between a plurality of security modes, the setting means including a security set mode which is set when the monitored object is unoccupied and monitors the monitored object with a security sensor, and a security off mode which is set when the monitored object is occupied and does not monitor the monitored object with the security sensor, in response to an operator's operation, and a server communicably connected to the security device; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A server comprising:

11. A security device that is communicably connected to a work robot that is autonomously movable and performs a predetermined task other than security within a monitored area, a setting means for switching between a plurality of security modes, including a security set mode for monitoring a target to be monitored and for monitoring the target by a security sensor when the target is unoccupied in response to an operation by an operator, and a security release mode for not monitoring the target by the security sensor when the target is occupied; a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling the work robot to start the predetermined task when the time condition is satisfied and the security mode is the security set mode, assuming that no user is present within the monitored area; and A security device comprising:

12. A work robot that is autonomously mobile and communicatively connected to a security device having setting means for switching between a plurality of security modes, the security modes including a security set mode that monitors a target to be monitored and monitors the target with a security sensor when the target is unoccupied, and a security off mode that does not monitor the target with a security sensor when the target is occupied, in response to an operator's operation, and a security off mode that does not monitor the target with the security sensor when the target is occupied, and the robot is capable of moving autonomously and performs a predetermined task other than security within the target to be monitored, a determination means for determining whether a time condition related to the execution of a task by the working robot is satisfied; a control means for controlling, when the time condition is satisfied and the security mode is the security set mode, to start the predetermined operation as if no user is present within the monitored area; A working robot comprising:

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