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 controlling, when the abnormality in disaster prevention occurs, the operation of a working robot in accordance with a situation.SOLUTION: Disclosed is a security system including: a working robot which can autonomously move in a facility and can execute at least work operation for performing predetermined works and retreat operation for retreating from traffic lines of users of the facility; and a security device for detecting abnormality related to disaster prevention and outputting an abnormality signal. The working robot is configured to interrupt or end the work operation and execute the retreat operation when, during execution of the work operation, the security device outputs the abnormality signal.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, when an abnormal situation occurs in terms of disaster prevention, it is known to cause a robot to perform a predetermined operation.

[0003] For example, Patent Document 1 discloses that a cleaning robot has a fire sensor, and when it is determined by the fire sensor that a fire has occurred, the cleaning robot is directed toward the fire occurrence location to guide the user to the entrance / exit.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, while there are cases where it may be better for the robot to head towards the abnormal occurrence site, there are also cases where the situation may deteriorate if the robot heads towards the abnormal occurrence site. For example, if a cleaning robot heads towards the fire occurrence location as in Patent Document 1, it may interfere with the evacuation of the user. Therefore, when an abnormal situation occurs in terms of disaster prevention, it is not preferable to make the robot perform a uniform operation.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot that can control the operation of a work robot according to the situation when an abnormal situation occurs in terms of disaster prevention.

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 a work robot capable of autonomous movement within a facility and capable of executing at least a work operation for performing a predetermined work and a retreat operation for retreating from the flow line of facility users, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal. When the security device outputs an abnormality signal during the execution of the work operation, the work robot interrupts or terminates the work operation and executes the retreat operation.

[0008] In this security system, it is preferable that the retreat operation includes an operation for the work robot to stop at a position avoiding the flow line of the user or an operation for the work robot to return to the home position.

[0009] In this security system, the work robot acquires current position information, and as the retreat operation, preferably executes either an operation to stop at a position avoiding the flow line of the user or an operation to return to the home position according to the positional relationship between the current position information and the home position.

[0010] In this security system, the work robot acquires current position information, and the positions avoiding the flow line of the user include the end position of the passage and a preset retreat position outside the passage. As the position avoiding the flow line of the user, it is preferable to set the retreat position when the distance from the current position of the work robot to the retreat position is less than a predetermined distance, and to set the end position of the passage when the distance is equal to or greater than the predetermined distance.

[0011] In this security system, the security device is provided with storage means for storing whether or not a user exists in the security target. When an abnormality is detected, if a user exists, the work robot preferably executes a retreat operation, and if a user does not exist, the work robot preferably executes an operation to move to the abnormality occurrence location.

[0012] According to another aspect of the present invention, there is provided a server that is capable of autonomous movement within a facility and is communicably connected to a work robot capable of performing at least a work operation for performing a predetermined work and a retreat operation for retreating from the flow of facility users, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal. The server includes a control unit that generates a control signal for interrupting or ending the work operation being executed by the work robot and causing the retreat operation to be executed when an abnormality signal is received from the security device, and a transmission unit for transmitting the control signal to the work robot.

[0013] According to another aspect of the present invention, there is provided a security device communicably connected to a work robot capable of autonomous movement within a facility and capable of performing at least a work operation for performing a predetermined work and a retreat operation for retreating from the flow of facility users. The security device includes a detection unit for detecting an abnormality related to disaster prevention, a control unit that generates a control signal for interrupting or ending the work operation being executed by the work robot and causing the retreat operation to be executed when an abnormality related to disaster prevention is detected, and a transmission unit for transmitting the control signal to the work robot.

[0014] According to another aspect of the present invention, there is provided a work robot capable of autonomous movement within a facility and capable of performing at least a work operation for performing a predetermined work and a retreat operation for retreating from the flow of facility users, and communicably connected to a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal. The work robot includes a reception unit for receiving an abnormality signal from the security device, an operation mechanism for performing the operation of the work robot, and a control unit that controls the operation mechanism so as to interrupt or end the work operation being executed and execute the retreat operation when the reception unit receives the abnormality signal.

Advantages of the Invention

[0015] The security system, server, security device, and work robot according to the present invention can control the operation of the work robot according to the situation when a disaster prevention-related abnormality occurs, so that an appropriate response to the disaster prevention-related abnormality becomes possible.

Brief Description of the Drawings

[0016]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Mode for Carrying Out the Invention

[0017] 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.

[0018] 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. 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 an entry / exit operation terminal 250, a security operation unit 251, an imaging unit (camera) 252, an intrusion sensor 253, a fire sensor 254, and a facility equipment sensor 255 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.

[0019] 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.

[0020] The communication unit 11 has a communication interface circuit conforming to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, 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. The communication unit 11 is an example of a transmission unit of the server 10.

[0021] 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 a computer program executed by the control unit 13 to control the operation of the server 10 and various data. 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 schedule information 121 including the time when the work robot 30 starts working and the movement route for the work, and a security map 122 representing the map of the area to be secured. The schedule information 121 stores the start time of the work operation, and the content and / or work location of the work operation for each time. Details of the security map 122 will be described later. Note that only the time to start the work may be stored as the schedule information 121, and the work robot may autonomously generate a schedule for working within the work area based on the environmental map 371.

[0022] The control unit 13 includes 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 multiprocessor, 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 an instruction means 132 as functional modules of a program operating on the processor. The operations of the control unit 13 and each means will be described in detail later.

[0023] The security device 20 is an information processing device that monitors and secures abnormalities such as intrusion, fire, emergency, and equipment failure by devices such as an intrusion sensor 253 installed in the area to be secured according to the security mode instructed by the 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 entrance / exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and a facility equipment sensor 255. The number of the entrance / exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and / or the facility equipment sensor 255 is not limited to one, and a plurality may be provided.

[0024] 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 the server 10 in a wide area communication network such as the Internet via a LAN to transmit and receive various information. The communication unit 21 is an example of a transmission unit of the security device 20.

[0025] 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 and various data of a computer program executed by the control unit 23 to control the operation of the security device 20. 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.

[0026] In the security system 1, the security mode has 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 target is uninhabited, and the server 10 is notified of the occurrence of any abnormality detected, including intrusion from outside the security target and within the security target. The security release mode is a mode in which the security target is occupied, and the server 10 is notified of any abnormality detected, such as a fire, an emergency call, an emergency report, or equipment failure, but no intrusion is notified even if a person is detected within the security target. The security release mode is usually used during the day when users are active within the security target, and the security set mode is used at night, on holidays, etc., when all users have left the security target.

[0027] The control unit 23 has 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 a computer program stored in the storage unit 22. A DSP, an LSI, an ASIC, an FPGA, or the like may be used as the control unit 23. The control unit 23 has, as functional modules of a program that runs on a processor, a state monitoring means 231 and an abnormality monitoring means 232. The operations of the control unit 23 and each of the means will be described in detail later.

[0028] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, etc., and communicates and connects with an entrance / exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and a facility equipment sensor 255 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.

[0029] The entrance / exit operation terminal 250 is an operation terminal installed at an entrance / exit of a security target, etc., and is used by a user to request entry to or exit from the security target. The entrance / exit operation terminal 250 has an input unit (not shown) such as a card reader, an IC stick container, a camera, a microphone, a touch panel, etc., for inputting authentication information such as the user's ID, authentication code, biometric information such as fingerprint / face / voice, etc. Further, the entrance / exit operation terminal 250 is installed on a door of an entrance / exit, etc., to regulate entry to or exit from the security target, and has an entrance / exit regulation unit (not shown) such as an electric lock that is unlocked / locked according to an unlock / lock signal transmitted from the security device 20. When a user performs an entry operation or an exit operation, the entrance / exit operation terminal 250 generates an entry instruction or an exit instruction. Alternatively, when the regulation of entry or exit is released by the entrance / exit regulation unit, the entrance / exit operation terminal 250 may generate an entry instruction or an exit instruction.

[0030] The security operation unit 251 has a user input / output interface such as a touch panel, buttons, etc., and a user operates the security device 20 to perform operations such as switching the security mode. Further, the security operation unit 251 may have an input unit (not shown) for authentication information of a user who can operate the security device. When a switching operation of the security mode is performed, the security operation unit 251 generates an instruction for changing the security mode including the changed security mode. Note that the input unit of the security operation unit 251 can input an emergency call for requesting emergency transportation, an instruction for an emergency call when a suspicious person intrudes, etc., and the location where an abnormality occurs. When an instruction for an emergency call is input, the security operation unit 251 generates an emergency call signal, and when an instruction for an emergency notification is input, it generates an emergency notification signal. When the location of an abnormality is input, the emergency call signal and the emergency notification signal include location information indicating the input location of the abnormality.

[0031] The imaging unit 252 is a camera or the like having a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter that amplifies and performs analog / digital (A / D) conversion on the electrical signal output from the photoelectric conversion element, and sequentially acquires digital images in RGB format or the like obtained by photographing the monitoring space of the security target. Note that the imaging unit 252 may be a camera that uses infrared rays, ultrasonic waves, or the like.

[0032] The intrusion sensor 253 is a sensor for detecting an intruder who has entered the security target, such as a sensor that detects the opening and closing of a door, window, or the like of the security target using a reed switch and a magnet, a sensor that detects heat emitted by a human body as a heat source, and a sensor that detects that infrared rays have been blocked by a human body. When the intrusion sensor 253 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred. This abnormality detection signal includes location information indicating the monitoring area of each intrusion sensor 253. The fire sensor 254 is a sensor that detects heat, smoke, and gas leakage associated with a fire. When it detects a fire, it generates an abnormality detection signal indicating that a fire has occurred. This abnormality detection signal includes location information indicating the monitoring area of each fire sensor 254. Note that the work robot 30 may also be equipped with a fire sensor. The equipment sensor 255 is a sensor that detects an operation abnormality or battery exhaustion of various equipment such as air conditioning equipment, disaster prevention equipment, and sensors. When it detects an operation abnormality or the like, it generates an abnormality detection signal indicating a failure of the equipment.

[0033] The abnormalities indicated by the reports input to the security operation unit 251, as well as the abnormalities detected by the imaging unit 252, intrusion sensor 253, fire sensor 254, facility equipment sensor 255, etc., can be classified into security, disaster prevention, failure, and emergency. The occurrence of intrusion and emergency reports are classified as abnormalities related to security, and the occurrence of fire and gas leakage are classified as abnormalities related to disaster prevention. Operational abnormalities of facility equipment, etc., are classified as abnormalities related to failure, and emergency reports are classified as abnormalities related to emergency.

[0034] The entry / exit operation terminal 250, security operation unit 251, imaging unit 252, intrusion sensor 253, fire sensor 254, and facility equipment sensor 255 transmit the generated entry instruction, exit instruction, security mode change instruction, notification signal, abnormality detection signal, or digital image to the control unit 23 via the interface unit 24. That is, the security operation unit 251, intrusion sensor 253, fire sensor 254, and facility equipment sensor 255 are examples of an abnormality detection unit and detect multiple types of abnormalities. Also, the entry / exit operation terminal 250, security operation unit 251, and imaging unit 252 are examples of a state detection unit and are used to determine whether a user exists in the security target. Note that the monitoring areas of the intrusion sensor 253 and the fire sensor 254 are preset by the server 10 based on the security map 122.

[0035] The work robot 30 is an autonomously movable robot that performs various tasks such as cleaning, transportation, and inspection within the security target. The work robot 30 includes a communication unit 31, an imaging unit 32, a position detection unit 33, a traveling unit 34, a work unit 35, a power supply unit 36, a storage unit 37, and a control unit 38. Here, the case where the work robot 30 is a cleaning robot will be described.

[0036] 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 the Internet via the access point 40 to transmit and receive various information. The communication unit 31 is an example of the receiving unit of the work robot 30.

[0037] The imaging unit 32 is a built-in camera or the like that includes a photoelectric conversion element sensitive to visible light, such as a CCD element or a C-MOS element, an imaging optical system that forms an image on the photoelectric conversion element, and an A / D converter that amplifies and performs analog / digital (A / D) conversion on the electrical signal output from the photoelectric conversion element, and acquires a digital image in an RGB format or the like.

[0038] The position detection unit 33 has at least one of input devices such as a Lidar, a camera, an ultrasonic sensor, an infrared sensor, and a GPS, and acquires information such as laser light and images used to derive the current position of the work robot 30 and the position of obstacles.

[0039] The traveling unit 34 has drive wheels and a traveling motor, and can freely move the work robot 30 forward, backward, left, and right at various speeds by changing the rotation speed of the traveling motor. The traveling unit 34 may further have auxiliary wheels or the like to stabilize and smooth the traveling. The working unit 35 performs working operations such as cleaning, transportation, and inspection. When the work robot 30 is a cleaning robot, the working unit 35 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 34 and the working unit 35 are operating mechanisms for the work robot 30 to perform working operations while autonomously moving.

[0040] The power supply unit 36 is a storage battery or the like for supplying power to each part of the work robot 30.

[0041] The storage unit 37 has a semiconductor memory, a magnetic storage medium, and / or an optical storage medium, etc. The storage unit 37 stores the code of the computer program executed by the control unit 38 to control the operation of the work robot 30 and various data. The computer program may be installed in the storage unit 37 by a known method via a computer-readable storage medium such as a DVD-ROM or a communication line. The storage unit 37 stores an environmental map 371 having the positions of obstacles including fixed obstacles such as walls and equipment in the work area and movable obstacles such as carts and boxes. Further, the environmental map 371 has positions such as a evacuation position 420 and a home position 460.

[0042] The control unit 38 includes a processor such as a CPU and an MPU and its peripheral circuits, and the processor controls the operation of the work robot 30 by executing a computer program stored in the storage unit 37. As the control unit 38, a DSP, an LSI, an ASIC, an FPGA, etc. may be used. The control unit 38 has, as functional modules of a program operating on the processor, a position monitoring means 381 and an operation control means 382. The operations of the control unit 38 and each means will be described in detail later.

[0043] FIG. 2 is a floor plan of an office which is an example of a guarded object of the security system 1. As shown in FIG. 2, the floor 101 of the office 100 is a work area for the work robot 30. The floor 101 is separated from the outside by a wall 102, and the floor 101 is provided with equipment 410, a door 430, a partition 440, a home position (HP) 460, and a window 470. Also, various devices for detecting abnormalities such as an entrance / exit operation terminal 250, a security operation unit 251, an imaging unit 252, an intrusion sensor 253, a fire sensor 254, and an equipment sensor 255 are installed at one or more locations throughout the office. A retreat position 420 for the work robot 30 is arranged at a position avoiding the movement route of the users on the floor 101. Note that the retreat position 420 is not limited to a location outside the passage as shown in FIG. 2, and the end of the passage may be configured as the retreat position. By arranging the retreat position 420 of the work robot 30 at a position avoiding the movement route of the users, it is suppressed that the work robot 30 obstructs the movement of the users in the event of a disaster or the like. In the floor 101, the area excluding the positions surrounded by the equipment 410, the retreat position 420, and the partition 440 is used as a passage. Note that the movement route of the users refers to a passage where the users are normally assumed to move when moving within the facility. For example, among the passages, a predetermined ratio of the passage width (for example, 80% on each of the left and right sides with the center of the passage as a reference) is defined as the movement route of the users.

[0044] The door 430 is arranged at the entrance / exit between the floor 101 and the outside and is unlocked / locked by the entrance / exit operation terminal 250. The partition 440 is a screen arranged around the seats of the users of the office 100. A charger (not shown) for charging the power unit 36 of the work robot 30 is arranged at the home position 460, and the work robot 30 waits at the home position 460 when not performing work. The window 470 is arranged between the office 100 and the outdoors, and the intrusion sensor 253 monitors the presence or absence of an intruder entering the office 100 from the window 470.

[0045] The security map 122 is a map representing the floor 101 which is the area to be secured by the security device 20 shown in FIG. 2 and is the working area of the work robot 30, and is stored in advance in the storage unit 12 of the server 10. The security map 122 shows the shape of the floor 101 of the office 100. Further, on the security map 122, the positions of the entry / exit operation terminal 250 and the security operation unit 251, the positions imaged by the imaging unit 252, the positions detected by the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255, etc. are shown. The security map 122 further shows the positions of the evacuation positions 420 and the home position 460, and the positions of fixed obstacles such as the wall 102, the facility equipment 410, and the partition 440, etc. The shape of the floor 101 and the above-described respective positions are shown in two-dimensional coordinates with a certain point in the security map 122 as the origin. The coordinates may be latitude and longitude, etc. Note that the security map 122 has the same coordinates as the environmental map 371 stored in the storage unit 37 of the work robot 30.

[0046] The state of FIG. 2 represents the case where when the work robot 30 has advanced its work from the HP460 through the path 481 to the vicinity of the lower side in the figure of the evacuation position 420, there has been an intrusion by an intruder through the window 470. The intrusion by the intruder is detected by the detection of the intrusion sensor 253, and the abnormal occurrence location 480 is recognized as the vicinity of the window 470. As will be described later, when an abnormality occurs at the abnormal occurrence location 480, as operations of the work robot 30, cases such as using the path 482 that heads to the abnormal occurrence location 480 at the shortest distance, using the path 483 that evacuates to the evacuation position 420, and moving to the abnormal occurrence location 480 while continuing the work using the path 484, etc. can be considered. Details of the operations of the work robot 30 will be described later.

[0047] When an abnormality in the disaster prevention system such as a fire or gas leakage is detected, it is required to check the situation at the scene (such as taking pictures), but in such abnormalities, since the evacuation of the users is involved, there is a possibility that the work robot 30 may interfere with the evacuation of the users while heading to check the situation at the scene. Therefore, when there is an abnormality in the disaster prevention system, it is necessary to control the work robot 30 so as not to interfere with the evacuation in consideration of the situation of the users.

[0048] Figure 3 is a sequence diagram showing an example of the overall processing of the security system 1. This operation sequence is mainly executed in cooperation with each element of each device by each control unit of each device based on a program stored in advance in each storage unit of each device.

[0049] First, when the instruction means 132 of the server 10 reaches the start time indicated in the schedule information 121, it transmits a start signal for instructing the start of a predetermined work operation to the work robot 30 via the communication unit 11 (step S100). When the operation control means 382 of the work robot 30 receives the start signal from the server 10 via the communication unit 31, it initializes the environmental map 371 and the current position information stored in the storage unit 37, and starts the instructed work operation. At this time, the instruction means 132 of the server 10 transmits information on the positions of fixed obstacles such as the wall 102, the facility equipment 410, and the partition 440, the evacuation position 420, and the home position 460 in the security map 122 to the work robot 30 together with the start signal, and the operation control means 382 of the work robot 30 initializes the environmental map 371 based on the received information. Note that the control unit 38 of the work robot 30 may initialize the environmental map 371 in advance based on information received from the server 10 or another device via the communication unit 11 or information obtained from an operation unit (not shown) of the work robot 30. Further, the control unit 38 may store in advance the positions of fixed obstacles by traveling within the work area in advance to construct an environmental map.

[0050] The operation control means 382 of the work robot 30 controls the traveling unit 34 based on the environmental map 371 to avoid obstacles and cause the work robot 30 to travel, and controls the working unit 35 to perform a working operation. The position monitoring means 381 periodically obtains the current position of the work robot 30 and the positions of obstacles by a method such as SLAM (Simultaneous Localization and Mapping) based on the information acquired from the position detection unit 33. The position monitoring means 381 stores the acquired current position in the storage unit 37, and updates the environmental map 371 stored in the storage unit 37 when the positions of the obstacles change (step S101).

[0051] The position monitoring means 381 outputs a current position signal indicating the acquired current position to the server 10 via the communication unit 31 (step S102). On the other hand, the acquisition means 131 of the server 10 receives the current position signal from the work robot 30 via the communication unit 11, and stores the current position of the work robot 30 indicated by the received current position signal in the storage unit 12 as current position information (step S103).

[0052] The instruction means 132 determines the operation to be executed by the work robot 30 from the content of the working operation to be executed or the place to be moved at the current time indicated in the schedule information 121 and the current position of the work robot 30. The instruction means 132 transmits an operation signal for causing the work robot 30 to execute the determined operation to the work robot 30 via the communication unit 11 (step S104). When the operation control means 382 of the work robot 30 receives the operation signal from the server 10 via the communication unit 31, it executes the instructed operation such as continuing or changing the working operation or moving to the instructed place. Note that when the work robot autonomously generates and executes a schedule for performing work, this process can be omitted.

[0053] The state monitoring means 231 of the security device 20 monitors whether the user has performed an operation to switch the security mode of the security device 20, and receives an instruction to change the security mode from the security operation unit 251 when the user has performed an operation such as switching the security mode (step S105). When receiving an instruction to change the security mode, the status monitoring means 231 changes the security mode of the security device 20 to the changed security mode included in the received change instruction (step S106). The status monitoring means 231 generates a status signal indicating the security mode and outputs it to the server 10 via the communication unit 21 (step S107). The security mode is set by the user using the input unit of the security operation unit 251. On the other hand, the acquisition means 131 of the server 10 receives a status signal from the security device 20 via the communication unit 11, determines whether or not a user exists in the security target according to the received status signal, and stores it in the storage unit 12 as occupancy information (step S108). At this time, when the status signal indicates the security set mode, the acquisition means 131 assumes that no user exists in the security target, and when the status signal indicates the security release mode, the acquisition means 131 assumes that a user exists in the security target.

[0054] In addition, the status monitoring means 231 of the security device 20 monitors whether the user has performed an entry operation or a departure operation on the entry / exit operation terminal 250, and receives an entry instruction or a departure instruction from the entry / exit operation terminal 250 when the user has performed an entry operation or a departure operation. Further, the status monitoring means 231 periodically receives an image captured by the imaging unit 252 from the imaging unit 252 (step S109). When receiving an entry instruction, an exit instruction, or an image, the state monitoring means 231 generates a user signal indicating the congestion status or movement status of the users, and outputs it to the server 10 via the communication unit 21 (step S110). When receiving an entry instruction or an exit instruction, the state monitoring means 231 calculates the number of people present in the security target based on the number of entry instructions and exit instructions received so far. When the number of people present exceeds a predetermined number, the state monitoring means 231 generates a user signal indicating that it is congested, and when the number of people present is less than or equal to the predetermined number, generates a user signal indicating that it is not congested. Also, the state monitoring means 231 sequentially receives images from the imaging unit 252, detects a change area where a change has occurred in each image by background difference processing or inter-frame difference processing, and extracts a person area having a predetermined size from the detected change areas. The state monitoring means 231 tracks the corresponding person areas between the images, and detects the movement amount of each person from the amount of change in the position of the person area. When the average value, median value, or maximum value of the movement amounts of each person exceeds a predetermined threshold, the state monitoring means 231 generates a user signal indicating that the movement of the users is large, and when the average value, median value, or maximum value of the movement amounts of each person is less than or equal to the predetermined threshold, generates a user signal indicating that the movement of the users is small. On the other hand, the acquisition means 131 of the server 10 receives the user signal from the security device 20 via the communication unit 11, and stores in the storage unit 12 whether the users are congested and / or whether the movement of the users is large according to the received user signal (step S111). Note that the acquisition means 131 of the server 10 may receive an entry instruction, an exit instruction, or an image, and determine whether a user exists in the security target in step S107 based on the received information.

[0055] Here, the security target for determining whether a user is present may be the entire facility to be secured, a room or floor including the location where an abnormality has occurred, or a predetermined range around the location where an abnormality has occurred. When the entire facility to be secured is the target, for example, in any of the security targets of the facility, when in the security release mode, when a person is photographed by the imaging unit 252, or when the entry instruction exceeds the exit instruction, it is determined that a user is present in the security target. Also, when a room or floor is the target, any of the security targets of the facility in the above description may be replaced with the target room or floor. Further, when a predetermined range around the location where an abnormality has occurred is the target, the position of the user may be specified by detecting the person by an image or the like, and it may be determined whether a user is present within the predetermined range around the location where an abnormality has occurred.

[0056] Also, the abnormality monitoring means 232 of the security device 20 monitors the entry / exit operation terminal 250, the security operation unit 251, the imaging unit 252, the intrusion sensor 253, the fire sensor 254, and the facility equipment sensor 255, and receives an abnormality detection signal or a notification signal from each part when an abnormality occurs (step S112). When receiving the abnormality detection signal or the notification signal, the abnormality monitoring means 232 executes an abnormality signal generation process (step S113). In the abnormality signal generation process, the abnormality monitoring means 232 generates an abnormality signal including type information indicating the type of the abnormality and location information indicating the location where the abnormality has occurred. Details of the abnormality signal generation process will be described later. Next, the abnormality monitoring means 232 outputs the abnormality signal generated in the abnormality signal generation process to the server 10 via the communication unit 21 (step S114). On the other hand, the instruction means 132 of the server 10 receives the abnormality signal from the security device 20 via the communication unit 11, and executes a control signal generation process according to the type of the abnormality included in the received abnormality signal (step S115). In the control signal generation process, the instruction means 132 generates a control signal for controlling the work robot 30 to execute an operation according to the abnormality signal, the status signal, and the user signal. The control signal includes operation information indicating the operation to be executed by the work robot 30 and location information indicating the location where the abnormality has occurred. Details of the control signal generation process will be described later. Next, the instruction means 132 outputs the control signal generated in the control signal generation process to the work robot 30 via the communication unit 11 (step S116). On the other hand, the operation control means 382 of the work robot 30 receives a control signal from the server 10 via the communication unit 31, and executes an operation process according to the operation included in the received control signal (step S117). In the operation process, the operation control means 382 causes the work robot 30 to execute the operation included in the received control signal. Details of the operation process will be described later.

[0057] The location where the abnormality occurs indicates the input location in the case of input by the input unit of the security operation unit 251, indicates the corresponding location by image analysis when an abnormality is detected by the image obtained by the imaging unit 252, and indicates the arrangement position of the intrusion sensor in the case of abnormality detection by the intrusion sensor 253 as in the case of FIG. 2. Further, the location where the abnormality occurs indicates the arrangement position of the fire sensor when a fire is detected by the fire sensor 254, and indicates the location where the facility equipment 410 is located in the case of abnormality detection by the facility equipment sensor 255. Note that the security device 20 outputs the location information indicating the location where the abnormality occurs together with the abnormality signal as will be described later.

[0058] FIG. 4 is a flowchart showing an example of the abnormality signal generation process by the security device 20. The flow of the operation shown in FIG. 4 is executed in step S113 of the sequence diagram shown in FIG. 3.

[0059] First, the abnormality monitoring means 232 specifies the type of the received abnormality detection signal or notification signal (step S201). When the received signal is an abnormality detection signal indicating that an intrusion has occurred, the abnormality monitoring means 232 sets intrusion as the type information (step S202). On the other hand, when the received signal is an emergency notification signal, the abnormality monitoring means 232 sets emergency notification as the type information (step S203). On the other hand, when the received signal is an abnormality detection signal indicating that a fire has occurred, the abnormality monitoring means 232 sets "fire" as the type information (step S204). On the other hand, when the received signal is an abnormality detection signal indicating that a failure of a device has occurred, the abnormality monitoring means 232 sets "failure" as the type information (step S205). On the other hand, when the received signal is an emergency call signal, the abnormality monitoring means 232 sets "emergency call" as the type information (step S206). Next, the abnormality monitoring means 232 sets the location information included in each received signal as the location information included in the abnormality signal. An abnormality signal including the set type information and location information is generated (step S207), and a series of steps are terminated. Note that when the received signal is an emergency notification signal or an emergency call signal and there is no input of the abnormality occurrence location from the input unit of the security operation unit 251, the abnormality monitoring means 232 sets "blank" as the location information included in the abnormality signal.

[0060] FIG. 5 is a flowchart showing an example of control signal generation processing by the server 10. The flow of the operations shown in FIG. 5 is executed in step S115 of the sequence diagram shown in FIG. 3.

[0061] First, the instruction means 132 identifies the type of abnormality indicated by the type information included in the received abnormality signal (step S301).

[0062] When the type of abnormality is intrusion, the instruction means 132 reads out the occupancy information stored in the storage unit 12 in step S108 of FIG. 3 and determines whether or not there is a user in the security target (step S302). When there is no user in the security target, the instruction means 132 sets, as the operation information, a first countermeasure operation of moving to the abnormality occurrence location without performing a work operation (step S303). On the other hand, when there is a user in the security target, the instruction means 132 sets, as the operation information, a second countermeasure operation of moving to the abnormality occurrence location while performing a work operation (step S304). As a result, when an intruder invades and the user is not present, the security system 1 can make the work robot 30 move straight to the position of the intruder to take action against the intruder. On the other hand, when an intruder invades and the user is present, the security system 1 can move the work robot 30 to the position of the intruder while suppressing the intruder from being stimulated to harm the user by making the intruder think that the work robot 30 is working.

[0063] On the other hand, when the type of abnormality is an emergency report, the instruction means 132 sets the second response operation as operation information (step S305). When the type of abnormality is an emergency report, since the user who issued the report is always present in the work area, the instruction means 132 sets the second response operation as operation information without determining whether the user is present in the work area.

[0064] On the other hand, when the type of abnormality is a fire, the instruction means 132 reads out the occupancy information stored in the storage unit 12 in step S108 of FIG. 3 and determines whether a user is present in the security target (step S306). When no user is present in the security target, the instruction means 132 sets the first response operation as operation information (step S307). On the other hand, when a user is present in the security target, the instruction means 132 reads out the information stored in the storage unit 12 in step S111 of FIG. 3 and determines whether the user is congested (step S308). When the user is not congested, the instruction means 132 sets the first response operation as operation information (step S307). On the other hand, when the user is congested, the instruction means 132 reads out the information stored in the storage unit 12 in step S111 of FIG. 3 and determines whether the movement of the user is frequent (step S309). When the movement of the user is infrequent, the instruction means 132 sets the first response operation as operation information (step S307). On the other hand, when the movement of the user is frequent, the instruction means 132 sets the evacuation operation as operation information (steps S310 to S314).

[0065] The retraction operation is an operation to retract to a position avoiding the user's movement route, and includes any one of a first retraction operation in which the work robot 30 returns to the home position 460 and stops, a second retraction operation in which the work robot 30 moves to a predetermined retraction position 420 and stops, and a third retraction operation in which the work robot 30 avoids and stops at the end of the passage. Note that the home position is a place where the work robot 30 waits when it does not perform work, and is located at a position outside the user's movement route. Therefore, by returning to the home position and stopping, it is possible to prevent obstructing the movement (evacuation) of the user. Thus, as the retraction operation, it is made not to obstruct the movement of the user by moving to a position outside the user's movement route and stopping.

[0066] Here, even when moving to the retraction destination, it is required to take consideration so as not to obstruct the evacuation of the user. Therefore, the instruction means 132 calculates the distance between the current position of the work robot 30 and the position of the home position 460 in the security map 122 based on the current position information stored in the storage unit 12 in step S103 of FIG. 3, and determines whether the calculated distance is less than a predetermined value (step S310). If the calculated distance is less than the predetermined value, the instruction means 132 sets the first retraction operation as the retraction operation (step S311). On the other hand, if the distance between the current position and the home position 460 is equal to or more than the predetermined value, the instruction means 132 calculates the distance between the current position and the retraction position 420 in the security map 122, and determines whether the calculated distance is less than the predetermined value (step S312). Here, when there are a plurality of retraction positions 420, the distance between the retraction position 420 closest to the work robot 30 and the current position is calculated. If the calculated distance is less than the predetermined value, the instruction means 132 sets the second retraction operation as the retraction operation (step S313). On the other hand, if the distance between the current position and the retraction position 420 is equal to or more than the predetermined value, the instruction means 132 sets the third retraction operation as the retraction operation (step S314).

[0067] As a result, the security system 1 can evacuate the work robot 30 to an appropriate location while minimizing the movement of the work robot 30 according to the current position of the work robot 30. Here, as the evacuation position in the third evacuation operation, the end position of the passage closest to the current position (that is, the movement distance of the work robot 30 is the shortest), the end position of the passage with a passage width specified from the environmental map 371 being equal to or greater than a predetermined value (that is, it is difficult for the work robot 30 to hinder evacuation), etc. are used. In this way, the evacuation position is set in consideration of the movement required for the work robot 30 to reach the evacuation position and whether the evacuation position is likely to hinder evacuation. Also, within a predetermined range from a passage or an exit with a passage width less than the predetermined value may be excluded from the evacuation position because users who have evacuated are likely to gather or hinder evacuation. In the present invention, the second evacuation operation of moving to and stopping at a predetermined evacuation position 420 and the third evacuation operation of the work robot 30 avoiding and stopping at the end of the passage may be treated as movement to a predetermined evacuation position. Note that either one or both of step S308 or S309 may be omitted.

[0068] In this way, when the instruction means 132 determines, based on the status signal, that there is no user present, it controls the work robot 30 to execute a coping operation of moving to the location where the abnormality has occurred, and when it determines, based on the status signal, that there is a user present, it controls the work robot 30 to execute an evacuation operation. As a result, the security system 1 can suppress the work robot 30 from hindering the evacuation of users in the event of a disaster, and when there is no user present, move the work robot 30 to the location where the abnormality has occurred and appropriately respond to the disaster. In particular, even when there is a user present, when the instruction means 132 determines, based on the user signal, that the situation is not crowded with users or there is little movement of the users, it controls the work robot 30 to execute a coping operation. As a result, the security system 1 can move the work robot 30 to the location where the abnormality has occurred and appropriately respond to the disaster even when there is a user present, as long as the work robot 30 does not hinder the evacuation of the users. On the other hand, when the instruction means 132 determines, based on the user signal, that the user is in a congested state or a state where the user's movement is frequent, the instruction means 132 controls the work robot 30 to execute an evacuation operation. In particular, in the evacuation operation, the instruction means 132 controls the work robot 30 so that the work robot 30 moves to and stops at the home position 460, the evacuation position 420, or the end of the passage according to its current position. Thereby, the security system 1 can suppress the work robot 30 from obstructing the evacuation of the user, especially when the user's movement is significant.

[0069] On the other hand, when the type of abnormality is a failure, the instruction means 132 sets a continuous operation as operation information (step S315). On the other hand, when the type of abnormality is an emergency call, the instruction means 132 sets a first response operation as operation information (step S316). Next, the instruction means 132 sets the location information included in the received abnormality signal as the location information included in the control signal, generates a control signal including the set operation information and location information (step S317), and ends a series of steps. In this way, the instruction means 132 controls the work robot 30 according to the abnormality signal and the status signal received from the security device 20.

[0070] FIG. 6 is a flowchart showing an example of operation processing by the work robot 30. The operation flow shown in FIG. 6 is executed in step S117 of the sequence diagram shown in FIG. 3.

[0071] First, the operation control means 382 identifies the type of operation indicated by the operation information included in the received control signal (step S401). When the specified operation is the first countermeasure operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to execute the first countermeasure operation (step S402), and ends a series of steps. The operation control means 382 stops the operation of the working unit 35, calculates the shortest path from the current position of the work robot 30 to the abnormal occurrence location indicated by the location information included in the control signal from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move through the calculated path. On the other hand, when the specified operation is the second countermeasure operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to execute the second countermeasure operation (step S403), and ends a series of steps. The operation control means 382 continues the operation of the working unit 35, calculates the shortest path from the current position of the work robot 30 to the abnormal occurrence location indicated by the location information included in the control signal from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move through the calculated path. In these cases, after the work robot 30 arrives at the abnormal occurrence location, the work robot 30 may transmit an image of the abnormal occurrence location captured by the imaging unit 32 to the server 10, the security device 20, etc. (imaging means). Thereby, the security system 1 can notify the administrator of the situation of the abnormal occurrence location.

[0072] On the other hand, when the specified operation is an evacuation operation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to interrupt the work and execute the evacuation operation (Steps S404 to S406), and ends a series of steps. In this case, the operation control means 382 ends the operation of the working unit 35. When the first evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest path from the current position of the work robot 30 to the home position 460 from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move along the calculated path and stop. On the other hand, when the second evacuation operation is set as the evacuation operation, the operation control means 382 calculates the shortest path from the current position of the work robot 30 to the evacuation position 420 from the environmental map 371, and controls the traveling unit 34 and the working unit 35 to move along the calculated path and stop. Further, when the third evacuation operation is set as the evacuation operation, the operation control means 382 detects the wall 102 or the partition 440 closest to the work robot 30 based on the current position information and the environmental map 371. The operation control means 382 controls the traveling unit 34 and the working unit 35 to move to the detected position at the shortest distance and stop avoiding the end of the passage. On the other hand, when the specified operation is work continuation, the operation control means 382 controls the traveling unit 34 and the working unit 35 to continue the ongoing work (Step S407), and ends a series of steps.

[0073] Note that the path along which the work robot 30 moves may be calculated by the server 10 based on the security map 122 and indicated by a control signal. In that case, the operation control means 382 controls the traveling unit 34 to move along the path included in the control signal.

[0074] In the office 100 shown in FIG. 2, for example, in a scene where the intrusion sensor 253 detects an intruder at the abnormal occurrence location 480, the work robot 30 receives a control signal instructing the first countermeasure operation or the second countermeasure operation from the server 10, and moves to the abnormal occurrence location 480 through the path 482. On the other hand, when the work robot 30 receives a control signal instructing the second evacuation operation from the server 10, it moves to the evacuation position 420 through the path 483.

[0075] As described above, in the security system 1 according to the present invention, when a disaster-related abnormality such as a fire occurs, depending on whether there is a user in the work area of the work robot 30, the congestion situation in the work area, the movement situation of the user, etc., the work robot 30 is retracted and stopped so as not to interfere with the evacuation of the user, or when there is little risk of interfering with the evacuation, it can move to the location where the abnormality occurred and appropriately respond to the disaster that occurred. Further, in the security system 1, depending on the positional relationship between the current position of the work robot 30 and the evacuation position 420 or the home position 460, the work robot 30 is returned to the home position, or retracted to a predetermined evacuation position 420 or the end of the passage and stopped, so that it can be further suppressed from interfering with the evacuation of the user. Thus, the security system 1 can operate the work robot 30 differently according to the situation of the user and the position of the work robot 30, particularly when a disaster-related abnormality occurs, so that an appropriate response according to the situation becomes possible.

[0076] As described above, the preferred embodiments of the present invention have been described, but the present invention is not limited to these embodiments. For example, the security system 1 may disperse 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. 3. 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.

[0077] In the above-described embodiment, the security system 1 includes a server 10, a security device 20, and a work robot 30. The server 10, which is communicatively connected between the security device 20 and the work robot 30, generates a control signal based on an abnormal signal, a status signal, a user signal, etc. received from the security device 20, and transmits 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 and transmit and receive abnormal signals, control signals, etc. without going through the server 10. In this case, all of the functions related to the generation of the control signal in the server 10 of the above-described 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.

[0078] FIG. 7 is a diagram showing the configuration of a security system 2 according to another embodiment of the present invention. The components corresponding to those of the security system 1 in the above-described embodiment are given the same names, and hereinafter, the description will focus on the differences from the security system 1 in the above-described embodiment. In the present embodiment, the security system 2 includes a security device 20-2 and a work robot 30-2 that are wirelessly communicatively connected to each other, and the security device 20-2 realizes all of the functions related to the control signal of the server 10 in the above-described embodiment.

[0079] 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 are a transmission unit and a reception unit that communicatively connect between the security device 20-2 and the work robot 30-2 and transmit and receive various signals. The storage unit 22-2 of the security device 20-2 stores schedule information 221-2 and a security map 222-2. The control unit 23-2 of the security device 20-2 has an acquisition unit 233-2 and an instruction unit 234-2 in addition to a status monitoring unit 231-2 and an abnormality monitoring unit 232-2.

[0080] In the security system 2, in step S100 of the operation sequence shown in FIG. 3, the instruction means 234-2 of the security device 20-2 transmits a start signal to the work robot 30-2 via the communication unit 21-2. Also, in step S102, the position monitoring means 381-2 of the work robot 30-2 outputs a current position signal to the security device 20-2 via the communication unit 31-2. In step S103, the acquisition means 233-2 of the security device 20-2 stores the current position of the work robot 30-2 in the storage unit 22-2. Further, in step S104, the instruction means 234-2 determines the operation to be executed by the work robot 30-2 and transmits an operation signal to the work robot 30-2 via the communication unit 21-2. Also, in step S107, the state monitoring means 231-2 of the security device 20-2 determines whether or not there is a user in the security target without outputting a state signal and stores it in the storage unit 22-2 as occupancy information. Also, in step S110, the state monitoring means 231-2 stores in the storage unit 22-2 whether or not the users are congested and / or whether or not the users move frequently without outputting a user signal. Also, in step S106, it may be determined whether or not there is a user in the security target from the information or image of the entry instruction and the exit instruction. Also, in step S114, the abnormality monitoring means 232-2 outputs an abnormality signal to the instruction means 132. In steps S115 and S116, the instruction means 234-2 executes control signal generation processing and outputs a control signal to the work robot 30-2 via the communication unit 21-2.

[0081] That is, in the security system 2, when the security device 20-2 detects an abnormality, a control signal for controlling the work robot 30-2 is generated according to the detection result of the state detection unit, and the work robot 30-2 is controlled according to the detection of the abnormality and the detection of the user. Also, in the security system 2, the path along which the work robot 30-2 moves may be calculated by the security device 20-2 and instructed by a control signal. In that case, the operation control means 382-2 controls the traveling unit 34-2 to move along the path included in the control signal.

[0082] FIG. 8 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, similarly 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.

[0083] 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, and are a transmission unit and a reception unit that communicatively connect between the security device 20-3 and the work robot 30-3 to transmit and receive various signals. The storage unit 37-3 of the work robot 30-3 stores schedule information 372-3 and a security map 373-3 in addition to the environmental map 371-3. The control unit 38-3 of the work robot 30 has an acquisition unit 383-3 and an instruction unit 384-3 in addition to a position monitoring unit 381-3 and an operation control unit 382-3.

[0084] In the security system 3, in step S100 of the operation sequence shown in FIG. 3, the operation control unit 382-3 of the work robot 30-3 spontaneously starts a work operation based on the schedule information 372-3. Also, in step S102, the position monitoring unit 381-3 of the work robot 30-3 does not output a current position signal, and in step S103, stores the current position of the work robot 30-3 in the storage unit 37-3 as current position information. Further, in step S104, the instruction unit 384-3 determines an operation to be executed from the content of the work operation being executed and the current position of the work robot 30, and executes the determined operation. Also, in step S107, the state monitoring means 231-3 of the security device 20-3 outputs a state signal to the work robot 30-3 via the communication unit 21-3. In step S108, the acquisition means 383-3 of the work robot 30-3 determines whether a user exists in the security target and stores it in the storage unit 37-3 as occupancy information. Also, in step S110, the state monitoring means 231-3 outputs a user signal to the work robot 30-3 via the communication unit 21-3. In step S111, the acquisition means 383-3 of the work robot 30-3 stores in the storage unit 37-3 whether the users are congested and / or whether the movement of the users is frequent. Also, in step S114, the abnormality monitoring means 232-3 outputs an abnormality signal to the work robot 30-3 via the communication unit 21-3. In steps S115 and S116, the instruction means 384-3 of the work robot 30-3 executes control signal generation processing and outputs a control signal to the operation control means 382-3. That is, in this case, when the communication unit 31-3 of the work robot 30-3 receives an abnormality signal, a state signal, and a user signal, the work robot 30-3 controls the operation mechanism to execute an operation according to the abnormality signal, the state signal, and the user signal.

[0085] Similar to the security system 1, when an abnormality occurs, the security systems 2 and 3 can control the operations of the work robots 30-2 and 30-3 according to the presence or absence of users, so that appropriate responses according to the situation are possible.

[0086] As described above, within the scope of the present invention, various changes can be made according to the implemented forms.

Explanation of Reference Numerals

[0087] 1 Security system, 10 Server, 11 Communication unit (transmission unit), 13 Control unit, 20 Security device 23 Control unit (status detection unit), 30 Work robot, 31 Communication unit (reception unit), 34 Travel unit (operating mechanism), 35 Work unit (operating mechanism), 38 Control unit, 251 Security operation unit (abnormality detection unit), 253 Intrusion sensor (abnormality detection unit), 254 Fire sensor (abnormality detection unit), 255 Facility equipment sensor (abnormality detection unit)

Claims

1. A security system including a work robot capable of autonomous movement within a facility and capable of performing at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the flow line of users of the facility, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal, wherein the work robot acquires current position information, and when the security device outputs the abnormality signal during execution of the work operation, interrupts or terminates the work operation and executes the evacuation operation, wherein the evacuation operation includes an operation in which the work robot stops at a position avoiding the flow line of the user, wherein the position avoiding the flow line of the user in the evacuation operation is set to either an end position of a passage or an evacuation position preset at a position outside the passage according to the current position of the work robot, characterized in that it is a security system.

2. The security system according to claim 1, wherein the position avoiding the flow line of the user in the evacuation operation is set to either the end position of the passage or the evacuation position according to the positional relationship between the current position of the work robot and the evacuation position.

3. The security system according to claim 1, wherein the position avoiding the flow line of the user in the evacuation operation is set to the evacuation position when the distance from the current position of the work robot to the evacuation position is less than a predetermined distance, and is set to the end position of the passage when the distance is equal to or more than the predetermined distance.

4. A security system including a work robot capable of autonomous movement within a facility and capable of performing at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the flow line of users of the facility, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal, wherein the evacuation operation includes an operation in which the work robot stops at a position avoiding the flow line of the user or an operation in which the work robot returns to its home position, wherein the work robot, acquires current position information, when the security device outputs the abnormality signal during execution of the work operation, interrupts or terminates the work operation and executes the evacuation operation, and as the evacuation operation, executes either an operation in which the work robot stops at a position avoiding the flow line of the user or an operation in which the work robot returns to its home position according to the positional relationship between the current position information and the home position, characterized in that it is a security system.

5. A work robot that can move autonomously within a facility and perform at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the movement route of users of the facility, A security system including a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal, When the security device outputs the abnormality signal while the work robot is performing the work operation, the work robot interrupts or terminates the work operation and performs the evacuation operation, The security device includes a storage means for storing whether or not there is a user in the security target, When the abnormality is detected, the work robot performs the evacuation operation when the user is present, and performs an operation of moving to the location where the abnormality occurred when the user is not present, A security system characterized by the above.

6. A server that can move autonomously within a facility and is communicably connected to a work robot that can perform at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the movement route of users of the facility, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal, A control unit that generates a control signal for interrupting or terminating the work operation being performed by the work robot and performing the evacuation operation when the abnormality signal is received from the security device, A transmission unit for transmitting the control signal to the work robot, The evacuation operation includes an operation in which the work robot stops at a position avoiding the movement route of the user, The position avoiding the movement route of the user in the evacuation operation is set to either the end position of the passage or a preset evacuation position outside the passage according to the current position of the work robot, A server characterized by the above.

7. A server that can move autonomously within a facility and is communicably connected to a work robot that can perform at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the movement route of users of the facility, and a security device that detects an abnormality related to disaster prevention and outputs an abnormality signal, wherein the evacuation operation includes an operation in which the work robot stops at a position avoiding the movement route of the user or an operation of returning to the home position of the work robot, When receiving the abnormal signal from the security device, the work robot interrupts or terminates the ongoing work operation, and as the evacuation operation, depending on the positional relationship between the current position information of the work robot and the home position, a control signal is generated to cause the work robot to perform either an operation of stopping at a position avoiding the user's movement route or an operation of returning to the home position. A transmission unit for transmitting the control signal to the work robot. A server characterized by comprising the above.

8. A security device communicably connected to a work robot that can autonomously move within a facility and can perform at least a work operation of performing a predetermined work and an evacuation operation of evacuating from the movement route of the users of the facility, A detection unit for detecting an abnormality related to disaster prevention. When detecting an abnormality related to disaster prevention, the control unit interrupts or terminates the ongoing work operation by the work robot and generates a control signal for causing the evacuation operation to be performed. A transmission unit for transmitting the control signal to the work robot, and comprising: The evacuation operation includes an operation in which the work robot stops at a position avoiding the user's movement route. The position avoiding the user's movement route in the evacuation operation is set to either an end position of a passage or an evacuation position preset at a position outside the passage, depending on the current position of the work robot. A security device characterized by the above.

9. A security device communicably connected to a work robot that can autonomously move within a facility and can perform at least a work operation of performing a predetermined work and an evacuation operation of evacuating from the movement route of the users of the facility, wherein the evacuation operation includes an operation in which the work robot stops at a position avoiding the user's movement route or an operation of returning to the home position of the work robot. A detection unit for detecting an abnormality related to disaster prevention. When detecting an abnormality related to disaster prevention, the control unit interrupts or terminates the ongoing work operation by the work robot, and as the evacuation operation, depending on the positional relationship between the current position information of the work robot and the home position, a control signal is generated to cause the work robot to perform either an operation of stopping at a position avoiding the user's movement route or an operation of returning to the home position. A transmission unit for transmitting the control signal to the work robot, and comprising: A security device characterized by the above.

10. An operation robot that can move autonomously within a facility and is capable of performing at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the flow of users in the facility, and is communicably connected to a security device that detects an abnormality related to disaster prevention and outputs an abnormal signal, a receiving unit for receiving the abnormal signal from the security device, an operation mechanism for operating the operation robot, a control unit that controls the operation mechanism to interrupt or end the work operation being executed and execute the evacuation operation when the receiving unit receives the abnormal signal, the evacuation operation includes an operation in which the operation robot stops at a position avoiding the flow of the user, the position avoiding the flow of the user in the evacuation operation is set to either an end position of a passage or an evacuation position preset at a position outside the passage according to the current position of the operation robot, characterized by an operation robot.

11. An operation robot that can move autonomously within a facility and is capable of performing at least a work operation for performing a predetermined task and an evacuation operation for evacuating from the flow of users in the facility, and is communicably connected to a security device that detects an abnormality related to disaster prevention and outputs an abnormal signal, wherein the evacuation operation includes an operation in which the operation robot stops at a position avoiding the flow of the user or an operation in which the operation robot returns to its home position, a receiving unit for receiving the abnormal signal from the security device, an operation mechanism for operating the operation robot, a control unit that, when the receiving unit receives the abnormal signal, interrupts or ends the work operation being executed and, as the evacuation operation, controls the operation mechanism to execute either an operation in which the operation robot stops at a position avoiding the flow of the user or an operation in which the operation robot returns to its home position according to the positional relationship between the current position information of the operation robot and the home position, characterized by an operation robot.

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