Information processing apparatus, information processing method, and computer program

Abstract

To provide an information processing apparatus capable of suppressing intrusion into an area or the like where entry should be suppressed.SOLUTION: An information processing apparatus includes a detection target information acquisition unit configured to acquire detection target information regarding a detection target, an environment information acquisition unit configured to acquire environment information regarding an object and / or a person present in an area around the detection target, a countermeasure area determination unit configured to determine a countermeasure area in which approach or intrusion of the detection target is to be suppressed based on the detection target information and the environment information, a countermeasure apparatus information acquisition unit configured to acquire countermeasure apparatus information regarding a countermeasure apparatus around the countermeasure area, and a countermeasure content determination unit configured to determine a countermeasure content for suppressing approach or intrusion into the countermeasure area using the countermeasure apparatus based on the detection target information and the countermeasure apparatus information.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an information processing device, an information processing method, a computer program, and the like that can be applied to the control of a robot or the like. [Background technology]

[0002] Systems have been developed that use cameras and robots to guard the inside of buildings such as airports. Patent Document 1 discloses a configuration in which multiple robots search for and monitor threats, and when an event caused by the threat occurs, the range in which the threat may exist is calculated and the robots move to reduce the range in which the threat may exist. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-205644 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the method of Patent Document 1 cannot prevent the tracking target from entering an area where entry should be prevented.

[0005] The present invention has been made in view of the above-mentioned problems, and one of its objects is to provide an information processing device that can prevent intrusion into an area where intrusion should be prevented. [Means for solving the problem]

[0006] An information processing device according to one aspect of the present invention comprises: a detection target information acquisition means for acquiring detection target information relating to the detection target; environmental information acquisition means for acquiring environmental information relating to objects and / or people present in an area surrounding the detection target; a countermeasure area determination means for determining a countermeasure area in which the approach or intrusion of the detection target should be suppressed based on the detection target information and the environmental information; countermeasure device information acquisition means for acquiring countermeasure device information relating to countermeasure devices in the vicinity of the countermeasure area; a countermeasure content determination means for determining countermeasure content for suppressing approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information; The present invention is characterized by comprising: [Effects of the Invention]

[0007] According to the present invention, it is possible to realize an information processing device that can prevent intrusion into an area where entry should be prevented. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram showing an example of a usage scene of an information processing device 100 according to a first embodiment. [Figure 2] 1 is a functional block diagram showing an example of the configuration of an information processing device 100 according to a first embodiment. [Figure 3] 1 is a diagram illustrating an example of the hardware configuration of an information processing device 100 according to a first embodiment. [Figure 4] 3 is a flowchart showing an example of a processing flow of an information processing method according to the first embodiment. [Figure 5] 5 is a flowchart showing an example of processing in step S105 of FIG. 4. [Figure 6] FIG. 10 is a diagram illustrating an example of execution of intrusion countermeasure content decision according to the first embodiment. [Figure 7] FIG. 4 is a diagram showing an example of environmental information data according to the first embodiment. [Figure 8] 10 is a functional block diagram showing an example of the configuration of an information processing device 100 according to a second embodiment. FIG. [Figure 9] 10 is a flowchart showing an example of the overall processing flow of an information processing device according to the second embodiment. [Figure 10] FIG. 11 is a diagram showing an example of presentation of information relating to intrusion countermeasures according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to the following embodiments. In each drawing, the same members or elements are designated by the same reference numerals, and duplicate descriptions will be omitted or simplified.

[0010] <Embodiment 1> In this embodiment, an example will be described in which the location and method of intrusion prevention (restraint) measures are determined according to the detected target, thereby preventing (restraining) the detected target from invading the location. Note that in this embodiment, if the detected target is a suspicious person, the suspicious person is prevented from invading a location where people are present or where confidential information is stored.

[0011] In the following embodiments, a suspicious person refers to a person whose access authority to a specific location, room, or area has not been registered in advance. In the following embodiments, an example of preventing (restricting) intrusion will be described, but control may also be performed to prevent (restrict) approach, and includes preventing (restricting) approach or intrusion. In the following description, prevention includes actions of restricting, obstructing, or impeding.

[0012] 1 is a diagram showing an example of a usage scene of an information processing device 100 according to the first embodiment, showing a part of a building. In this embodiment, when a person 1002 who has entered the shooting range of a network camera 1003 is a suspicious person, a robot 1005 as a mobile body is moved so as to prevent (restrain) the person 1002 from entering or approaching a server room 1004.

[0013] That is, in this embodiment, a robot serving as a mobile body is moved to suppress (prevent) the detection target from approaching or invading the countermeasure area. Note that the mobile body is not limited to a robot, and may be, for example, a fence, cart, partition, or the like whose movement can be controlled from the outside, and includes all of these. 1006 denotes a PC incorporating an information processing device 100 that executes processing related to this embodiment.

[0014] Fig. 2 is a functional block diagram showing an example of the configuration of the information processing device 100 according to embodiment 1. Note that some of the functional blocks shown in Fig. 2 are realized by causing a CPU or the like serving as a computer included in the information processing device to execute a computer program stored in a memory serving as a storage medium.

[0015] However, some or all of these functions may be implemented by hardware, which may be a dedicated circuit (ASIC) or a processor (reconfigurable processor, DSP).

[0016] 2 may not be contained in the same housing, but may be configured as separate devices connected to each other via signal paths. The above explanation regarding FIG. 2 also applies to FIG. 8.

[0017] In this embodiment, the information processing device 100 includes a detection target information acquisition unit 102, an environment information acquisition unit 104, an intrusion countermeasure area determination unit 105, an intrusion countermeasure device information acquisition unit 106, and an intrusion countermeasure content determination unit 107. The information processing device 100 is also connected to a moving object detection device 101, a database 103, and an intrusion countermeasure device 108. Note that the information processing device 100 may also include the moving object detection device 101, the database 103, etc.

[0018] The moving object detection device 101 detects a moving object from the video captured by the network camera 1003 and determines whether it is a suspicious person. The detection target information, which is information about the detected object, is sent to a detection target information acquisition unit. The detection target information acquisition unit 102 acquires the detection target information of the suspicious person detected by the moving object detection device 101.

[0019] The detection target information acquisition unit 102 functions as a detection target information acquisition means that acquires detection target information related to the detection target. Note that the detection target information of a suspicious person may be generated by the detection target information acquisition unit 102 instead of the moving object detection device 101.

[0020] The database 103 stores map information about the area surrounding the network camera 1003 and information about surrounding devices. The map information stores identification information for each divided area of ​​the map (hereinafter, each divided area will be referred to as an "area"), coordinates of entrances, and information about the facilities, information type (confidential or not, etc.), and people present within the area. A group of areas may contain one or more rooms. Information about surrounding devices includes information about robots that can be used to prevent intrusions.

[0021] The environmental information acquisition unit 104 acquires information on facilities, information types, and people present in each area of ​​the map information from the database 103. The environmental information acquisition unit 104 functions as an environmental information acquisition means for acquiring environmental information on objects and / or people present in the area surrounding the detection target.

[0022] The intrusion countermeasure area determination unit 105 determines an area where intrusion countermeasures should be taken, based on the target information acquired by the detection target information acquisition unit 102 and the information acquired by the environmental information acquisition unit 104. The intrusion countermeasure area determination unit 105 functions as countermeasure area determination means that determines a countermeasure area where the approach or intrusion of a detection target should be suppressed, based on the detection target information and environmental information.

[0023] The intrusion prevention device information acquisition unit 106 acquires information about robots present within the area of ​​the map information from the database 103. The intrusion prevention device information acquisition unit 106 functions as a countermeasure device information acquisition means for acquiring countermeasure device information about countermeasure devices around the countermeasure area. Here, the countermeasure device includes at least one of a mobile object such as a robot and building equipment (shutters, gates, doors, elevators, etc.).

[0024] The intrusion prevention content determination unit 107 acquires information from the detection target information acquisition unit 102, the intrusion prevention area determination unit 105, and the intrusion prevention device information acquisition unit 106, and determines a method for preventing (suppressing) intrusions into the intrusion prevention area determined by the intrusion prevention area determination unit 105.

[0025] The intrusion countermeasure content determination unit 107 functions as a countermeasure content determination means for determining the content of countermeasures to be taken to prevent approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information. The countermeasure content determination means also controls the operation of the countermeasure device based on the content of the countermeasures. That is, the intrusion countermeasure device 108 executes the intrusion countermeasures determined by the intrusion countermeasure content determination unit 107.

[0026] 3 is a diagram showing an example of the hardware configuration of the information processing device 100 according to the first embodiment. Reference numeral 301 denotes a CPU as a computer, which controls various devices connected to a system bus 308. Reference numeral 302 denotes a ROM, which stores a BIOS program and a boot program.

[0027] Reference numeral 303 denotes a RAM, which is used as the main storage device for the CPU 301. Reference numeral 304 denotes an HDD or SSD, which stores computer programs processed by the information processing device 110. An input unit 305 includes a keyboard, mouse, and robot controller, and performs processing related to the input of information, etc.

[0028] A display unit 306 outputs the calculation results, images, and various information of the information processing device 100 to an external display device via, for example, a network. The display device may be any type, such as a liquid crystal display device, a projector, or an LED indicator.

[0029] Reference numeral 307 denotes an I / O, which communicates information via a communication interface, and the communication interface may be Ethernet, USB, serial communication, wireless communication, etc. The I / O receives output information from various sensors or other information processing devices.

[0030] Fig. 4 is a flowchart showing an example of a processing flow of the information processing method according to embodiment 1. Note that the CPU 301 or the like executes a computer program stored in memory, thereby sequentially performing the operations of the steps in the flowchart in Fig. 4. Note that the processing flow in Fig. 4 starts when the information processing device 100 is started.

[0031] In step S101, the information processing device 100 is initialized. That is, a program is read from the storage unit 304 to put the information processing device 100 into an operable state. Also, various setting parameters are read from the storage unit 304 as necessary.

[0032] In step S102, the detection target information acquisition unit 102 acquires detection target information detected by the moving object detection device 101. In this embodiment, the detection target information acquired includes information that a suspicious person has been detected. Here, step S102 functions as a detection target information acquisition step that acquires detection target information related to the detection target.

[0033] In step S103, environmental information is acquired by the environmental information acquisition unit 104. That is, as environmental information, identification information of each area of ​​the map information, coordinates of entrances, and information on facilities, information types, people present in each area, etc. are acquired. Here, step S103 functions as an environmental information acquisition step for acquiring environmental information on objects and / or people present in the area surrounding the detection target.

[0034] In step S104, the intrusion countermeasure area is determined by the intrusion countermeasure area determination unit 105. That is, the intrusion countermeasure area is determined based on the detection target information acquired in step S102 and the information on the equipment, information type, and people present in the area acquired in step S103. Here, step S104 functions as a countermeasure area determination step that determines a countermeasure area where the approach or intrusion of the detection target should be suppressed, based on the detection target information and environmental information.

[0035] In this embodiment, since the detection target is a suspicious person, in order to protect an area where damage may occur to objects and / or people within the area, an area where confidential information exists and an area where people are present are determined as intrusion prevention areas. In other words, an area where damage may occur to objects and / or people within the area if the detection target approaches or intrudes is determined as a prevention area.

[0036] In step S105, the intrusion countermeasure device information acquisition unit 106 acquires intrusion countermeasure device information. That is, information on robots that can be used for intrusion countermeasures is acquired. In this embodiment, the robot identification information and location information are acquired from the database 103. Here, step S105 functions as a countermeasure device information acquisition step that acquires countermeasure device information related to countermeasure devices in the vicinity of the countermeasure area.

[0037] In step S106, the content of intrusion countermeasures is determined. That is, the content of intrusion countermeasures is determined to suppress (prevent) intrusion into the intrusion countermeasure area determined in step S104. Here, step S106 functions as a countermeasure content determination step that determines the content of countermeasures to suppress approach or intrusion into the countermeasure area based on the detection target information and countermeasure device information. The processing content of this step will be described in detail later.

[0038] In step S107, it is determined whether or not the process flow in Fig. 4 has been completed. If a power-off operation of the information processing device 100 is detected, the process flow in Fig. 4 is completed. If a power-off operation of the information processing device 100 is not detected, the process returns to step S102 and the process flow in Fig. 4 is repeated.

[0039] Fig. 5 is a flowchart showing an example of the process of step S105 in Fig. 4. Note that the CPU 301 or the like executes a computer program stored in memory, thereby sequentially performing the operations of the steps in the flowchart in Fig. 5.

[0040] In step S111, one unprocessed intrusion prevention area is selected from the intrusion prevention areas determined in step S103. The identifier of the area selected here is set to R.

[0041] In step S112, an intrusion prevention device to be used for intrusion prevention in the intrusion prevention area selected in step S111 is selected. In this embodiment, based on the position information of the intrusion prevention device acquired in step S105, an intrusion prevention device that is the shortest distance from the intrusion prevention area R is searched for, and its identifier I is held.

[0042] In step S113, the control content of the intrusion prevention device selected in step S112 is determined. In this embodiment, in order to seal off the intrusion prevention area, the control content determined is "move the intrusion prevention device with identifier I to the entrance of the intrusion prevention area R."

[0043] In step S114, it is determined whether the intrusion countermeasure determination process has been completed for all intrusion countermeasure areas determined in step S103. If an unprocessed intrusion countermeasure area exists, the determination in step S114 is Yes, and the process returns to step S111. If an unprocessed intrusion countermeasure area does not exist, the determination in step S114 is No, and the process flow in FIG. 5 ends.

[0044] Fig. 6 is a diagram showing an example of determining the content of intrusion countermeasures according to the first embodiment, and shows an example of determining intrusion countermeasures depending on the detection target. Fig. 7 is a diagram showing an example of data of environmental information according to the first embodiment, and shows an example of data and a data structure of acquired environmental information.

[0045] 6, there is a person in room 211, and confidential information exists in room 212. Robots 213 and 214 are security robots. Robot 213 exists near room 211, and robot 214 exists near room 212.

[0046] If person 217 is behaving suspiciously, the motion detection device 101 of network camera 1003 detects person 217 as a suspicious person. Since problems can arise if a suspicious person enters a room where people are present or a room containing confidential information, rooms 211 and 212 are determined to be intrusion prevention areas. The intrusion prevention device for implementing intrusion prevention measures uses security robots 213 and 214 that are closest to each intrusion prevention area, and moves them in front of the entrance to each intrusion prevention area to seal it off.

[0047] As described above, according to this embodiment, a detected suspicious individual can be prevented from entering an area where entry should be prevented.

[0048] In the first embodiment, an image sensor such as a network camera 1003 is used to detect a moving object, but the type of sensor is not limited to an image sensor as long as it can detect a suspicious person. Detection may be performed using a sound detection sensor or thermography. Alternatively, information about a moving object recognized by a human observer may be input to an information processing device.

[0049] In the first embodiment, an area where confidential information exists is determined as an area where intrusion by suspicious individuals is to be prevented. However, this is not limiting, and an area where valuables such as expensive items or cultural assets exist may be determined as an intrusion prevention area.

[0050] In the first embodiment, the moving object detection device 101 detects a suspicious person by detecting behavior, but the method of detecting a suspicious person is not limited to this. A suspicious person may be detected by detecting a pulse based on an image or the like, and then detected based on changes in the pulse.

[0051] Furthermore, in the first embodiment, the moving object detection device 101 detects a suspicious person, but it may also detect a dangerous person instead of a suspicious person. For example, a detection method for this purpose may be to recognize an image of the belongings of the detected person, and if it is determined that the belongings are a weapon or a dangerous object that may harm people, the person may be determined to be a dangerous person.

[0052] Furthermore, if the moving object detection device 101 detects a dangerous person, the area in which the person exists is determined as an intrusion prevention area in step S104, thereby making it possible to prevent the person from being harmed by the dangerous person.

[0053] Furthermore, the moving object detection device 101 may recognize a detection target that is not behaving suspiciously as a "general person" who is not a suspicious individual. In this case, in step S104, an area where confidential information exists or an area where equipment that may pose a hazard to "general people" exists is set as an intrusion prevention area. Examples of equipment that may pose a hazard include high-voltage equipment, large operating machinery, and equipment with high levels of radiation.

[0054] However, the facilities that may be harmed are not limited to the above examples, and other facilities may be used as long as they have the potential to injure people. In this way, in this embodiment, an area in which damage to a detection target will occur when the detection target approaches or enters the area is determined as the countermeasure area, and therefore, by using the above method, it is possible to prevent ordinary people from entering the facilities described above.

[0055] In addition, the moving object detection device 101 may recognize people who work in the building or around the facilities described above, or the building manager, as pre-registered individuals such as "staff" using facial recognition, biometric authentication, RF tags carried by the individuals, etc. If the individual is recognized as an "employee," no intrusion prevention area is selected in step S104, and no intrusion prevention measures are taken. This allows for distinction between ordinary people and staff, eliminating the need to take unnecessary intrusion prevention measures.

[0056] In this way, the moving object detection device 101 may distinguish between suspicious persons, dangerous persons, ordinary people, staff members, etc., and transmit a flag such as "suspicious person," "dangerous person," "ordinary person," or "staff member" to the detection target information acquisition unit 102 as type information of the detected person.

[0057] In this case, the method for determining the intrusion prevention area according to the type of detected person may be as described above. When selecting the intrusion prevention area in step S111, it is also possible to select an area that takes measures against the intrusion of "dangerous people" with priority.

[0058] Specifically, when there are multiple unprocessed intrusion prevention areas, the area for intrusion prevention measures for "dangerous individuals" is selected first, and the intrusion prevention method is determined with priority. This allows for the implementation of intrusion prevention measures from the detection of a dangerous individual to be carried out more quickly or more reliably.

[0059] In the first embodiment, intrusion prevention measures are taken using intrusion prevention devices such as robots present around the prevention area, but intrusion prevention measures may also be taken using building facilities instead of robots. Specifically, in step S105, the identification information and installation location of at least one building facility among automatic doors, shutters, and elevators are acquired as intrusion prevention device information.

[0060] Then, in step S112, the building facilities that exist on the path from the position of the detection target to the intrusion prevention area are identified, and in step S113, it is decided to close the automatic doors and shutters. If these automatic doors or shutters have a locking function, they may be locked after being closed.

[0061] Furthermore, in the case of an elevator as the building facility, in step S113, it may be determined to operate the elevator in the opposite direction to the direction of travel of the detection target. In other words, the building facility may be operated to suppress (prevent) the detection target from approaching or invading the countermeasure area. In this way, when building facilities are used, there is no need to move a robot or the like to take countermeasures against intrusion, and countermeasures can be implemented more quickly than when countermeasures against intrusions are implemented using a robot.

[0062] It is also possible to take measures against intrusions using both building facilities (such as automatic doors, shutters, elevators, etc.) and robots. In this case, intrusions can be prevented more reliably than when measures are taken using only one of the devices.

[0063] In step S105, information on the intrusion prevention device is obtained from database 103, but information may also be obtained from a robot or building equipment. When obtaining position information of a robot, it is possible to use position information from a robot that measures its own position using SLAM (Simultaneous Localization And Mapping) technology.

[0064] Furthermore, instead of obtaining information directly from the robot or building facility, information may be obtained from a robot management device or a building facility management device in step S105.

[0065] Furthermore, the detection target acquired in step S102 is not limited to humans as long as it is a moving object. The detection target may be, for example, a robot or a vehicle. When detecting a moving object other than a human, the type may be determined in the same way as for humans, such as "suspicious object," "dangerous object," "staff (registered object)" (i.e., a robot registered in advance), or "general" (suspicious, dangerous, non-staff), and an intrusion prevention area may be determined according to the type. The method for determining the intrusion prevention area is the same as when the detection target is a human.

[0066] <Embodiment 2> In the first embodiment, intrusion countermeasures were decided at the time when the detected object was recognized as a suspicious person, but in this embodiment, a method of deciding intrusion countermeasures depending on the position of the detected object will be described.

[0067] Fig. 8 is a functional block diagram showing an example of the configuration of an information processing device 100 according to embodiment 2. The same reference numerals are used for functional blocks similar to those in Fig. 2, and duplicated explanations will be omitted. Note that in this embodiment, the moving object detection device 101 also estimates the position of a moving object.

[0068] The location information acquisition unit 111 acquires location information of the detected target from the moving object detection device 101. The location information acquisition unit 111 functions as a location information acquisition means for acquiring location information of the detected target. The location of the moving object may be estimated by the location information acquisition unit 111 instead of the moving object detection device 101. The location information acquisition unit 111 also receives input to the intrusion countermeasure content determination unit 107.

[0069] Fig. 9 is a flowchart showing an example of the overall processing flow of the information processing device according to the second embodiment. The CPU 301 or the like executes a computer program stored in memory, thereby sequentially performing the operations of the steps in the flowchart in Fig. 9. The same processes as those in Fig. 4 are given the same reference numerals, and redundant explanations will be omitted. In this embodiment, the processing flow in Fig. 9 is executed at regular time intervals.

[0070] In step S201, the position information acquisition unit 111 of the information processing device 100 acquires the position information of the detection target acquired in step S102. In step S106, the content of countermeasures is determined based on the position information of the detection target. Furthermore, in step S111, when selecting an unprocessed intrusion countermeasure area, the distance L between the position of the entrance of the intrusion countermeasure area and the position of the detection target is calculated.

[0071] The smaller this distance L, the higher the possibility that the detection target will intrude into the selected intrusion prevention area. Therefore, if the distance L between the entrance position of the intrusion prevention area and the position of the detection target is less than a predetermined threshold L1, the control content of the intrusion prevention device is determined in step S113. In other words, the approach prevention content is determined based on at least the distance between the detection target and the prevention area.

[0072] The control content determined here is the same as in embodiment 1. On the other hand, if the distance L between the position of the entrance to the intrusion prevention area and the position of the detection target is equal to or greater than a predetermined threshold L1, the control content of the intrusion prevention device is not determined in step S113, and the process proceeds to step S114.

[0073] According to the processing flow of the second embodiment described above, it is possible to more efficiently and reliably take measures in places where the probability of an intrusion of a detection target is higher.

[0074] In the second embodiment, whether or not to take intrusion countermeasures is determined based on the magnitude relationship between the distance L between the entrance position of the intrusion countermeasure area and the position of the detection target and a predetermined threshold L1. However, the priority for determining intrusion countermeasures may be controlled according to the distance L between the entrance position of the intrusion countermeasure area and the position of the detection target.

[0075] Specifically, in step S111, from among the unprocessed intrusion prevention areas, the intrusion prevention area having the smallest distance L between the entrance position and the detection target position may be selected with priority. Alternatively, in step S111, the intrusion prevention area having the distance L between the entrance position and the detection target position that is smaller than a predetermined threshold value L2 may be selected. Note that L2 may be the same as or different from L1.

[0076] In the second embodiment, whether or not to take intrusion countermeasures is determined based on the magnitude relationship between the distance L between the position of the entrance to the intrusion countermeasure area and the position of the detection target and a predetermined threshold L1. However, the selection of the intrusion countermeasure device may be controlled according to the distance L between the position of the entrance to the intrusion countermeasure area and the position of the detection target.

[0077] That is, the closer the entrance to the intrusion prevention area is to the position of the detection target, the faster the robot moving speed will be selected in step S112. Alternatively, if the distance L between the entrance to the intrusion prevention area and the position of the detection target is less than a predetermined threshold L3, a building facility rather than a robot will be selected as the intrusion prevention device. Note that L3 may be the same as L1 or L2, or may be different.

[0078] Furthermore, when selecting building equipment as an intrusion prevention device, the closer the location of the entrance to the intrusion prevention area is to the location of the detection target, the shorter the time it takes to complete the intrusion prevention measures may be selected.

[0079] <Embodiment 3> In the first embodiment, all the robots used for intrusion prevention measures have the same specifications. In this embodiment, an example will be described in which robots with different specifications are used. Specifically, multiple types of robots with different sizes are used, and the larger the robot used as the intrusion prevention device, the more suspicious the detection target is.

[0080] That is, the content of the countermeasures is determined based on the degree of damage caused to objects and / or people within the area when the detection target approaches or intrudes. As a result, the higher the degree of damage caused to objects and / or people within the intrusion prevention area, the stronger the intrusion prevention measures can be. Note that the functional block configuration and processing flow of the information processing device in this embodiment are the same as those in embodiment 1.

[0081] The moving object detection device 101 of this embodiment evaluates the detection frequency of suspicious behavior of the detected person. Note that the detection frequency of suspicious behavior of the detected person may be evaluated by the detection target information acquisition unit 102.

[0082] In step S102, the detection target information acquisition unit 102 acquires information indicating the detection frequency of suspicious behavior. In step S112, the larger the size of the robot selected, the higher the detection frequency of suspicious behavior of the detection target.

[0083] In this way, in the third embodiment, if it is estimated that a high degree of damage would occur to objects and / or people within the intrusion prevention area if an intrusion were to occur, intrusion prevention measures can be strengthened.

[0084] In the third embodiment, the moving object detection device evaluates the degree of suspiciousness based on the frequency of detection of suspicious behavior, but this is not limiting. For example, the degree of suspiciousness may be evaluated based on at least one of the frequency of detection of suspicious behavior, the type of suspicious behavior (loitering, change in face direction, etc.), the magnitude of movement of the suspicious behavior, and the speed of the suspicious behavior.

[0085] In the third embodiment, the size of the robot used for intrusion prevention is changed depending on the suspiciousness of the detection target. However, the higher the suspiciousness level, the more capable a robot that can prevent intrusion into the intrusion prevention area can be selected.

[0086] Specifically, the higher the suspiciousness level, the more robust the robot selected by the intrusion prevention content determination unit is as a device to be used for intrusion prevention. Alternatively, the higher the suspiciousness level, the more quickly a robot that reaches the intrusion prevention area can be selected. These methods can more reliably prevent suspicious individuals from invading the intrusion prevention area.

[0087] In the third embodiment, the robot to be used for intrusion prevention measures was selected based on the robot's specifications. However, the selection method is not limited to this as long as the strength of the intrusion prevention measures can be adjusted according to the suspiciousness of the detection target. For example, the robot to be used for intrusion prevention measures may be selected based on the type of robot. Specifically, a security robot may be selected if the suspiciousness of the detection target is higher than a predetermined threshold, and a guide robot may be selected otherwise.

[0088] Furthermore, although a robot is selected as the device to be used for intrusion prevention in the third embodiment, building equipment may also be selected. In this case, the more suspicious the detection target is, the more robust the building equipment is selected. Alternatively, the more suspicious the detection target is, the shorter the time it takes to start intrusion prevention measures is selected.

[0089] In addition, in the third embodiment, one type and one device is used for intrusion prevention for each intrusion prevention area. However, this is not limited to this, as long as an intrusion prevention device can be selected according to the degree of suspiciousness. In other words, the higher the degree of suspiciousness, the more robots used for intrusion prevention may be.

[0090] Alternatively, the intrusion countermeasure content determination unit may determine the intrusion countermeasure content to use both robots and building facilities simultaneously. Furthermore, regardless of whether the intrusion countermeasure content is robots or building facilities, the number of intrusion countermeasure combinations may be increased as the degree of suspicion increases. These methods allow for more reliable intrusion countermeasures.

[0091] In the third embodiment, the content of the intrusion countermeasures is determined according to the degree of suspiciousness of the suspicious person detected by the moving object detection device 101. However, the content of the intrusion countermeasures for a dangerous person may also be determined according to the degree of danger.

[0092] The method of determination replaces the suspiciousness level of a suspicious person described above with the dangerousness level of a dangerous person. The dangerousness level of a dangerous person is determined based on the type and / or specifications of the dangerous person's possessions. This allows for more reliable intrusion prevention measures to be implemented according to the degree of necessity of such measures.

[0093] The strength of intrusion countermeasures may also be adjusted for ordinary people. In this case, the moving object detection device 101 may estimate the age of the detection target, and the lower the estimated age, the higher the strength of the intrusion countermeasures. The method for adjusting the strength of the intrusion countermeasures is the same as in the case of suspicious persons described above. This method allows intrusion countermeasures to be reliably implemented according to the degree of necessity of the intrusion countermeasures.

[0094] In the third embodiment, the details of intrusion countermeasures are determined when a suspicious person is detected, but it is also possible to determine the details of intrusion countermeasures by detecting multiple types of targets, including suspicious persons, dangerous persons, ordinary people, and staff. In this case, the strength of the intrusion countermeasures increases in the order of dangerous persons, suspicious persons, ordinary people, and staff. This allows intrusion countermeasures to be reliably implemented according to the level of necessity.

[0095] The intrusion prevention area determination unit may select multiple types of areas as intrusion prevention areas, such as "areas where people are present," "areas containing confidential information," and "areas where hazardous equipment exists." In this case, the strength of intrusion prevention measures may be increased in the order of "areas where people are present," "areas where hazardous equipment exists," and "areas containing confidential information."

[0096] Furthermore, in an "area where people are present," the strength of the intrusion countermeasures may be increased as the number of people in the area increases. Also, in an "area where hazardous equipment exists," the strength of the intrusion countermeasures may be increased as the risk of the equipment increases.

[0097] The strength of the intrusion countermeasures may be increased as the level of secrecy in the "area containing classified information" increases. By using this method, intrusion countermeasures can be implemented efficiently according to the degree of damage caused to objects and / or people within the intrusion countermeasure area, or the degree of damage caused to the detection target. In this way, the content of the countermeasures may be determined based on the degree of damage caused to the detection target when the detection target approaches or intrudes.

[0098] Furthermore, in step S111, the order of selection may be set so that the more necessary the area is for intrusion prevention measures, the earlier it is selected. By using this method, intrusion prevention measures can be implemented more timely and reliably according to the necessity of intrusion prevention measures for each intrusion prevention area.

[0099] In addition, in embodiment 3 and the like, the content of intrusion prevention measures is determined based on the degree of suspiciousness of the detection target, etc., but the degree of necessity for intrusion prevention may be calculated, and the strength of the intrusion prevention measures may be increased as the value of the degree of necessity for intrusion prevention increases.

[0100] Furthermore, the strength of intrusion prevention measures may be determined based on both the value of the degree of necessity for intrusion prevention of the detection target and the value of the degree of necessity for intrusion prevention of the intrusion prevention area. In this case, the value of the degree of necessity for intrusion prevention measures taken together for the detection target and the intrusion prevention area may be proportional to the sum, weighted sum, or product of the respective necessity degree values.

[0101] In the third embodiment and the like, the content of intrusion prevention measures is determined based on factors that determine the intrusion prevention performance of each intrusion prevention device. However, it is also possible to calculate the intrusion prevention performance value of each intrusion prevention device, and use an intrusion prevention device with a higher intrusion prevention performance value for a detection target and / or an intrusion prevention area that requires more intrusion prevention.

[0102] In addition, in the third embodiment and the like, the detection target of the moving object detection device is a human. However, the target of intrusion countermeasures is not limited to a human, and may also be a robot, an autonomous mobile vehicle, etc. In this case, the degree of suspiciousness may be determined based on the type and movement of the robot or autonomous mobile vehicle.

[0103] That is, the degree of suspiciousness is evaluated based on at least one of the frequency of detection of suspicious behavior, the type of suspicious behavior (loitering, change of direction), the magnitude of the suspicious behavior, and the speed of the suspicious behavior. On the other hand, the degree of danger is determined based on the equipment equipped in the robot or autonomous mobile vehicle. That is, the degree of danger is determined based on the type and / or specifications of the equipment of the robot or autonomous mobile vehicle in question.

[0104] <Embodiment 4> In the fourth embodiment, an example will be described in which the information processing device presents the determined countermeasures. The configuration of this embodiment is the same as that of the first embodiment, except that an information presentation unit (not shown) is added. The information presentation unit generates information indicating the intrusion countermeasure area and the intrusion countermeasures, and outputs the information to the display unit 306.

[0105] The display unit 306 outputs the intrusion countermeasure area and intrusion countermeasure details generated by the information presentation unit to an external display device, for example, via a network. The information presentation unit functions as a presentation means for presenting information relating to at least one of the above-mentioned countermeasure area, countermeasure details, and countermeasure device.

[0106] 10 is a diagram showing an example of presentation of information related to intrusion countermeasures according to the fourth embodiment. 401 is the entire screen displayed on the external display device. 402 is a screen portion showing a map of the range in which intrusion countermeasures are to be implemented in this embodiment. On the map, rooms within the range in which intrusion countermeasures are to be implemented are displayed as thick rectangles.

[0107] Reference numeral 403 indicates the position of the detected target. Reference numeral 404 indicates the location of the entrance to a room that should be sealed off as an intrusion prevention area. Reference numeral 405 indicates the position of the intrusion prevention device. If the position of the intrusion prevention device changes due to intrusion prevention measures, the position of 405 on the display screen also changes based on the movement of the intrusion prevention device.

[0108] In the fourth embodiment, when the intrusion prevention device moves to take measures against an intrusion, the movement route of the device may be displayed. The content displayed in the fourth embodiment may be displayed as characters or sentences instead of figures. Alternatively, the content displayed in the fourth embodiment may be presented by voice reading.

[0109] The present invention has been described above in detail based on its preferred embodiments, but the present invention is not limited to the above embodiments, and various modifications and combinations of the above embodiments are possible based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[0110] The present invention also includes those that realize the functions of the above embodiments using, for example, at least one processor such as a CPU, memory, or circuit (for example, ASIC). Also, multiple processors may be used to perform distributed processing.

[0111] In order to realize part or all of the control in the above-described embodiments, a computer program that realizes the functions of the above-described embodiments may be supplied to an information processing device or the like via a network or various storage media. Then, a computer (or a CPU, MPU, or the like) in the information processing device or the like may read and execute the program. In this case, the program and the storage medium storing the program constitute the present invention. The present invention also includes the following combinations.

[0112] (Configuration 1) An information processing device comprising: a detection target information acquisition means for acquiring detection target information related to a detection target; an environmental information acquisition means for acquiring environmental information related to objects and / or people present in an area surrounding the detection target; a countermeasure area determination means for determining a countermeasure area in which the approach or intrusion of the detection target should be suppressed based on the detection target information and the environmental information; a countermeasure device information acquisition means for acquiring countermeasure device information related to countermeasure devices in the vicinity of the countermeasure area; and a countermeasure content determination means for determining countermeasure content to suppress the approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information.

[0113] (Configuration 2) The information processing device according to configuration 1, wherein the countermeasure device includes at least one of a mobile object and a building facility.

[0114] (Configuration 3) The information processing device according to configuration 2, wherein the countermeasure content determination means determines that the countermeasure content is to prevent the detection target from approaching or invading the countermeasure area by moving the moving body.

[0115] (Configuration 4) The information processing device described in configuration 2 or 3, characterized in that the countermeasure content determination means determines that the countermeasure content is to prevent the detection target from approaching or invading the countermeasure area by operating the building equipment.

[0116] (Configuration 5) An information processing device described in any one of configurations 1 to 4, characterized in that the countermeasure area determination means determines an area where damage will occur to objects and / or people within the area if the detection target approaches or enters as the countermeasure area.

[0117] (Configuration 6) The information processing device according to configuration 5, wherein the countermeasure content determination means determines the countermeasure content based on the degree of damage caused to objects and / or people within the area when the detection target approaches or invades.

[0118] (Configuration 7) The information processing device according to configuration 5 or 6, characterized in that the countermeasure area determination means determines an area in which damage will occur to the detection target if the detection target approaches or invades as the countermeasure area.

[0119] (Configuration 8) The information processing device according to configuration 7, wherein the countermeasure content determination means determines the countermeasure content based on the degree of damage that will occur to the detection target if the detection target approaches or invades.

[0120] (Configuration 9) An information processing device described in any one of configurations 1 to 8, further comprising a location information acquisition means for acquiring location information of the detection target, and wherein the countermeasure content determination means determines the countermeasure content based on at least the distance between the detection target and the countermeasure area.

[0121] (Configuration 10) The information processing device according to any one of configurations 1 to 9, further comprising a presentation unit that presents information about at least one of the countermeasure area, the countermeasure content, and the countermeasure device.

[0122] (Configuration 11) The information processing device according to any one of configurations 1 to 10, wherein the countermeasure content determination means controls the operation of the countermeasure device based on the countermeasure content.

[0123] (Method) An information processing method comprising: a detection target information acquisition step of acquiring detection target information related to a detection target; an environmental information acquisition step of acquiring environmental information related to objects and / or people present in an area surrounding the detection target; a countermeasure area determination step of determining a countermeasure area in which approach or intrusion of the detection target should be suppressed based on the detection target information and the environmental information; a countermeasure device information acquisition step of acquiring countermeasure device information related to countermeasure devices in the vicinity of the countermeasure area; and a countermeasure content determination step of determining countermeasure content to suppress approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information.

[0124] (Program) A computer program for controlling each means of the information processing device according to any one of configurations 1 to 11 by a computer. [Explanation of symbols]

[0125] 100: Information processing device 102: Detection target information acquisition unit 104:Environmental information acquisition department 105: Intrusion prevention area determination unit 106: Intrusion prevention device information acquisition unit 107: Intrusion Prevention Measures Decision Department

Claims

1. a detection target information acquisition means for acquiring detection target information relating to the detection target; environmental information acquisition means for acquiring environmental information relating to objects and / or people present in an area surrounding the detection target; a countermeasure area determination means for determining a countermeasure area in which the approach or intrusion of the detection target should be suppressed based on the detection target information and the environmental information; countermeasure device information acquisition means for acquiring countermeasure device information relating to countermeasure devices in the vicinity of the countermeasure area; a countermeasure content determination means for determining countermeasure content for suppressing approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information; An information processing device comprising:

2. The information processing device according to claim 1 , wherein the countermeasure device includes at least one of a mobile object and a building facility.

3. the countermeasure content determining means determines, as the countermeasure content, that the detection target is prevented from approaching or entering the countermeasure area by moving the moving object; 3. The information processing device according to claim 2, wherein:

4. the countermeasure content determination means determines, as the countermeasure content, that the building equipment is operated to suppress the approach or intrusion of the detection target into the countermeasure area; 3. The information processing device according to claim 2, wherein:

5. the countermeasure area determination means determines, as the countermeasure area, an area in which damage will occur to objects and / or people within the area if the detection target approaches or enters; 2. The information processing device according to claim 1,

6. the countermeasure content determination means determines the countermeasure content based on the degree of damage that will occur to objects and / or people within the area if the detection target approaches or intrudes; 6. The information processing device according to claim 5,

7. the countermeasure area determination means determines an area in which damage to the detection target will occur if the detection target approaches or enters the area as the countermeasure area; 6. The information processing device according to claim 5,

8. the countermeasure content determination means determines the countermeasure content based on the degree of damage that will occur to the detection target when the detection target approaches or invades; 8. The information processing device according to claim 7,

9. Further, the apparatus includes a position information acquisition unit for acquiring position information of the detection target, the countermeasure content determination means determines the countermeasure content based on at least a distance between the detection target and the countermeasure area; 2. The information processing device according to claim 1,

10. a presentation unit that presents information about at least one of the countermeasure area, the countermeasure content, and the countermeasure device; 2. The information processing device according to claim 1,

11. the countermeasure content determining means controls the operation of the countermeasure device based on the countermeasure content; 2. The information processing device according to claim 1,

12. a detection target information acquisition step of acquiring detection target information relating to the detection target; an environmental information acquisition step of acquiring environmental information related to objects and / or people present in an area surrounding the detection target; a countermeasure area determination step of determining a countermeasure area in which the approach or intrusion of the detection target should be suppressed based on the detection target information and the environmental information; a countermeasure device information acquisition step of acquiring countermeasure device information relating to countermeasure devices in the vicinity of the countermeasure area; a countermeasure content determination step of determining countermeasure content for suppressing approach or intrusion into the countermeasure area using the countermeasure device based on the detection target information and the countermeasure device information; An information processing method comprising:

13. A computer program for controlling each means of the information processing apparatus according to any one of claims 1 to 11 by a computer.

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