Security system, server, security device, and work robot

Abstract

To provide a security system, server, security device, and work robot, which enable more appropriately providing security in a work area where the work robot performs predetermined work.SOLUTION: A security system provided herein comprises: an autonomously movable work robot for performing predetermined work in a work area; and a security device for monitoring moving bodies according to a preset security mode. The security system includes: monitoring means provided in the security device, configured to monitor a monitoring target including the work area and detect a security status; determination means for determining whether or not execution conditions for work to be done by the work robot are satisfied according to the security status detected by the monitoring means; and determination means for determining whether or not it is possible to change the security mode in the work area to let the work robot perform the predetermined work on the basis of a determination result of the determination means.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] In recent years, security systems have been developed that include a work robot that performs a predetermined task in a work area and a security device that monitors a target to be monitored, including the work area.

[0003] For example, Patent Document 1 discloses a monitoring system that suppresses false alarms caused by the movement of a self-propelled vacuum cleaner by invalidating information on the detection results of a human presence sensor when the vacuum cleaner is moving. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-54393 Summary of the Invention [Problem to be solved by the invention]

[0005] In a security system having a work robot and a security device, there is a demand for more appropriate security of the work area where the work robot performs a predetermined task.

[0006] An object of the present invention is to provide a security system, a server, a security device, and a work robot that can more appropriately manage security for a work area where a work robot performs specified work. [Means for solving the problem]

[0007] According to one aspect of the present invention for solving such problems, there is provided a security system having a work robot that is capable of autonomous movement and performs specified tasks in a work area, and a security device that monitors the mobile object based on a set security mode, the security system having a monitoring means that is provided in the security device and monitors monitored objects including the work area and detects the security status, a judgment means that judges whether the conditions for the work robot to perform the work are met based on the security status detected by the monitoring means, and a decision means that decides whether to change the security mode of the work area so that the work robot can perform the specified task based on the judgment result by the judgment means.

[0008] In this security system, it is preferable that the judgment means judges that the implementation conditions are not met when the security status is a state in which an abnormality has been detected in the monitored object or a state in which a specified security action is being carried out in the work area.

[0009] In this security system, it is preferable that the security device further has a setting means for switching between and setting multiple security modes, and the decision means determines whether or not to change the security mode of the work area so that the work robot can perform a specified task, further based on the security mode set in the work area.

[0010] In this security system, it is preferable that the decision means allows the security mode of the work area to be changed so that the work robot can perform the specified work when the implementation conditions are met and the security mode set in the work area is the security set mode.

[0011] In this security system, it is preferable that the decision means allows the security mode of the work area to be changed so that the work robot can perform the specified work when the implementation conditions are met and both the security mode set in the work area and the security mode set in a specified area outside the work area are security set modes.

[0012] In this security system, if the implementation conditions are not met, the decision means preferably prohibits changing the security mode of the work area so that the work robot can perform the specified work, regardless of the security mode set in the work area.

[0013] In this security system, it is preferable that the decision means further decides whether or not to change the security mode of the work area when the work robot completes work, based on whether or not an operation to release security for the work area or an operation to enter the work area is performed while the work robot is performing work.

[0014] According to another aspect of the present invention, there is provided a server communicatively connected to a work robot that is capable of autonomous movement and performs specified tasks in a work area, and a security device that monitors a monitored object including the work area and detects the security status, the server having a communication means for receiving the detected security status from the security device, a judgment means for judging whether the conditions for the work robot to perform the task are met based on the detected security status, and a decision means for deciding whether to change the security mode of the work area so that the work robot can perform the specified task based on the judgment result by the judgment means.

[0015] According to another aspect of the present invention, there is provided a security device that is autonomously mobile, communicatively connected to a work robot that performs specified work in a work area, and monitors the mobile object based on a set security mode, the security device having: a monitoring means that monitors monitored objects including the work area and detects the security status; a judgment means that judges whether the conditions for the work robot to perform the work are met based on the security status detected by the monitoring means; and a decision means that decides whether to change the security mode of the work area so that the work robot can perform the specified work, based on the judgment result by the judgment means.

[0016] According to another aspect of the present invention, there is provided a work robot that is autonomously mobile and performs predetermined work in a work area, and is communicatively connected to a security device that monitors monitored objects including the work area of ​​the work robot and detects the security status, the work robot having a communication means for receiving the detected security status from the security device, a judgment means for judging whether the conditions for the work robot to perform the work are met based on the detected security status, and a decision means for deciding whether to change the security mode of the work area so that the work robot can perform the predetermined work, based on the judgment result by the judgment means. [Effects of the Invention]

[0017] The security system, server, security device, and work robot according to the present invention can more appropriately manage security for a work area where a work robot performs a predetermined task. [Brief explanation of the drawings]

[0018] [Figure 1] 1 is a diagram showing a schematic configuration of a security system 1 according to an embodiment. [Figure 2] (A) is an example of the partition table 221, and (B) is an example of the user table 222. [Figure 3] FIG. 1 is a plan view of a store that is an example of a monitoring target. [Figure 4] 3 is a sequence diagram showing an example of the overall processing of the security system 1. FIG. [Figure 5] 10 is a flowchart showing an example of a first determination process. [Figure 6] 10 is a flowchart showing an example of a second determination process. [Figure 7] FIG. 10 is a diagram showing the configuration of a security system 2 according to another embodiment. [Figure 8] 10 is a sequence diagram showing an example of the overall processing of the security system 2. FIG. [Figure 9] FIG. 10 is a diagram showing the configuration of a security system 3 according to yet another embodiment. [Figure 10] 10 is a sequence diagram showing an example of the overall processing of the security system 3. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0019] A security system according to an embodiment of the present invention will now be described with reference to the drawings, although it should be understood that the present invention is not limited to the drawings or the embodiments described below.

[0020] Fig. 1 is a diagram showing the schematic configuration of a security system 1 according to one embodiment of the present invention. As shown in Fig. 1, the security system 1 has a server 10, a security device 20, and a work robot 30. The server 10 is communicatively connected to the security device 20 via a network N, and is communicatively connected to the work robot 30 via the network N and an access point A, etc. In other words, the security device 20 is communicatively connected to the work robot 30 via the server 10, the network N, and an access point A. The network N is a wide-area communication network such as an intranet or the Internet. The server 10 is installed in a security center or the like and manages the entire security system 1. The server 10 may be a cloud server in a wide area communication network such as the Internet. The security device 20 monitors and guards a monitoring target such as a store, office, commercial facility, factory, etc. The monitoring target includes one or more sections. The work robot 30 is an autonomously mobile robot that performs predetermined tasks in a work area that is included in the monitoring target of the security device 20. The predetermined tasks include cleaning, transportation, inspection, and the like. Although only one security device 20 and one work robot 30 are shown in FIG. 1, the security system 1 may have multiple security devices 20 and / or work robots 30.

[0021] The server 10 includes a communication unit 11, a storage unit 12, and a processing unit 13.

[0022] The communication unit 11 is an example of a communication means. The communication unit 11 has a communication interface circuit that conforms to wired / wireless communication standards such as Ethernet (registered trademark) and IEEE802.11, and is connected to the security device 20 and the work robot 30 via the network N to transmit and receive various signals.

[0023] The storage unit 12 includes semiconductor memory such as ROM, RAM, EPROM, magnetic storage media such as magnetic disks (HDDs), and / or optical storage media such as DVD-RAM. The storage unit 12 stores computer program code and various data executed by the processing unit 13 to control the operation of the server 10. The computer program is installed in the storage unit 12 by a known method via a computer-readable storage medium such as a CD-ROM or DVD-ROM or a communication line. The computer program may be distributed from a server or the like and installed in the storage unit 12.

[0024] The storage unit 12 stores schedule information 121 and the like. Schedule information 121 includes the start time of work for the work robot 30 and the movement route for the work. Schedule information 121 stores the start time of a work operation, and the content of the work operation and / or the work location for each time. Alternatively, only the start time of the work may be stored as schedule information 121, and the work robot 30 may autonomously generate a schedule for performing work within the work area based on an environmental map, which will be described later.

[0025] The processing 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. A multiprocessor, a multi-core processor, or the like may be used as the processing unit 13. A DSP, an LSI, an ASIC, an FPGA, or the like may also be used as the processing unit 13. The processing unit 13 has a determination unit 131, a control unit 132, a decision unit 133, and the like as functional modules of a program that runs on the processor.

[0026] The security device 20 monitors moving objects such as people based on a set security mode. The security device 20 is an information processing device that monitors for abnormalities such as intrusion and fire using devices such as sensors installed in the monitored area in accordance with a security mode instructed by a user or the server 10, and performs security. The security device 20 has a communication unit 21, a memory unit 22, a processing unit 23, and an interface unit 24. The security device 20 further has one or more entry / exit operation terminals 251, security operation units 252, intrusion sensors 253, fire sensors 254, etc. The entry / exit operation terminals 251, security operation units 252, intrusion sensors 253, and fire sensors 254 are arranged for each section included in the monitored area. The number of entry / exit operation terminals 251, security operation units 252, intrusion sensors 253, and / or fire sensors 254 in one section is not limited to one and may be multiple.

[0027] 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 via the network N to transmit and receive various information.

[0028] 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 processing unit 23 to control the operation of the security device 20. The computer program is installed in the storage unit 22 by a known method via a computer-readable storage medium such as a CD-ROM or DVD-ROM, or via a communication line. The computer program may also be distributed from a server or the like and installed in the storage unit 22. The storage unit 22 stores a section table 221, a user table 222, and the like.

[0029] 2(A) is an example of the section table 221. The section table 221 stores, for each of one or more sections included in the monitoring target monitored by the security device 20, the entry / exit operation terminal, security operation unit, sensor, security mode, security status, occupants, etc., in association with one another. The areas included in the monitored area include a work area, a management area, an adjacent area, etc. A work area is an area where the work robot 30 performs specified work. A management area is a work space (room) where users of the security system 1 carry out management tasks for each device such as the security device 20 and the work robot 30, and / or each area included in the monitored area. An adjacent area is an area adjacent to a work area. There may be multiple work areas, and a management area or adjacent area is associated with each work area. The entry / exit control terminal is identification information indicating the entry / exit control terminal 251 installed at the entrance or exit of each section. The security operation unit is identification information indicating the security operation unit 252 installed in each section. The sensor is identification information indicating the intrusion sensor 253 and / or the fire sensor 254 installed in each section. The security mode is an operating mode of the security device 20 that is set for each section. The security mode is set for each section. The security mode includes at least two modes: a security set mode and a security disengage mode. The security set mode is a mode in which the security sensor (intrusion sensor 253) monitors the security target (monitoring target). The security disengage mode is a mode in which the security sensor does not monitor the security target. The security disengage mode is typically used during the day when users are active in each section, and the security set mode is used at night or on holidays when all users have left each section. The types of security modes are not limited to two, security set mode and security off mode, and security modes may include other operating modes such as partial security set mode and patrol mode. Partial security set mode is a mode used when monitoring a portion of the monitored object, for example, when a user is present in a specific area within each section and wishes to monitor only other areas. In this mode, monitoring by security sensors is performed only by security sensors present in the area specified by the user. Patrol mode is a mode used while security guards are patrolling, in which the monitored object is not monitored by security sensors. The security status is the current (latest) status of each section detected by the security device 20. The security status includes normal, abnormal (intrusion abnormality, fire abnormality), patrol, and the like. The occupants are users who are present in each section. The entry / exit control terminal, security operation unit, and sensors for each zone are set by the administrator when the security system 1 is installed, and the security mode, security status, and occupants for each zone are set by the processing unit 23 when security is implemented by the security system 1.

[0030] 2(B) is an example of the user table 222. The user table 222 stores the user ID, attributes, etc. of each user who is permitted to enter each zone in the security system 1. The attributes indicate the group to which each user belongs, the authority that each user has, etc. The groups include, for example, administrators, store clerks, logistics delivery companies, cleaning companies, security guards, etc. The authority indicates the zones that each user can enter, etc.

[0031] The processing 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, etc. may also be used as the processing unit 23. The processing unit 23 has a monitoring means 231, a setting means 232, etc. as functional modules of a program that runs on the processor.

[0032] The interface unit 24 has an interface circuit conforming to a serial bus standard such as USB, and is communicatively connected to the entry / exit operation terminal 251, security operation unit 252, intrusion sensor 253, and fire sensor 254 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 an interface circuit conforming to a serial bus standard.

[0033] The entry / exit operation terminal 251 is installed at the entrance or exit of each section included in the monitoring target, and is an operation terminal through which a user requests entry into or exit from each section. The entry / exit operation terminal 251 has an input unit (not shown) such as a card reader, camera, microphone, touch panel, etc., for inputting authentication information such as a user ID, an authentication code, and biometric information such as a fingerprint, face, or voice. The entry / exit operation terminal 251 also has an entry / exit restriction unit (not shown) and a door opening / closing unit (not shown). The entry / exit restriction unit is installed at the door or entrance of each section to restrict entry into or exit from each section, and is an electric lock or the like that is unlocked / locked in accordance with an 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 or exit of each section in accordance with a door opening / closing signal transmitted from the security device 20.

[0034] The security operation unit 252 has a user input / output interface such as a touch panel, buttons, and a speaker, and the operator of the security device performs operations such as switching the security mode on the security device 20. The security operation unit 252 is installed in each section included in the monitored area. The security operation unit 252 may be a mobile terminal carried by the operator. The security operation unit 252 has an input unit (not shown) for the operator's identification information. The input unit is, for example, a card reader, which reads the operator's user ID stored on an IC card held by the operator and inputs it into the security device 20. The input unit of the security operation unit 252 may be configured to allow input of the occurrence and location of an abnormality, such as an intrusion by an intruder. If the security operation unit 252 is installed in each section, the installation location of the security operation unit 252 is input as the location of the abnormality. If the security operation unit 252 is a mobile terminal carried by the operator, a location identified by a known positioning method, such as beacon positioning or Wi-Fi positioning, is input as the location of the abnormality. In beacon positioning or Wi-Fi positioning, for example, the position is measured by triangulation or the like based on information (ID, received signal strength, etc.) from multiple beacon signal transmitters or wireless LAN access points installed in the facility. When the occurrence and location of an abnormality, such as an intruder's intrusion, is input, the security operation unit 252 generates an abnormality detection signal indicating that an intrusion has occurred and outputs the signal to the processing unit 23 via the interface unit 24.

[0035] The intrusion sensor 253 is an example of a security sensor. The intrusion sensor 253 is a sensor for detecting an intruder who has entered a monitored area, such as a sensor that detects the opening or closing of a door or window of the monitored area using a reed switch and a magnet, or a sensor that detects heat emitted by a human body as a heat source. The monitoring area of ​​the intrusion sensor 253 is set in advance by the server 10. When the intrusion sensor 253 detects an intruder, it generates an abnormality detection signal indicating that an intrusion has occurred, and outputs the signal to the processing unit 23 via the interface unit 24.

[0036] The fire sensor 254 is a sensor that detects heat or smoke accompanying the outbreak of a fire. The monitoring area of ​​the fire sensor 254 is set in advance by the server 10. When the fire sensor 254 detects the outbreak of a fire, it generates an abnormality detection signal indicating that a fire has occurred and outputs the signal to the processing unit 23 via the interface unit 24.

[0037] The working robot 30 has a communication unit 31, a position detection unit 32, a traveling unit 33, a working unit 34, a power supply unit 35, a memory unit 36, a processing unit 37, and the like.

[0038] The communication unit 31 has a communication interface circuit conforming to wireless communication standards such as IEEE802.11, and is connected to the server 10 via the access point A and the network N to transmit and receive various information.

[0039] The position detection unit 32 has at least one input device such as a Lidar, camera, ultrasonic sensor, infrared sensor, etc. Using input laser light, images, etc., the position detection unit 32 detects the current position of the work robot 30 and the positions of obstacles by a method such as SLAM (Simultaneous Localization and Mapping), and generates an environmental map, which will be described later.

[0040] The running unit 33 has drive wheels and a running motor, and by changing the rotation speed of the running motor, the working robot 30 can be moved freely in all directions at various speeds. The running unit 33 may further have auxiliary wheels or the like to stabilize and smooth running. The working unit 34 performs tasks such as cleaning, transporting, and inspection. If the working robot 30 is a cleaning robot, the working unit 34 has a suction unit for sucking in dust, a wiping unit for wiping the floor surface, etc., and performs floor cleaning work. The traveling unit 33 and working unit 34 are operating mechanisms that enable the working robot 30 to perform tasks while moving autonomously.

[0041] Power supply unit 35 is a storage battery or the like for supplying power to each part of work robot 30.

[0042] The storage unit 36 ​​includes semiconductor memory, magnetic storage media, and / or optical storage media. The storage unit 36 ​​stores computer program code and various data that the processing unit 37 executes to control the operation of the working robot 30. The computer program is installed in the storage unit 36 ​​by a known method via a computer-readable storage medium such as a CD-ROM or DVD-ROM, or via a communication line. The computer program may also be distributed from a server or the like and installed in the storage unit 22. The memory unit 36 ​​stores an environmental map 361 and the like. The environmental map 361 includes the positions of obstacles, including fixed obstacles such as walls or equipment within the work area and movable obstacles such as carts or boxes.

[0043] The processing unit 37 has 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 a computer program stored in the memory unit 36. The processing unit 37 may also be a DSP, LSI, ASIC, FPGA, or the like. The processing unit 37 has an operation control means 371 as a functional module of a program that runs on the processor.

[0044] Fig. 3 is a plan view of a store that is an example of a target to be monitored by the security device 20. The store shown in Fig. 3 includes a work section A1, a management section A2, an adjacent section A3, and an adjacent section A4. Work section A1 is a sales area where the work robot 30 performs cleaning work. Management section A2 is a room where the store clerk who manages work section A1 is present. Adjacent sections A3 and A4 are warehouses (backyards) where products sold in work section A1 are stored. Doors E1, E2, E3, and E4 are provided at the entrances and exits of work area A1, management area A2, adjacent area A3, and adjacent area A4, respectively. Doors E1, E2, E3, and E4 are unlocked / locked by an entry / exit restriction unit of an entry / exit operation terminal 251, and opened / closed by a door opening / closing unit. Security operation units 252 are installed near doors E1, E2, E3, and E4, allowing users to set the security mode for work area A1, management area A2, adjacent area A3, and adjacent area A4. Intrusion sensors 253 are installed near doors E1, E2, E3, and E4 to detect intruders who have entered the monitored area. On the outside of window W installed in work area A1, intrusion sensors 253 are installed as perimeter sensors to detect intruders who attempt to enter work area A1 through window W. Intrusion sensors 253 are installed on approach route R to work area A1 to detect intruders who attempt to enter work area A1 from approach route R. Fire sensors 254 are installed in work area A1, management area A2, adjacent area A3, and adjacent area A4 to detect the outbreak of a fire within each area.

[0045] 4 is a sequence diagram showing an example of the overall processing of the security system 1. This operation sequence is executed based on a program stored in advance in each storage unit of each device, mainly by each processing unit of each device in cooperation with each element of each device.

[0046] Before the overall processing is executed, the management area where the user of the security system 1 performs management tasks, and some or all of the adjacent areas adjacent to the work area of ​​the work robot 30, are set in advance as predetermined areas outside the work area. In addition, some or all of the management area and the adjacent areas are set in advance as related areas related to the work area. If there are multiple work areas, the predetermined area and / or related areas are set in advance for each work area. In other words, the predetermined area and / or related areas at that time are set according to the work area in which the work robot 30 is performing work.

[0047] The setting means 232 of the security device 20 monitors whether a security operation has been performed on the security operation unit 252 installed in each zone included in the monitored area to set the security mode for each zone. Security operations include a security set operation for setting the security mode to a security set mode and a security release operation for setting the security mode for each zone to a security release mode. When a security operation is performed on a security operation unit 252 installed in any zone, the setting means 232 receives a security operation signal from that security operation unit 252 requesting the setting of the security mode for the corresponding zone. The setting means 232 sets the security mode for the zone for which the security operation has been performed to the specified mode and updates the security mode for each zone in the zone table 221. The monitoring means 231 also monitors each section included in the monitoring target, i.e., the work section, management section, and / or adjacent section (predetermined section), using an intrusion sensor 253, a fire sensor 254, etc., and monitors the approach route of the work robot 30 to the work section, detecting the state of each section as a security status and storing it in the section table 221. The security status includes a normal state in which no abnormalities such as intrusion or fire are detected in each section, an abnormal state in which an abnormality is detected, a patrol state in which patrols are being carried out by a security guard, manager, security robot, etc., an inspection state in which inspections are being carried out by a security guard, manager, security robot, etc., and a response state in which an abnormality is being addressed by a security guard, manager, security robot, etc. Patrols, inspections, or responses to abnormalities by a security guard, manager, security robot, etc. are examples of predetermined security actions. When the monitoring means 231 receives an abnormality detection signal from the intrusion sensor 253, fire sensor 254, or security operation unit 252 installed in a section for which the security set mode is set, it transmits an abnormality notification signal to the server 10 indicating that an abnormality has occurred and notifies the manager.

[0048] The monitoring means 231 also monitors whether an entry / exit operation has been performed at the entry / exit operation terminal 251 installed in each zone included in the monitored area. The entry / exit operation includes an entry operation into each zone and an exit operation from each zone. When an entry / exit operation is performed at the entry / exit operation terminal 251 installed in any zone, the setting means 232 receives an entry / exit operation signal from the entry / exit operation terminal 251 requesting entry into or exit from the corresponding zone. The monitoring means 231 authenticates each user by referring to the user table 222, and based on the authentication result, controls the entry / exit regulation unit and / or the door opening / closing unit, and updates the occupants of each zone in the zone table 221. The monitoring means 231 also determines whether the attribute of a user who has entered or exited each zone is a security guard. The monitoring means 231 may determine whether the attribute of a user who has entered or exited each zone is a security guard based on whether an ID card for patrol inspection carried by the security guard has been operated or whether a patrol password has been entered. If the attribute of the user who has entered each zone is a security guard (if an ID card for patrol inspection has been operated or a patrol password has been entered), the setting means 232 sets the security mode of each zone to patrol mode and updates the security mode of each zone in the zone table 221. In this case, the monitoring means 231 sets the security status of each zone to patrol mode. On the other hand, if the attribute of the user who has exited each zone is a security guard, the setting means 232 returns the security mode of that zone to the mode that was set before it was set to patrol mode and updates the security mode of each zone in the zone table 221. In this case, the monitoring means 231 sets the security status of each section to the normal status.

[0049] First, when the start time indicated in the schedule information 121 arrives, the control means 132 of the server 10 sends a security information request signal to the security device 20 via the communication unit 11 to inquire about the security mode set in each area included in the monitored area and the security status of each area (step S101). When the setting means 232 of the security device 20 receives a security information request signal from the server 10 via the communication unit 21, it refers to the section table 221 and identifies the security mode set for each section included in the monitoring target and the security status of each section. The setting means 232 transmits a security information notification signal indicating the security mode set for each section included in the monitoring target and the security status of each section to the server 10 via the communication unit 21 (step S102). The control means 132 of the server 10 receives a security information notification signal from the security device 20 via the communication unit 11. In this way, the communication unit 11 receives from the security device 20 the security mode set in each zone included in the monitored area, including the work zone, and the security status of each zone detected by the monitoring means 231 of the security device 20. When the control means 132 receives the security information notification signal, it identifies the security mode set in each zone and the security status of each zone indicated in the received security information notification signal, and the judgment means 131, control means 132, and decision means 133 execute a first judgment process (step S103). The storage unit 12 may store information about the latest security mode set for each section included in the monitoring target and the latest security status for each section. In this case, when the security mode for each section included in the monitoring target is changed, the security device 20 transmits information about the changed security mode to the server 10 via the communication unit 21, and the storage unit 12 updates the information about the security mode set for each section. Furthermore, when the security status for each section changes, the security device 20 transmits the security status to the server 10 via the communication unit 21, and the storage unit 12 updates the information about the security status for each section. In this case, the processes of steps S101 and S102 may be omitted.

[0050] FIG. 5 is a flowchart illustrating an example of the first determination process.

[0051] First, the determining means 131 determines whether the security status of any of the sections included in the monitoring target is abnormal (step S201). If the security status of any of the areas included in the monitored area is abnormal, i.e., if the security status is such that an abnormality has been detected in the monitored area, the judgment means 131 judges that the conditions for the work robot 30 to perform the work are not met (step S202). Next, the decision means 133 prohibits the work robot 30 from changing the security mode of the work area (step S203). In this way, the decision means 133 determines whether to change the security mode of the work area so that the work robot 30 can perform a specified task, based on the results of determining whether the conditions for performing the task by the work robot 30 are met. If a suspicious person has invaded an area related to the work area, such as a management area or an adjacent area, there is a possibility that the suspicious person will also invade the work area. By prohibiting a change in the security mode of the work area when an abnormality has occurred in the monitored object, the security system 1 can reduce the occurrence of missed detections (failed reports) of abnormalities in the work area, and enable more appropriate security of the work area. Next, the control means 132 prohibits the working robot 30 from performing the work (step S204), and ends the series of steps. In this way, the control means 132 controls the work of the work robot 30 based on the results of determining whether the conditions for the work to be performed by the work robot 30 are met. If the work robot 30 is made to perform work when an abnormality such as an intrusion or fire has occurred at the monitored object, there is a possibility that the user or security guard dealing with the abnormality and the work robot 30 performing the work may interfere with each other. Furthermore, if a suspicious person has intruded into the monitored object (work area, management area, or adjacent area), there is a possibility that the suspicious person may enter the work area and interfere with the work being performed by the work robot 30. By prohibiting the work robot 30 from performing work when an abnormality has occurred at the monitored object, the security system 1 can more appropriately manage the security of the monitored object while preventing a decline in the work efficiency of the work robot 30.

[0052] On the other hand, if the security status of all sections included in the monitoring target is not in an abnormal state, the determining means 131 determines whether the security status of the work section of the working robot 30 is in a patrol state (step S205). If the security status of the work area is a patrol status, i.e., if the security status is a status in which security guards are patrolling the work area, the judgment means 131 judges that the conditions for the work robot 30 to perform work are not met (step S202). Next, the decision means 133 prohibits the work robot 30 from changing the security mode of the work area (step S203). If the security mode of a work area is changed from patrol mode to security-off mode while a security guard is patrolling the work area, there is a possibility that the security device 20 will not be able to properly cooperate with the security guard. By prohibiting the security mode of the work area from being changed when a security guard is patrolling the work area, the security system 1 can properly cooperate with the patrolling security guard and more appropriately operate the security of the work area. Next, the control means 132 prohibits the working robot 30 from performing the work (step S204), and ends the series of steps. If the work robot 30 is made to perform work while a security guard is patrolling the work area, there is a possibility that the security guard and the work robot 30 will interfere with each other. By prohibiting the work robot 30 from performing work when a security guard is patrolling the work area, the security system 1 can more appropriately manage security for the work area while preventing a decline in the work efficiency of the work robot 30.

[0053] On the other hand, if the security status of the work area is not a patrol status, the determining means 131 determines that the conditions for the work robot 30 to perform the work are met (step S206). In this way, the determination means 131 determines whether the conditions for the work robot 30 to perform work are met based on the security status detected by the monitoring means 231. By utilizing the security status of the monitored object, the security system 1 can appropriately determine whether it is OK to change the security mode for the work area and whether it is OK to have the work robot 30 perform work.

[0054] Next, the control means 132 determines whether the security mode set in the work area of ​​the work robot 30 is the security set mode (step S207). If the security mode set in the work section is not the security set mode, that is, if it is a mode other than the security set mode, including the security release mode, the decision means 133 prohibits changing the security mode of the work section (step S203). In this way, the decision means 133 determines whether to change the security mode for a work area in order for the work robot 30 to perform a predetermined task, further based on the security mode set for that work area. As described above, security off mode is typically used during the day when users are active in each area, and security set mode is used at night or on holidays when all users have left the area. By allowing the security mode for a work area to be changed from security set mode to security off mode while prohibiting a change from security off mode to security set mode when the work robot 30 is performing a predetermined task, the security system 1 can prevent the work robot 30 from being mistakenly detected as an intruder and an abnormality being reported. Next, the control means 132 prohibits the working robot 30 from performing the work (step S204), and ends the series of steps. In this way, the control means 132 controls the work performed by the work robot 30 based additionally on the security mode set for the work area. By referencing the security mode currently set for the work area, the security system 1 can prevent the work robot 30 from performing work when a user is present in the work area, thereby preventing the work robot 30 from being hindered by the user and reducing its work efficiency.

[0055] On the other hand, if the security mode set in the work area of ​​the work robot 30 is the security set mode, the control means 132 determines whether the security mode set in the area set as a specified area outside the work area is the security set mode (step S208).

[0056] If the security mode set in the section set as the predetermined section is the security set mode, the decision means 133 permits the change of the security mode for the work section (step S209). In this way, the decision means 133 determines whether to change the security mode for the work area so that the work robot 30 can perform a predetermined task, based on the security mode set for the predetermined area. In particular, the decision means 133 allows the security mode for the work area to be changed so that the work robot 30 can perform a predetermined task when the conditions for performing the task by the work robot 30 are met and both the security mode set for the work area and the security mode set for the predetermined area are security set modes. This allows the security system 1 to stop monitoring the work area so that the work robot 30 can perform the task when no abnormality is occurring in the monitored object or when no security guards are present in the work area. Furthermore, the security system 1 can stop monitoring the work area so that the work robot 30 can perform the task when there are no users present in both the work area and the predetermined area and the security system 1 is monitoring both. In other words, the security system 1 can stop monitoring the work area while monitoring the predetermined area and when there is a low possibility that a user will enter the work area. As a result, the security system 1 can prevent a decrease in security in the work area and prevent the work robot 30 from being mistakenly detected as an intruder and an abnormality from being notified. The processing of step S208 may be omitted, and the decision means 133 may allow a change in the security mode of the work area in which the work robot 30 is to perform work if the conditions for performing work by the work robot 30 are met and the security mode set for the work area is the security set mode. In this case, the security system 1 can also prevent a decrease in security in the work area, while preventing the work robot 30 from being mistakenly detected as an intruder and an abnormality from being notified.

[0057] Next, the control means 132 allows the working robot 30 to perform the work (step S210), and the series of steps ends. In this way, the control means 132 controls the work of the work robot 30 based on the security mode set for the specified area. In particular, the control means 132 allows the work robot 30 to perform work when the conditions for performing work by the work robot 30 are met and both the security mode set for the work area and the security mode set for the specified area are security set modes. This allows the security system 1 to have the work robot 30 perform work when no abnormalities are occurring at the monitored object or when no security guards are present in the work area. Furthermore, the security system 1 can have the work robot 30 perform work when there is a low possibility of a user entering the work area. As a result, the security system 1 can prevent the work robot 30 from being hindered by a user or security guard in responding to an abnormality, and prevent the work efficiency of the work robot 30 from being reduced due to interference from a user, security guard, or suspicious person. The processing of step S208 may be omitted, and the decision means 133 may permit the work robot 30 to perform work if the conditions for performing work by the work robot 30 are met and the security mode set for the work area is the security set mode. In this case, too, the security system 1 can prevent the work robot 30 from interfering with the user's or security guard's response to an abnormality, and prevent the work efficiency of the work robot 30 from being reduced due to interference by the user, security guard, or suspicious person.

[0058] On the other hand, if the security mode set in the section set as the predetermined section is not the security set mode, the decision means 133 prohibits the change of the security mode of the work section (step S203). Next, the control means 132 prohibits the working robot 30 from performing the work (step S204), and ends the series of steps.

[0059] As described above, if the conditions for the work robot 30 to perform a task are not met, the decision means 133 prohibits changing the security mode for the work area in order for the work robot 30 to perform a specified task, regardless of the security mode set for the work area or the specified area. By giving priority to determining the conditions for the work robot 30 to perform a task, the security system 1 can more appropriately operate the security of the work area. Similarly, if the conditions for the work robot 30 to perform a task are not met, the control means 132 will prohibit the work robot 30 from performing the task, regardless of the security mode set for the work area or specified area. The security system 1 can appropriately control the work robot 30 by giving priority to determining the conditions for the work robot 30 to perform the task.

[0060] In step S203, the decision means 133 may permit a change in the security mode of the work area. That is, even if the control means 132 prohibits the work robot 30 from performing a task, the decision means 133 may permit a change in the security mode of the work area so that the work robot 30 can perform a predetermined task. In addition, in step S204, the control means 132 may permit the work robot 30 to perform a task. That is, even if the decision means 133 prohibits a change in the security mode of the work area so that the work robot 30 can perform a predetermined task, the control means 132 may permit the work robot 30 to perform a task. In addition, any of the processes of steps S201, S205, S207, and S208 may be omitted. In addition, in step S205, the determination means 131 may determine whether the security status of the work area is an inspection status or an action status, instead of or in addition to determining whether the security status of the work area is a patrol status. In this case, the judgment means 131 judges that the conditions for performing work by the work robot 30 are not met if the security status of the work area is in an inspection state or an action state, and judges that the conditions for performing work by the work robot 30 are met if the security status of the work area is not in an inspection state or an action state.

[0061] 4, if the first determination process prohibits the change of security mode for the work area and the work robot 30 from performing work, the control means 132 does not change the security mode for the work area and does not allow the work robot 30 to perform the specified work. On the other hand, if the first determination process permits the change of security mode for the work area and the work robot 30 to perform work, the control means 132 sends a cancellation request signal to the security device 20 via the communication unit 31 requesting that the security mode for the work area of ​​the work robot 30 be set to security cancellation mode (step S104). The cancellation request signal includes information indicating the work area of ​​the work robot 30. When the setting means 232 of the security device 20 receives a release request signal from the server 10 via the communication unit 21, it sets the security mode for the work area indicated in the release request signal to security release mode (step S105). The setting means 232 also updates the security mode for the work area to security release mode in the area table 221. In this way, the setting means 232 sets the security mode for the work area of ​​the work robot 30 to security release mode when the work robot 30 starts work.

[0062] Next, setting means 232 transmits a release notification signal to server 10 via communication unit 21 notifying that the security mode for the work area of ​​work robot 30 has been set to security release mode (step S106). When the control means 132 of the server 10 receives the cancellation notification signal from the security device 20 via the communication unit 11, it sends a start request signal to the work robot 30 via the communication unit 11, requesting the start of a specified task (step S107). Along with the start request signal, the control means 132 sends to the work robot 30 information such as the positions of fixed obstacles in the work area, such as walls, shelves, equipment, and partitions, and the home position of the work robot 30. When the operation control means 371 of the working robot 30 receives the start request signal from the server 10 via the communication unit 21, it starts the predetermined task (step S108).

[0063] The operation control means 371 initializes the environmental map 361 based on information received from the server 10, and also initializes the current location information. The processing unit 37 may initialize the environmental map 361 in advance based on information received in advance from the server 10 or another device via the communication unit 11, or information obtained from the operation unit (not shown) of the work robot 30. The processing unit 37 may also store the positions of fixed obstacles in advance by having the work robot 30 travel within the work area in advance to construct the environmental map 361.

[0064] The movement control means 371 controls the traveling unit 33 to move the work robot 30 so as to avoid obstacles based on the environmental map 361, and controls the working unit 34 to perform work. The movement control means 371 periodically acquires the current position of the work robot 30 and the positions of obstacles using techniques such as SLAM based on information acquired from the position detection unit 32. The movement control means 371 stores the acquired current position in the memory unit 36, and updates the environmental map 361 stored in the memory unit 36 ​​if the position of an obstacle changes. The movement control means 371 also transmits a current position signal indicating the acquired current position to the server 10 via the communication unit 31. The control means 132 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 in the received current position signal in the memory unit 12 as current position information.

[0065] The control means 132 determines the action to be performed by the work robot 30 based on the content of the work action to be performed at the current time indicated in the schedule information 121 or the location to be moved to, and the current location of the work robot 30. The control means 132 sends an action signal to the work robot 30 via the communication unit 11 to cause the work robot 30 to execute the determined action. When the action signal is received from the server 10 via the communication unit 31, the movement control means 371 of the work robot 30 continues or changes the work action, or executes the instructed action, such as moving to an instructed location. Note that this process is omitted if the work robot 30 autonomously generates and executes a schedule for its work.

[0066] Thereafter, when a security operation is performed by the security operation unit 252 installed in any of the sections included in the monitoring target, the setting means 232 of the security device 20 receives a security operation signal from the security operation unit 252 requesting the setting (change) of the security mode of the corresponding section. Also, when an abnormality is detected in the intrusion sensor 253, fire sensor 254, or security operation unit 252 installed in the section where the security set mode is set, the monitoring means 231 receives an abnormality detection signal from each device. Also, when an entry / exit operation is performed by the entry / exit operation terminal 251 installed in any of the sections included in the monitoring target, the monitoring means 231 receives an entry / exit operation signal from the entry / exit operation terminal 251 requesting entry / exit from the corresponding section (step S109). When a security operation signal is received from the security operation unit 252, the setting means 232 sets (changes) the security mode of the section in which the security operation was performed to the specified mode and updates the security mode of that section in the section table 221. Furthermore, when an abnormality detection signal is received from the intrusion sensor 253, fire sensor 254, or security operation unit 252 installed in the section in which the security set mode is set, the monitoring means 231 sends an abnormality notification signal to the server 10 to notify the administrator and sets the security status of that section in the section table 221 to abnormal status. Furthermore, when an entry / exit operation signal is received from the entry / exit operation terminal 251, the monitoring means 231 authenticates each user by referring to the user table 222, and controls the entry / exit restriction unit and / or door opening / closing unit based on the authentication result, while updating the occupants of that section in the section table 221. When the attribute of the user who entered each section is a security guard, the setting means 232 sets the security mode of that section to patrol mode and updates the security mode of that section in the section table 221. Furthermore, the monitoring means 231 sets the security status of each section to patrol status. On the other hand, if the attribute of the user who has left each section is a security guard, the setting means 232 returns the security mode of that section to the mode that was set before it was set to patrol mode, and updates the security mode of each section in the section table 221. Furthermore, the monitoring means 231 sets the security status of each section to normal status (step S110).

[0067] Next, the setting means 232 transmits a situation change notification signal to the server 10 via the communication unit 21 to notify that the situation at the monitored object has changed (step S111). The situation change notification signal indicates the security mode set for each section included in the monitored object and the security status of each section. Furthermore, if a security release operation or an entry operation is performed, the situation change notification signal includes information that the security release operation or entry operation has been performed and the section in which the security release operation or entry operation has been performed. When the control means 132 of the server 10 receives a situation change notification signal from the security device 20 via the communication unit 11, it identifies the security mode set in each section, the security status of each section, and the section in which the entry operation was performed, as indicated in the received situation change notification signal, and the judgment means 131, control means 132, and decision means 133 execute the second judgment process (step S112).

[0068] FIG. 6 is a flowchart illustrating an example of the second determination process.

[0069] First, the determination means 131 determines whether the security status of any of the sections included in the monitoring target is abnormal (step S301). If the security status of any of the areas included in the monitored area is abnormal, i.e., if the security status is such that an abnormality has been detected in the monitored area, the judgment means 131 judges that the conditions for the work robot 30 to perform the work are not met (step S302). Next, the control means 132 determines to stop the work by the working robot 30 (step S303), and ends the series of steps. The security system 1 can prevent a decline in the work efficiency of the work robot 30 while more appropriately managing the security of the monitored object by stopping the work by the work robot 30 when an abnormality occurs in the monitored object.

[0070] On the other hand, if the security status of all sections included in the monitoring target is not in an abnormal state, the determining means 131 determines whether the security status of the work section of the work robot 30 is in a patrol state (step S304). If the security status of the work area is a patrol status, i.e., if the security status is a status in which security guards are patrolling the work area, the judgment means 131 judges that the conditions for the work robot 30 to perform work are not met (step S302). Next, the control means 132 determines to stop the work by the working robot 30 (step S303), and ends the series of steps. The security system 1 can prevent a decline in the work efficiency of the work robot 30 while more appropriately managing security for the work area by stopping the work by the work robot 30 when security guards are patrolling the work area.

[0071] On the other hand, if the security status of the work area is not a patrol status, the determining means 131 determines that the conditions for the work robot 30 to perform the work are met (step S305).

[0072] Next, the control means 132 determines whether or not a security release operation has been performed for the section set as the predetermined section (step S306). If the operation to release security for the section set as the predetermined section is performed, the control means 132 determines to stop the work by the work robot 30 (step S303), and ends the series of steps. The operation to release security for a predetermined area outside the work area is likely to be performed in order for a user to enter that area, and there is a possibility that that user will also enter the work area for some reason. When the operation to release security for a predetermined area outside the work area is performed, the security system 1 stops the work of the work robot 30, thereby preventing the work robot 30 from being hindered by the user and reducing its work efficiency, and also preventing the work of the work robot from interfering with the work of the user.

[0073] On the other hand, if the security release operation has not been performed for the section set as the predetermined section, the decision means 133 determines whether the security release operation has been performed for the work section of the work robot 30 (step S307). When the security release operation for the work area is performed, the decision means 133 prohibits changing the security mode for the work area (setting it to security set mode) after the work robot 30 has completed work in the work area (step S308), and ends the series of steps. In this way, the decision means 133 further decides whether or not to change the security mode of the work area when the work robot 30 completes its work, based on whether or not a security release operation for the work area is performed while the work robot 30 is performing work. The work area security disabling operation is likely to be performed when a user enters the work area. A user who enters the work area while the work robot 30 is working may remain in the work area even after the work robot 30 has completed its work. In this case, the security system 1 does not return the work area security mode to the security set mode, thereby preventing the user in the work area from being mistakenly detected as an intruder and an abnormality being notified.

[0074] On the other hand, if the operation to release security for the work area of ​​the work robot 30 has not been performed, the decision means 133 determines whether or not an operation to enter the work area has been performed for the work robot 30 (step S309). If an operation to enter the work area has not been performed, the control means 132 ends the series of steps without performing any particular processing. On the other hand, if an entry operation into the work area is performed, the decision means 133 prohibits changing the security mode of the work area (setting it to security set mode) after the work robot 30 has completed work in the work area (step S308), and ends the series of steps. In this way, the decision means 133 further decides whether or not to change the security mode of the work area when the work robot 30 finishes working, based on whether or not an entry operation into the work area is performed while the work robot 30 is working. A user who enters the work area while the work robot 30 is working may remain in the work area even after the work is completed by the work robot 30. In this case, the security system 1 does not return the security mode of the work area to the security set mode, thereby preventing the user in the work area from being mistakenly detected as an intruder and an abnormality from being notified.

[0075] Note that any of the processing of steps S301, S304, S306, S307, and S309 may be omitted. Furthermore, in step S304, instead of or in addition to determining whether the security status of the work area is a patrol status, the determination means 131 may determine whether the security status of the work area is an inspection status or an action status. In this case, if the security status of the work area is an inspection status or an action status, the determination means 131 determines that the conditions for performing work by the work robot 30 are not met, and if the security status of the work area is not an inspection status or an action status, the determination means 131 determines that the conditions for performing work by the work robot 30 are met.

[0076] Returning to Figure 4, if the control means 132 determines in the second judgment process that the work by the work robot 30 should be stopped, it sends a stop request signal to the work robot 30 via the communication unit 11 to instruct the work robot 30 to stop the specified work (step S113). When the operation control means 371 of the working robot 30 receives the stop request signal from the server 10 via the communication unit 31, it stops the predetermined work (step S114).

[0077] Next, the operation control means 371 sends a stop notification signal to the server 10 via the communication unit 31 to notify that the work robot 30 has stopped the specified work (step S115). The stop notification signal includes information indicating the work section of the work robot 30. When the control means 132 of the server 10 receives a stop notification signal from the work robot 30 via the communication unit 11, it determines in the second determination process whether changing the security mode of the work area (setting it to security set mode) is prohibited. If changing the security mode of the work area is not prohibited in the second determination process, the control means 132 sends a set request signal to the security device 20 via the communication unit 11, requesting that the security mode for the work area indicated in the stop notification signal be set to security set mode (step S116). When the setting means 232 of the security device 20 receives a set request signal from the server 10 via the communication unit 21, it sets the security mode for the work area indicated in the set request signal to security set mode (step S117). The setting means 232 also updates the security mode for the work area in the area table 221 to security set mode. In this way, the setting means 232 switches between and sets multiple security modes. This completes the overall processing.

[0078] On the other hand, if the second judgment process prohibits changing the security mode of the work area, the control means 132 does not send a set request signal to the security device 20 in step S116. In this way, if an operation to release security for the work area or an operation to enter the work area is performed while the work robot 30 is performing work, the setting means 232 of the security device 20 does not change the security mode of the work area when the work robot 30 has finished working. The work area security disabling operation is likely to be performed when a user enters the work area. A user who enters the work area while the work robot 30 is working may remain in the work area even after the work of the work robot 30 is finished. In this case, the security system 1 does not return the work area security mode to the security set mode, thereby preventing the user in the work area from being mistakenly detected as an intruder and an abnormality being notified.

[0079] Similarly to step S115, the operation control means 371 of the work robot 30 also sends a stop notification signal to the server 10 when the work robot 30 has completed a specified task. In this case, when the control means 132 of the server 10 receives the stop notification signal from the work robot 30, it determines in the second determination process whether changing the security mode of the work area (setting it to security set mode) is prohibited. If changing the security mode of the work area is not prohibited in the second determination process, the control means 132 sends a set request signal to the security device 20, and the setting means 232 of the security device 20 sets the security mode for the work area to security set mode. On the other hand, if changing the security mode of the work area is prohibited in the second determination process, the control means 132 does not send a set request signal to the security device 20, and the setting means 232 of the security device 20 does not change the security mode for the work area.

[0080] Furthermore, if the control means 132 prohibits the work robot 30 from performing a task and the decision means 133 allows the work robot 30 to change the security mode of the work area to perform a predetermined task, the processes of steps S104 to S106 are executed, but the processes of steps S107 to S108 are not executed. Furthermore, if the decision means 133 prohibits the work robot 30 from changing the security mode of the work area to perform a predetermined task and the control means 132 allows the work robot 30 to perform a task, the processes of steps S104 to S106 are not executed, but the processes of steps S107 to S108 are executed. Furthermore, the processes of steps S104 to S106, the processes of steps S111 to S114, and / or the processes of steps S115 to S117 may be omitted.

[0081] As explained above, the security system 1 according to the present invention controls the work of the work robot 30 based on the security status of the monitored object, including the work area. This allows the security system 1 to have the work robot 30 perform work in a state where there is a low possibility of users, security guards, or intruders entering the work area, making it possible to more appropriately manage the security of the monitored object while having the work robot 30 work more efficiently. Furthermore, the security system 1 according to the present invention determines whether to change the security mode of the work area so that the work robot 30 can carry out a predetermined task, based on the security status of the monitored object, including the work area. This allows the security system 1 to stop monitoring the work area when there is a low possibility that a user, security guard, or intruder will enter the work area, enabling more appropriate security of the work area. Furthermore, in the security system 1, the security device 20 and the work robot 30 work together appropriately, allowing the work robot 30 to reliably perform work while ensuring security within the work area.

[0082] Note that the security system 1 may have multiple servers 10 distributed across a network so that services can be provided in the form of cloud computing, with the servers 10 working together to share the processes shown in Figures 4 to 6. In particular, the security system 1 may have a server 10 that manages the security devices 20 and a server 10 that controls the work robots 30, which are provided separately, with the servers 10 cooperating with each other to manage the security devices 20 and the work robots 30.

[0083] In the above embodiment, the server 10, which is communicatively connected between the security device 20 and the work robot 30, transmits signals received from the work robot 30 to the security device 20, and also transmits signals received from the security device 20 to the work robot 30. However, the security device 20 and the work robot 30 may be directly communicatively connected, and signals may be sent and received without going through the server 10. In this case, all of the functions of the server 10 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.

[0084] 7 is a diagram showing the configuration of a security system 2 according to another embodiment of the present invention. The security system 2 has a security device 20-2 and a work robot 30-2. The security device 20-2 and the work robot 30-2 have the same configurations and functions as the security device 20 and the work robot 30, respectively. The security device 20-2 and the work robot 30-2 are connected to each other so that they can communicate wirelessly, and the security device 20-2 implements all or part of the functions of the server 10 in the security system 1.

[0085] The security device 20-2 has a communication unit 21-2 instead of the communication unit 21, and the work robot 30-2 has a communication unit 31-2 instead of the communication unit 31. The communication unit 31 is an example of a communication means. The communication units 21-2 and 31-2 each have a communication interface circuit that conforms to a corresponding short-range wireless communication standard such as IEEE802.11, Bluetooth (registered trademark), or specified low-power radio. The communication units 21-2 and 31-2 communicate between the security device 20-2 and the work robot 30-2 and send and receive various signals. The storage unit 22 of the security device 20-2 stores schedule information 223 having the same data structure as the schedule information 121. The processing unit 23 of the security device 20-2 has a monitoring means 231-2, a setting means 232-2, a judgment means 233, a control means 234 and a decision means 235 which have the same functions as the monitoring means 231, the setting means 232, the judgment means 131, the control means 132 and the decision means 133, respectively. Processing unit 37 of working robot 30-2 has movement control means 371-2 that has the same functions as movement control means 371.

[0086] 8 is a sequence diagram showing an example of the overall processing of the security system 2 according to this embodiment. This operation sequence is executed mainly by the processing units of each device in cooperation with the elements of each device, based on a program stored in advance in each storage unit of each device. The overall processing shown in FIG. 8 is executed in the same manner as the overall processing shown in FIG. 4.

[0087] First, when the start time indicated in the schedule information 223 arrives, the control means 234 of the security device 20-2 refers to the section table 221 to identify the security mode set in each section included in the monitored area and the security status of each section, and transmits a security information notification signal to the work robot 30-2 via the communication unit 21-2 (step S401). When the operation control means 371-2 of the working robot 30-2 receives the security information notification signal from the security device 20-2 via the communication unit 31-2, it transmits a cancellation request signal to the security device 20-2 via the communication unit 31-2 (step S402). When the control means 234 of security device 20-2 receives a cancellation request signal from work robot 30-2 via communication unit 21-2, determination means 233, control means 234, and decision means 235 execute a first determination process (step S403). If the first determination process prohibits the change of the security mode for the work area and the work robot 30-2 from performing work, the control means 234 does not change the security mode for the work area and does not allow the work robot 30-2 to perform the specified work. On the other hand, if the first determination process permits the change of the security mode for the work area and the work robot 30-2 to perform work, the control means 234 sets the security mode for the work area to security-off mode (step S404). Next, control means 234 transmits a start request signal to work robot 30-2 via communication unit 21-2 (step S405). When the operation control means 371-2 of the work robot 30-2 receives the start request signal from the security device 20-2 via the communication unit 31-2, it starts the predetermined operation (step S406). The operation control means 371-2 operates the work robot 30-2 either in accordance with instructions from the control means 234 of the security device 20-2 or autonomously.

[0088] The processing of steps S407 to S408 is executed in the same manner as the processing of steps S109 to S110 in Fig. 4. When the setting means 232-2 receives a security operation signal or when the monitoring means 231-2 receives an abnormality detection signal or an entry / exit operation signal, the determination means 233, the control means 234, and the decision means 235 execute a second determination process (step S409). If the control means 234 determines in the second determination process that work by the work robot 30-2 should be stopped, it sends a stop request signal to the work robot 30-2 via the communication unit 21-2 (step S410). When the operation control means 371-2 of the working robot 30-2 receives the stop request signal from the security device 20-2 via the communication unit 31-2, it stops the predetermined work (step S411). Next, the operation control means 371-2 transmits a stop notification signal to the security device 20-2 via the communication unit 31-2 (step S412). When the setting means 232-2 of the security device 20-2 receives a stop notification signal from the work robot 30-2 via the communication unit 21-2, it determines whether changing the security mode of the work area (setting it to security set mode) is prohibited in the second determination process. If changing the security mode of the work area is not prohibited in the second determination process, the setting means 232-2 sets the security mode of the work area to security set mode (step S413). On the other hand, if changing the security mode of the work area is prohibited in the second determination process, the setting means 232-2 does not change the security mode of the work area. The operation control means 371-2 of the work robot 30-2 also sends a stop notification signal to the security device 20-2 when the work robot 30-2 has completed a specified task. In this case, too, if the second determination process does not prohibit changing the security mode of the work area, the setting means 232-2 sets the security mode of the work area to the security set mode, and if the second determination process prohibits changing the security mode of the work area, the setting means 232-2 does not change the security mode of the work area.

[0089] That is, in the security system 2, the determination means 233 of the security device 20-2 determines whether the conditions for the work robot 30-2 to perform a task are met based on the security status detected by the monitoring means 231-2. Then, the control means 234 of the security device 20-2 controls the work performed by the work robot 30-2 based on the determination result by the determination means 233. Furthermore, the decision means 235 of the security device 20-2 determines whether or not to change the security mode of the work area so that the work robot 30-2 can perform a specified task, based on the determination result by the determination means 233.

[0090] If the control means 234 prohibits the work robot 30-2 from performing a task and the decision means 235 allows the work robot 30-2 to change the security mode of the work area to perform a predetermined task, the process of step S404 is executed, and steps S405 to S406 are not executed. Also, if the decision means 235 prohibits the work robot 30-2 from changing the security mode of the work area to perform a predetermined task and the control means 234 allows the work robot 30-2 to perform a task, the process of step S404 is not executed, and steps S405 to S406 are executed. Also, the process of step S404, the processes of steps S409 to S411, and / or the processes of S412 to S413 may be omitted.

[0091] Like the security system 1, the security system 2 can more appropriately manage security for the monitored object while allowing the working robot 30-2 to work more efficiently. Furthermore, similar to security system 1, security system 2 can more appropriately operate the security of the work area where work robot 30-2 performs the predetermined work.

[0092] 9 is a diagram showing the configuration of a security system 3 according to yet another embodiment of the present invention. The security system 3 has a security device 20-3 and a work robot 30-3. The security device 20-3 and the work robot 30-3 have the same configurations and functions as the security device 20-2 and the work robot 30-2, respectively. The security device 20-3 and the work robot 30-3 are connected to each other so that they can communicate wirelessly, and the work robot 30-3 implements all or part of the functions of the server 10 in the security system 1.

[0093] The storage unit 36 ​​of the work robot 30-3 stores schedule information 362 having the same data structure as the schedule information 223. The processing unit 23 of the security device 20-3 has a monitoring means 231-3 and a setting means 232-3 that have the same functions as the monitoring means 231-2 and the setting means 232-2, respectively. Processing unit 37 of working robot 30-3 has movement control means 371-3, determination means 372, control means 373 and decision means 374 which have the same functions as movement control means 371-2, determination means 233, control means 234 and decision means 235, respectively.

[0094] 10 is a sequence diagram showing an example of the overall processing of the security system 3 according to this embodiment. This operation sequence is executed mainly by the processing units of each device in cooperation with the elements of each device, based on a program stored in advance in each storage unit of each device. The overall processing shown in FIG. 10 is executed in the same manner as the overall processing shown in FIG. 4.

[0095] First, when the start time indicated in schedule information 362 arrives, control means 373 of work robot 30-3 transmits a security information request signal to security device 20-3 via communication unit 31-2 (step S501). When the setting means 232-3 of security device 20-3 receives the security information request signal from work robot 30-3 via communication unit 21-2, it transmits a security information notification signal to work robot 30-3 via communication unit 21-2 (step S502). The control means 373 of the work robot 30-3 receives a security information notification signal from the security device 20-3 via the communication unit 31-2. In this way, the communication unit 31-2 receives from the security device 20-3 the security mode set for each zone included in the monitored area, including the work zone, and the security status of each zone detected by the monitoring means 231-3. When the control means 373 receives the security mode notification signal, the determination means 372, control means 373, and decision means 374 execute a first determination process (step S503). If the first determination process prohibits the change of security mode for the work area and the work robot 30-3 from performing work, the control means 373 does not change the security mode for the work area and does not allow the work robot 30-3 to perform the specified work. On the other hand, if the first determination process permits the change of security mode for the work area and the work robot 30-3 to perform work, the control means 373 sends a cancellation request signal to the security device 20-3 via the communication unit 31-2 (step S504). When setting means 232-3 of security device 20-3 receives a cancellation request signal from work robot 30-3 via communication unit 21-2, it sets the security mode for the work area to security cancellation mode (step S505). Next, setting means 232-3 transmits a release notification signal to work robot 30-3 via communication unit 21-2 (step S506). When the movement control means 371-3 of the working robot 30-3 receives the cancellation notification signal from the security device 20-3 via the communication unit 31-2, it starts a predetermined task (step S507). The movement control means 371-3 autonomously operates the working robot 30-3.

[0096] The processing of steps S508 to S509 is executed in the same manner as the processing of steps S109 to S110. When the setting means 232-3 of the security device 20-3 receives a security operation signal, or when the monitoring means 231-3 receives an abnormality detection signal or an entry / exit operation signal, the setting means 232-3 transmits a situation change notification signal to the work robot 30-3 via the communication unit 21-2 (step S510). When the control means 373 of the work robot 30-3 receives a situation change notification signal from the security device 20-3 via the communication unit 31-2, the determination means 372, control means 373, and decision means 374 execute a second determination process (step S511). If it is determined in the second determination process that the work performed by the work robot 30-3 should be stopped, the operation control means 371-3 stops the predetermined work (step S512).

[0097] Next, the control means 373 determines whether changing the security mode of the work area (setting to security set mode) is prohibited in the second determination process. If changing the security mode of the work area is not prohibited in the second determination process, the control means 373 transmits a set request signal to the security device 20-3 via the communication unit 31-2 (step S513). When setting means 232-3 of security device 20-3 receives the set request signal from work robot 30-3 via communication unit 21-2, it sets the security mode for the work section to security set mode (step S514). On the other hand, if changing the security mode of the work section is prohibited in the second determination process, the control means 373 does not transmit a set request signal to the security device 20-3 in step S513. Furthermore, even when the work robot 30-3 has completed a specified task, the control means 373 of the work robot 30-3 determines in the second determination process whether changing the security mode of the work area (setting it to security set mode) is prohibited. If changing the security mode of the work area is not prohibited in the second determination process, the control means 373 sends a set request signal to the security device 20-3, and the setting means 232-3 of the security device 20-3 sets the security mode for the work area to security set mode. On the other hand, if changing the security mode of the work area is prohibited in the second determination process, the control means 373 does not send a set request signal to the security device 20-3, and the setting means 232-3 of the security device 20-3 does not change the security mode for the work area.

[0098] That is, in the security system 3, the determination means 372 of the work robot 30-3 determines whether the conditions for the work robot 30-2 to perform a task are met based on the security status detected by the monitoring means 231-2 of the security device 20-2. The control means 373 of the work robot 30-3 then controls the work performed by the work robot 30-3 based on the determination result by the determination means 372. Also, in the security system 3, the decision means 374 of the work robot 30-3 determines whether or not to change the security mode of the work area so that the work robot 30-3 can perform a specified task, based on the determination result by the determination means 372.

[0099] If the control means 373 prohibits the work robot 30-3 from performing a task and the decision means 374 allows the work robot 30-3 to change the security mode of the work area to perform a predetermined task, the processes of steps S504 to S506 are executed, but step S507 is not executed. Also, if the decision means 374 prohibits the work robot 30-3 from changing the security mode of the work area to perform a predetermined task and the control means 373 allows the work robot 30-3 to perform a task, the processes of steps S504 to S506 are not executed, but step S507 is executed. Also, the processes of steps S504 to S506, steps S510 to S512, and / or steps S513 to S514 may be omitted.

[0100] Like the security system 2, the security system 3 can more appropriately manage security for the monitored object while allowing the work robot 30-3 to work more efficiently. Furthermore, similar to security system 2, security system 3 can more appropriately operate the security of the work area where work robot 30-3 performs a predetermined work.

[0101] As described above, various modifications can be made to the embodiments within the scope of the present invention.

[0102] A security system according to one embodiment of the present invention can contribute to resolving social issues such as a declining labor force and long working hours. In addition, a security system according to one embodiment of the present invention can contribute to achieving Goal 9 of the Sustainable Development Goals (SDGs) adopted by the United Nations, "Build resilient infrastructure, promote inclusive and sustainable industrialization, and promote innovation and resilience." [Explanation of symbols]

[0103] 1, 2, 3 Security system, 20, 20-2, 20-3 Security device, 30, 30-2, 30-3 Work robot, 231, 231-2, 231-3 Monitoring means, 232, 232-2, 232-3 Setting means, 131, 233, 372 Determination means, 132, 234, 373 Control means, 133, 235, 374 Decision means

Claims

1. A security system having a work robot that is capable of autonomous movement and performs a predetermined task in a work area, and a security device that monitors the moving object based on a set security mode, a monitoring means provided in the security device for monitoring a monitoring target including the work area and detecting a security status; a determination means for determining whether or not a condition for performing a task by the work robot is satisfied based on the security status detected by the monitoring means; a determination means for determining whether or not to change the security mode of the work area in order for the work robot to perform the predetermined work, based on the determination result by the determination means; A security system comprising:

2. The security system described in claim 1, wherein the determination means determines that the implementation condition is not satisfied when the security status is a state in which an abnormality is detected in the monitored object or a state in which a specified security action is being carried out in the work area.

3. The security device further has a setting means for switching between and setting a plurality of security modes, 3. The security system according to claim 1, wherein the determination means determines whether or not to change the security mode of the work area in order for the work robot to perform the specified work, further based on the security mode set in the work area.

4. 4. The security system according to claim 3, wherein the determination means permits a change of the security mode of the work area so that the work robot can perform the specified work when the implementation condition is met and the security mode set in the work area is a security set mode.

5. 4. The security system of claim 3, wherein the determination means permits a change of the security mode of the work area in order for the work robot to perform the specified work when the implementation condition is met and both the security mode set in the work area and the security mode set in a specified area outside the work area are security set modes.

6. 4. The security system according to claim 3, wherein the determination means prohibits a change in the security mode of the work area for the work robot to perform the specified work if the implementation condition is not satisfied, regardless of the security mode set in the work area.

7. 4. The security system according to claim 3, wherein the determination means further determines whether or not to change the security mode of the work area when the work robot has completed work, based on whether or not an entry operation into the work area has been performed while the work robot is performing work.

8. A server communicably connected to a work robot that is capable of autonomous movement and performs a predetermined task in a work area, and a security device that monitors a monitoring target including the work area and detects a security status, a communication means for receiving the detected security status from the security device; a determination means for determining whether a condition for performing a task by the work robot is satisfied based on the detected security state; a determination means for determining whether or not to change the security mode of the work area in order for the work robot to perform the predetermined work, based on the determination result by the determination means; A server comprising:

9. A security device that is communicably connected to a work robot that is capable of autonomous movement and performs a predetermined task in a work area, and that monitors the moving object based on a set security mode, a monitoring means for monitoring a monitoring target including the work area and detecting a security status; a determination means for determining whether or not a condition for performing a task by the work robot is satisfied based on the security status detected by the monitoring means; a determination means for determining whether or not to change the security mode of the work area in order for the work robot to perform the predetermined work, based on the determination result by the determination means; A security device comprising:

10. A work robot that is autonomously mobile and performs a predetermined task in a work area, the work robot being communicably connected to a security device that monitors a monitoring target including the work area of ​​the work robot and detects a security status, a communication means for receiving the detected security status from the security device; a determination means for determining whether a condition for performing a task by the work robot is satisfied based on the detected security state; a determination means for determining whether or not to change the security mode of the work area in order for the work robot to perform the predetermined work, based on the determination result by the determination means; A working robot comprising:

Images